CN105238011A - Flame-retarding polyurethane elastomer robot track and preparation method of same - Google Patents
Flame-retarding polyurethane elastomer robot track and preparation method of same Download PDFInfo
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- CN105238011A CN105238011A CN201510568295.7A CN201510568295A CN105238011A CN 105238011 A CN105238011 A CN 105238011A CN 201510568295 A CN201510568295 A CN 201510568295A CN 105238011 A CN105238011 A CN 105238011A
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Abstract
A flame-retarding polyurethane elastomer robot track and a preparation method of the same. The invention relates to a robot track and a preparation method of the same. The robot track is composed of polyurethane elastomer and aramid fibers, wherein the aramid fibers are employed as a frame layer in a whole rope-like circular strip winding manner. The polyurethane elastomer is composed of 100 parts of polymer polyol, 18-28 parts of polyisocyanate, 0.02-0.04 parts of a catalyst, 13-24 parts of a chain extender and 10-30 parts of a flame retardant. The robot track protects floor, is small in size, is light in weight, is low in noise and is low in vibration, is high in strength, is simple in structure, is simple in preparation method, is quick to mould, is stable in quality, has a high oxygen index and is easy to produce industrially.
Description
Technical field
The present invention relates to a kind of robot crawler belt and preparation method thereof, particularly relate to a kind of flame-retardant polyurethane elastomerics robot crawler belt and preparation method thereof.
Background technology
Robotics from birth since, progressively develop into application branch of learning economy and social development to material impact, and robot is accelerating to national security field, major scientific projects field and community service field development.No matter be go deep into the scene of the accident disaster relief or face complexity, the unknown, changeable non-structure environment, mobile robot often will work in various complexity, extreme environment and various landform, and the travel mechanism with the instable robot to overcome environment such as good intensity, handiness, static resistance is necessary guarantee.
Crawler belt is as an important main ground-engaging element of robot, and the quality of its performance has vital impact to mobile robot.The kind of current crawler belt mainly comprises metal track and rubber belt track.The shortcoming that metal track is huge because it is heavy, generally seldom uses mobile robot.Rubber belt track is the endless rubber belt that rubber and metal or filamentary material are composited, and generally comprises core gold, strength layer, buffer layer, coating layer and decorative pattern blob of viscose composition, there is complex process, make loaded down with trivial details, the shortcoming of constant product quality difference.
Polyurethane elastomer cast crawler belt is a kind of brand-new crawler belt, just occur along with mobile apparatus man-based development in recent years, in order to the lightweight, the high-strength requirement that adapt to complicated extreme environment robot design, it combines the advantage of synchronous cog belt and rubber belt track, abandon the multilayered structure that rubber belt track is loaded down with trivial details, incorporating core gold bullion, coating layer, buffer layer and pattern block is integrated poured layer, in strength layer, introduces high-strength aramid fiber and greatly improves intensity as skeleton.
But but only having about 18% without the polyurethane material oxygen index (LOI) of fire-retardant finish, flame retardant effect is poor, significantly limit the use range of urethane crawler belt, and can environment for use require day by day harsh at present to robot.Therefore, the flame retardant properties studying urethane crawler belt has very large meaning.
Summary of the invention
The object of the present invention is to provide a kind of flame-retardant polyurethane elastomerics robot crawler belt and preparation method thereof; the present invention not only has protection ground, volume is little, lightweight, noise is low, vibrate little feature, goes back that light weight is high-strength, structural reduction, technique are simple, shaping fast, steady quality, oxygen index are high, is easy to suitability for industrialized production.
The object of the invention is to be achieved through the following technical solutions:
A kind of flame-retardant polyurethane elastomerics robot crawler belt, described crawler belt is made up of polyurethane elastomer and aramid fiber; Aramid fiber is as casing ply, and the mode using whole-root rope shape to be wound around endless belt is carried out; Polyurethane elastomer is made up of polymer polyatomic alcohol, polyisocyanates, catalyzer, chainextender and fire retardant, wherein polymer polyatomic alcohol 100 parts; Polyisocyanates 18 ~ 28 parts; Catalyzer 0.02-0.04 part; Chainextender 13-24 part; Fire retardant 10 ~ 30 parts.
Described a kind of flame-retardant polyurethane elastomerics robot crawler belt, the polyester that described polymer polyatomic alcohol is functionality is 2, number-average molecular weight is the terminal hydroxy group of 1000 ~ 3000, polyethers are many, one in polyolefine and polymeric amide.
Described a kind of flame-retardant polyurethane elastomerics robot crawler belt, described polyisocyanates be TDI-80, TDI-100, MDI-100, MDI-50, in one.
Described a kind of flame-retardant polyurethane elastomerics robot crawler belt, described catalyzer is the one in dibutyl tin dilaurate, triethylenediamine, trolamine.
Described a kind of flame-retardant polyurethane elastomerics robot crawler belt, described chainextender is BDO, 3,3 ' two chloro-4, the one in 4 ' diphenylmethanediamiand, 3,5-dimethythiotoluene diamines.
Described a kind of flame-retardant polyurethane elastomerics robot crawler belt, described fire retardant is one or more of three (chloro isopropyl) phosphoric acid ester (TCPP) and TDE (DBDPE).
A kind of flame-retardant polyurethane elastomerics robot crawler belt preparation method, said method comprising the steps of:
(1) preparation of performed polymer
The dehydration of polymer polyatomic alcohol, fire retardant and catalyst mix is less than 0.05% to moisture, and add polyisocyanates in proportion, system reacts 2 hours in (80 ± 5) ° C, obtains performed polymer; ;
(2) in the mode of single rope integral ring-shaped winding, aramid fiber is positioned in mould;
(3) preparation of polyurethane elastomer crawler belt
Above-mentioned performed polymer is mixed with metering chainextender, degassed 5min under-0.01MPa vacuum tightness, pours in the mould being wrapped aramid fiber rope, matched moulds after gel, in 100 ° of C compression molding 30min, obtain a kind of polyurethane elastomer robot crawler belt with flame retardant resistance.
Embodiment
Below in conjunction with embodiment, the present invention is described in detail.
Do not do the number illustrated in following instance, all refer to mass fraction.
Embodiment Raw, except specified otherwise, is commercial.
Implement material therefor:
PEA2000 number-average molecular weight 2000, poly-adipic acid glycol ester glycol
TDI-802,4-tolylene diisocyanate 80% and 2,6-tolylene diisocyanate 20%
3,3 ' two chloro-4,4 ' diphenylmethanediamiand
Dibutyl tin dilaurate
Aramid fiber
Embodiment 1:
(1) preparation of performed polymer
100 parts of PEA2000,10 parts of TCPP and 0.02 part of dibutyl tin dilaurate mixed dehydrations are less than 0.05% to moisture, and add 18 parts of TDI-80, system reacts 2 hours in (80 ± 5) ° C, obtains performed polymer.
(2) preparation of polyurethane elastomer crawler belt
By above-mentioned performed polymer and 13 part 3,3 ' two chloro-4,4 ' diphenylmethanediamiand mixing, degassed 5min under-0.01MPa vacuum tightness, pour in the mould being wrapped 10 circle aramid fiber ropes, matched moulds after gel, in 100 ° of C compression molding 30min, obtains a kind of polyurethane elastomer robot crawler belt with flame retardant resistance.
Embodiment 2:
(1) preparation of performed polymer
100 parts of PEA2000,20 parts of TCPP and 0.03 part of dibutyl tin dilaurate mixed dehydrations are less than 0.05% to moisture, and add 28 parts of TDI-80, system reacts 2 hours in (80 ± 5) ° C, obtains performed polymer.
(2) preparation of polyurethane elastomer crawler belt
By above-mentioned performed polymer and 24 part 3,3 ' two chloro-4,4 ' diphenylmethanediamiand mixing, degassed 5min under-0.01MPa vacuum tightness, pour in the mould being wrapped 10 circle aramid fiber ropes, matched moulds after gel, in 100 ° of C compression molding 30min, obtains a kind of polyurethane elastomer robot crawler belt with flame retardant resistance.
Embodiment 3:
(1) preparation of performed polymer
100 parts of PEA2000,30 parts of TCPP and 0.04 part of dibutyl tin dilaurate mixed dehydrations are less than 0.05% to moisture, and add 24 parts of TDI-80 in proportion, system reacts 2 hours in (80 ± 5) ° C, obtains performed polymer.
(2) preparation of polyurethane elastomer crawler belt
By above-mentioned performed polymer and 19 part 3,3 ' two chloro-4,4 ' diphenylmethanediamiand mixing, degassed 5min under-0.01MPa vacuum tightness, pour in the mould being wrapped 10 circle aramid fiber ropes, matched moulds after gel, in 100 ° of C compression molding 30min, obtains a kind of polyurethane elastomer robot crawler belt with flame retardant resistance.
Embodiment 4:
(1) preparation of performed polymer
100 parts of PEA2000,10 parts of DBDPE and 0.02 part of dibutyl tin dilaurate mixed dehydrations are less than 0.05% to moisture, and add 18 parts of TDI-80, system reacts 2 hours in (80 ± 5) ° C, obtains performed polymer.
(2) preparation of polyurethane elastomer crawler belt
By above-mentioned performed polymer and 13 part 3,3 ' two chloro-4,4 ' diphenylmethanediamiand mixing, degassed 5min under-0.01MPa vacuum tightness, pour in the mould being wrapped 10 circle aramid fiber ropes, matched moulds after gel, in 100 ° of C compression molding 30min, obtains a kind of polyurethane elastomer robot crawler belt with flame retardant resistance.
Embodiment 5:
(1) preparation of performed polymer
100 parts of PEA2000,20 parts of DBDPE and 0.03 part of dibutyl tin dilaurate mixed dehydrations are less than 0.05% to moisture, and add 28 parts of TDI-80, system reacts 2 hours in (80 ± 5) ° C, obtains performed polymer.
(2) preparation of polyurethane elastomer crawler belt
By above-mentioned performed polymer and 24 part 3,3 ' two chloro-4,4 ' diphenylmethanediamiand mixing, degassed 5min under-0.01MPa vacuum tightness, pour in the mould being wrapped 10 circle aramid fiber ropes, matched moulds after gel, in 100 ° of C compression molding 30min, obtains a kind of polyurethane elastomer robot crawler belt with flame retardant resistance.
Embodiment 6:
(1) preparation of performed polymer
100 parts of PEA2000,30 parts of DBDPE and 0.04 part of dibutyl tin dilaurate mixed dehydrations are less than 0.05% to moisture, and add 24 parts of TDI-80 in proportion, system reacts 2 hours in (80 ± 5) ° C, obtains performed polymer.
(2) preparation of polyurethane elastomer crawler belt
By above-mentioned performed polymer and 19 part 3,3 ' two chloro-4,4 ' diphenylmethanediamiand mixing, degassed 5min under-0.01MPa vacuum tightness, pour in the mould being wrapped 10 circle aramid fiber ropes, matched moulds after gel, in 100 ° of C compression molding 30min, obtains a kind of polyurethane elastomer robot crawler belt with flame retardant resistance.
Table
| Oxygen index | Tensile strength | |
| Embodiment 1 | 28.1 | 35.7 |
| Embodiment 2 | 32.2 | 24.2 |
| Embodiment 3 | 32.9 | 16.1 |
| Embodiment 4 | 26.2 | 45.2 |
| Embodiment 5 | 28.3 | 42.5 |
| Embodiment 6 | 31.5 | 32.9 |
Can be obtained by data in table, along with the increase of amount of flame-retardant agent, oxygen index presents increase tendency, and the flame retardant effect of TCPP is better than DBDPE.Its reason is that TCPP belongs to halophosphoric acid vinegar based flame retardant, containing halogen and phosphoric, can play fire retardation during material combustion with gas phase and coagulation phase form.DBDPE is mainly fire-retardant with gas phase, and flame retardant effect is good not as TCPP.Along with the increase of DBDPE consumption, base polyurethane prepolymer for use as becomes thickness, and processing can be deteriorated, and addO-on therapy is restricted.Meanwhile, along with the increase of amount of flame-retardant agent, all there is the trend obviously reduced in the tensile strength of polyurethane elastomer, and the tensile strength downtrending adding TCPP is more obvious.Its reason may be TCPP is liquid phosphorus vinegar based flame retardant, adds in casting type polyurethane elastomerics and greatly can reduce Intermolecular Forces, reduce intermolecular Hyarogen-bonding, tensile strength is sharply reduced.And the polarity of DBDPE is comparatively strong, and keying action between polyurethane molecular is relatively good, less than TCPP on the impact of mechanical property.Therefore, oxygen index is required that higher environment is with TCPP can be adopted as fire retardant, and DBDPE can be adopted as fire retardant in the higher environment of mechanical property requirements.
Claims (7)
1. a flame-retardant polyurethane elastomerics robot crawler belt, is characterized in that: described crawler belt is made up of polyurethane elastomer and aramid fiber; Aramid fiber is as casing ply, and the mode using whole-root rope shape to be wound around endless belt is carried out; Polyurethane elastomer is made up of polymer polyatomic alcohol, polyisocyanates, catalyzer, chainextender and fire retardant, wherein polymer polyatomic alcohol 100 parts; Polyisocyanates 18 ~ 28 parts; Catalyzer 0.02-0.04 part; Chainextender 13-24 part; Fire retardant 10 ~ 30 parts.
2. a kind of flame-retardant polyurethane elastomerics robot according to claim 1 crawler belt, is characterized in that: the polyester that described polymer polyol alcohol functionalities is 2, number-average molecular weight is the terminal hydroxy group of 1000 ~ 3000, polyethers are many, one in polyolefine and polymeric amide.
3. a kind of flame-retardant polyurethane elastomerics robot according to claim 1 crawler belt, is characterized in that: described polyisocyanates be TDI-80, TDI-100, MDI-100, MDI-50, in one.
4. a kind of flame-retardant polyurethane elastomerics robot according to claim 1 crawler belt, is characterized in that: described catalyzer is the one in dibutyl tin dilaurate, triethylenediamine, trolamine.
5. a kind of flame-retardant polyurethane elastomerics robot according to claim 1 crawler belt, is characterized in that: described chainextender is BDO, 3,3 ' two chloro-4, the one in 4 ' diphenylmethanediamiand, 3,5-dimethythiotoluene diamines.
6. a kind of flame-retardant polyurethane elastomerics robot according to claim 1 crawler belt, is characterized in that: described fire retardant is one or more of three (chloro isopropyl) phosphoric acid ester (TCPP) and TDE (DBDPE).
7. a flame-retardant polyurethane elastomerics robot crawler belt preparation method, is characterized in that: said method comprising the steps of:
(1) preparation of performed polymer
The dehydration of polymer polyatomic alcohol, fire retardant and catalyst mix is less than 0.05% to moisture, and add polyisocyanates in proportion, system reacts 2 hours in (80 ± 5) ° C, obtains performed polymer; ;
(2) in the mode of single rope integral ring-shaped winding, aramid fiber is positioned in mould;
(3) preparation of polyurethane elastomer crawler belt
Above-mentioned performed polymer is mixed with metering chainextender, degassed 5min under-0.01MPa vacuum tightness, pours in the mould being wrapped aramid fiber rope, matched moulds after gel, in 100 ° of C compression molding 30min, obtain a kind of polyurethane elastomer robot crawler belt with flame retardant resistance.
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| CN201510568295.7A CN105238011A (en) | 2015-09-09 | 2015-09-09 | Flame-retarding polyurethane elastomer robot track and preparation method of same |
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| CN201510568295.7A CN105238011A (en) | 2015-09-09 | 2015-09-09 | Flame-retarding polyurethane elastomer robot track and preparation method of same |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106832191A (en) * | 2017-02-17 | 2017-06-13 | 苏州高夫高分子材料有限公司 | A kind of polyurethane elastomer and its product and preparation method |
| CN107383303A (en) * | 2017-08-01 | 2017-11-24 | 合肥康之恒机械科技有限公司 | A kind of track material for piling machine and preparation method thereof |
| CN109517361A (en) * | 2017-09-20 | 2019-03-26 | 科沃斯机器人股份有限公司 | A kind of TPU blend and application thereof |
Citations (1)
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| CN103802900A (en) * | 2013-12-23 | 2014-05-21 | 青岛开世密封工业有限公司 | Tensile skeleton layer board belt, manufacturing device and method and rubber track of tensile skeleton layer board belt |
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2015
- 2015-09-09 CN CN201510568295.7A patent/CN105238011A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802900A (en) * | 2013-12-23 | 2014-05-21 | 青岛开世密封工业有限公司 | Tensile skeleton layer board belt, manufacturing device and method and rubber track of tensile skeleton layer board belt |
Non-Patent Citations (1)
| Title |
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| 赵彩荣等: "PTMG型聚氨酯同步带的研制", 《特种橡胶制品》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106832191A (en) * | 2017-02-17 | 2017-06-13 | 苏州高夫高分子材料有限公司 | A kind of polyurethane elastomer and its product and preparation method |
| CN107383303A (en) * | 2017-08-01 | 2017-11-24 | 合肥康之恒机械科技有限公司 | A kind of track material for piling machine and preparation method thereof |
| CN109517361A (en) * | 2017-09-20 | 2019-03-26 | 科沃斯机器人股份有限公司 | A kind of TPU blend and application thereof |
| WO2019057001A1 (en) * | 2017-09-20 | 2019-03-28 | 科沃斯机器人股份有限公司 | Tpu blend, use thereof, and track preparation method using same |
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Application publication date: 20160113 |