CN108466277B - 航空零部件的机械抓手 - Google Patents

航空零部件的机械抓手 Download PDF

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CN108466277B
CN108466277B CN201810125324.6A CN201810125324A CN108466277B CN 108466277 B CN108466277 B CN 108466277B CN 201810125324 A CN201810125324 A CN 201810125324A CN 108466277 B CN108466277 B CN 108466277B
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周汉
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Hainan Institute of Science and Technology
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Abstract

本发明公开了航空零部件的机械抓手，其中：圆筒的底部外端面上依次固定的安装有气泵、连杆、真空泵；所述的圆筒的底部内壁上固定的连接有一根支撑杆；上述的支撑杆的末端依次固定的安装有气球、矩形气囊；圆筒的内表面和外表面均设置有一层聚氨酯保护层，聚氨酯保护层制备方法为：（1）超细纤维制造；（2）高密度三维非织布制造；（3）聚氨酯基布制造；（4）开纤；（5）染色；（6）表面层制造；本发明制备的聚氨酯保护套，耐化学性、防水、防霉变性、耐磨性等方面超过天然皮革。

Description

航空零部件的机械抓手
技术领域
本发明涉及机械臂领域，特别是涉及航空零部件的机械抓手。
背景技术
本装置涉及的夹取部件为管状部件，传统的管状部件夹取与保存分离，而且保存的时候部件容易受到外界水汽的干扰生锈。
发明内容
本发明要解决的任务是提供航空零部件的机械抓手，使得达到能够实现夹取与保存一起实现，同时起到防止部件接触水汽的目的。
为了解决上述问题，本发明是通过以下技术方案实现的：
航空零部件的机械抓手，包括：气泵、连杆、真空泵、圆筒、干燥空腔、支撑杆、气球、矩形气囊，其中：圆筒的顶部外端面上依次固定的安装有气泵、连杆、真空泵；所述的圆筒的顶部内壁上固定的连接有一根支撑杆；上述的支撑杆的末端依次固定的安装有气球、矩形气囊；上述的气球、矩形气囊分别通过导气管与气泵相连通；所述的真空泵通过一个通孔与圆筒的内腔相连通；所述的圆筒的内壁上设置有一圈干燥空腔；上述的干燥空腔内填充有变色硅胶干燥剂；上述的圆筒的外壁上设置有一圈透明观察层；上述的干燥空腔通过细孔与圆筒的内腔连通。
所述圆筒的内表面和外表面均设置有一层聚氨酯保护层。
所述的聚氨酯保护层制备方法为：（1）超细纤维制造；（2）高密度三维非织布制造；（3）聚氨酯基布制造；（4）开纤；（5）染色；（6）表面层制造；所述方法包括以下步骤：
（1）超细纤维制造：
A:共混纺丝：将PET切片在真空干燥箱100-130℃下干燥10-14h后，与PA6切片以1-1.5:2-3的质量比例混合，通过加料斗加入到单螺杆纺丝机中进行熔融共混纺丝，卷绕速度250～600 m／min，螺杆转速为20-40 r／min，控制螺杆各区温度：一区200-260℃，二区280-300℃，三区270-310℃，四区270-310℃，管道280-300℃；
B:拉伸：得到的共混纤维放入拨叉式平牵机进行拉伸热定型，控制第一热辊温度100-120℃，第二热辊温度110-130℃，热定型温度135-150℃，拉伸速度100-150 m／min，拉伸倍数1.5-3；
C:溶解剥离：将拉伸热定型后的PET／PA共混纤维在对二甲苯中进行溶解剥离处理，处理温度120-160℃，浴比为300-500：1，溶解1-3h后取出，用新鲜的热对二甲苯溶液冲洗，室温真空干燥3h，得到超细纤维；
（2）高密度三维非织布制造：将超细纤维置于针剌密度为1300刺/cm2—1500刺/cm2高速针刺机进行高密度针刺固结，时间为30-60min,高密度针刺固结后超细纤维置于温度为80-90℃热水中收缩，收缩后置于轧光机进行轧光定型，控制线压力为500-700N／cm,压辊温度为100-130℃；
（3）聚氨酯基布制造：选择固含量40-50%，100%模量为70-90kg/cm2的聚氨酯树脂，将步骤2中制得高密度非织造布浸渍在聚氨酯溶液1-2h；
（4）开纤：将步骤（3）制得的合成革基布放入烘箱，控制烘箱温度95℃-100℃，时间3-5h,将烘干后的基布置于碱液中，加入渗透剂JFC，碱液升温至90℃-110℃，保持40-60min，控制浴比40-60:1；
（5）染色：采用依加仑蓝3GL100浓度3%-5%，苯甲醇用量10-15%，控制浴比为2-3:30-35，温度控制为110-115℃；
（6）表面层制造：将聚氨酯浆料涂覆在离型纸上,置于70-90℃的烘箱中烘干，保持1-3h，再自然冷却至室温，成膜，涂上乌利当胶，将基布贴合上，经压和、干燥、将离型纸剥离后便形成合成革；既得一种超细纤维聚氨酯合成革。
本发明的优点在于：结构简单，易于操作；通过气球、干燥空腔实现夹取与保存一体，同时起到防止部件接触水汽的目的，本发明制备的聚氨酯超细纤维耐化学性、防水、防霉变性、耐磨性等方面超过天然皮革。
附图说明
图1为本发明的结构示意图。
附图标记：气泵1、连杆2、真空泵3、圆筒4、干燥空腔5、支撑杆6、气球7、矩形气囊8。
具体实施方式
实施例1
航空零部件的机械抓手，包括：气泵1、连杆2、真空泵3、圆筒4、干燥空腔5、支撑杆6、气球7、矩形气囊8，其中：圆筒4的顶部外端面上依次固定的安装有气泵1、连杆2、真空泵3；所述的圆筒4的顶部内壁上固定的连接有一根支撑杆6；上述的支撑杆6的末端依次固定的安装有气球7、矩形气囊8；上述的气球7、矩形气囊8分别通过导气管与气泵1相连通；所述的真空泵3通过一个通孔与圆筒4的内腔相连通；所述的圆筒4的内壁上设置有一圈干燥空腔5；上述的干燥空腔5内填充有变色硅胶干燥剂；上述的圆筒4的外壁上设置有一圈透明观察层；上述的干燥空腔5通过细孔与圆筒4的内腔连通。
所述圆筒的内表面和外表面均设置有一层聚氨酯保护层。
所述的聚氨酯保护层制备方法为：
（1）超细纤维制造：
A:共混纺丝：将PET切片在真空干燥箱120℃下干燥12h后，与PA6切片以1.3:2.5的质量比例混合，通过加料斗加入到单螺杆纺丝机中进行熔融共混纺丝，卷绕速度425 m／min，螺杆转速为30 r／min，控制螺杆各区温度：一区230℃，二区290℃，三区290℃，四区290℃，管道290℃；
B:拉伸：得到的共混纤维放入拨叉式平牵机进行拉伸热定型，控制第一热辊温度110℃，第二热辊温度120℃，热定型温度145℃，拉伸速度125 m／min，拉伸倍数2.5；
C:溶解剥离：将拉伸热定型后的PET／PA共混纤维在对二甲苯中进行溶解剥离处理，处理温度140℃，浴比为400：1，溶解2h后取出，用新鲜的热对二甲苯溶液冲洗，室温真空干燥3h，得到超细纤维；
（2）高密度三维非织布制造：将超细纤维置于针剌密度为1400刺/cm2高速针刺机进行高密度针刺固结，时间为45min,高密度针刺固结后超细纤维置于温度为85℃热水中收缩，收缩后置于轧光机进行轧光定型，控制线压力为600N／cm,压辊温度为115℃；
（3）聚氨酯基布制造：选择固含量45%，100%模量为80kg/cm2的聚氨酯树脂，将步骤2中制得高密度非织造布浸渍在聚氨酯溶液1.5h；
（4）开纤：将步骤（3）制得的合成革基布放入烘箱，控制烘箱温度97℃，时间4h,将烘干后的基布置于碱液中，加入渗透剂JFC，碱液升温至100℃，保持50min，控制浴比50:1；
（5）染色：采用依加仑蓝3GL100浓度4%，苯甲醇用量13%，控制浴比为2.5:32，温度控制为113℃；
（6）表面层制造：将聚氨酯浆料涂覆在离型纸上,置于80℃的烘箱中烘干，保持2h，再自然冷却至室温，成膜，涂上乌利当胶，将基布贴合上，经压和、干燥、将离型纸剥离后便形成合成革；既得一种超细纤维聚氨酯合成革。
实施例2
所述圆筒的内表面和外表面均设置有一层聚氨酯保护层。
所述的聚氨酯保护层制备方法为：
（1）超细纤维制造：
A:共混纺丝：将PET切片在真空干燥箱100℃下干燥10h后，与PA6切片以1:2的质量比例混合，通过加料斗加入到单螺杆纺丝机中进行熔融共混纺丝，卷绕速度250m／min，螺杆转速为20 r／min，控制螺杆各区温度：一区200℃，二区280℃，三区270℃，四区270℃，管道280℃；
B:拉伸：得到的共混纤维放入拨叉式平牵机进行拉伸热定型，控制第一热辊温度100℃，第二热辊温度110℃，热定型温度135℃，拉伸速度100 m／min，拉伸倍数1.5；
C:溶解剥离：将拉伸热定型后的PET／PA共混纤维在对二甲苯中进行溶解剥离处理，处理温度120℃，浴比为300：1，溶解1h后取出，用新鲜的热对二甲苯溶液冲洗，室温真空干燥3h，得到超细纤维；
（2）高密度三维非织布制造：将超细纤维置于针剌密度为1300刺/cm2高速针刺机进行高密度针刺固结，时间为30min,高密度针刺固结后超细纤维置于温度为80℃热水中收缩，收缩后置于轧光机进行轧光定型，控制线压力为500N／cm,压辊温度为100℃；
（3）聚氨酯基布制造：选择固含量40%，100%模量为70kg/cm2的聚氨酯树脂，将步骤2中制得高密度非织造布浸渍在聚氨酯溶液1h；
（4）开纤：将步骤（3）制得的合成革基布放入烘箱，控制烘箱温度95℃，时间3h,将烘干后的基布置于碱液中，加入渗透剂JFC，碱液升温至90℃，保持40min，控制浴比40:1；
（5）染色：采用依加仑蓝3GL100浓度3%，苯甲醇用量10%，控制浴比为2:30，温度控制为110℃；
（6）表面层制造：将聚氨酯浆料涂覆在离型纸上,置于70℃的烘箱中烘干，保持1h，再自然冷却至室温，成膜，涂上乌利当胶，将基布贴合上，经压和、干燥、将离型纸剥离后便形成合成革；既得一种超细纤维聚氨酯合成革。
实施例3
所述圆筒的内表面和外表面均设置有一层聚氨酯保护层。
所述的聚氨酯保护层制备方法为：
（1）超细纤维制造：
A:共混纺丝：将PET切片在真空干燥箱130℃下干燥14h后，与PA6切片以1.5:3的质量比例混合，通过加料斗加入到单螺杆纺丝机中进行熔融共混纺丝，卷绕速度600 m／min，螺杆转速为40 r／min，控制螺杆各区温度：一区260℃，二区300℃，三区310℃，四区310℃，管道300℃；
B:拉伸：得到的共混纤维放入拨叉式平牵机进行拉伸热定型，控制第一热辊温度120℃，第二热辊温度130℃，热定型温度150℃，拉伸速度150 m／min，拉伸倍数3；
C:溶解剥离：将拉伸热定型后的PET／PA共混纤维在对二甲苯中进行溶解剥离处理，处理温度160℃，浴比为500：1，溶解3h后取出，用新鲜的热对二甲苯溶液冲洗，室温真空干燥3h，得到超细纤维；
（2）高密度三维非织布制造：将超细纤维置于针剌密度为1500刺/cm2高速针刺机进行高密度针刺固结，时间为60min,高密度针刺固结后超细纤维置于温度为90℃热水中收缩，收缩后置于轧光机进行轧光定型，控制线压力为700N／cm,压辊温度为130℃；
（3）聚氨酯基布制造：选择固含量50%，100%模量为90kg/cm2的聚氨酯树脂，将步骤2中制得高密度非织造布浸渍在聚氨酯溶液2h；
（4）开纤：将步骤（3）制得的合成革基布放入烘箱，控制烘箱温度100℃，时间5h,将烘干后的基布置于碱液中，加入渗透剂JFC，碱液升温至110℃，保持60min，控制浴比60:1；
（5）染色：采用依加仑蓝3GL100浓度5%，苯甲醇用量15%，控制浴比为3:35，温度控制为115℃；
（6）表面层制造：将聚氨酯浆料涂覆在离型纸上,置于90℃的烘箱中烘干，保持3h，再自然冷却至室温，成膜，涂上乌利当胶，将基布贴合上，经压和、干燥、将离型纸剥离后便形成合成革；既得一种超细纤维聚氨酯合成革。
实施例4
所述圆筒的内表面和外表面均设置有一层聚氨酯保护层。
所述方法具体包括以下步骤：
（1）超细纤维制造：
A:共混纺丝：将PET切片在真空干燥箱80℃下干燥8h后，与PA6切片以1:1的质量比例混合，通过加料斗加入到单螺杆纺丝机中进行熔融共混纺丝，卷绕速度200 m／min，螺杆转速为50 r／min，控制螺杆各区温度：一区180℃，二区250℃，三区320℃，四区250℃，管道320℃；
B:拉伸：得到的共混纤维放入拨叉式平牵机进行拉伸热定型，控制第一热辊温度80℃，第二热辊温度100℃，热定型温度120℃，拉伸速度90 m／min，拉伸倍数4；
C:溶解剥离：将拉伸热定型后的PET／PA共混纤维在对二甲苯中进行溶解剥离处理，处理温度100℃，浴比为250：1，溶解4h后取出，用新鲜的热对二甲苯溶液冲洗，室温真空干燥3h，得到超细纤维；
（2）高密度三维非织布制造：将超细纤维置于针剌密度为1200刺/cm2高速针刺机进行高密度针刺固结，时间为20min,高密度针刺固结后超细纤维置于温度为60℃热水中收缩，收缩后置于轧光机进行轧光定型，控制线压力为400N／cm,压辊温度为80℃；
（3）聚氨酯基布制造：选择固含量30%，100%模量为60kg/cm2的聚氨酯树脂，将步骤2中制得高密度非织造布浸渍在聚氨酯溶液3h；
（4）开纤：将步骤（3）制得的合成革基布放入烘箱，控制烘箱温度110℃，时间2h,将烘干后的基布置于碱液中，加入渗透剂JFC，碱液升温至80℃，保持30min，控制浴比30:1；
（5）染色：采用依加仑蓝3GL100浓度2%，苯甲醇用量8%，控制浴比为1:25，温度控制为100℃；
（6）表面层制造：将聚氨酯浆料涂覆在离型纸上,置于60℃的烘箱中烘干，保持4h，再自然冷却至室温，成膜，涂上乌利当胶，将基布贴合上，经压和、干燥、将离型纸剥离后便形成合成革；既得一种超细纤维聚氨酯合成革。
对比例1
所述保护套采用的是普通人造皮革聚氨酯。
对比例2
所述保护套采用的是真皮包裹。
将等重量200g的实施例1-4，对比例1-2制得的保护套分别置于浓度为35%的氢氧化钠和浓度为20%的硫酸溶液中浸泡10h,取出后检查腐蚀状况；将等重量的200g实施例1-4，对比例1-2制得的保护套进行防水等级测试；将等重量的200g实施例1-4，对比例1-2制得的保护套分别用皮革耐磨试验机进行耐磨性测试。
结果见表一
表一
酸液(腐蚀减重/g) 碱液(腐蚀减重/g) 防水等级 耐磨程度（磨耗损失重量/g)
实施例1 0.2 0.1 IP8 10g
实施例2 0.3 0.1 IP8 11g
实施例3 0.3 0.2 IP8 12g
实施例4 2.5 1.6 IP7 35g
对比例1 3.6 1.9 IP8 40g
对比例2 4.5 2.5 IP8 54g
从表一看出在本发明范围之内的1-3制备的聚氨酯超细纤维耐酸碱性，防水效果，耐磨损程度均高于本发明工艺范围之外的实施例4，也高于普通人造皮革聚氨酯的对比例1，真皮对比例2。
工作原理：
将管件插入圆筒4内；设置的气球7、矩形气囊8充气，气球7塞满管件的内腔；矩形气囊8充气膨胀堵住了圆筒4的开口，然后真空泵3工作，利用真空吸住管件，设置的干燥空腔5与圆筒4的内腔相连通；所述的变色硅胶干燥剂起到防止管件回潮生锈的作用，通过透过透明层的圆筒4观察变色硅胶干燥剂是否变色，可以判定管件回潮程度，本装置可用于夹取管件以及保存管件。

Claims (1)

1.航空零部件的机械抓手，包括：气泵、连杆、真空泵、圆筒、干燥空腔、支撑杆、气球、矩形气囊，其特征在于：圆筒的顶部外端面上依次固定的安装有气泵、连杆、真空泵；所述的圆筒的顶部内壁上固定的连接有一根支撑杆；上述的支撑杆的末端依次固定的安装有气球、矩形气囊；上述的气球、矩形气囊分别通过导气管与气泵相连通；所述的真空泵通过一个通孔与圆筒的内腔相连通；所述的圆筒的内壁上设置有一圈干燥空腔；上述的干燥空腔内填充有变色硅胶干燥剂；上述的圆筒的外壁上设置有一圈透明观察层；上述的干燥空腔通过细孔与圆筒的内腔连通；所述圆筒的内表面和外 表面均设置有一层聚氨酯保护层；所述的聚氨酯保护层制备方法为：（1）超细纤维制造；（2）高密度三维非织布制造；（3）聚氨酯基布制造；（4）开纤；（5） 染色；（6）表面层制造；所述方法包括以下步骤： （1）超细纤维制造： A:共混纺丝：将PET切片在真空干燥箱100-130℃下干燥10-14h后，与PA6切片以1-1.5: 2-3的质量比例混合，通过加料斗加入到单螺杆纺丝机中进行熔融共混纺丝，卷绕速度250 ～600m／min，螺杆转速为20-40 r／min，控制螺杆各区温度：一区200-260℃，二区280-300 ℃，三区270-310℃，四区270-310℃，管道280-300℃； B:拉伸：得到的共混纤维放入拨叉式平牵机进行拉伸热定型，控制第一热辊温度100- 120℃，第二热辊温度110-130℃，热定型温度135-150℃，拉伸速度100-150 m／min，拉伸倍 数1.5-3； C:溶解剥离：将拉伸热定型后的PET／PA共混纤维在对二甲苯中进行溶解剥离处理，处 理温度120-160℃，浴比为300-500：1，溶解1-3h后取出，用新鲜的热对二甲苯溶液冲洗，室 温真空干燥3h，得到超细纤维； （2）高密度三维非织布制造：将超细纤维置于针剌密度为1300刺/cm2—1500刺/cm2高 速针刺机进行高密度针刺固结，时间为30-60min,高密度针刺固结后超细纤维置于温度为 80-90℃热水中收缩，收缩后置于轧光机进行轧光定型，控制线压力为500-700N／cm,压辊温 度为100-130℃； （3）聚氨酯基布制造：选择固含量40-50%，100%模量为70-90kg/cm2的聚氨酯树脂，将步 骤2中制得高密度非织造布浸渍在聚氨酯溶液1-2h； （4）开纤：将步骤（3）制得的合成革基布放入烘箱，控制烘箱温度95℃-100℃，时间3- 5h,将烘干后的基布置于碱液中，加入渗透剂JFC，碱液升温至90℃-110℃，保持40-60min， 控制浴比40-60:1； （5）染色：采用依加仑蓝3GL100浓度3%-5%，苯甲醇用量10-15%，控制浴比为2-3:30-35， 温度控制为110-115℃； （6）表面层制造：将聚氨酯浆料涂覆在离型纸上,置于70-90℃的烘箱中烘干，保持1- 3h，再自然冷却至室温，成膜，涂上乌利当胶，将基布贴合上，经压和、干燥、将离型纸剥离后 便形成合成革；既得一种超细纤维聚氨酯合成革。
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