CN115716275A - C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite material and manufacturing method - Google Patents
C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite material and manufacturing method Download PDFInfo
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- CN115716275A CN115716275A CN202110987793.0A CN202110987793A CN115716275A CN 115716275 A CN115716275 A CN 115716275A CN 202110987793 A CN202110987793 A CN 202110987793A CN 115716275 A CN115716275 A CN 115716275A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials and a manufacturing method, belongs to the technical field of C-shaped mechanical arms, and solves the problem that the C-shaped mechanical arm in the prior art is poor in mechanical property. The mechanical arm comprises a C-shaped guide rail groove and a C-shaped multi-rib cavity part; the C-shaped guide rail groove comprises a plurality of layers of guide rail groove fabric layers and a plurality of layers of guide rail groove unidirectional layers; the guide rail groove unidirectional layer is arranged at the bottom of the C-shaped guide rail groove and between two adjacent guide rail groove fabric layers, the fiber direction in the guide rail groove fabric layer at least partially follows the circumferential direction and the radial direction of the mechanical arm, and the fiber direction in the guide rail groove unidirectional layer follows the circumferential direction of the mechanical arm. The manufacturing method is to manufacture the C-shaped guide rail groove; and manufacturing a pre-formed body of the C-shaped multi-rib cavity piece in the C-shaped guide rail groove, and co-curing, wherein the pre-formed body of the C-shaped guide rail groove and the C-shaped multi-rib cavity piece is completely cured into an integral structure. The mechanical arm and the manufacturing method can be used for aerospace, medical instruments or industrial robots.
Description
Technical Field
The invention belongs to the technical field of C-shaped mechanical arms, and particularly relates to a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials and a manufacturing method of the C-shaped multi-rib cavity tubular mechanical arm.
Background
Traditional C-shaped robots are made of aluminum alloy. The density of aluminum alloy is 2.7kg/L, which is acceptable for small robotic arms, but may be limited for larger equipment due to motor power, mobility, rotational efficiency, etc., which can severely impact equipment utilization. The density of the carbon fiber composite material is only 1.6-1.8 kg/L, and under the condition of ensuring the same volume and strength, the structure of the carbon fiber is only 30-50% of that of an aluminum alloy structure, and the carbon fiber composite material has higher rigidity.
The tubular mechanical arm structure with the C-shaped cavity made of the continuous carbon fiber reinforced composite material is a composite material structure with wide application potential, is widely applied to the fields of aerospace, medical instruments, industrial robots and the like, mainly replaces metal materials, and compared with mechanical arms with metal structures, the tubular mechanical arm with the C-shaped cavity made of the continuous carbon fiber reinforced composite material has the advantages of light weight, corrosion resistance, fatigue resistance, low creep deformation, resonance resistance, excellent mechanical property and the like. Particularly, for a robot arm, the application scenarios need to satisfy very high positioning accuracy, but the mechanical property of the C-shaped mechanical arm in the prior art is poor, and the requirements cannot be satisfied.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a carbon fiber composite material C-shaped multi-rib cavity tubular robot arm and a manufacturing method thereof, which solve the problem of poor mechanical properties of the C-shaped robot arm in the prior art.
The purpose of the invention is mainly realized by the following technical scheme:
the invention provides a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials, which is in an annular shape with a notch and comprises a C-shaped guide rail groove and a C-shaped multi-rib cavity piece arranged in the C-shaped guide rail groove; wherein, C shape guide rail groove includes multilayer guide rail groove fabric layer and multilayer guide rail groove unidirectional layer, guide rail groove unidirectional layer includes the one-way strip of many guide rail grooves of concatenation in proper order along the one-way layer width direction in guide rail groove, guide rail groove fabric layer and the one-way layer in guide rail groove are carbon-fibre composite, multilayer guide rail groove fabric layer range upon range of setting, the tank bottom in C shape guide rail groove is located to the one-way layer in guide rail groove, between the adjacent two-layer guide rail groove fabric layer, arm and circumference and radial are followed to at least part to the intraformational fibre direction in guide rail groove, the circumference of arm is followed to the intraformational fibre direction in guide rail groove.
Furthermore, the radian of the circular ring of the C-shaped multi-rib cavity tubular mechanical arm is greater than or equal to 180 degrees, and correspondingly, the radians of the circular rings of the C-shaped guide rail groove and the C-shaped multi-rib cavity piece are both greater than or equal to 180 degrees.
Furthermore, the C-shaped multi-rib cavity piece comprises a plurality of mouth-shaped cavity pieces which are sequentially connected, each mouth-shaped cavity piece comprises a plurality of cavity fabric layers and a plurality of cavity unidirectional layers, each cavity unidirectional layer comprises a plurality of cavity unidirectional strips which are sequentially spliced along the width direction of the corresponding cavity unidirectional layer, the cavity fabric layers and the cavity unidirectional layers are made of carbon fiber composite materials, the plurality of cavity fabric layers are nested, and the cavity unidirectional layers are arranged on the top surface and the bottom surface of each mouth-shaped cavity piece and between the two adjacent cavity fabric layers; the fiber direction in the cavity fabric layer is at least partially along the mechanical arm and the circumferential direction and the radial direction, and the fiber direction in the cavity unidirectional layer is along the circumferential direction of the mechanical arm.
Further, the total number of the guide rail groove fabric layers and the guide rail groove unidirectional layers is 21-29 (for example, 21, 23, 25, 27 or 29), the inner surface and the outer surface of the C-shaped guide rail groove are both guide rail groove fabric layers, the total number of the cavity fabric layers and the cavity unidirectional layers is 13-19 (13, 15, 17 or 19), and the inner surface and the outer surface of the mouth-shaped cavity piece are both cavity fabric layers.
Further, the thickness of the guide track groove fabric layer and the guide track groove unidirectional layer is 0.15-0.25 mm, for example, 0.2mm; the thickness of the hollow fabric layer and the hollow unidirectional layer is 0.10 to 0.15mm, for example, 0.125mm.
The invention also provides a manufacturing method of the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material, which comprises the following steps:
step S1: manufacturing a C-shaped guide rail groove;
step S2: manufacturing a preformed body of the C-shaped multi-rib cavity piece in the C-shaped guide rail groove to obtain a piece to be formed; and co-curing the to-be-formed part to ensure that the pre-formed body of the C-shaped guide rail groove and the C-shaped multi-rib cavity part is completely cured into an integral structure, and demolding and finishing to obtain the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material.
Furthermore, the C-shaped guide rail groove is manufactured by adopting an autoclave method or a compression molding method.
Further, the step S1 of manufacturing the C-shaped guide rail groove by using the autoclave method includes the steps of:
step S11: providing a guide rail groove core mold;
step S12: sequentially laying multilayer guide rail groove fabric prepreg cloth and multilayer guide rail groove unidirectional prepreg cloth on the outer surface of the guide rail groove core mold to obtain a guide rail groove to be formed, wherein the guide rail groove unidirectional prepreg cloth comprises a plurality of guide rail groove unidirectional prepreg strips which are sequentially spliced along the width direction of the guide rail groove unidirectional prepreg cloth;
step S13: and (2) sequentially paving demoulding paper, an air-permeable felt and a vacuum bag outside the guide rail groove to be formed, vacuumizing, putting the guide rail groove to be formed into an autoclave for pressurizing, heating and curing, wherein the pressurizing pressure is 0.4-0.6 MPa (for example, 0.5 MPa), the heating temperature is 145-155 ℃ (for example, 150 ℃), and the curing time is 1.5-2.5 h (for example, 2 h), so that the guide rail groove fabric prepreg cloth is formed into a guide rail groove fabric layer, the guide rail groove unidirectional prepreg cloth is formed into a guide rail groove unidirectional layer, and the guide rail groove core mould is removed after cooling to obtain the C-shaped guide rail groove.
Further, the C-shaped guide rail groove is manufactured by a die pressing method, and the step S1 includes the following steps:
step S11': providing a mould pressing die and expanded silica gel;
step S12': laying multilayer guide rail groove fabric prepreg cloth and multilayer guide rail groove unidirectional prepreg cloth on the expanded silica gel to obtain a guide rail groove to be formed;
step S13': and (3) placing the guide rail groove with the molding into a die pressing mold, closing the die, heating and solidifying by adopting an upper press, cooling, and removing the die pressing mold and the expanded silica gel to obtain the C-shaped guide rail groove.
Further, when the C-shaped multi-ribbed cavity member includes a plurality of mouth-shaped cavity members including a cavity fabric layer and a cavity unidirectional layer, the above step 2 includes the steps of:
step S21: providing a bite-shaped preform;
step S22: sequentially laying a plurality of layers of cavity fabric prepreg cloths and a plurality of layers of cavity unidirectional prepreg cloths on the outer surface of a mouth-shaped cavity piece core mould to obtain a mouth-shaped preform body, wherein the cavity unidirectional prepreg cloths comprise a plurality of cavity unidirectional prepreg strips which are sequentially spliced along the width direction of the cavity unidirectional prepreg cloth;
step S23: repeating the step S22 to obtain a plurality of mouth-shaped preformed bodies;
step S24: sequentially laying an internal vacuum bag, demoulding paper and an air-permeable felt in the mouth-shaped preformed body, and arranging a mouth-shaped cavity piece core mould in the air-permeable felt;
step S25: placing the mouth-shaped preformed body obtained in the step S24 at the bottom of the C-shaped guide rail groove, laying an external vacuum bag outside the C-shaped guide rail groove, and bonding the external vacuum bag with the internal vacuum bag to obtain a to-be-formed piece;
step S26: putting a to-be-formed part into an autoclave for pressurization, heating and curing, wherein the pressurization pressure is 0.4-0.6 MPa (e.g. 0.5 MPa), the heating temperature is 115-125 ℃ (e.g. 120 ℃), and the curing time is 1.5-2.5 h (e.g. 2 h), so that the cavity fabric prepreg cloth is formed into a cavity fabric layer, the cavity unidirectional prepreg cloth is formed into a cavity unidirectional layer, the preformed body of the C-shaped guide rail groove and the C-shaped multi-rib cavity part is completely cured into an integral structure, and demolding and finishing are carried out to obtain the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material.
Further, in the guide rail groove fabric prepreg and the cavity fabric prepreg, the carbon fiber material can be plain cloth, twill cloth, satin cloth or warp knitting cloth, the modulus of the carbon fiber material is 230 GPa-600 GPa, and the strength of the carbon fiber material is 3.5 GPa-7 GPa; the resin material may be a thermosetting resin (e.g., epoxy, vinyl, cyanate ester, or phenolic resin) or a thermoplastic resin (e.g., polypropylene, polyethylene, polyvinyl chloride, nylon, polyoxymethylene, or polyether ketone).
Furthermore, in the guide rail groove unidirectional prepreg cloth and the cavity unidirectional prepreg cloth, the carbon fiber material is unidirectional cloth, the modulus of the unidirectional cloth is 230 GPa-600 GPa, and the strength of the unidirectional prepreg cloth is 3.5 GPa-7 GPa; the resin material may be a thermosetting resin (e.g., epoxy, vinyl, cyanate ester, or phenolic resin) or a thermoplastic resin (e.g., polypropylene, polyethylene, polyvinyl chloride, nylon, polyoxymethylene, or polyether ketones).
Further, the glass transition temperature of the resin used in the guide groove fabric prepreg and the guide groove unidirectional prepreg is higher than that of the resin used in the cavity fabric prepreg and the cavity unidirectional prepreg.
Further, the difference between the glass transition temperatures of the resin used in the guide rail groove fabric prepreg and the guide rail groove unidirectional prepreg and the resin used in the cavity fabric prepreg and the cavity unidirectional prepreg is 30 ℃ or more.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
a) The C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material has a split structure, and the C-shaped guide rail groove and the C-shaped multi-rib cavity piece can be prepared step by step, so that the manufacturing difficulty is effectively reduced, and the precision and the strength of the complex shape surface of the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material are ensured. In particular, the C-shaped guide rail groove which is used for the guide rail movement can affect the overall movement precision of the tubular shape of the C-shaped multi-rib cavity, and can finally feed back the precision of the external movement of the mechanical arm.
b) In the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material, on one hand, a plurality of guide rail groove fabric layers are laminated to form a main body structure of the C-shaped guide rail groove (namely the groove wall and the groove bottom of the C-shaped guide rail groove), and the fiber direction of the guide rail groove fabric layers is at least partially along the circumferential direction and the radial direction of the mechanical arm, namely, the guide rail groove fabric layers are provided with the carbon fibers arranged along the circumferential direction of the mechanical arm and the carbon fibers arranged along the radial direction of the mechanical arm, so that the mechanical arm can have certain mechanical strength in multiple directions, and in addition, the guide rail groove fabric layers can deform by fabrics, so that the mechanical arm can adapt to the curvature change of the groove wall of the guide rail groove and can not generate wrinkles in the manufacturing process; on the other hand, the fiber direction of the guide rail groove unidirectional layer is along the circumferential direction of the mechanical arm, the requirement on the circumferential mechanical property of the mechanical arm is high, the guide rail groove unidirectional layer is adopted to integrally strengthen the circumferential direction of the mechanical arm, and the circumferential mechanical strength of the mechanical arm can be effectively improved.
c) In the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material, on one hand, a plurality of cavity fabric layers are laminated to form a main body structure of the C-shaped multi-rib cavity (namely the top surface, the bottom surface and the side surface of the C-shaped multi-rib cavity), and because the fiber directions of the cavity fabric layers are at least partially along the circumferential direction and the radial direction of the mechanical arm, namely, the cavity fabric layers are provided with both carbon fibers arranged along the circumferential direction of the mechanical arm and carbon fibers arranged along the radial direction of the mechanical arm, the mechanical arm can be ensured to have certain mechanical strength in a plurality of directions, and in addition, because the cavity fabric layers can deform, the mechanical arm can adapt to the curvature change of the side surface of the C-shaped multi-rib cavity and can not generate wrinkles in the manufacturing process; on the other hand, the fibre direction of the unidirectional layer of cavity is along the circumference of arm, this is because, the circumference mechanical properties requirement of arm is higher, adopts the unidirectional layer of cavity to carry out whole the strengthening to the circumference of arm, can effectively improve the circumference mechanical strength of arm.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic structural diagram of a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials provided by the invention;
FIG. 2 is a side view of a C-shaped multi-rib cavity tubular robot arm made of carbon fiber composite provided by the invention;
FIG. 3 is a schematic disassembled view of a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials provided by the invention;
FIG. 4 is a side view of a C-shaped guide rail groove in a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials, provided by the invention;
FIG. 5 is a side view of a C-shaped multi-rib cavity part in the C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials.
Reference numerals:
1-C-shaped guide rail grooves; 2-C-shaped multi-rib cavity parts.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The carbon fiber composite material is formed by impregnating carbon fibers with a resin, curing the resin under pressure and heat, and allowing the cured resin and the fibers to act together. In order to have good strength, the carbon fiber composite material must be pressurized during molding to remove air bubbles from the interior and to make the fibers more flat. The C-shaped arm generally has an inner cavity structure, a guide rail groove is arranged outside the C-shaped arm, the shape of the C-shaped arm is a C-shaped gap ring structure, sufficient pressure is required to be ensured in 3 directions due to the fact that the forming surface of the C-shaped arm is complex, paving continuity and fiber flatness need to be considered in the manufacturing process, uniform pressure application of all parts needs to be ensured, the shape precision of the C-shaped arm and the overall quality of the composite material are ensured, the characteristics provide high requirements for forming of the composite material structure, and a forming process needs to be designed according to the structural characteristics.
The invention provides a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials, which is shown in figures 1 to 5 and is in an annular shape with a notch, and comprises a C-shaped guide rail groove 1 and a C-shaped multi-rib cavity piece arranged in the C-shaped guide rail groove; wherein, C shape guide rail groove 1 includes multilayer guide rail groove fabric layer and multilayer guide rail groove unidirectional layer, guide rail groove unidirectional layer includes the one-way strip of many guide rail grooves of concatenation in proper order along the one-way layer width direction in guide rail groove, guide rail groove fabric layer and the one-way layer in guide rail groove are carbon-fibre composite, the range upon range of setting in guide rail groove fabric layer, the tank bottom in C shape guide rail groove 1 is located to the one-way layer in guide rail groove, between the adjacent two-layer guide rail groove fabric layer, the intraformational fibre direction of guide rail groove fabric is at least partly along arm circumference and radial, the intraformational fibre direction in guide rail groove is along the circumference of arm.
Illustratively, the radian of the circular ring of the C-shaped multi-rib cavity tubular mechanical arm is greater than or equal to 180 degrees, and correspondingly, the radian of the circular ring of the C-shaped guide rail groove 1 and the radian of the circular ring of the C-shaped multi-rib cavity piece 2 are both greater than or equal to 180 degrees.
Compared with the prior art, the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material has the advantages that the C-shaped multi-rib cavity tubular mechanical arm is of a split structure, the C-shaped guide rail groove 1 and the C-shaped multi-rib cavity piece 2 can be prepared step by step, the manufacturing difficulty is effectively reduced, and the precision and the strength of the complex profile of the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material are guaranteed. In particular, the C-shaped guide rail groove 1, which is a part for the guide rail movement, can affect the overall movement precision of the tubular shape of the C-shaped multi-rib cavity, and can finally feed back the precision of the external movement of the mechanical arm.
Meanwhile, in the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material, the C-shaped guide rail groove 1 comprises a plurality of guide rail groove fabric layers and a plurality of guide rail groove unidirectional layers, the fiber direction of the guide rail groove fabric layers at least partially follows the circumferential direction and the radial direction of the mechanical arm, and the fiber direction of the guide rail groove unidirectional layers follows the circumferential direction of the mechanical arm. On one hand, a plurality of guide rail groove fabric layers are laminated to form a main body structure of the C-shaped guide rail groove 1 (namely the groove wall and the groove bottom of the C-shaped guide rail groove 1), and the fiber directions of the guide rail groove fabric layers are at least partially along the circumferential direction and the radial direction of the mechanical arm, namely, the guide rail groove fabric layers are provided with carbon fibers arranged along the circumferential direction of the mechanical arm and carbon fibers arranged along the radial direction of the mechanical arm, so that certain mechanical strength can be ensured in multiple directions of the mechanical arm, and in addition, the guide rail groove fabric layers can be deformed by fabrics, so that the guide rail groove fabric layers can adapt to the curvature change of the groove wall of the guide rail groove, and the wrinkles are prevented from being generated in the manufacturing process; on the other hand, the fiber direction of the guide rail groove unidirectional layer is along the circumferential direction of the mechanical arm, the circumferential mechanical property requirement of the mechanical arm is high, the guide rail groove unidirectional layer is adopted to integrally strengthen the circumferential direction of the mechanical arm, and the circumferential mechanical strength of the mechanical arm can be effectively improved.
Correspondingly, for the structure of the C-shaped multi-rib cavity component 2, the C-shaped multi-rib cavity component 2 is also required to have enough mechanical strength in the circumferential direction and the radial direction, therefore, the C-shaped multi-rib cavity component 2 comprises a plurality of mouth-shaped cavity components which are connected in sequence, adjacent side walls in two adjacent mouth-shaped cavity components form rib parts of the C-shaped multi-rib cavity component 2, each mouth-shaped cavity component comprises a plurality of cavity fabric layers and a plurality of cavity unidirectional layers, each cavity unidirectional layer comprises a plurality of cavity unidirectional strips which are sequentially spliced in the width direction of the cavity unidirectional layer, each cavity fabric layer and each cavity unidirectional layer are made of carbon fiber composite materials, the plurality of cavity fabric layers are nested, and the cavity unidirectional layers are arranged between the top surface and the bottom surface of the mouth-shaped cavity component and between the two adjacent cavity fabric layers; the fiber direction in the cavity fabric layer is at least partially along the circumferential direction and the radial direction of the mechanical arm, and the fiber direction in the cavity unidirectional layer is along the circumferential direction of the mechanical arm. On one hand, a plurality of cavity fabric layers are laminated to form a main body structure of the C-shaped multi-rib cavity 2 (namely the top surface, the bottom surface and the side surface of the C-shaped multi-rib cavity 2), and the fiber directions of the cavity fabric layers are at least partially along the circumferential direction and the radial direction of the mechanical arm, namely, the cavity fabric layers are provided with both carbon fibers arranged along the circumferential direction of the mechanical arm and carbon fibers arranged along the radial direction of the mechanical arm, so that a certain mechanical strength can be ensured in multiple directions of the mechanical arm, and in addition, the cavity fabric layers can deform fabric, so that the curvature change of the side surface of the C-shaped multi-rib cavity 2 can be adapted, and wrinkles can not be generated in the manufacturing process; on the other hand, the fibre direction of the unidirectional layer of cavity is along the circumference of arm, this is because, the circumference mechanical properties requirement of arm is higher, adopts the unidirectional layer of cavity to carry out whole the strengthening to the circumference of arm, can effectively improve the circumference mechanical strength of arm.
In order to further ensure the mechanical strength of the robot arm, illustratively, the total number of the guide rail groove fabric layers and the guide rail groove unidirectional layers is 21 to 29 (for example, 21, 23, 25, 27 or 29), the inner surface and the outer surface of the C-shaped guide rail groove 1 are both guide rail groove fabric layers, the total number of the cavity fabric layers and the cavity unidirectional layers is 13 to 19 (13, 15, 17 or 19), and the inner surface and the outer surface of the mouth-shaped cavity piece are both cavity fabric layers.
Likewise, in order to ensure that each layer of the mechanical arm has sufficient mechanical strength, the thickness of the guide rail groove fabric layer and the guide rail groove unidirectional layer can be 0.15-0.25 mm, for example, 0.2mm; the thickness of the cavity fabric layer and the cavity unidirectional layer may be 0.10 to 0.15mm, for example, 0.125mm.
The invention also provides a manufacturing method of the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material, which comprises the following steps:
step S1: manufacturing a C-shaped guide rail groove;
step S2: manufacturing a preformed body of the C-shaped multi-rib cavity piece in the C-shaped guide rail groove to obtain a piece to be formed; and co-curing the to-be-formed part to ensure that the pre-formed body of the C-shaped guide rail groove and the C-shaped multi-rib cavity part is completely cured into an integral structure, and demolding and finishing to obtain the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material.
Compared with the prior art, the manufacturing method of the carbon fiber composite material C-shaped multi-rib cavity tubular mechanical arm provided by the invention has the advantages that the beneficial effects are basically the same as those of the carbon fiber composite material C-shaped multi-rib cavity tubular mechanical arm provided by the invention, and the detailed description is omitted.
For the manufacture of the C-shaped guide rail groove, two modes of a hot pressing tank method or a mould pressing method can be adopted.
Specifically, the step S1 of manufacturing the C-shaped guide rail groove by using the autoclave method includes the steps of:
step S11: providing a guide rail groove core mold;
step S12: sequentially laying multilayer guide rail groove fabric prepreg cloth and multilayer guide rail groove unidirectional prepreg cloth on the outer surface of the guide rail groove core mold to obtain a guide rail groove to be formed, wherein the guide rail groove unidirectional prepreg cloth comprises a plurality of guide rail groove unidirectional prepreg strips which are sequentially spliced along the width direction of the guide rail groove unidirectional prepreg cloth;
step S13: laying release paper, an air-permeable felt and a vacuum bag outside a guide rail groove to be formed in sequence, vacuumizing, putting the guide rail groove to be formed into an autoclave for pressurization, heating and curing, wherein the pressurization pressure is 0.4-0.6 MPa (e.g. 0.5 MPa), the heating temperature is 145-155 ℃ (e.g. 150 ℃), and the curing time is 1.5-2.5 h (e.g. 2 h), so that the guide rail groove fabric prepreg cloth is formed into a guide rail groove fabric layer, the guide rail groove unidirectional prepreg cloth is formed into a guide rail groove unidirectional layer, cooling, and removing a guide rail groove core mold to obtain a C-shaped guide rail groove, wherein the guide rail groove core mold is adopted for manufacturing the C-shaped guide rail groove to ensure the internal dimension.
The C-shaped guide rail groove is manufactured by adopting a die pressing method, and the step S1 comprises the following steps:
step S11': providing a mould pressing die and expanded silica gel;
step S12': sequentially laying a plurality of layers of guide rail groove fabric prepreg cloth and a plurality of layers of guide rail groove unidirectional prepreg cloth on the expanded silica gel to obtain a guide rail groove to be formed;
step S13': and (3) placing the guide rail groove with the molding into a die pressing mold, closing the die, heating and solidifying by adopting an upper press, cooling, and removing the die pressing mold and the expanded silica gel to obtain the C-shaped guide rail groove.
When the C-shaped multi-ribbed cavity member includes a plurality of mouth-shaped cavity members including a cavity fabric layer and a cavity unidirectional layer, the above step 2 exemplarily includes the steps of:
step S21: providing a bite-shaped preform;
step S22: sequentially laying a plurality of layers of cavity fabric prepreg cloths and a plurality of layers of cavity unidirectional prepreg cloths on the outer surface of a mouth-shaped cavity piece core mould to obtain a mouth-shaped preform body, wherein the cavity unidirectional prepreg cloths comprise a plurality of cavity unidirectional prepreg strips which are sequentially spliced along the width direction of the cavity unidirectional prepreg cloth;
step S23: repeating the step S22 to obtain a plurality of mouth-shaped preformed bodies;
step S24: sequentially laying an internal vacuum bag, demoulding paper and an air-permeable felt in the mouth-shaped preformed body, and arranging a mouth-shaped cavity piece core mould in the air-permeable felt;
step S25: placing the mouth-shaped preformed body obtained in the step S24 at the bottom of the C-shaped guide rail groove, laying an external vacuum bag outside the C-shaped guide rail groove, and bonding the external vacuum bag with the internal vacuum bag to obtain a to-be-formed piece;
step S26: putting the to-be-formed piece into an autoclave for pressurization, heating and curing, wherein the pressurization pressure is 0.4-0.6 MPa (e.g. 0.5 MPa), the heating temperature is 115-125 ℃ (e.g. 120 ℃), and the curing time is 1.5-2.5 h (e.g. 2 h), so that the cavity fabric prepreg is formed into a cavity fabric layer, the cavity unidirectional prepreg is formed into a cavity unidirectional layer, the preformed bodies of the C-shaped guide rail groove and the C-shaped multi-rib cavity piece are completely cured into an integral structure, and demolding and finishing are carried out to obtain the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material.
In the guide rail groove fabric prepreg and the cavity fabric prepreg, the carbon fiber material can be plain cloth, twill cloth, satin cloth or warp knitting cloth, the modulus of the carbon fiber material is 230-600 GPa, and the strength of the carbon fiber material is 3.5-7 GPa; the resin material may be a thermosetting resin (e.g., epoxy, vinyl, cyanate ester, or phenolic resin) or a thermoplastic resin (e.g., polypropylene, polyethylene, polyvinyl chloride, nylon, polyoxymethylene, or polyether ketone).
Also, in the guide rail groove unidirectional prepreg cloth and the cavity unidirectional prepreg cloth, the carbon fiber material can be unidirectional cloth, the modulus of the carbon fiber material is 230 GPa-600 GPa, and the strength of the carbon fiber material is 3.5 GPa-7 GPa; the resin material may be a thermosetting resin (e.g., epoxy, vinyl, cyanate ester, or phenolic resin) or a thermoplastic resin (e.g., polypropylene, polyethylene, polyvinyl chloride, nylon, polyoxymethylene, or polyether ketone).
Considering that the C-shaped guide rail groove needs to undergo two-time forming (step S13 or S13' and step S26), in order to ensure that the C-shaped guide rail groove does not undergo softening deformation during the heat curing forming process of step S26, the glass transition temperatures of the resins used in the guide rail groove fabric prepreg and the guide rail groove unidirectional prepreg may be higher than the glass transition temperatures of the resins used in the cavity fabric prepreg and the cavity unidirectional prepreg, and illustratively, the difference between the glass transition temperatures of the two is 30 ℃ or more, which can ensure that the C-shaped guide rail groove does not undergo softening deformation during the heat curing forming process of step S26.
Example one
A core mould with the outer diameter of 1.495m is designed, the section of the core mould is 135mm in width and 100mm in thickness, a carbon fiber plain cloth epoxy resin prepreg cloth layer with the model number of T300-3k is adopted outside the core mould, the thickness of a single layer is 0.2mm, and 25 layers are paved. Then, release paper, air-permeable felt and vacuum bag are added on the outside. Vacuumizing, pressurizing to 0.5MPa in an autoclave, and heating to 150 ℃ for curing for 2 hours. After the solidification is finished, the temperature is reduced to the room temperature, and then the product is taken out, demoulded and trimmed.
A C-shaped composite material preforming body with a square section is preformed on a square preforming die by using T300-3k carbon fiber plain cloth epoxy resin prepreg, the wall thickness is 2mm, the appearance size is 50mm in height and 45mm in width, and about 17 layers are layered. 3 square-shaped prefabricated bodies are prefabricated, then the prefabricated bodies are placed into the C-shaped structure, and demoulding paper, air-permeable felt and a vacuum bag are added into the square-shaped prefabricated bodies. Adding a core mould with the cross section of 135mm and the thickness of 50mm on the outermost layer, finally adding release paper, air-permeable felt and a vacuum bag, then putting the mixture into an autoclave to pressurize to 0.5MPa, and then heating to 120 ℃ for curing for 2 hours. After the curing is finished, the temperature is reduced to room temperature, and then the product is taken out, demoulded and trimmed. And finally obtaining the carbon fiber composite material C-shaped mechanical arm.
Example two
A mould pressing mould for vertically closing the mould is designed, a C-shaped structure outer molded surface with the outer diameter of 1.5m is arranged inside the mould pressing mould, a T300-3k carbon fiber plain cloth epoxy resin prepreg cloth is laid on expanded silica gel with the cross section of 134.5mm and the thickness of 100mm during forming, the total number of layers is 25, the whole laid silica gel core mould is placed into the mould for closing the mould, and an upper press is used for heating and curing.
A C-shaped composite material preforming body with a square section is preformed on a square preforming die by using T300-3k carbon fiber plain cloth epoxy resin prepreg cloth, the wall thickness is 2mm, the appearance size is 50mm high and 45mm wide, and about 15 layers are layered. 3 square-shaped prefabricated bodies are prefabricated, then the prefabricated bodies are placed into the C-shaped structure, and demolding paper, air-permeable felt and vacuum bags are added into the square-shaped prefabricated bodies. And adding a core mould with the section of 135mm and the thickness of 50mm on the outermost layer, adding release paper, an air-permeable felt and a vacuum bag, putting the mixture into an autoclave, pressurizing to 0.5MPa, and heating to 120 ℃ for curing for 2 hours. After the curing is finished, the temperature is reduced to room temperature, and then the product is taken out, demoulded and trimmed. And finally obtaining the carbon fiber composite material C-shaped mechanical arm.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A tubular mechanical arm with a C-shaped multi-rib cavity and carbon fiber composite materials is characterized by comprising a C-shaped guide rail groove and a C-shaped multi-rib cavity piece arranged in the C-shaped guide rail groove;
the C-shaped guide rail groove comprises a plurality of layers of guide rail groove fabric layers and a plurality of layers of guide rail groove unidirectional layers;
guide rail groove fabric layer range upon range of setting, the tank bottom in C shape guide rail groove, between two adjacent layers of guide rail groove fabric layer are located to the one-way layer in guide rail groove, the intraformational fibre direction of guide rail groove fabric is at least partly along arm circumference and radial, the one-way intraformational fibre direction in guide rail groove is along the circumference of arm.
2. The carbon fiber composite material C-shaped multi-rib cavity tubular mechanical arm as claimed in claim 1, wherein the C-shaped multi-rib cavity piece comprises a plurality of mouth-shaped cavity pieces which are connected in sequence, and the mouth-shaped cavity pieces comprise a plurality of layers of cavity fabric layers and a plurality of layers of cavity unidirectional layers;
the cavity fabric layers are nested, and the cavity unidirectional layer is arranged between the top surface and the bottom surface of the mouth-shaped cavity part and between the two adjacent cavity fabric layers;
the fiber direction in the cavity fabric layer is at least partially along the mechanical arm, the circumferential direction and the radial direction, and the fiber direction in the cavity unidirectional layer is along the circumferential direction of the mechanical arm.
3. A method for manufacturing a carbon fiber composite material C-shaped multi-rib cavity tubular robot arm, characterized in that the method for manufacturing the carbon fiber composite material C-shaped multi-rib cavity tubular robot arm as claimed in any one of claims 1 and 2 comprises the following steps:
step S1: manufacturing a C-shaped guide rail groove;
step S2: manufacturing a preformed body of the C-shaped multi-rib cavity part in the C-shaped guide rail groove to obtain a part to be formed; and co-curing the to-be-formed part to ensure that the pre-formed body of the C-shaped guide rail groove and the C-shaped multi-rib cavity part is completely cured into an integral structure, and demolding to obtain the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material.
4. The manufacturing method of the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material as claimed in claim 3, wherein the C-shaped guide rail groove is manufactured by an autoclave method, and the step S1 comprises the following steps:
step S11: providing a guide rail groove core mold;
step S12: sequentially laying a plurality of layers of guide rail groove fabric prepreg cloth and a plurality of layers of guide rail groove unidirectional prepreg cloth on the outer surface of the guide rail groove core mold to obtain a guide rail groove to be molded;
step S13: and sequentially paving demoulding paper, an air-permeable felt and a vacuum bag outside the guide rail groove to be formed, vacuumizing, putting the guide rail groove to be formed into an autoclave for pressurization, heating and solidification, so that the guide rail groove fabric prepreg is formed into a guide rail groove fabric layer, the guide rail groove unidirectional prepreg is formed into a guide rail groove unidirectional layer, cooling, and removing a guide rail groove core mold to obtain the C-shaped guide rail groove.
5. The method for manufacturing a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials as claimed in claim 3, wherein the C-shaped guide rail groove is manufactured by adopting a die pressing method, and the step S1 comprises the following steps:
step S11': providing a mould pressing die and expanded silica gel;
step S12': laying multilayer guide rail groove fabric prepreg cloth and multilayer guide rail groove unidirectional prepreg cloth on the expanded silica gel to obtain a guide rail groove to be formed;
step S13': and (3) placing the guide rail groove with the molding into a die pressing mold, closing the die, heating and solidifying by adopting an upper press, cooling, and removing the die pressing mold and the expanded silica gel to obtain the C-shaped guide rail groove.
6. The method for manufacturing a carbon fiber composite material C-shaped multi-rib cavity tubular mechanical arm according to any one of claims 4 or 5, wherein when the C-shaped multi-rib cavity comprises a plurality of mouth-shaped cavity pieces, the mouth-shaped cavity pieces comprise a cavity fabric layer and a cavity unidirectional layer, the step 2 comprises the following steps:
step S21: providing a bite-shaped preform;
step S22: sequentially laying a plurality of layers of cavity fabric prepreg cloths and a plurality of layers of cavity unidirectional prepreg cloths on the outer surface of the mouth-shaped cavity piece core mould to obtain a mouth-shaped preformed body;
step S23: repeating the step S22 to obtain a plurality of mouth-shaped preformed bodies;
step S24: sequentially laying an internal vacuum bag, demoulding paper and an air-permeable felt in the mouth-shaped preformed body, and arranging a mouth-shaped cavity piece core mould in the air-permeable felt;
step S25: placing the mouth-shaped preformed body obtained in the step S24 at the bottom of the C-shaped guide rail groove, laying an external vacuum bag outside the C-shaped guide rail groove, and bonding the external vacuum bag with the internal vacuum bag to obtain a to-be-formed piece;
step S26: and putting the to-be-formed part into an autoclave for pressurization, heating and curing, so that the cavity fabric prepreg cloth is formed into a cavity fabric layer, the cavity unidirectional prepreg cloth is formed into a cavity unidirectional layer, the C-shaped guide rail groove and the preformed body of the C-shaped multi-rib cavity part are completely cured into an integral structure, and demolding is carried out to obtain the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material.
7. The manufacturing method of the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material is characterized in that in the guide rail groove fabric prepreg and the cavity fabric prepreg, the carbon fiber material is plain cloth, twill cloth, satin cloth or warp knitting cloth;
the resin material is epoxy resin, vinyl resin, cyanate resin, phenolic resin, polypropylene resin, polyethylene resin, polyvinyl chloride resin, nylon, polyformaldehyde or polyether ketone resin.
8. The manufacturing method of the C-shaped multi-rib cavity tubular mechanical arm made of the carbon fiber composite material as claimed in claim 6, wherein in the guide rail groove unidirectional prepreg cloth and the cavity unidirectional prepreg cloth, the carbon fiber material is unidirectional cloth;
the resin material is epoxy resin, vinyl resin, cyanate resin, phenolic resin, polypropylene resin, polyethylene resin, polyvinyl chloride resin, nylon, polyformaldehyde or polyether ketone resin.
9. The method for manufacturing a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite material as claimed in claim 6, wherein the glass transition temperature of the resin used in the guide rail groove fabric prepreg and the guide rail groove unidirectional prepreg is higher than the glass transition temperature of the resin used in the cavity fabric prepreg and the cavity unidirectional prepreg.
10. The method for manufacturing a C-shaped multi-rib cavity tubular mechanical arm made of carbon fiber composite materials according to claim 9, wherein the difference between the glass transition temperature of the resin used in the guide rail groove fabric prepreg and the guide rail groove unidirectional prepreg and the glass transition temperature of the resin used in the cavity fabric prepreg and the cavity unidirectional prepreg is more than 30 ℃.
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