CN105128965A - Casting polyurethane robot track with framework made of aramid fiber and preparation method thereof - Google Patents
Casting polyurethane robot track with framework made of aramid fiber and preparation method thereof Download PDFInfo
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- CN105128965A CN105128965A CN201510567785.5A CN201510567785A CN105128965A CN 105128965 A CN105128965 A CN 105128965A CN 201510567785 A CN201510567785 A CN 201510567785A CN 105128965 A CN105128965 A CN 105128965A
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Abstract
The invention relates to a robot track and a preparation method thereof, in particular to a casting polyurethane robot track with a framework made of aramid fiber and a preparation method thereof. High-strength aramid fiber or polyamide fiber is introduced as the framework in a track strong layer. A polyurethane elastomer is used as an overall casting layer in the robot track. When the casting polyurethane robot track with the framework made of the aramid fiber is prepared, a whole rope-shaped annular belt winding mode is adopted. The track polyurethane elastomer is made of polymer polyalcohol, polyisocyanate, a catalyst, a chain extender and a reinforcing agent. The aramid fiber is adopted as the material of the framework of the robot track, and the casting polyurethane elastomer is adopted as the carcass material of the robot track, so that the defects in all aspects of an existing metal track and a rubber track are overcome, the quality stability of the robot track is improved, and the service life of the robot track is prolonged. The preparation technology is simple, and production is easy.
Description
Technical field
The present invention relates to a kind of robot crawler belt and preparation method thereof, particularly relating to a kind of take aramid fiber as casting type polyurethane robot crawler belt of skeleton and preparation method thereof.
Background technology
Present mobile robot has a wide range of applications in each field, comprise fight against terrorism and violence, emergency management and rescue, polar region detection, electric power facility detect and safeguard and nuclear radiation detection etc., mobile robot to often work in various complexity extreme environment (high/low temperature, superhigh pressure, nuclear radiation etc.) and various landform (soft or hard ground, beach, meadow, trench etc.).Requiring that it has good comformability, alerting ability, is necessary guarantee to overcome the traveling gear of the instable robot of environment.Current robot running gear is mainly divided into wheeled, leg formula, crawler type, combined type (such as wheel leg type, joint track type, wheel crawler belt leg formula etc.), crawler belt is as an important main ground-engaging element of robot, the quality of its performance has vital impact to mobile robot, material, the structure of crawler belt and forming method all decides crawler belt and whether mobile robot can adapt to the extreme environment of various complexity.
The development experience of crawler belt, from metal to non-metal, from heaviness to merrily and lightheartedly, from complexity to brief, develops into rubber belt track from metal track, develops into elastic body cast crawler belt again now from rubber belt track.
Elastomer casting machine device people crawler belt is a kind of brand-new crawler belt, it is the lightweight in order to adapt to complicated extreme environment robot, high-strength requirement designs, it combines the advantage of synchronous cog belt and rubber belt track, abandon the multiple-structure that rubber belt track is loaded down with trivial details, incorporate core gold bullion, clad, cushion layer and pattern block are integrated poured layer, adopt Integratively moulding by casting or secondary split moulding by casting, so not only can increase substantially intensity and the binding force of interlayer, and reduce crawler belt sectional dimension, simplify production technology, reduce crawler belt weight, be particularly suitable for robot feature complicated and changeable and meet and comprise walking, distortion, swing arm, to ascend the requirement of the multi-freedom robots such as obstacle.Compared with other crawler belts; elastic body cast crawler belt has more protection ground, volume is little, lightweight, noise is low, vibrate the advantages such as little, ride comfort, is particularly suitable for the occasion that high speed transfer is changeable; All-terrain can be achieved by performance, occur that beginning is just widely used.The advantages such as elastic body cast crawler belt is high-strength with light weight, structural reduction, technique are simple, shaping fast, steady quality are subject to rapidly the favor of robot industry, can replace traditional rubber belt track.
Summary of the invention
The object of the present invention is to provide a kind of take aramid fiber as casting type polyurethane robot crawler belt of skeleton and preparation method thereof, the present invention adopts aramid fiber as robot crawler belt framework material, adopt casting type polyurethane elastomer as robot crawler belt carcass material, not only overcome each side shortcoming of existing metal track and rubber belt track.And enhance the quality stability of robot crawler belt itself, extend the service life of goods.Preparation technology of the present invention is simple, is easy to produce.
The object of the invention is to be achieved through the following technical solutions:
Take aramid fiber as the casting type polyurethane robot crawler belt of skeleton, described crawler belt, in crawler belt strength layer, introduces high-strength aramid fiber or nylon fibre as skeleton; Take polyurethane elastomer as the integrated poured layer in robot crawler belt; Prepare take aramid fiber as the casting type polyurethane robot crawler belt of skeleton time, the mode using whole-root rope shape to be wound around endless belt is carried out; Crawler belt polyurethane elastomer is made up of polymer polyatomic alcohol, polyisocyanates, catalyst, chain extender, reinforcing agent component; Wherein, number-average molecular weight is the polymer polyatomic alcohol 100 parts of 1000 ~ 3000; Polyisocyanates 18 ~ 22 parts; Catalyst 0.2-0.4 part; Chain extender 8-12 part; Reinforcing agent 8-10 part.
The casting type polyurethane robot crawler belt of described with aramid fiber is skeleton, described number-average molecular weight be 1000 ~ 3000 polymer polyatomic alcohol be one in PEA1000, PEA2000, PEA3000, PCL2000, PPG3000, PPG2000, PTMG2000, PTMG3000.
The casting type polyurethane robot crawler belt of described with aramid fiber is skeleton, described polyisocyanates is the one in TDI-80, TDI-100, MDI-100, MDI-50, liquefied mdi.
The casting type polyurethane robot crawler belt of described with aramid fiber is skeleton, described catalyst is the one in dibutyl tin dilaurate, triethylenediamine, triethanolamine.
The casting type polyurethane robot crawler belt of described with aramid fiber is skeleton, described chain extender is BDO, Isosorbide-5-Nitrae-dihydroxy ethoxybenzene 3,3 ' two chloro-4, the one in 4 ' diphenylmethanediamiand, 3,5-dimethythiotoluene diamines.
The casting type polyurethane robot crawler belt of described with aramid fiber is skeleton, described reinforcing agent is one or more in conductive black, antimony oxide, ten bromobenzene ethers, ten dibromobenzene aethers.
Take aramid fiber as the casting type polyurethane robot crawler belt preparation method of skeleton, described method comprises following process:
(1) performed polymer preparation
After reinforcing agent drying, pulverization process, mix with polyvalent alcohol, use hot shearing machine with 3000-4000r/min speed hot shearing 10-15min uniformly phase at 40-50 DEG C of temperature, then at 90-120 DEG C, stir dehydration 3-5h under-(0.096-0.097) MPa vacuum degree condition, be cooled to 60 DEG C, mix with the diisocyanate of metering fast, react 2-3 hour under nitrogen protection, after vacuumize degassing, obtain base polyurethane prepolymer for use as;
(2) preparation of aramid fiber framework material robot crawler belt
The mode being wound around endless belt with the aramid fiber whole-root rope shape of silane coupling agent activating surface is wrapped on mould, then the manufacture of robot crawler belt takes the performed polymer of metering, heat temperature raising, vacuum defoamation 2min, by metering the molybdenum disulphide of silane coupling agent process join in performed polymer, thermal response 30min is added at 80 ~ 90 DEG C, then the chain extender of metering is added and rapid stirring, be poured into preheating 120 DEG C and scribble in the mould of mold release, to be achieved tack-free time, the demoulding after press cure 50min; Last in the baking oven of 110 DEG C after cure 12h, take out deburring, obtaining a kind of take aramid fiber as the casting type polyurethane robot crawler belt of skeleton.
Advantage of the present invention and effect are:
(1) design of crawler belt integral structure: in order to embody low weight, the high strength of crawler belt, realizes overall insulation and resistance to extra-high pressure punctures, and crawler belt integral adopts nonmetal structure.Strength layer adopts non-metallic fibers as enhancing casing play, and simplify cushion layer, core gold copper-base alloy, clad and decorative pattern blob of viscose use same material one-shot forming, and material of main part uses the cast polyurethane of modification to form.
(2) structure design of crawler belt strength layer: strength layer adopts aramid fiber that is high-strength, high-modulus to replace metal filament or fiber as casing play, the mode that structure uses whole-root rope shape to be wound around endless belt is carried out, the dimensional stability of the overall and pitch of maintenance that can be maximum.
(3) global formation of strength layer: select aramid fiber as casing play, the overall winding, molding method of single rope can be realized easily, the high-strength advantage of maximum performance aramid fiber, and it is equivalent to the intensity of high-quality steel 4 times, the high-strength light of crawler belt and excellent insulativity can be brought very easily.
Provided by the invention is that the casting type polyurethane robot crawler belt of skeleton not only can reduce crawler belt weight with aramid fiber, it is made to be particularly suitable for robot feature complicated and changeable, walking is comprised, the requirement of distortion, swing arm, the multi-freedom robots such as obstacle of ascending with meeting; And have more protection ground, volume is little, lightweight, noise is low, vibrate the advantages such as little, ride comfort, is particularly suitable for the occasion that high speed transfer is changeable, All-terrain can be achieved and pass through performance.
Detailed description of the invention
Below in conjunction with example, the present invention is further described.
Do not do the number of special version in following instance, all refer to mass fraction.
Embodiment 1
1) performed polymer preparation
First oil bath pan, there-necked flask, cold finger, vacuum pump are from left to right connected successively, then check that whether air-tightness is good.Install instrument, by 30g conductive black, 40g antimony oxide, 30g ten bromobenzene ether drying, after pulverization process, mix with the PTMG diatomic alcohol (PTMG) weighing 1000g, use hot shearing machine with 3000-4000r/min speed hot shearing 10-15min uniformly phase at 40-50 DEG C of temperature, then at 110 DEG C, dehydration 3h is stirred under-0.096MPa vacuum degree condition, be cooled to 60 DEG C, naturally be warmed up to 85 DEG C with the mixing of 180g diisocyanate to be fast incubated, react 2 hours under nitrogen protection, base polyurethane prepolymer for use as Seal and preservation is obtained after 10min stand-by after vacuumize degassing.
2) preparation of aramid fiber framework material
Activate aramid fiber surface with silane coupling agent, avoid aramid fiber and basis material delamination, to improve the anchoring strength with matrix resin.Then the aramid fiber processed is wound around 12 circles in the mode of whole-root rope shape winding endless belt on mould shaping.
3) manufacture of robot crawler belt
Take the performed polymer of 1000g, heat temperature raising, vacuum defoamation about 2min, the molybdenum disulphide of the silane coupling agent process of 35g is joined in performed polymer, at 80 ~ 90 DEG C, add thermal response 30min, then add 88g chain extender and rapid stirring, be poured into preheating 120 DEG C and scribble in the mould of mold release, to be achieved tack-free time, the demoulding after press cure 50min.Last in the baking oven of 110 DEG C after cure 12h, take out deburring, obtaining a kind of take aramid fiber as the casting type polyurethane robot crawler belt of skeleton.
Embodiment 2
1) with embodiment 1
2) preparation of aramid fiber framework material
Activate the aramid fiber surface of high strength, high-modulus with silane coupling agent, avoid aramid fiber and basis material delamination, to improve the anchoring strength with matrix resin.Then the aramid fiber processed is wound around 10 circles in the mode of whole-root rope shape winding endless belt on mould shaping.
3) with embodiment 1
Embodiment 3
1) with embodiment 1
2) preparation of aramid fiber framework material
Activate the aramid fiber surface of high strength, high-modulus with silane coupling agent, avoid aramid fiber and basis material delamination, to improve the anchoring strength with matrix resin.Then the aramid fiber processed is wound around 8 circles in the mode of whole-root rope shape winding endless belt on mould shaping.
3) with embodiment 1
Comparative example
1) with embodiment 1
2) preparation of framework material
The metal filament of equivalent diameter is wound around 10 circles in the mode of whole-root rope shape winding endless belt on mould shaping.
3) with embodiment 1
Product embodiment 1-3 and comparative example prepared carries out performance testing, obtains drawing a conclusion:
Embodiment 1-3:
Polyurethane material hardness (Shao A) >=75; Tensile strength at break >=20MPa;
Elongation at failure 350 ~ 450%; Rebound resilience >=25%;
Tensile set≤10%; Peel strength >=80KN/m
Comparative example:
Polyurethane material hardness (Shao A) 70; Tensile strength at break 16MPa;
Elongation at failure 300%; Rebound resilience 23%;
Tensile set 18%; Peel strength 70KN/m
As can be seen from above contrast, take aramid fiber as the properties of the polyurethane elastomer robot crawler belt of the skeleton crawler belt that to be all better than with plain metal silk be skeleton, this is the unit design due to crawler belt, strength layer adopts aramid fiber that is high-strength, high-modulus to be wound around the mode of endless belt using whole-root rope shape as enhancing casing play, simplify cushion layer, core gold copper-base alloy, clad and decorative pattern blob of viscose use same material one-shot forming, and material of main part uses the cast polyurethane of modification to form.The high-strength advantage having played aramid fiber maximum like this, and it is equivalent to the intensity of high-quality steel 4 times, can bring the high-strength light of crawler belt and excellent insulativity very easily.
Claims (7)
1. be a casting type polyurethane robot crawler belt for skeleton with aramid fiber, it is characterized in that, described crawler belt, in crawler belt strength layer, introduces high-strength aramid fiber or nylon fibre as skeleton; Take polyurethane elastomer as the integrated poured layer in robot crawler belt; Prepare take aramid fiber as the casting type polyurethane robot crawler belt of skeleton time, the mode using whole-root rope shape to be wound around endless belt is carried out; Crawler belt polyurethane elastomer is made up of polymer polyatomic alcohol, polyisocyanates, catalyst, chain extender, reinforcing agent component; Wherein, number-average molecular weight is the polymer polyatomic alcohol 100 parts of 1000 ~ 3000; Polyisocyanates 18 ~ 22 parts; Catalyst 0.2-0.4 part; Chain extender 8-12 part; Reinforcing agent 8-10 part.
2. according to claim 1 a kind of take aramid fiber as the casting type polyurethane robot crawler belt of skeleton, it is characterized in that, described number-average molecular weight be 1000 ~ 3000 polymer polyatomic alcohol be one in PEA1000, PEA2000, PEA3000, PCL2000, PPG3000, PPG2000, PTMG2000, PTMG3000.
3. according to claim 1 a kind of take aramid fiber as the casting type polyurethane robot crawler belt of skeleton, it is characterized in that, described polyisocyanates is the one in TDI-80, TDI-100, MDI-100, MDI-50, liquefied mdi.
4. according to claim 1 a kind of take aramid fiber as the casting type polyurethane robot crawler belt of skeleton, it is characterized in that, described catalyst is the one in dibutyl tin dilaurate, triethylenediamine, triethanolamine.
5. according to claim 1 a kind of take aramid fiber as the casting type polyurethane robot crawler belt of skeleton, it is characterized in that, described chain extender is 1,4-butylene glycols, Isosorbide-5-Nitrae-dihydroxy ethoxybenzene 3,3 ' two chloro-4, one in 4 ' diphenylmethanediamiand, 3,5-dimethythiotoluene diamines.
6. according to claim 1 a kind of take aramid fiber as the casting type polyurethane robot crawler belt of skeleton, it is characterized in that, described reinforcing agent is one or more in conductive black, antimony oxide, ten bromobenzene ethers, ten dibromobenzene aethers.
7. be a casting type polyurethane robot crawler belt preparation method for skeleton with aramid fiber, it is characterized in that, described method comprises following process:
1) performed polymer preparation
After reinforcing agent drying, pulverization process, mix with polyvalent alcohol, use hot shearing machine with 3000-4000r/min speed hot shearing 10-15min uniformly phase at 40-50 DEG C of temperature, then at 90-120 DEG C, stir dehydration 3-5h under-(0.096-0.097) MPa vacuum degree condition, be cooled to 60 DEG C, mix with the diisocyanate of metering fast, react 2-3 hour under nitrogen protection, after vacuumize degassing, obtain base polyurethane prepolymer for use as;
2) preparation of aramid fiber framework material robot crawler belt
The mode being wound around endless belt with the aramid fiber whole-root rope shape of silane coupling agent activating surface is wrapped on mould, then the manufacture of robot crawler belt takes the performed polymer of metering, heat temperature raising, vacuum defoamation 2min, by metering the molybdenum disulphide of silane coupling agent process join in performed polymer, thermal response 30min is added at 80 ~ 90 DEG C, then the chain extender of metering is added and rapid stirring, be poured into preheating 120 DEG C and scribble in the mould of mold release, to be achieved tack-free time, the demoulding after press cure 50min; Last in the baking oven of 110 DEG C after cure 12h, take out deburring, obtaining a kind of take aramid fiber as the casting type polyurethane robot crawler belt of skeleton.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105150446A (en) * | 2015-09-10 | 2015-12-16 | 沈阳化工大学 | Whole casting molding process of polyurethane robot track |
| CN106188484A (en) * | 2016-07-21 | 2016-12-07 | 淄博德信联邦化学工业有限公司 | Polyurethane treadmill crawler belt and preparation method thereof |
| CN106402273A (en) * | 2016-12-06 | 2017-02-15 | 上海舒凯橡胶制品有限公司 | Rubber chain and processing method thereof |
| CN108158477A (en) * | 2016-12-07 | 2018-06-15 | 科沃斯机器人股份有限公司 | Surface cleaning machines people and its crawler belt manufacturing technique method |
| CN111021068A (en) * | 2019-12-26 | 2020-04-17 | 青岛天邦线业有限公司 | Impregnation treatment technology for impregnated aramid fiber ropes for polyurethane synchronous belt |
| CN114149561A (en) * | 2021-12-23 | 2022-03-08 | 无锡百年通工业输送有限公司 | Cast polyurethane fabric core conveyer belt and preparation method thereof |
| US11807292B2 (en) | 2020-12-22 | 2023-11-07 | Government Of The United States, As Represented By The Secretary Of The Army | Band track with fiber reinforced living hinges |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105150446A (en) * | 2015-09-10 | 2015-12-16 | 沈阳化工大学 | Whole casting molding process of polyurethane robot track |
| CN106188484A (en) * | 2016-07-21 | 2016-12-07 | 淄博德信联邦化学工业有限公司 | Polyurethane treadmill crawler belt and preparation method thereof |
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| CN111021068B (en) * | 2019-12-26 | 2022-04-26 | 青岛天邦线业有限公司 | Impregnation treatment technology for impregnated aramid fiber ropes for polyurethane synchronous belt |
| US11807292B2 (en) | 2020-12-22 | 2023-11-07 | Government Of The United States, As Represented By The Secretary Of The Army | Band track with fiber reinforced living hinges |
| CN114149561A (en) * | 2021-12-23 | 2022-03-08 | 无锡百年通工业输送有限公司 | Cast polyurethane fabric core conveyer belt and preparation method thereof |
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Application publication date: 20151209 |