CN107718603B - HSM manufacturing process of arm rod of carbon fiber mechanical arm - Google Patents
HSM manufacturing process of arm rod of carbon fiber mechanical arm Download PDFInfo
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- CN107718603B CN107718603B CN201710889371.3A CN201710889371A CN107718603B CN 107718603 B CN107718603 B CN 107718603B CN 201710889371 A CN201710889371 A CN 201710889371A CN 107718603 B CN107718603 B CN 107718603B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/68—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts by incorporating or moulding on preformed parts, e.g. inserts or layers, e.g. foam blocks
- B29C70/70—Completely encapsulating inserts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B11/00—Making preforms
- B29B11/06—Making preforms by moulding the material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/68—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts by incorporating or moulding on preformed parts, e.g. inserts or layers, e.g. foam blocks
- B29C70/681—Component parts, details or accessories; Auxiliary operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/68—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts by incorporating or moulding on preformed parts, e.g. inserts or layers, e.g. foam blocks
- B29C70/681—Component parts, details or accessories; Auxiliary operations
- B29C70/682—Preformed parts characterised by their structure, e.g. form
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/68—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts by incorporating or moulding on preformed parts, e.g. inserts or layers, e.g. foam blocks
- B29C70/681—Component parts, details or accessories; Auxiliary operations
- B29C70/683—Pretreatment of the preformed part, e.g. insert
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- Chemical & Material Sciences (AREA)
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- Moulding By Coating Moulds (AREA)
Abstract
The invention discloses an HSM manufacturing process of an arm rod of a carbon fiber mechanical arm. Firstly, cutting thermal self-expansion high-energy adhesive, fiber prepreg cloth and embedding a pipe; putting the heat self-expansion high-energy glue wrapped embedded pipe into a core material mold, closing the mold, heating to 80-100 ℃, maintaining for 3-30 minutes, under the temperature, slightly expanding the heat self-expansion high-energy glue in advance to fill the core material mold cavity, cooling, demolding and taking out the preformed core material; wrapping the fiber prepreg cloth outside the preform core material to obtain a preform, placing the preform into a forming mold, closing the mold and heating to the forming temperature of 120-; and cooling, demolding and taking the workpiece to obtain the arm rod of the carbon fiber mechanical arm. The arm rod of the carbon fiber mechanical arm has the advantages of high bearing capacity, good rigidity and light self weight. The workpiece grabbing device has the advantages of stable action, high movement speed and high positioning precision when grabbing workpieces.
Description
Technical Field
The invention belongs to the field of automatic mechanical devices, and particularly relates to an HSM (high speed mechanical Module) manufacturing process of an arm rod of a carbon fiber mechanical arm.
Background
The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. Although they have different forms, they all have a common feature of being able to receive commands to precisely locate a point in three-dimensional (or two-dimensional) space for work.
The mechanical arm is required to have large bearing capacity, good rigidity and light self weight in the design process. The rigidity of the arm directly influences the stability of the action, the speed of movement and the positioning precision when the arm grabs the workpiece. If the rigidity is poor, bending deformation of the arm in a vertical plane and lateral torsional deformation of the arm in a horizontal plane can be caused, the arm needs to vibrate, or a workpiece is stuck and cannot work during action. Therefore, the arm generally adopts a guide rod with better rigidity to increase the rigidity of the arm, and the rigidity of each support and each connecting piece also has certain requirements to ensure that the arm can bear the required driving force.
The metal mechanical arm is heavier, and accurate and the stability of operation receives the restriction, consequently puts forward higher requirement to the lightweight of mechanical arm, and this aspect is exactly the advantage place of carbon-fibre composite mechanical arm.
The existing carbon fiber composite material molding mainly comprises the following process modes:
the hand pasting process has the advantages of less equipment investment and excellent product appearance, but also has the following problems: 1. the solvent is volatilized to pollute the environment, and meanwhile, the environment is not protected; 2. the bonding force between fiber material layers is not good, and the strength of the product is not high enough; 3. the curing process is slow, the production efficiency is low, and although the cost is low, DIY production is easy for individuals, but the curing process is not suitable for mass production.
Secondly, core mould pressing technology, the pressure of goods when shaping comes from outside press, adopts the outer cementing layer of rigid foam core and then the outer parcel fibre preimpregnation cloth is good in advance promptly, and wherein used rigid foam has PMI, PU, PVC, bas wood etc. need earlier through CNC cutting into the core of shape in advance, puts into the die cavity, adds the heat and pressure, and resin curing shaping obtains the goods, and efficiency is higher, the problem that exists: 1. CNC cutting is needed in advance for the hard foam core material with complex working procedures, equipment investment is increased, 2, a cementing layer must be additionally added for the foam material and the fiber prepreg cloth, material cost is increased, and 3, due to uneven stress, excellent product appearance is difficult to obtain; 4. the core material has no expansion force from inside to outside in the compression molding process, so that the bonding force between the layers of the fiber is poor, the bonding is not uniform, and the delamination is easy to cause the reduction of the integral strength of the product; 5. the large-size workpiece needs a large-tonnage press, so that the equipment investment is large, and the popularization is not facilitated.
And thirdly, an autoclave process, namely a process method for preparing a composite material part by placing the composite material blank assembly sealed by the vacuum bag into an autoclave and carrying out curing molding under the conditions of heating and pressurizing. There is a problem that a hollow structure thereof is difficult to realize; its two intermittent production modes, production efficiency is lower, is difficult to satisfy the batch production requirement in the arm field.
And fourthly, a blowing hot pressing process, namely a method for blowing the raw material closed in the mould into a hollow product by means of gas pressure, so that the product with good forming performance (such as low stress) and complex undulating curve (shape) can be formed. The method can realize the hollow structure of the mechanical arm in a mode of blowing the nylon air pipe in the middle, and has the problems at the present stage: 1. the hot-pressing molding is carried out by blowing air, and the defect rate of 3-5 percent caused by air leakage exists in the industry; 2. investment of blowing equipment is needed; 3. the size of a product is difficult to be stably controlled due to a non-three-dimensional supporting structure of a prefabricated product obtained by wrapping high-energy adhesive by fiber prepreg cloth, and the reject ratio phenomena such as fiber layering dislocation and the like in the final product are easily caused; 4. the method belongs to an intermittent production operation mode, and has low production efficiency; 5. complex products are difficult to adapt due to the shape limitation of the air duct.
Disclosure of Invention
The invention aims to provide a manufacturing process of a carbon fiber mechanical arm with high bending strength, light weight, high strength and low cost. Wherein HSM is an abbreviation for Heat Self Molding.
In order to achieve the purpose of the invention, the invention provides an HSM manufacturing process of an arm lever of a carbon fiber mechanical arm, which is characterized by comprising the following steps of:
1) cutting the thermal self-expansion high-energy adhesive, the fiber prepreg cloth and the embedded pipe;
2) putting the heat self-expansion high-energy glue wrapped embedded pipe into a core material mold, closing the mold, heating to 80-100 ℃, maintaining for 3-30 minutes, under the temperature, slightly expanding the heat self-expansion high-energy glue in advance to fill the core material mold cavity, cooling, demolding and taking out the preformed core material;
3) wrapping the fiber prepreg cloth outside the preform core material to obtain a preform, placing the preform into a forming mold, closing the mold and heating to the forming temperature of 120-; and cooling, demolding and taking the workpiece to obtain the arm rod of the carbon fiber mechanical arm.
Furthermore, the re-expansion strength of the plastic pre-shaped thermal self-expansion high-energy adhesive is not more than the deformation resistance strength of the pure composite material product under 1% deformation.
Further, the fiber prepreg is carbon fiber prepreg, glass prepreg or aramid prepreg.
Further, the embedded pipe is a plastic pipe or a carbon fiber composite pipe or a metal pipe.
Further, the high-energy adhesive is a thermosetting composite material which can start expansion in a certain temperature range, the starting expansion temperature is 60-120 ℃, the optimal expansion temperature range is 100-.
The advantages of the invention are as follows:
1. the core material with any shape is supported without additional equipment;
2. the high-energy glue has the capability of gluing when being heated, and an additional gluing layer is not needed, so that the material is saved;
3. when heated, the high-energy adhesive has outward expansion force, thereby obtaining light weight and high strength; meanwhile, the use amount of the fiber prepreg cloth can be reduced after the high-energy adhesive is used, and the production cost is reduced;
4. the high-energy glue does not need to be extracted, so that the prepared mechanical arm is of a filling structure and is higher in bending strength.
5. The prefabricated core material is obtained through the first step of thermal self-expansion high-energy glue preforming, the structure is different from the previous 2D structure that film sheet material high-energy glue, the 3D core material can be obtained, therefore, the wrapping piece of the fiber prepreg cloth needing three-dimensional support is more suitable, the size of the product after wrapping is closer to the final shape, when the next step of heating expansion curing molding, the deformation of the fiber material in the expansion process due to the overlarge size change before and after expansion can be avoided, the batch stability of the product is influenced, the stress concentration caused by uneven stress can be overcome, and the reject ratio of the product warping and the like can be avoided.
6. Due to the adoption of the operation of prefabricating the core material in the first step, the core material of the prefabricated product with accurate size can be obtained, the size precision of the product can be better controlled, and the yield of the product is improved;
7. in the second step and the fiber composite material forming process, the prefabricated core material can be subjected to the re-expansion force of the heated prefabricated core material inside, so that the fiber composite material is subjected to extrusion force from inside to outside, the interlayer bonding force is improved, and the final strength of the product is further improved;
8. the expansion strength from inside to outside generated by the thermal self-expansion high-energy adhesive required by the invention is not more than the deformation resistance strength of a pure composite material product under 1% deformation, so that the subsequent heating deformation of the product can be effectively avoided, and the defect rate of the product generated by the subsequent heating deformation can be overcome.
Description of the drawings:
fig. 1 is a schematic structural diagram of an arm unit of a carbon fiber mechanical arm.
Figure 2 is a schematic cross-sectional view of the boom of a carbon fiber robotic arm.
Figure 3 is a schematic cross-sectional view of a carbon fiber robot arm as it is being molded in a mold.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative of the invention and is not to be construed as limiting the invention. The examples do not specify particular techniques or conditions, and are performed according to the techniques or conditions described in the literature in the art or according to the product specifications. The reagents or instruments used are not indicated by the manufacturer, and are all conventional products commercially available.
Wherein the high-energy glue product is high-energy glue/HR-313 or high-energy glue/HR-330 produced by Hauer New materials GmbH of Xiamen.
The following examples are in conjunction with figures 1-3. Wherein 1 is the armed lever of carbon fiber arm, 2 is metal interface spare, 3 is fibre preimpregnation cloth, 4 is heat self-expanding high energy glue, 5 is pre-buried pipe, 6 is the upper die, 7 is the bed die.
Example 1: preparation process of arm rod of carbon fiber mechanical arm
1) Cutting high-energy glue, fiber prepreg cloth and embedded pipes;
2) putting the heat self-expansion high-energy glue wrapped embedded pipe into a core material mould, heating to 80 ℃, maintaining for 15 minutes, under the temperature, slightly expanding in advance by the heat self-expansion high-energy glue to fill a core material mould cavity, cooling and demoulding to remove a preformed core material;
3) wrapping the fiber prepreg cloth outside the preform core material to obtain a preform, placing the preform into a forming die, closing the die and heating to the forming temperature of 150 ℃, wherein the forming time is 15 minutes; and cooling, demolding and taking the workpiece to obtain the arm rod of the carbon fiber mechanical arm.
The fiber prepreg is carbon fiber prepreg.
The embedded pipe can be a plastic pipe or a carbon fiber composite pipe or a metal pipe.
The carbon fiber mechanical arm prepared by the embodiment has the advantages of high bearing capacity, good rigidity and light dead weight. The workpiece grabbing device has the advantages of stable action, high movement speed and high positioning precision when grabbing workpieces.
Example 2: preparation process of arm rod of carbon fiber mechanical arm
1) Cutting high-energy glue, fiber prepreg cloth and embedded pipes;
2) putting the heat self-expansion high-energy glue wrapped embedded pipe into a core material mould, heating to 100 ℃, maintaining for 3 minutes, under the temperature, slightly expanding in advance by the heat self-expansion high-energy glue to fill a core material mould cavity, cooling and demoulding to remove a preformed core material;
3) wrapping the fiber prepreg cloth outside the preform core material to obtain a preform, placing the preform into a forming die, closing the die and heating to the forming temperature of 120 ℃, wherein the forming time is 60 minutes; and cooling, demolding and taking the workpiece to obtain the arm rod of the carbon fiber mechanical arm.
The fiber prepreg is carbon fiber prepreg.
The embedded pipe can be a plastic pipe or a carbon fiber composite pipe or a metal pipe.
The carbon fiber mechanical arm prepared by the embodiment has the advantages of high bearing capacity, good rigidity and light dead weight. The workpiece grabbing device has the advantages of stable action, high movement speed and high positioning precision when grabbing workpieces.
The fiber prepreg is carbon fiber prepreg.
The embedded pipe can be a plastic pipe or a carbon fiber composite pipe or a metal pipe.
The carbon fiber mechanical arm prepared by the embodiment has the advantages of high bearing capacity, good rigidity and light dead weight. The workpiece grabbing device has the advantages of stable action, high movement speed and high positioning precision when grabbing workpieces.
Example 3: preparation process of arm rod of carbon fiber mechanical arm
1) Cutting high-energy glue, fiber prepreg cloth and embedded pipes;
2) putting the heat self-expansion high-energy glue wrapped embedded pipe into a core material mould, heating to 90 ℃, maintaining for 30 minutes, under the temperature, slightly expanding in advance by the heat self-expansion high-energy glue to fill a core material mould cavity, cooling and demoulding to remove a preformed core material;
3) wrapping the fiber prepreg cloth outside the preform core material to obtain a preform, placing the preform into a forming die, closing the die and heating to the forming temperature of 180 ℃, wherein the forming time is 10 minutes; and cooling, demolding and taking the workpiece to obtain the arm rod of the carbon fiber mechanical arm.
The fiber prepreg is carbon fiber prepreg.
The embedded pipe can be a plastic pipe or a carbon fiber composite pipe or a metal pipe.
The carbon fiber mechanical arm prepared by the embodiment has the advantages of high bearing capacity, good rigidity and light dead weight. The workpiece grabbing device has the advantages of stable action, high movement speed and high positioning precision when grabbing workpieces.
The fiber prepreg may be a glass prepreg or a glass prepreg.
The embedded pipe can be a plastic pipe or a carbon fiber composite pipe or a metal pipe.
The carbon fiber mechanical arm prepared by the embodiment has the advantages of high bearing capacity, good rigidity and light dead weight. The workpiece grabbing device has the advantages of stable action, high movement speed and high positioning precision when grabbing workpieces.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (3)
1. The HSM manufacturing process of the arm rod of the carbon fiber mechanical arm is characterized by comprising the following steps of:
1) cutting the thermal self-expansion high-energy adhesive, the fiber prepreg cloth and the embedded pipe; the re-expansion strength of the thermal self-expansion high-energy adhesive is less than or equal to the deformation resistance strength of a pure composite material product under 1% deformation;
2) putting the heat self-expansion high-energy glue wrapped embedded pipe into a core material mold, closing the mold, heating to 80-100 ℃, maintaining for 3-30 minutes, under the temperature, slightly expanding the heat self-expansion high-energy glue in advance to fill the core material mold cavity, cooling, demolding and taking out the preformed core material;
3) wrapping the fiber prepreg cloth outside the preform core material to obtain a preform, placing the preform into a forming mold, closing the mold and heating to the forming temperature of 120-; cooling, demolding and taking out the workpiece to obtain the arm rod of the carbon fiber mechanical arm;
the high-energy adhesive is a thermosetting composite material which can start expansion in a certain temperature range, the starting expansion temperature is 60-120 ℃, the optimal expansion temperature range is 100-.
2. The HSM manufacturing process for the arm bar of the carbon fiber mechanical arm of claim 1, wherein the fiber prepreg is a carbon fiber prepreg, a glass prepreg or an aramid prepreg.
3. The HSM manufacturing process for the arm bar of the carbon fiber mechanical arm of claim 1, wherein the pre-buried pipe is a plastic pipe or a carbon fiber composite pipe or a metal pipe.
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| CN201710889371.3A CN107718603B (en) | 2017-09-27 | 2017-09-27 | HSM manufacturing process of arm rod of carbon fiber mechanical arm |
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| CN111196044B (en) * | 2018-11-16 | 2021-07-16 | 中航复合材料有限责任公司 | Compression molding method for carbon fiber composite material mechanical arm |
| CN112721236B (en) * | 2020-12-29 | 2023-03-10 | 宁波复升新材料科技有限公司 | Manufacturing method of special-shaped carbon fiber mechanical arm |
| CN113696499B (en) * | 2021-08-26 | 2023-09-15 | 航天特种材料及工艺技术研究所 | Preparation method of assembled deformation-preventing light-weight carbon fiber composite material frame |
| CN114368007B (en) * | 2022-03-22 | 2022-06-24 | 杭州博适特新材料科技有限公司 | Lightweight robot arm and preparation method thereof |
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| CN105690803B (en) * | 2016-01-15 | 2018-01-16 | 厦门市豪尔新材料股份有限公司 | A kind of composite Vacuum Heat expansion molding technique |
| CN107089017B (en) * | 2016-02-17 | 2019-05-31 | 厦门市豪尔新材料股份有限公司 | A kind of high-energy rubber shaping fiber answers the thermal expansion technique of material product |
| CN106827587B (en) * | 2017-01-22 | 2019-01-04 | 厦门市豪尔新材料股份有限公司 | The forming method of application and its wing of the HSM technique in wing molding |
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Effective date of registration: 20210204 Address after: 361000 unit 104, 29 Xianghong Road, industrial zone, torch hi tech Zone (Xiang'an), Xiamen City, Fujian Province Patentee after: XIAMEN ZHONGHAOQIANG CARBON FIBER COMPOSITE MATERIALS Co.,Ltd. Address before: 361000 No.29 Xianghong Road, torch hi tech Zone (Xiang'an) Industrial Zone, Xiang'an District, Xiamen City, Fujian Province Patentee before: XIAMEN HOWER MATERIAL Co.,Ltd. |