Curved surface self-adaption system and method for civil aircraft composite material component maintenance

Abstract

The invention provides a curved surface self-adaption system and method for civil aircraft composite material component maintenance, and relates to the technical field of aviation composite material maintenance. The device comprises a multi-degree-of-freedom motion module, a curved surface sensing module, a magnet array module, a height adjusting module, a hot patching instrument module and a control center module, a patching material of a patching area is manufactured through the curved surface shape of the patching area, and the multi-degree-of-freedom motion module and the curved surface sensing module are used for collecting curved surface parameters of the patching area; transmitting the material to the control center module in real time, controlling the height adjusting module and the magnet array module by the control center module, enabling the magnet array module to form a coated magnet array matched with a component repairing area, and curing the repairing material doped with the magnetic conductive fibers in vacuum, a thermal field and a magnetic field, the problem that the mechanical property is lower than the original structural strength due to the fact that the structure of a composite material component repairing material is prone to layering is solved, meanwhile, automatic operation of a system is achieved through a curved surface self-adaption algorithm, and operation is easy.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation composite material maintenance, and in particular to a curved surface adaptive system and method for civil aircraft composite component maintenance. Background Art

[0002] Advanced composite materials are increasingly widely used in the aerospace field, and the application scope has been expanded from simple weak load-bearing and secondary load-bearing structures to primary load-bearing structures. There are many advantages in the extensive use of composite materials in aircraft structures. For example, composite materials have strong designability, high specific strength / specific modulus, good fatigue performance, corrosion resistance, and are convenient for large-area integral forming, etc., and have achieved remarkable effects in reducing structural weight, improving economy, enhancing comfort, and environmental protection. However, composite materials also have disadvantages such as low interlayer performance and poor impact resistance. When the aircraft is in service and is subjected to impact loads such as runway sand and gravel, bird strikes, and the test of high temperature and high humidity environment, delamination damage is very likely to occur. The design and manufacturing costs of advanced composite components are expensive, and most of the damage to composite structures is characterized by locality and multiplicity. Therefore, it is necessary to repair the damaged parts of composite components in time to completely or partially restore the load-bearing capacity of the components, so as to ensure the flight safety of the aircraft.

[0003] The laminated plate is a typical application form of aircraft composite components. The bonded patch repair of laminated plate damage has the characteristics of small stress concentration, less structural weight gain, and small influence on the aerodynamic shape, and is the main repair method for aircraft composite component damage. However, with the in-depth study of the failure of composite structures, it is found that there are significant differences between the repaired area of composite components and the original structure in terms of performance and failure mechanisms under service conditions, mainly manifested in poor interlayer bonding performance in the repaired area and easy delamination. In order to improve the performance of aircraft composite components after repair, most of the existing technologies adopt the method of changing the repair device and repair process. Changing the repair device is to lay the composite patch and pre-press it in a double-vacuum forming device and then paste it to the repair area. Changing the repair process is to lay the composite patch and cure it in an autoclave, and then grind and shape it and paste it to the repair area as a whole. Although the two repair methods can improve the performance of the repair area, there are matching problems between the repair patch and the grinding area. Therefore, the mechanical properties of the composite repair structure are lower than those of the original structure and the process route is complex. Summary of the Invention

[0004] To solve the problems in the above-mentioned existing technologies, the present invention provides a curved surface adaptive system and method for repairing civil aircraft composite components. The invention manufactures repair materials for the repair area according to the curved surface shape of the repair area, and uses a multi-degree-of-freedom motion module and a curved surface sensing module to collect the curved surface parameters of the repair area and transmit them to the control center module in real time. The control center module controls the height adjustment module and the magnet array module to form a covering magnet array adapted to the component repair area by the magnet array module, and cures the repair materials doped with magnetic conductive fibers in a vacuum, a thermal field and a magnetic field, solving the problem that the mechanical properties of the repair materials of composite components are lower than those of the original structure due to easy delamination of the structure. At the same time, through the curved surface adaptive algorithm, the automatic operation of the system is realized, and the operation is simple. To achieve the above object, the technical solution is as follows:

[0005] On the one hand, the present invention provides a curved surface adaptive system for repairing civil aircraft composite components, and the system includes:

[0006] A multi-degree-of-freedom motion module for realizing the adaptive motion of the system to different curved surface shapes and positions;

[0007] A curved surface sensing module for obtaining the curved surface shape of the component repair area in real time, scanning and collecting the curved surface parameters of the component repair area;

[0008] A magnet array module for providing a steady magnetic field required for curing the repair of the component repair area;

[0009] A height adjustment module for dynamically adjusting the height of the magnet array module to adapt to the curved surface undulation of the component repair area;

[0010] A thermal repair instrument module for curing the repair materials of the component repair area;

[0011] A control center module for obtaining the repaired component through the curved surface adaptive algorithm and the thermal repair instrument module according to the curved surface parameters scanned and collected by the curved surface sensing module.

[0012] Optionally, the multi-degree-of-freedom motion module includes: a multi-axis robotic arm, a first base, a differential wheel and a second base;

[0013] The first base is connected to the differential wheel through an independent servo motor, the second base is fixedly connected to the first base, the second base fixes the first end of the multi-axis robotic arm, the second base has a rotational degree of freedom around an axis to provide the multi-axis robotic arm to rotate around the vertical direction, the second end of the multi-axis robotic arm is fixedly connected to the height adjustment module, and the independent servo motor controls the differential wheel to realize the position movement of the multi-axis robotic arm.

[0014] Optionally, the curved surface sensing module includes:

[0015] A vision collector, which is used to scan and collect the surface parameters of the repaired area of the component and provide real-time feedback;

[0016] A vision stabilizing bracket, which is used to fix the vision collector, and the vision stabilizing bracket is fixedly connected to the height adjustment module.

[0017] Optionally, the magnet array module includes: a paramagnetic spherical convex steel frame, a paramagnetic spherical concave steel frame, a square magnet, and a magnetic-permeable cover plate;

[0018] The square magnet is located inside the paramagnetic spherical convex steel frame and inside the paramagnetic spherical concave steel frame, and the magnetic-permeable cover plate is installed on the upper surface of the paramagnetic spherical convex steel frame and the upper surface of the paramagnetic spherical concave steel frame;

[0019] The paramagnetic spherical convex steel frame and the paramagnetic spherical concave steel frame are cross-rotationally connected to form a magnet array.

[0020] Optionally, the height adjustment module includes: a third base, a motor fixing seat sleeve, a height servo motor, a transmission shaft, a coupling, a threaded sleeve, a threaded ejector rod, a support round table, and an arc-shaped baffle;

[0021] The third base is installed at the second end of the multi-axis robotic arm of the multi-degree-of-freedom motion module, the motor fixing seat sleeve is fixedly installed on the third base, the height servo motor is fixedly installed on the motor fixing seat sleeve, the first end of the transmission shaft is connected to the height servo motor, the second end of the transmission shaft is connected to the threaded sleeve through the coupling, the threaded sleeve is in mating connection with the threaded ejector rod, the support round table is connected to the threaded ejector rod through a ball hinge structure, the support round table is fixedly connected to the height adjustment module, the arc-shaped baffle is fixed to the support round table by threads, and the arc-shaped baffle is tangent to the ejector ball convex structure of the threaded ejector rod.

[0022] Optionally, the manufacturing process of the repair material for the repaired area of the component includes:

[0023] Disperse the magnetic conduction fibers in the repair resin to obtain a repair resin with magnetic conduction fibers;

[0024] Immerse the repair resin with magnetic conduction fibers in a repair fabric to obtain an unformed repair material;

[0025] Cut and evacuate the unformed repair material and then place it in the repaired area of the component to obtain the repair material for the repaired area of the component.

[0026] Optionally, the length of the magnetic conduction fibers is 100 - 300 ; the repair fabric includes any one or more of carbon fiber fabric or glass fiber fabric.

[0027] Optionally, the control center module includes:

[0028] An intelligent controller, which is configured to receive the surface parameters scanned and collected by the surface sensing module, process them through a surface adaptive algorithm, and send control instructions.

[0029] A universal joint, which is used to connect control pipelines.

[0030] A fixed frame, which is used to fix the intelligent controller and the universal joint, and the fixed frame is fixedly installed on the multi-degree-of-freedom motion module.

[0031] Optionally, according to the surface parameters scanned and collected by the surface sensing module, through the surface adaptive algorithm and the thermal mending instrument module, a repaired component is obtained, including:

[0032] According to the surface parameters scanned and collected by the surface sensing module, through the surface adaptive algorithm, control instructions for the height adjustment module are obtained.

[0033] According to the control instructions of the height adjustment module, the height adjustment module and the magnet array module are controlled to obtain a magnetic field environment suitable for the surface parameters.

[0034] According to the magnetic field environment suitable for the surface parameters, the repair material in the repair area of the component is cured through the thermal mending instrument module to obtain a repaired component.

[0035] On the other hand, the present invention provides a surface adaptive method for repairing civil aircraft composite components, which is implemented by a surface adaptive system for repairing civil aircraft composite components. The method includes:

[0036] S1. According to the surface shape of the component repair area, repair material is made and placed in the component repair area to obtain the repair material for the component repair area.

[0037] S2. According to the component repair area, the multi-degree-of-freedom motion module is adjusted to obtain a surface adaptive system at a fixed position.

[0038] S3. According to the surface adaptive system at the fixed position, the surface parameters of the component repair area and the repair material in the component repair area are collected to obtain the parameters of the surface sensing module.

[0039] S4. The parameters of the surface sensing module are transmitted to the control center module, and through the surface adaptive algorithm, control instructions for the height adjustment module are obtained.

[0040] S5. According to the control instructions of the height adjustment module, the magnet array module is adjusted to obtain a wrapped magnet array adapted to the component repair area.

[0041] S6. According to the wrapped magnet array adapted to the component repair area, cure the repair material in the component repair area through the hot patching instrument module to obtain a repaired component.

[0042] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects:

[0043] On the one hand, the above solution makes the repair material for the repair area according to the curved surface shape of the repair area, and uses the multi-degree-of-freedom motion module and the curved surface sensing module to collect the curved surface parameters of the repair area, and transmits them to the control center module in real time. The control center module controls the height adjustment module and the magnet array module, so that the magnet array module forms a wrapped magnet array adapted to the component repair area, and cures the repair material doped with magnetic conductive fibers in a vacuum, a thermal field and a magnetic field, solving the problem that the mechanical properties of the repair material of the composite material component are lower than those of the original structure due to the easy delamination of the structure. On the other hand, through the curved surface adaptive algorithm, the automatic operation of the system is realized, and the operation is simple. Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0045] Figure 1 is the system block diagram of the curved surface adaptive system embodiment for civil aircraft composite material component repair of the present invention;

[0046] Figure 2 is the system schematic diagram of the curved surface adaptive system embodiment for civil aircraft composite material component repair of the present invention;

[0047] Figure 3 is the overall schematic diagram of the height adjustment module and the magnet array module of the curved surface adaptive system embodiment for civil aircraft composite material component repair of the present invention;

[0048] Figure 4 is the structural schematic diagram of the height adjustment module of the curved surface adaptive system embodiment for civil aircraft composite material component repair of the present invention;

[0049] Figure 5 is the structural schematic diagram of the magnet array module of the curved surface adaptive system embodiment for civil aircraft composite material component repair of the present invention;

[0050] Figure 6 is the process flow chart of the production of the repair material for the component repair area in the curved surface adaptive system embodiment for civil aircraft composite material component repair of the present invention;

[0051] Figure 7 It is the flowchart for obtaining a repaired component in the embodiment of the curved surface adaptive system for civil aircraft composite component repair of the present invention;

[0052] Figure 8 It is the comparison result of the interlaminar shear strength between the repair material and the repair material of the traditional method in the embodiment of the curved surface adaptive system for civil aircraft composite component repair of the present invention;

[0053] Figure 9 It is the scanning electron microscope image of the cross-sectional microscopic morphology of the repair material structure and the repair material structure of the traditional method in the embodiment of the curved surface adaptive system for civil aircraft composite component repair of the present invention. In the figure, (a) is the repair material structure of the traditional method, and (b) is the repair material structure of this embodiment;

[0054] Figure 10 It is the flowchart of the embodiment of the curved surface adaptive method for civil aircraft composite component repair of the present invention;

[0055] Figure 11 It is the schematic diagram of the embodiment of the curved surface adaptive method for civil aircraft composite component repair of the present invention.

[0056] Marking description in the figure: multi-degree-of-freedom motion module 1, curved surface sensing module 2, magnet array module 3, height adjustment module 4, hot patching instrument module 5, control center module 6, multi-axis robotic arm 11, first base 12, differential runner 13, second base 14, visual collector 21, visual stability bracket 22, paramagnetic ball convex steel frame 31, paramagnetic ball concave steel frame 32, square magnet 33, magnetic permeability cover plate 34, third base 41, motor fixing seat sleeve 42, height servo motor 43, transmission shaft 44, coupling 45, threaded sleeve 46, threaded ejector rod 47, support round table 48, arc-shaped baffle 49, intelligent controller 61, universal joint 62, fixed frame 63, first control pipeline 64, second control pipeline 65. Detailed implementation manners

[0057] Next, in combination with the accompanying drawings, the technical solutions in the present invention will be described.

[0058] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Precisely, the use of the word "example" is intended to present concepts in a specific manner. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two can be selected.

[0059] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0060] As Figure 1 shown in the system block diagram of the embodiment of the curved surface adaptive system for civil aircraft composite component repair of the present invention and as Figure 2 shown in the system schematic diagram of the embodiment of the curved surface adaptive system for civil aircraft composite component repair of the present invention, the present invention provides a curved surface adaptive system for civil aircraft composite component repair, which can implement a curved surface adaptive method for civil aircraft composite component repair. The system includes: a multi-degree-of-freedom motion module 1, a curved surface sensing module 2, a magnet array module 3, a height adjustment module 4, a thermal repair instrument module 5 and a control center module 6;

[0061] The multi-degree-of-freedom motion module 1 is used to realize the adaptive motion of the system to different curved surface shapes and positions;

[0062] Specifically, the multi-degree-of-freedom motion module 1 includes: a multi-axis robotic arm 11, a first base 12, a differential runner 13 and a second base 14;

[0063] The first base 12 is connected to the differential runner 13 through an independent servo motor. The second base 14 is fixedly connected to the first base 12. The second base 14 fixes the first end of the multi-axis robotic arm 11. The second base 14 has a rotational degree of freedom about an axis, providing the multi-axis robotic arm 11 with rotation about the vertical direction. The second end of the multi-axis robotic arm 11 is fixedly connected to the height adjustment module 4. The independent servo motor controls the differential runner 13 to realize the position movement of the multi-axis robotic arm 11.

[0064] The curved surface sensing module 2 is used to obtain the curved surface shape of the component repair area in real time, and scan and collect the curved surface parameters of the component repair area;

[0065] Specifically, the curved surface sensing module 2 includes:

[0066] A visual collector 21, which is used to scan and collect the curved surface parameters of the component repair area and give real-time feedback;

[0067] A visual stability bracket 22, which is used to fix the visual collector 21. The visual stability bracket 22 is fixedly connected to the height adjustment module 4.

[0068] The magnet array module 3 is used to provide a steady magnetic field required for repairing and curing the component repair area;

[0069] Specifically, as Figure 3 shown in the overall schematic diagram of the height adjustment module and the magnet array module of the embodiment of the curved surface adaptive system for civil aircraft composite component repair of the present invention and asFigure 5 Schematic diagram of the magnet array module of the curved surface adaptive system for civil aircraft composite component repair according to the present invention shown, the magnet array module 3 includes: a paramagnetic spherical convex steel frame 31, a paramagnetic spherical concave steel frame 32, a square magnet 33, and a magnetic permeability cover plate 34;

[0070] The square magnet 33 is located inside the paramagnetic spherical convex steel frame 31 and inside the paramagnetic spherical concave steel frame 32, and the magnetic permeability cover plate 34 is installed on the upper surface of the paramagnetic spherical convex steel frame 31 and the upper surface of the paramagnetic spherical concave steel frame 32;

[0071] The paramagnetic spherical convex steel frame 31 and the paramagnetic spherical concave steel frame 32 are cross-rotationally connected to form a magnet array.

[0072] Furthermore, the paramagnetic spherical convex steel frame 31 and the paramagnetic spherical concave steel frame 32 loaded with the square magnet 33 are combined and connected to each other through a ball hinge structure to form an N N magnet array, and the magnetic permeability cover plate 34 connects and fits the individual steady magnetic fields provided by the square magnets 33 in the magnet array into an overall magnetic field, ensuring that the magnet array module 3 provides a stable and fully covered and perpendicular magnetic field for the component repair area, and the magnet array module 3 approaches the component repair area to achieve the perpendicular orientation of the magnetic conductive fibers.

[0073] The height adjustment module 4 is used to dynamically adjust the height of the magnet array module 3 to adapt to the surface undulation of the component repair area;

[0074] Specifically, as Figure 3 Overall schematic diagram of the height adjustment module and the magnet array module of the curved surface adaptive system for civil aircraft composite component repair according to the present invention shown and as Figure 4 Schematic diagram of the structure of the height adjustment module of the curved surface adaptive system for civil aircraft composite component repair according to the present invention shown, the height adjustment module 4 includes: a third base 41, a motor fixing seat sleeve 42, a height servo motor 43, a transmission shaft 44, a coupling 45, a threaded sleeve 46, a threaded ejector rod 47, a support round table 48, and an arc-shaped baffle 49;

[0075] The third base 41 is installed at the second end of the multi-axis robotic arm 11 of the multi-degree-of-freedom motion module 1. The motor fixing seat sleeve 42 is fixedly installed on the third base 41. The height servo motor 43 is fixedly installed on the motor fixing seat sleeve 42. The first end of the transmission shaft 44 is connected to the height servo motor 43. The second end of the transmission shaft 44 is connected to the threaded sleeve 46 through the coupling 45. The threaded sleeve 46 is in mating connection with the threaded ejector rod 47. The support round table 48 is connected to the threaded ejector rod 47 through a ball hinge structure. The support round table 48 is fixedly connected to the height adjustment module 4. The arc-shaped baffle 49 is fixed to the support round table 48 by threads. The arc-shaped baffle 49 is tangent to the ejector ball convex structure of the threaded ejector rod 47.

[0076] Further, the height servo motor 43 receives the push height command calculated by the control center module 6. The transmission shaft 44 drives the threaded sleeve 46 to rotate through the coupling 45, causing the threaded ejector rod 47 to reciprocate within the threaded sleeve 46, thereby adjusting the position and attitude of the magnet array module 3.

[0077] The hot patching instrument module 5 is used to cure the patching material in the patching area of the component.

[0078] Specifically, as Figure 6 shown in the process flow chart of the production of the patching material in the patching area of the component in the embodiment of the curved surface adaptive system for civil aircraft composite component repair of the present invention, the production process of the patching material in the patching area of the component includes:

[0079] Disperse the magnetic conductive fibers in the patching resin to obtain a patching resin with magnetic conductive fibers.

[0080] Further, the magnetic conductive fibers are selected as nickel-plated short fibers with a length of 200 - 300 , and a fiber diameter of 7 . The patching resin is selected as LOCTITE EA9390 two-component resin.

[0081] Disperse the magnetic conductive fibers in the two components of the patching resin respectively, mix well for 2 - 5 min, and then mix the two components. The dispersion methods used include: ultrasonic dispersion or mechanical stirring.

[0082] Impregnate the patching fabric with the patching resin with magnetic conductive fibers to obtain an unformed patching material.

[0083] Further, the patching fabric is a T300 grade 3K-ST carbon fiber plain weave fabric.

[0084] Cut and evacuate the unformed patching material and place it in the patching area of the component to obtain the patching material in the patching area of the component.

[0085] Further, the shape and size of each layer of repair material can be marked on the isolation film with the aid of a template, and then the unformed repair material can be cut. The template can use an isolation film with high transparency, specifically as follows:

[0086] Lay the smallest repair material in the laying direction; remove the isolation film from the bottom of the repair material, and lay the repair material in the repair area, and use a squeegee to make the repair material smooth and without wrinkles; remove the isolation film on the top of the repair material; repeat the above steps until all the repair materials are laid after cutting to obtain the cut repair materials.

[0087] Seal the cut repair materials in a vacuum bag, evacuate the air and check for no leakage, and then place them in the repair area of the component, specifically as follows:

[0088] Lay a perforated isolation film, absorbent cloth, non-perforated isolation film, thermocouple, electric blanket, breathable cloth, and vacuum nozzle on the surface of the cut repair materials in sequence, then seal them in a vacuum bag. After placing the cut repair materials for at least 5 - 15 minutes, evacuate the air and check for leakage.

[0089] The control center module 6 is used to obtain the repaired component through the surface adaptive algorithm and the thermal repair instrument module 5 according to the surface parameters scanned and collected by the surface sensing module 2.

[0090] Specifically, the control center module 6 includes:

[0091] An intelligent controller 61, which is used to receive the surface parameters scanned and collected by the surface sensing module 2, process them through the surface adaptive algorithm, and send control instructions;

[0092] A universal joint 62, which is used to connect the control pipeline;

[0093] Further, the first control pipeline 64 is connected to the surface sensing module 2 for receiving the surface parameters of the surface sensing module, and the second control pipeline 65 is connected to the height adjustment module 4 for controlling the height adjustment module 4.

[0094] A fixed frame 63, which is used to fix the intelligent controller 61 and the universal joint 62, and the fixed frame 63 is fixedly installed on the multi-degree-of-freedom motion module 1.

[0095] Specifically, as Figure 7 shown in the flowchart of obtaining the repaired component in the embodiment of the surface adaptive system for civil aircraft composite component repair of the present invention, according to the surface parameters scanned and collected by the surface sensing module, through the surface adaptive algorithm and the thermal repair instrument module, obtaining the repaired component includes:

[0096] According to the surface parameters scanned and collected by the surface sensing module 2, through the surface adaptive algorithm, obtain the control instruction of the height adjustment module 4;

[0097] According to the control instruction of the height adjustment module 4, control the height adjustment module 4 and the magnet array module 3 to obtain a magnetic field environment suitable for the surface parameters;

[0098] According to the magnetic field environment suitable for the surface parameters, cure the repair material in the repair area of the component through the hot patching instrument module 5 to obtain a repaired component;

[0099] Furthermore, set the temperature to 93 ± 10 °C and keep it for 200 - 220 min. After cooling to room temperature, remove the bag-making material on the surface of the repair material, clean the excess flowing glue around the repair area of the component, and conduct a visual inspection for defects such as unevenness, burrs, and lack of glue in the repair material. After passing the inspection, machine it to the size of the standard test piece and conduct performance testing.

[0100] For the process flow of this embodiment, the interlaminar shear strength of the prepared composite repair material is tested by the short beam shear method with reference to the ASTM D2344 standard. Through comparative analysis with the traditional method, the obtained results are as Figure 8 shown in the comparison result of the interlaminar shear strength between the repair material in the embodiment of the curved surface adaptive system for civil aircraft composite component repair of the present invention and the repair material by the traditional method and as Figure 9 shown in the scanning electron microscope image of the cross-sectional microtopography of the repair material structure in the embodiment of the curved surface adaptive system for civil aircraft composite component repair of the present invention and the repair material structure by the traditional method. In the figure, (a) is the repair material structure by the traditional method, and (b) is the repair material structure in this embodiment.

[0101] As Figure 10 shown in the flowchart of the embodiment of the curved surface adaptive method for civil aircraft composite component repair of the present invention and Figure 11 shown in the schematic diagram of the embodiment of the curved surface adaptive method for civil aircraft composite component repair of the present invention, the present invention provides a curved surface adaptive method for civil aircraft composite component repair. This method is implemented by a curved surface adaptive system for civil aircraft composite component repair. This method includes:

[0102] S1. According to the curved surface shape of the repair area of the component, manufacture the repair material and place it in the repair area of the component to obtain the repair material in the repair area of the component;

[0103] Specifically, an air-powered grinding machine using a grinding wheel with a mesh size of 80 to 240 is used to perform beveled patch grinding on the repaired area of the component, and the area to be repaired is cleaned; a transparent isolation film is used as a template to transfer the size and laying direction of the repair material for the area to be repaired onto the template, and the area of the repair fabric required is calculated; the repair fabric is cut and the weight of the repair fabric is weighed. And the mass of the repair resin and nickel-plated short fibers required is calculated according to the resin content; the magneto-conductive fibers are evenly dispersed in the two-component repair resin to obtain a repair resin with magneto-conductive fibers; the repair fabric is impregnated with the repair resin with magneto-conductive fibers to obtain an unformed repair material; the unformed repair material is cut and evacuated and then placed on the repaired area of the component. Under the condition of ensuring the correct laying direction and lap size, it is laid layer by layer from the inside to the outside of the mold-attached surface until all the repair layers are completed, and the repair material for the repaired area of the component is obtained.

[0104] S2. According to the repaired area of the component, adjust the multi-degree-of-freedom motion module to obtain a surface adaptive system at a fixed position;

[0105] S3. According to the surface adaptive system at a fixed position, collect the surface parameters of the repaired area of the component and the repair material for the repaired area of the component to obtain the parameters of the surface sensing module;

[0106] S4. Transmit the parameters of the surface sensing module to the control center module, and obtain the control instruction of the height adjustment module through the surface adaptive algorithm;

[0107] S5. According to the control instruction of the height adjustment module, adjust the magnet array module to obtain a coated magnet array adapted to the repaired area of the component;

[0108] S6. According to the coated magnet array adapted to the repaired area of the component, cure the repair material for the repaired area of the component through the hot patch instrument module to obtain a repaired component.

[0109] The present invention provides a surface adaptive system and method for repairing civil aircraft composite components. The invention includes a multi-degree-of-freedom motion module, a surface sensing module, a magnet array module, a height adjustment module, a hot patch instrument module and a control center module. The repair material for the repaired area is made according to the surface shape of the repaired area, and the surface parameters of the repaired area are collected by using the multi-degree-of-freedom motion module and the surface sensing module and transmitted to the control center module in real time. The control center module controls the height adjustment module and the magnet array module to make the magnet array module form a coated magnet array adapted to the repaired area of the component, and cure the repair material doped with magneto-conductive fibers in a vacuum, a thermal field and a magnetic field, solving the problem that the structure of the repair material of the composite component is easy to delaminate, resulting in lower mechanical properties than the original structure. At the same time, through the surface adaptive algorithm, the automatic operation of the system is realized, and the operation is simple.

[0110] It can be understood that the present invention is described by the above embodiments and should not be construed as a limitation on the embodiments and scope of the present invention. As is known to those skilled in the art, various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the present invention. Additionally, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A surface adaptive system for repairing composite components of civil aircraft, characterized in that: The system comprises: Multi-degree-of-freedom motion module, used to achieve adaptive motion of the system to different surface shapes and positions; A surface perception module is used to obtain the surface shape of the component repair area in real time, and scan and collect the surface parameters of the component repair area; A magnet array module, used for providing a steady magnetic field required for repairing and curing the repaired area of ​​the component; A height adjustment module, used for dynamically adjusting the height of the magnet array module to adapt to the curved surface fluctuations of the component repair area; A hot patching device module, used for curing the repair material in the repair area of ​​the component; The control center module is used to obtain the repaired component according to the surface parameters scanned and collected by the surface perception module through the surface adaptive algorithm and the heat repair instrument module.

2. The surface adaptive system for repairing composite components of civil aircraft according to claim 1, characterized in that: The multi-degree-of-freedom motion module comprises: a multi-axis mechanical arm, a first base, a differential wheel and a second base; The first base is connected to the differential wheel through an independent servo motor, the second base is fixedly connected to the first base, the second base fixes the first end of the multi-axis robotic arm, the second base has a degree of freedom of rotation around the axis, and provides the multi-axis robotic arm with rotation around the vertical direction, the second end of the multi-axis robotic arm is fixedly connected to the height adjustment module, and the independent servo motor controls the differential wheel to realize the position movement of the multi-axis robotic arm.

3. The surface adaptive system for repairing composite components of civil aircraft according to claim 1, characterized in that: The curved surface perception module comprises: A visual collector, used for scanning and collecting the surface parameters of the repaired area of ​​the component and providing real-time feedback; A visual stabilization bracket is used to fix the visual collector, and the visual stabilization bracket is fixedly connected to the height adjustment module.

4. The surface adaptive system for repairing composite components of civil aircraft according to claim 1, characterized in that: The magnet array module comprises: a paramagnetic convex steel frame, a paramagnetic concave steel frame, a square magnet and a magnetically permeable cover plate; The square magnet is located inside the paramagnetic spherical convex steel frame and inside the paramagnetic spherical concave steel frame, and the magnetic permeable cover plate is installed on the upper surface of the paramagnetic spherical convex steel frame and the upper surface of the paramagnetic spherical concave steel frame; The paramagnetic convex spherical steel frame and the paramagnetic concave spherical steel frame are cross-rotatably connected to form a magnet array.

5. The curved surface adaptive system for repairing composite material components of civil aircraft according to claim 1, characterized in that: The height adjustment module comprises: a third base, a motor fixing seat sleeve, a height servo motor, a transmission shaft, a coupling, a threaded sleeve, a threaded ejector rod, a supporting truncated table and an arc baffle; The third base is installed on the second end of the multi-axis robotic arm of the multi-degree-of-freedom motion module, the motor fixing seat sleeve is fixedly installed on the third base, the height servo motor is fixedly installed on the motor fixing seat sleeve, the first end of the transmission shaft is connected to the height servo motor, the second end of the transmission shaft is connected to the threaded sleeve through the coupling, the threaded sleeve is cooperatively connected to the threaded push rod, the supporting table is connected to the threaded push rod through a ball joint structure, the supporting table is fixedly connected to the height adjustment module, the arc baffle is fixed to the supporting table by threads, and the arc baffle is tangent to the push rod ball convex structure of the threaded push rod.

6. The surface adaptive system for repairing composite components of civil aircraft according to claim 1, characterized in that: The process of making the repair material of the component repair area includes: Dispersing magnetic conductive fibers in repair resin to obtain repair resin with magnetic conductive fibers; impregnating the repairing fabric with the repairing resin having magnetic conductive fibers to obtain an unformed repairing material; The unformed repair material is cut and vacuumed and then placed in the component repair area to obtain the repair material for the component repair area.

7. The curved surface adaptive system for repairing composite material components of civil aircraft according to claim 6, characterized in that: The length of the magnetic conductive fiber is 100 to 300 mm. ; The repair fabric includes any one or more of carbon fiber fabric or glass fiber fabric.

8. The curved surface adaptive system for repairing composite material components of civil aircraft according to claim 1, characterized in that: The control center module includes: An intelligent controller, used to receive the surface parameters scanned and collected by the surface perception module, process them through a surface adaptive algorithm, and send control instructions; Universal joint, used to connect control lines; A fixed frame is used to fix the intelligent controller and the universal joint, and the fixed frame is fixedly installed on the multi-degree-of-freedom motion module.

9. The curved surface adaptive system for repairing composite material components of civil aircraft according to claim 1, characterized in that: The method of obtaining a repaired component by using a surface adaptive algorithm and the thermal patching instrument module based on the surface parameters scanned and collected by the surface sensing module includes: According to the surface parameters scanned and collected by the surface perception module, a control instruction of the height adjustment module is obtained through a surface adaptive algorithm; According to the control instruction of the height adjustment module, the height adjustment module and the magnet array module are controlled to obtain a magnetic field environment suitable for the curved surface parameters; According to the magnetic field environment suitable for the curved surface parameters, the repair material in the repair area of ​​the component is cured by the thermal patching instrument module to obtain a repaired component.

10. A surface adaptive method for repairing composite materials components of civil aircraft, the surface adaptive method for repairing composite materials components of civil aircraft being implemented by the surface adaptive system for repairing composite materials components of civil aircraft according to any one of claims 1 to 9, characterized in that: The method comprises: S1. According to the curved surface shape of the component repair area, a repair material is prepared and placed in the component repair area to obtain the repair material of the component repair area; S2. According to the repair area of ​​the component, the multi-degree-of-freedom motion module is adjusted to obtain a fixed-position curved surface adaptive system; S3, collecting the surface parameters of the component repair area and the repair material of the component repair area according to the fixed-position surface adaptive system, and obtaining the parameters of the surface perception module; S4, transmitting the parameters of the curved surface perception module to the control center module, and obtaining the control instructions of the height adjustment module through the curved surface adaptive algorithm; S5, adjusting the magnet array module according to the control instruction of the height adjustment module to obtain a coated magnet array adapted to the component repair area; S6. According to the coated magnet array adapted to the component repair area, the repair material in the component repair area is cured by a thermal repair instrument module to obtain a repaired component.

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