JP2022115161A - robot arm - Google Patents

Abstract

To provide a robot arm in which while a required high torsional strength is secured, weight is sufficiently light by attaching a functional portion to a main body portion of the robot arm, the main body portion being formed as a thermoplastic setting FRP made, cylindrical body, and safety is high as a robot arm operating among human beings, with a human being, or assisting a human being, and particularly to provide a robot arm having a high fixing strength in the mounting portion of a mounting member.SOLUTION: In a robot arm 5, a closed space 10 is provided in a fitting portion of an inner side surface 6b of an end portion of a thermoplastic setting FRP made, cylindrical body 6 and a mounting member 9, and a composite resin layer 8b formed by combining a thermoplastic resin and fiber is molded in this closed space 10 under pressure and heat; a mounting member 9 assembled by its being fitted in an inside diameter of the end portion of thermoplastic setting FRP made, cylindrical body 6 and the thermoplastic setting FRP made, cylindrical body 6 are fastened to each other with a bolt 11; and the composite resin layer 8a formed by combining a thermoplastic resin and fiber is molded on an outer side surface 6a of the end portion of the thermoplastic setting FRP made, cylindrical body 6 under pressure and heat.SELECTED DRAWING: Figure 2

Description

TECHNICAL FIELD The present invention relates to a robot arm formed by pressurizing and heat-molding a resin, which is a composite of a thermosetting resin and fibers, on at least one of the outer surface and the inner surface of a thermosetting FRP cylindrical body.

In general, industrial robots used for laser processing, for example, require tip precision of about 1/100 mm, and for that reason, high rigidity is required. On the other hand, in recent years, along with the declining birthrate and aging population, there is an increasing need among humans for industrial robots that operate together with humans or assist humans. Such industrial robots do not require high rigidity unlike conventional industrial robots, and rather, weight reduction is strongly desired from the viewpoints of energy saving and global environmental protection. As one of the means, it has been studied to replace the body portion of the robot arm with a thermosetting FRP cylindrical body. At that time, there are various reinforcing fibers to be used, for example, carbon fiber, glass fiber, aramid fiber, etc. are being studied. CFRP (Carbon Fiber Reinforced Plastics), which is used as a fiber, is considered to be influential.

A robot arm having a main body made of a thermosetting FRP cylindrical body needs to be able to perform various functions by attaching functional parts to the main body. In order to attach the functional part to the main body made of the thermosetting FRP cylindrical body, a bonding method that balances the torsional strength of the thermosetting FRP cylindrical body is required.

In Patent Document 1, in a mechanical device part in which a metal joint is press-fitted to the end of an FRP cylinder, while ensuring the required high torsional strength, the FRP cylinder accompanying the press-fit joining operation of the metal joint The object is to provide a structure that can prevent the occurrence of damage from the end of the body and also prevent the progress of deterioration of that part. A mechanical device part with a joint made of FRP is disclosed, which is characterized by slitting in the axial direction from the end face of an FRP cylindrical body.

JP-A-2006-103032

However, with the mechanical device parts disclosed in Patent Document 1, there is a problem that sufficient strength cannot be obtained particularly for the joints where other members are attached to the FRP cylindrical body that constitutes the robot arm. Conventionally, an FRP cylindrical body that generally constitutes a robot arm is made by cutting an FRP cylindrical body with a thickness of about 3 m into a predetermined length, and attaching members to other members on the inner sides of both ends. .
In that case, after press-fitting the mounting member into the mounting member fitting portion formed inside the end portion of the FRP cylindrical body, a bolt is inserted from the outside of the end portion of the FRP cylindrical body into the fitting portion of the mounting member to tighten the bolt. I was doing However, this did not provide sufficient fixing strength.
In this case, for example, even if an adhesive is applied to the fitting portion of the mounting member and then the mounting member is press-fitted, there is a problem that the adhesive is washed away, and the fixing strength becomes unstable.

In view of the above-mentioned problems in the prior art, the present invention attaches a functional part to the main body of a robot arm whose main body is a cylindrical body made of thermosetting FRP while ensuring the required high torsional strength. To provide a robot arm which is sufficiently light in weight and has high safety as a robot arm that operates between humans, together with or assisting humans, and particularly having strong fixing strength at the attachment portion of an attachment member. aim.

That is, the robot arm according to the present invention is characterized in that at least one of the outer surface and the inner surface of a thermosetting FRP cylindrical body is pressurized and heat-molded with a resin that is a composite of a thermosetting resin and fibers. .

Further, the robot arm according to the present invention is characterized in that at least one of the outer surface and the inner surface of the end portion of the thermosetting FRP cylindrical body is pressurized and heat-molded with a resin that is a composite of thermosetting resin and fiber. and

Further, a robot arm according to the present invention is a robot arm in which a mounting member is assembled to the inner diameter of the end of a thermosetting FRP cylindrical body, and the inner surface of the end of the thermosetting FRP cylindrical body is provided with a thermosetting adhesive. It is characterized in that a mounting portion that fits inside the end portion of a thermosetting FRP cylindrical cylinder is formed by pressurizing and heating molding a resin that is a composite of a curable resin and a fiber.

In addition, a robot arm according to the present invention is a robot arm assembled by fitting a mounting member to the inner diameter of the end of a thermosetting FRP cylindrical body, wherein the end of the thermosetting FRP cylindrical body It is characterized in that the outer surface is formed by pressurizing and heating a resin that is a composite of a thermosetting resin and fibers.

In addition, a robot arm according to the present invention is a robot arm assembled by fitting a mounting member to the inner diameter of the end of a thermosetting FRP cylindrical body, wherein the end of the thermosetting FRP cylindrical body A robot arm characterized in that a closed space is provided in the fitting portion of the inner surface of the robot arm and the mounting member, and a resin obtained by combining a thermosetting resin and a fiber is pressurized and heat-molded in the closed space.

Further, in the robot arm according to the present invention, the mounting member assembled by fitting to the inner diameter of the end portion of the thermosetting FRP cylindrical body and the thermosetting FRP cylindrical body are tightened with screws. 2. The outer surface of the end portion of the thermosetting FRP cylindrical body is pressurized and heat-molded with a resin that is a composite of thermosetting resin and fiber.

The manufacturing method of the robot arm of the present invention includes an inner diameter lamination step of forming a composite resin layer on the outer surface of the mounting member, a preforming and solidification step, and an outer surface inside the end portion of the thermosetting FRP cylindrical body. A press-fitting step of arranging the raw fabric material for fiber molding in and press-fitting the mounting member that has undergone the preforming and solidifying process and fitting it into the end of the thermosetting FRP cylindrical cylinder by the press-fitting step. A bolt tightening step of fastening the fitted mounting member to the thermosetting FRP cylindrical body with bolts, and an outer diameter lamination step of forming a composite resin layer on the outer surface of the thermosetting FRP cylindrical body and

It is preferable that the inner diameter lamination step and the preforming/solidifying step are carried out by arranging the raw fiber material in a recess formed on the outer surface of the mounting member.

In the outer diameter laminating step, it is preferable to perform the molding step by winding a pressure tape around the outer side of the fiber forming raw fabric material wound around the outer surface of the thermosetting FRP cylindrical body and applying pressure.

For the thermosetting FRP cylindrical body, it is particularly preferable that the reinforcing fibers contain at least carbon fibers having excellent specific strength and specific elastic modulus, from the viewpoint of exhibiting high strength and torsional torque transmission characteristics.

INDUSTRIAL APPLICABILITY According to the robot arm of the present invention, a robot arm that secures the required high torsional strength, is sufficiently lightweight, and has high safety as a mechanical device that operates between humans, together with humans, or to assist humans. In particular, the robot arm can have a strong fixing strength at the attachment portion of the attachment member.

(a) It is a conceptual diagram of a forming raw material used in the forming forming method of the present invention. (b) It is a conceptual diagram of the textile base material which comprises the shaping|molding original fabric material shown to Fig.1 (a). 1 is a perspective view of a robot arm according to one embodiment of the present invention; FIG. FIG. 3 is a partial vertical cross-sectional view of the robot arm of FIG. 2; 3 is a partial cross-sectional view of the robot arm of FIG. 2; FIG. 4 is a perspective view showing the same part as the partial cross-sectional view of FIG. 3; FIG. FIG. 8 is another explanatory diagram of one embodiment of the method for manufacturing a robot arm of the present invention; FIG. 8 is another explanatory diagram of one embodiment of the method for manufacturing a robot arm of the present invention; FIG. 8 is another explanatory diagram of one embodiment of the method for manufacturing a robot arm of the present invention; FIG. 8 is another explanatory diagram of one embodiment of the method for manufacturing a robot arm of the present invention; FIG. 8 is another explanatory diagram of one embodiment of the method for manufacturing a robot arm of the present invention; FIG. 8 is another explanatory diagram of one embodiment of the method for manufacturing a robot arm of the present invention; FIG. 8 is another explanatory diagram of one embodiment of the method for manufacturing a robot arm of the present invention; It is explanatory drawing of one embodiment of the manufacturing method of the robot arm of this invention. FIG. 14 is a partial vertical cross-sectional view of a robot arm according to another embodiment of the present invention; Fig. 15 is a graph showing the result of measuring the safety factor when a load with a bending strength of 60 kgm is applied to the robot arm 5 according to the embodiment of the present invention.

The fiber material used for manufacturing the robot arm according to the embodiment of the present invention will be described below.
A robot arm according to an embodiment of the present invention is manufactured using a molded raw material 1 shown in FIG. 1(a). As shown in FIG. 1( a ), a raw fabric material 1 is a fabric base material 3 containing a plurality of reinforcing fiber bundles 2 , and a resin material 4 containing a thermosetting resin as a main component is attached to at least one surface of the fabric base material 3 . Become.

As shown in FIG. 1(b), the fabric base material 3 is a bidirectional fabric obtained by weaving a plurality of reinforcing fiber bundles 2 aligned in one direction so as to be parallel to each other in two orthogonal directions. The bidirectional woven fabric has the advantages of being easily deformed by changing the relative position between the reinforcing fiber bundles 2 and being easily deformed into a three-dimensional shape, and of easily obtaining a mechanically quasi-isotropic laminated molded material with a small number of sheets. .
A carbon fiber bundle, a graphite fiber bundle, a glass fiber bundle, an aramid fiber bundle, or the like can be used as the reinforcing fiber bundle 2, and the carbon fiber bundle is preferable. By using carbon fiber bundles, the mechanical properties of the fiber-reinforced resin molded product, which is the final product, can be enhanced.

The resin material 4 adhering to the surface of the fabric base material 3 is mainly composed of a thermosetting resin capable of obtaining an effect of bonding between the layers of the fabric base material 3 . Thermosetting resins include, for example, epoxy, urethane, and polyester. By using a thermosetting resin as the main component of the resin material 4, the raw fabric material 1 is laminated, deformed into a three-dimensional shape, and then bonded between the layers of the fabric base material 3. improve productivity. In addition, the main component is the component having the largest proportion among the components constituting the resin material 4 .

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.
FIG. 2 shows a robot arm 5 according to one embodiment of the invention.
The robot arm 5 is formed by injection-molding an FRP cylindrical body 6, which is one form of a thermosetting FRP cylindrical body, with a composite resin of thermosetting resin and fibers. Functional parts 7a and 7b made of resin are molded on the outer diameter side of both ends of the FRP cylindrical body 6. As shown in FIG. The functional parts 7a and 7b function as joints with, for example, an action part, a grasping part, a joint part, etc. (not shown).

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.
FIG. 2 shows a robot arm 5 according to one embodiment of the invention.
The robot arm 5 is formed by pressurizing and heating an FRP cylindrical body 6, which is one aspect of a thermosetting FRP cylindrical body, with a resin that is a composite of thermosetting resin and fiber. Functional parts 7a and 7b made of composite resin are molded on the outer diameter side of both ends of the FRP cylindrical body 6. As shown in FIG. The functional parts 7a and 7b function as joints with, for example, an action part, a grasping part, a joint part, etc. (not shown).

As shown in FIGS. 3, 5 and 4, the robot arm 5 according to this embodiment has a thermosetting resin and a thermosetting resin on at least one of the outer surface 6a and the inner surface 6b of the thermosetting FRP cylindrical body 6. Composite resin layers 8a and 8b combined with fibers are molded under pressure and heat.

Specifically, the robot arm 5 according to the present embodiment has a resin layer formed by combining a thermosetting resin and fibers on at least one of the outer surface 6a and the inner surface 6b of the end A of the thermosetting FRP cylindrical body 6. 8a and 8b are molded under pressure and heat.

Furthermore, the robot arm 5 according to the present embodiment is a robot arm 5 in which a mounting member 9 is assembled to the inner diameter of the end A of the thermosetting FRP cylindrical body 6, and the thermosetting FRP cylindrical body 6 A closed space, which is a mounting portion fitted inside the end portion of the thermosetting FRP cylindrical body 6, by forming a composite resin layer 8b, which is a composite of thermosetting resin and fiber, on the inner side surface 6b of the end portion. 10.

In addition, the robot arm 5 according to the present embodiment is a robot arm 5 assembled by fitting a mounting member 9 to the inner diameter of the end portion of a thermosetting FRP cylindrical body 6. A composite resin layer 8a, which is a composite of a thermosetting resin and fibers, is formed on the outer surface 6a of the end portion of the cylindrical body 6 by pressing and heating.

In addition, the robot arm 5 according to the present embodiment is a robot arm 5 assembled by fitting a mounting member 9 to the inner diameter of the end of a thermosetting FRP cylindrical body 6. A closed space 10, which is a mounting portion, is provided in the fitting portion between the inner surface 6b of the end portion of the cylindrical body 6 and the mounting member 9, and a composite resin layer 8b formed by combining a thermosetting resin and fibers is added to the closed space 10. Molded by pressure and heat.

In addition, the robot arm 5 according to the present embodiment has a mounting member 9 fitted to the inner diameter of the end portion of the thermosetting FRP cylindrical body 6 and the thermosetting FRP cylindrical body 6. While being tightened with a bolt 11, a composite resin layer 8a in which a thermosetting resin and fibers are combined is formed on the outer surface 6a of the end portion of the thermosetting FRP cylindrical body 6 under pressure and heat.

A manufacturing process of the robot arm 5 according to the above embodiment will be described below.

First, an inner diameter lamination step for forming the composite resin layer 8b on the outer surface of the mounting member 9 is performed. As shown in FIG. 6, the fiber forming material 1 is placed in a recess 10 formed on the outer surface of the mounting member 9 . At this time, the environmental temperature is 20°C and the workpiece temperature is about 30°C.

Next, as shown in FIG. 7, a preforming/solidification step is performed. The environmental temperature in the preforming process is set to 50°C, and the workpiece temperature is set to about 50°C. The environmental temperature in the solidification step is set to -15°C, and the workpiece temperature is set to about -15°C.
Next, as shown in FIG. 8, a press-fitting process is performed. In the press-fitting process, a mounting member 9 which has been preformed and solidified by arranging the fiber forming raw material 1 in a recess 10 formed on the outer surface inside the end portion of the thermosetting FRP cylindrical body 6 is mounted. It is performed in a mode of press-fitting and fitting. The environmental temperature in the press-fitting process is set to 20°C, and the workpiece temperature is set to about -15°C.

Next, a bolt tightening process is performed as shown in FIG. In this bolt tightening process, the mounting member 9 press-fitted into the inner end of the thermosetting FRP cylindrical body 6 is fastened to the thermosetting FRP cylindrical body 6 with bolts 11 . The environmental temperature in this bolt tightening process is set to 20°C, and the workpiece temperature is set to about 20°C.

Next, an outer diameter lamination step is performed to form the composite resin layer 8a on the outer surface of the thermosetting FRP cylindrical body 6. As shown in FIG. In this outer diameter lamination step, first, as shown in FIG. At this time, the environmental temperature is 20°C and the workpiece temperature is about 30°C.
Subsequently, as shown in FIG. 11, a pressure tape 12 is wound around the outer side of the fiber forming material 1 wound on the outer surface of the thermosetting FRP cylindrical cylinder 6, and pressure is applied. carry out the process. At this time, the environmental temperature is 20°C and the workpiece temperature is about 30°C.

In this state, a molding process is performed as shown in FIG. The environmental temperature in this molding process is 80° C., and the workpiece temperature is maintained at about 80° C. for 2 hours.
Finally, the pressure tape is removed as shown in FIG. 13 to complete the fabrication of the robot arm 5 according to the embodiment of the present invention.

FIG. 14 shows a partial longitudinal sectional view of a robot arm according to another embodiment of the invention. The robot arm 5 of this embodiment is otherwise the same as the robot arm 5 of the above-described embodiment. A composite resin layer that connects the side surface, the through hole 6c of the thermosetting FRP cylindrical body 6 and the closed space 10 of the fitting portion of the mounting member 9, and is formed by injection-molding a fiber-composite resin. It differs in that a connecting portion 8a is provided.

FIG. 15 shows the result of measuring the safety factor when a load with a bending strength of 60 kgm is applied to the robot arm 5 according to the embodiment of the present invention.
As shown in the figure, the thermosetting FRP cylindrical body 6 alone has a safety factor of 11.1. When the thermosetting FRP cylindrical body 6 is fitted together, the safety factor is 0.5. The safety factor was 5.5 when the fiber forming raw material 1 was arranged in the . On the other hand, in the robot arm 5 according to the embodiment of the present invention, which is fastened with bolts 11 and the fiber forming material 1 is placed inside and outside and formed, the safety factor reaches 9.0.

5: robot arm, 6: thermosetting FRP cylindrical body, 7a, 7b: function part, 8: composite resin layer.

Claims (12)

1. A robot arm comprising a thermosetting FRP cylindrical body and at least one of an outer surface and an inner surface of a thermosetting FRP cylindrical body formed by pressurizing and heating molding a resin obtained by combining a thermosetting resin and fibers. 1. A robot arm, characterized in that a thermosetting resin and fiber composite resin is pressurized and heat-molded on at least one of the outer surface and the inner surface of the end portion of a thermosetting FRP cylindrical cylinder.
A robot arm in which a mounting member is attached to the inner diameter of the end of a thermosetting FRP cylindrical body, and a resin composite of thermosetting resin and fiber is applied to the inner surface of the end of the thermosetting FRP cylindrical body. 1. A robot arm characterized by forming a mounting portion fitted inside an end portion of a thermosetting FRP cylindrical cylinder by pressurizing and heating molding. A robot arm assembled by fitting a mounting member to the inner diameter of the end of a thermosetting FRP cylindrical body, and thermosetting resin and fibers are applied to the outer surface of the end of the thermosetting FRP cylindrical body. A robot arm characterized by being formed by pressurizing and heating a composite resin. 5. The robot arm according to claim 4, wherein a resin obtained by combining a thermosetting resin and fibers is pressurized and heat-molded between the outer surface of the end of the thermosetting FRP cylindrical body and the concave surface of the mounting member. A robot arm assembled by fitting a mounting member to the inner diameter of the end of a thermosetting FRP cylindrical body. A robot arm characterized by injection molding with composite resin. The outer surface of the end of the thermosetting FRP cylindrical cylinder with the recessed portion of the mounting member and the through hole is connected to the concave surface of the through hole of the cylindrical body and the fitting portion of the mounting member, and the fiber is injected with a composite resin. 7. The robot arm according to claim 6, wherein the robot arm is formed.
A robot arm assembled by fitting a mounting member to the inner diameter of the end of a thermosetting FRP cylindrical body, and the fitting portion between the inner surface of the end of the thermosetting FRP cylindrical body and the mounting member A robot arm characterized in that a closed space is provided and a resin obtained by combining a thermosetting resin and fibers is pressurized and heated to mold in the closed space. The thermosetting FRP cylindrical body is screwed together with a mounting member fitted to the inner diameter of the end of the thermosetting FRP cylindrical body and the thermosetting FRP cylindrical body. A robot arm characterized in that a resin obtained by combining a thermosetting resin and fibers is pressurized and heat-molded on the outer surface of the end. An inner diameter lamination process for forming a composite resin layer on the outer surface of the mounting member, a preforming and solidification process, and a fiber forming raw material on the outer surface inside the end of the thermosetting FRP cylindrical body. A press-fitting step of press-fitting and fitting the mounting member that has undergone the preforming and solidifying steps, and the fitting member press-fitted and fitted into the inside of the end portion of the thermosetting FRP cylindrical body by the press-fitting step with bolts. A robot characterized by comprising a bolt tightening process for fastening to a thermosetting FRP cylindrical body, and an outer diameter lamination process for forming a composite resin layer on the outer surface of the thermosetting FRP cylindrical body. A manufacturing method of the arm. 8. The method of manufacturing a robot arm according to claim 7, wherein said inner diameter lamination step and said preforming/solidifying step are carried out by arranging the raw fiber material in a recess formed on the outer surface of said mounting member. 9. The molding step according to claim 7 or 8, wherein the outer diameter lamination step is carried out by winding a pressure tape around the outer side of the fiber forming raw fabric material wound around the outer surface of the thermosetting FRP cylindrical body and applying pressure. A method for manufacturing a robot arm.

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