JP3632842B2 - Manufacturing method of robot hand member - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method for manufacturing a robot hand member of an industrial robot, in particular,Carbon fiberIn particular, the present invention relates to a method for manufacturing a robot hand member that can manufacture a robot hand member made of a fiber reinforced composite material (FRP) including a low cost in a short time.
[0002]
[Prior art]
The robot hand of an industrial robot is attached to the tip of the robot arm, and supports, grips, and holds the workpiece through the movement of the robot arm, and is manufactured from a metal material such as iron, stainless steel, or aluminum. There were many things.
[0003]
The size of glass substrates, which are growing with the spread of LCDs, will be used for robotic hands for transporting substrates used in the manufacturing process of precision products such as liquid crystal displays (LCDs), plasma display panels (PDPs), and silicon wafers. There is a high demand for enlargement to cope. However, such an increase in size is accompanied by the disadvantage that the bending of the robot hand member due to its own weight increases. Therefore, a material having a light weight has been demanded to cope with this.
[0004]
Further, in order to increase the conveyance accuracy when carrying the precision product, a material having high bending rigidity, heat resistance, and vibration damping properties has been demanded.
Various fiber reinforced composite materials (FRP) have been developed as materials having such characteristics, and in particular, robot hand members made of a solid material of carbon fiber reinforced composite material (CFRP) are widespread.
[0005]
A robot hand member made of such a solid CFRP material is obtained by placing a plurality of carbon fiber prepreg sheets on a cover plate on which a release film is pasted and laminating a plurality of sheets until reaching a desired thickness while applying heat with an iron or the like. It is manufactured by putting it in a vacuum bag with a plate placed on the uppermost surface, heat-curing it, naturally cooling it, and then removing the plate and release film.
[0006]
Further, as described in JP-A No. 2000-343476, a skin layer made of a plate-like CFRP (hereinafter referred to as “CFRP plate”) obtained by laminating a plurality of carbon fiber prepreg sheets and heating and thermosetting them; Also, a technology for manufacturing by separately molding a core layer made of CFRP, using the core layer as a core, laminating a skin layer on the upper surface and the lower surface, and bonding the core layer and the skin layer with an adhesive Has also been proposed.
[0007]
In this case, as the skin layer, a plurality of carbon fiber prepreg sheets having different carbon fiber orientation directions are stacked to improve bending rigidity, vibration damping characteristics, heat resistance, and the like. In addition, as the core layer, a honeycomb core material made of a metal such as aluminum or a fiber aggregate and a CFRP material are combined to reduce the weight and improve the bending rigidity, vibration damping characteristics, heat resistance, and the like. ing.
[0008]
[Problems to be solved by the invention]
However, in the robot hand member made of the above-mentioned solid CFRP material, although the light weight material is used, the weight of the robot hand member is inevitably increased with the recent increase in the size of the robot hand member. Inconveniences such as insufficient resolution, increased load on the robot hand member mounting site and robot drive system, difficulty in designing the robot itself, and increased costs It was.
[0009]
In such a robot hand member, the weight of the robot hand member can be reduced by reducing the thickness of the robot hand member or by reducing the width of the workpiece support surface of the robot hand member. Since the bending rigidity of the robot hand is lowered, the load deflection when the work is supported is increased.
In particular, when a long robot hand member is attached to the cantilever, the deflection at the tip becomes large, and vibrations when supporting the workpiece are likely to increase, which hinders work supportability or transportability. There was a fear.
[0010]
Further, in the manufacture of the robot hand member described in Japanese Patent Application Laid-Open No. 2000-343476, a skin layer as a CFRP plate and a core layer as a core material are formed in advance, and the skin layer is formed on the upper and lower surfaces of the core layer. Since the robot hand member was formed by bonding it with an adhesive and cutting it according to the dimensions of the robot hand member, the number of manufacturing processes was increased, the manufacturing efficiency was low, and the manufacturing cost was high. It was.
[0011]
In particular, after forming the skin layer through the prepreg sheet lamination step and the heat curing step, it is joined to the core layer, so the heating and cooling time in the skin layer manufacturing step, and the adhesion time between the core layer and the skin layer Is required separately, which increases the time required for production.
Further, a method in which four FRP plates that have been preliminarily molded (heat-cured) to a predetermined thickness are bonded to each other in a square cross section using an adhesive is also conceivable. However, this method requires a prepreg sheet laminating step, an FRP plate forming step, and a bonding step, and has a problem that strength against a load is lowered at a bonded and bonded portion.
[0012]
Furthermore, as the robot hand member, in order to transport precision products such as liquid crystal displays, plasma displays, silicon wafers and the like as workpieces, the robot hand member needs to be flat so that the workpieces will not be damaged. When the robot hand member is used, the central portion is likely to be depressed, and in this case, there is a disadvantage that post-processing is required to make the hollow robot hand member flat.
[0013]
Accordingly, an object of the present invention is to provide an efficient manufacturing method capable of forming a lightweight robot hand member, reducing the number of steps, and shortening the time required for manufacturing when manufacturing the robot hand member.
[0014]
[Means for Solving the Problems]
A manufacturing method of a robot hand member according to claim 1 is:Carbon fiberLaminating prepreg sheets containingRectangular cross sectionIn a method for manufacturing a robot hand member that is made of a heat-hardened FRP member and is attached to an arm portion of an industrial robot, the heat-precured prepreg having heat non-deformability below a predetermined temperature Using a resin with good adhesion to the sheetRectangular cross sectionOf the outer peripheral surface of the core materialOn each of the four surfaces, a prepreg sheet having a PAN-based carbon fiber oriented in the innermost layer and an orientation direction of 90 ° with respect to the longitudinal direction of the core material is laminated. Laminated prepreg sheets with pitch-based carbon fibers that are higher than the fibers, with the orientation direction oriented at 0 degrees with respect to the longitudinal direction of the core, and oriented so that the carbon fibers in two directions intersect at 90 degrees in the outermost layer Wrap the covered cloth prepreg sheetThe core materialallA lamination process for forming a prepreg sheet lamination member on the outer peripheral surface, and a heating process for heating and thermosetting the lamination member formed in the lamination process to form an FRP member integrated with the core material. It is.
[0015]
That is, a core material and a prepreg sheet are prepared in advance.
The core material is formed according to the shape of the robot hand.
or,Carbon fiberA prepreg sheet composed of carbon fiber, glass fiber, aramid fiber, silicon carbide fiberEtc.An uncured sheet impregnated with a thermosetting resin.
[0016]
In the manufacturing method according to the present invention, first, in the laminating step, a plurality of prepreg sheets are made of, for example, a core having a square cross section.Laminate on each of the four outer peripheral surfaces.
[0017]
Since the prepreg sheets are in an uncured state, they are attached to each other simply by being superimposed on the core material or the underlying prepreg sheet.
After that, formed in the above processLaminated member(That is, a core material in which a prepreg sheet is laminated) is heated and cured. In this case, the heating temperature and the heating time are set to a thermosetting temperature and a thermosetting time according to the type of the thermosetting resin of the prepreg sheet.
Since the prepreg sheet has rigidity in the orientation direction of the reinforcing fibers, the bending amount of the robot hand member can be adjusted by selecting a plurality of prepreg sheets having different orientation directions of the reinforcing fibers and laminating them. In the present invention, the bending strength, torsional rigidity, or vibration of the robot hand member is obtained by laminating the prepreg sheet with different orientations of reinforcing fibers in the direction along the longitudinal direction of the core material and in the direction substantially orthogonal to the longitudinal direction. Attenuation and the like are improved.
[0018]
The plurality of laminated prepreg sheets are bonded to each other by heating the thermosetting resin of the respective sheets, and are cured in that state to form an FRP plate having a predetermined thickness.
The core material and the prepreg sheet contacting the core material are also integrated by thermosetting the prepreg sheet to form a solid structure robot hand member.
[0021]
Claim2The manufacturing method of the robot hand member according toCarbon fiberLaminating prepreg sheets containingRectangular cross sectionIn the method of manufacturing a robot hand member which is made of an FRP member obtained by thermosetting the above-described one and is attached to an arm portion of an industrial robot, the method has heat non-deformability below a predetermined temperature andMetal having a larger coefficient of thermal expansion than the FRP member orWith resinRectangular cross sectionThe outer peripheral surface of the core materialOn each of the four surfaces, a prepreg sheet having a PAN-based carbon fiber oriented in the innermost layer and an orientation direction of 90 ° with respect to the longitudinal direction of the core material is laminated. A pitch-based carbon fiber higher than the carbon fiber is laminated with a prepreg sheet whose orientation direction is oriented at 0 degrees with respect to the longitudinal direction of the core material, and carbon fibers in two directions intersect at 90 degrees in the outermost layer. Wrap and coat an oriented cloth prepreg sheetA laminating step of forming a prepreg sheet laminating member on the entire outer peripheral surface of the core material, and heating and thermosetting the laminating member formed in the laminating step.FA heating step of forming an RP member;A core material extraction step of extracting the core material from the FRP member to form a hollow structure;Is to do.
[0022]
The core material is formed in accordance with the shape of the robot hand, and has a property that it does not deform below a predetermined heating temperature in the heating process so as to function as a so-called middle mold when forming the robot hand member. Use a material that can be easily removed from the cured FRP member. The predetermined heating temperature is, for example, the heating temperature in the heat curing process of the prepreg sheet.
[0023]
And claims1As in the invention according to, a laminated body of prepreg sheets is formed on the outer peripheral surface of the core material in the laminating step, and the laminated member is heat-cured in the heating step to form an FRP member.
Thereby, the claim1As in the invention according to the above, an FRP member is formed in which the prepreg sheets in the adjacent divided regions are bonded to each other at the edge portion and heat-cured, and the outer peripheral surface of the core material is covered with a pipe-shaped FRP plate.
[0024]
Thereafter, the core material is extracted from the FRP member, thereby forming a robot hand member having a hollow structure. Here, if the core material is a material having a higher thermal expansion coefficient than FRP, the core material can be easily extracted after thermosetting.
[0026]
Claim3The manufacturing method of the robot hand member according to claim1 or 2In the manufacturing method of the robot hand member described,Lamination of the prepreg sheet to the intermediate layer includes those in which the orientation directions of the carbon fibers of the prepreg sheet are oriented at 0 degrees and 90 degrees with respect to the longitudinal direction of the core material.Is.
[0027]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows a robot hand 1 manufactured by a method for manufacturing a robot hand member according to this embodiment.
The robot hand 1 is attached to the tip of an arm portion of an industrial robot, and supports a workpiece 2 such as a liquid crystal display (LCD), a plasma display panel (PDP), a semiconductor wafer, or a precision instrument for conveyance. It is used to do.
[0028]
The robot hand 1 includes an attachment portion 4 attached to the arm portion of the industrial robot through an attachment hole 3 and a robot hand member 10 fixedly attached to the tip of the attachment portion 4.
As shown in FIG. 2, the robot hand member 10 shown in the present embodiment is a hollow structure such as a square pipe shape, and is excellent in lightness, bending rigidity, heat resistance, and the like. compositematerial(FRP).
[0029]
The robot hand member 10 is manufactured by the following process.
First, the core material 20 and the original prepreg sheet 30 are prepared as a preparation process.
The core material 20 is formed in accordance with the shape of the robot hand member 10 and has a certain degree of rigidity so as to function as a so-called address plate when stacking the prepreg sheets. In order to function as a so-called medium size, a metal or a resin having a property that does not deform below the heating temperature in the heating process and has a higher thermal expansion coefficient than the FRP member is used.Rectangular cross sectionA material that can be easily extracted from the FRP member after heat curing is used. From this viewpoint, as the material of the core material, for example, metals such as aluminum, iron, and stainless steel, MC nylon resin, polyimide resin, and the like are suitable. Since the metal, resin, etc. have a higher coefficient of thermal expansion than FRP, they shrink by cooling after heating and are easy to remove. Moreover, you may give a mold release material to the surface of a core material as needed. The release material may be any method such as application of a drug (for example, a surfactant) by spraying or the like, or use of a release sheet such as a Teflon (registered trademark) sheet.
[0030]
The heating non-deformability at the predetermined temperature means a property that hardly deforms at the heating temperature in the heating process described later. “It hardly deforms at the heating temperature” means that under the heating conditions described later, the core material does not melt, warp, bend, bend, twist, bend, bend, or the like. say. Moreover, the said predetermined temperature says about 100-190 degreeC or more according to the thermosetting temperature of the matrix resin of the original prepreg sheet mentioned later, for example.
[0031]
In this case, as shown in FIG. 4B, the core member 20 is a square member having a horizontally long cross section, and the outer peripheral surface of the core member has four planar regions, that is, an upper surface 21, a lower surface 22, and a left side surface. 23 and a right side surface 24.
First, as shown in FIG. 4A, the original prepreg sheet 30 is cut to form a prepreg sheet piece 33 having a predetermined shape.
[0032]
The prepreg sheet piece 33 is a sheet laminated on each surface (segmented region) of the core material 20 and is cut according to the dimensions of the respective surfaces of the core material. In the robot hand member 10 having a horizontally long rectangular cross section, the prepreg sheet piece 33 requires four types of upper wall 33a, lower wall 33b, right side wall 33c, and left side wall 33d. The ones for use have the same shape.
[0033]
As shown in FIG. 3, the original prepreg sheet 30 is a sheet in which reinforcing fibers 31 are made into a sheet and impregnated with a matrix resin 32, and is an uncured sheet. In this case, carbon fibers are used for the reinforcing fibers 31 from the viewpoint of rigidity and lightness. However, glass fibers, aramid fibers, silicon carbide fibers and the like can be used in addition to the carbon fibers. That is, for example, a plurality of prepreg sheets to be laminated mainly use a carbon fiber prepreg sheet, and include the glass fiber or the like, as long as the support performance or the conveyance performance as a robot hand member is not impaired. It is also possible to add a prepreg sheet to a part.
[0034]
As the matrix resin 32, a thermosetting resin such as an epoxy resin, a phenol resin, a cyanate resin, an unsaturated polyester resin, a polyimide resin, or a bismaleimide resin is used. In this case, a material that can withstand a high temperature and high humidity environment such as rubber vulcanization is preferable. In addition, the thermosetting resin is obtained by adding fine particles made of rubber or resin to the thermosetting resin for the purpose of imparting impact resistance or toughness, or by dissolving a thermoplastic resin in the thermosetting resin. May be used.
[0035]
The carbon fiber includes a PAN type of 230 to 490 GPa and a pitch type of 490 to 950 GPa, any of which may be used. In this case, the pitch type is characterized by high elasticity, and the PAN type is characterized by high tensile strength.
The original prepreg sheet includes a unidirectional sheet in which reinforcing fibers are oriented in the same direction, and a cross sheet such as a plain woven fabric, a twill woven fabric, a satin woven fabric, and a triaxial woven fabric.
[0036]
Various types of original prepreg sheets are prepared by varying the types of reinforcing fibers, varying the density of reinforcing fibers relative to the matrix resin, or varying the orientation of the reinforcing fibers, It is preferable to select a plurality of original prepreg sheets to be used so that an FRP member having the optimum bending rigidity is formed according to the purpose of use of the robot hand 1 and the place of use of the robot hand member 10.
[0037]
In addition, the prepreg sheet piece 33 having a predetermined size is similarly formed for all the selected original prepreg sheets 30.
Next, as shown in FIG.4 (b), the prepreg sheet piece 33 is laminated and stuck on each surface of the core material 20 (lamination process).
Since the prepreg sheet piece 33 is in an uncured state and has a certain degree of adhesive strength, it is attached only by sequentially superposing the sheets on the core material 20 to which the release film is attached.
[0038]
In this case, while applying heat with an iron or the like, it is brought into close contact with the underlying film or sheet, and is adhered and laminated until a desired thickness (for example, about 1 to 7 mm) is reached. The desired thickness in this case allows for a volume decrease when the prepreg sheet is heat-cured, and is preferably slightly thicker than the required thickness of the FRP plate of the robot hand member.
FIG. 5 shows an example of a laminated state of the prepreg sheet pieces 33, and the unidirectional sheet 330 in which carbon fibers are oriented substantially perpendicularly to the longitudinal direction of the prepreg sheet pieces 33 (hereinafter referred to as “90 ° orientation”). A plurality of unidirectional sheets 331 that are oriented substantially parallel to the longitudinal direction of the prepreg sheet piece (hereinafter referred to as “0 ° orientation”). Laminated.
[0039]
In this case, in addition to the sheet pieces 330 and 331, a unidirectional sheet oriented in an oblique direction (hereinafter referred to as “45 ° or 135 ° orientation”), a cross prepreg sheet oriented in two directions of 45 ° and 135 °, etc. You may laminate | stack by combining.
In this case, the 0 ° oriented sheet has a longitudinal-direction deflection preventing property and vibration damping property. By combining the 0 ° oriented sheet with the 90 ° oriented sheet, the bending rigidity and the vibration damping characteristics of the bending vibration are improved, and warping and bending are further effectively prevented. Furthermore, the torsional rigidity and the torsional vibration damping characteristics are further improved by combining the 45 ° orientated sheet and the 135 ° orientated sheet. About a cross sheet, it has an effect according to the above-mentioned combination of a unidirectional sheet.
[0040]
In addition, as a lamination order, it is preferable from a viewpoint of the ease of extracting a core material to make a 90 degree orientation sheet into the lowest layer (innermost side). Because the carbon fiber has a lower thermal shrinkage rate than the matrix resin, the shrinkage rate as a sheet is lower in the fiber orientation direction than the shrinkage rate in the fiber arrangement direction. By configuring the inner surface of the FRP plate with a 90 ° oriented sheet, the reinforcing fibers will be oriented so as to surround the outer periphery of the core material. Because it is not necessary.
[0041]
In addition, the sheet laminated on the upper layer (that is, the outer sheet) has a higher contribution rate to the properties of the robot hand member (that is, bending rigidity, etc.), so the 0 ° oriented sheet is higher than the 90 ° oriented sheet. It is preferable to laminate them on the viewpoint of the prevention of bending.
Considering this point, the combination of prepreg sheets to be used and the stacking order are determined.
[0042]
In this manner, the prepreg sheet pieces 33 are laminated and attached to all the surfaces of the core material 20, thereby forming the laminated member 40 in a state in which a prepreg sheet laminate is formed on the outer peripheral surface of the core material 20.
Thereafter, as shown in FIG.surface1 to the cross prepreg sheet 34AroundOrMultiple turnsWrap to cover. (Coating process).
[0043]
The cross prepreg sheet 34 is an uncured sheet obtained by impregnating the matrix resin into reinforcing fibers woven in a plurality of directions, and the reinforcing fibers include woven carbon fibers, glass fibers, aramid fibers, Or a silicon carbide fiber etc. are preferable. Further, a sheet having high flexibility and adhesiveness is preferable so that the laminated member 40 can be adhered and covered.
[0044]
And as shown in FIG.4 (d), the outer mold | types 41, 42, 43, and 44 are pressed on the laminated member 40 of the state covered with the cross prepreg sheet | seat 34 from four directions.
In this case, the outer mold includes two coating plates 41 and 42 and two thickness setting plates 43 and 44 interposed between the two coating plates. That is, the plates 41 and 42 are pressed against the upper and lower surfaces of the laminated member 40, and the thickness setting plates 43 and 44 are pressed against the left and right side surfaces of the laminated member 40.
[0045]
The FRP member 50 is formed by putting the laminated member 40 in this state into the vacuum bag 45 and heating it.
In this case, the heating condition is that the temperature is raised from room temperature at a rate of 2 to 10 ° C./min, held at about 100 to 190 ° C. for about 10 to 180 minutes, then the heating is stopped and the temperature is lowered by natural cooling to normal temperature. return.
[0046]
Since any of the prepreg sheets 33 and 34 includes a thermosetting resin, the prepreg sheets 33 and 34 are cured while being attached to each other on the sheet surface and the sheet edge.
The reason why the laminated member 40 is put in the vacuum bag 45 is to suck air bubbles generated between the sheets in the lamination process and to apply an external pressure (that is, atmospheric pressure) to the laminated member 40 substantially evenly. There is.
[0047]
Further, an external pressure in a specific direction may be applied to the laminated member 40. For example, the upper surface of the robot hand member 10 (that is, the workpiece support surface) is pressed by pressing with a weight or the like from above without causing a gap between the contact plates 41 and 42 and the thickness setting plates 43 and 44. The flatness is improved, the dimensional (particularly thickness) accuracy of the robot hand member 10 is increased, and the prepreg sheet piece 33 is pressed by a vise or the like in a direction in which the joining interface is pressed against each other. The bonding property at the edge of the film is improved.
[0048]
Then, as shown in FIG.4 (e), the core material 20 is extracted from the FRP member 50 formed by the said heating process (sampling process).
Thereby, the robot hand member 10 having a hollow structure is formed.
According to this embodiment, since the robot hand member 10 is configured as a hollow structure rather than as a solid FRP material, the robot hand member 10 is not reduced in volume (that is, reduced in thickness or width). It is possible to reduce the weight without making it narrow. Therefore, for example, in the case of a long robot hand member attached to an attachment member or the like, it is possible to prevent the tip portion from being bent or vibrated by its own weight or the load of the workpiece, and to improve the support accuracy and the conveyance accuracy of the workpiece. it can.
[0049]
In addition, the air supply path for supporting the workpiece in a non-contact manner, the suction path for supporting the workpiece by suction, or the wiring for attaching a sensor or the like to the tip of the robot hand member, etc. It can also be used as a road.
According to the present embodiment, the core member 20 has two functions as a so-called center plate when laminating the prepreg sheets and a so-called middle size when the robot hand member 10 is thermoformed. (That is, lamination of the prepreg sheet pieces) and molding of the robot hand member (that is, mutual joining with the prepreg sheet pieces on the adjacent wall portion) can be performed simultaneously.
[0050]
Therefore, the number of manufacturing steps can be reduced compared to a manufacturing method in which a skin layer made of a conventional CFRP plate is formed and then the skin layer is bonded to a core layer (ie, a core material). In particular, since the natural cooling time at the stage of forming the CFRP plate and the bonding time at the stage of forming the robot hand member are integrated, the required manufacturing time can be greatly reduced.
[0051]
Further, since the outer peripheral surface of the laminated member 40 is covered with the cross prepreg sheet 34, it is possible to prevent fluffing or flaking that occurs at the processing site when post-processing such as cutting or opening is performed. This improves the workability and has the advantage that there is no fear of damaging a precision workpiece such as a liquid crystal display, a plasma display, or a silicon wafer.
[0052]
Further, by covering with the cross prepreg sheet 34, it is possible to cover the burrs and steps generated at the joining portion of the edge portion of the prepreg sheet piece 33 to improve the aesthetics, and to reinforce the joining portion of the prepreg sheet piece 33. There is also.
As a method for manufacturing the robot hand member, a method of winding a long prepreg sheet around the outer peripheral surface of the core material and stacking it can be considered. In such a manufacturing method, in particular, when a prepreg sheet is wound and laminated on a core material having corner portions as in this embodiment, each corner portion tends to swell outward. In such a method, in order to maintain the corner shape, it is necessary to heat the dedicated outer mold formed in accordance with the outer surface shape of the robot hand member while being pressed from the outside of the laminated member.
[0053]
On the other hand, in the case of the present embodiment, since the situation where the corners bulge outward does not occur, the dedicated external mold as described above is not necessary, and a general-purpose external mold (that is, a contact plate, a thickness setting plate, etc.) is sufficient. It is. In particular, since the outer mold is generally larger and more expensive than the middle mold, it is costly to manufacture individually according to the shape of the robot hand member or to prepare various outer molds. According to this manufacturing method, there are few such inconveniences, the cost required for the design change of the robot hand member is suppressed, and the degree of design freedom is improved. As a result, a robot hand member that meets the user's requirements can be quickly manufactured, and the delivery time can be shortened.
[0054]
In addition, as a method for manufacturing a robot hand member having a hollow structure, a method in which four FRP plates formed in accordance with each wall surface of the robot hand member are bonded to each other at each edge portion is also conceivable.
Compared with such a manufacturing method, the method according to the present embodiment has an advantage that the work efficiency is high and the manufacturing time is short because the bonding step of joining the edges of the FRP plate is unnecessary.
[0055]
Further, since the operation of joining the edges of the FRP plate is relatively complicated, the robot hand member manufactured by the above method tends to have low dimensional accuracy and tends to have low strength at the bonded portion. In this embodiment, since the robot hand member can be formed by a relatively simple operation of attaching the prepreg sheet to the core material, there is no such inconvenience.
[0056]
In the present invention, the cross-sectional shape of the robot hand member may be a triangle, a polygon, a circle, a semicircle, or the like regardless of a square.
Moreover, the lamination | stacking process of a cross prepreg sheet is not necessarily required.
The robot hand member manufacturing method according to the second embodiment is a method for manufacturing the robot hand member 100 shown in FIG.A laminated member of prepreg sheets is formed and integrated on the entire outer peripheral surface of the core member 120,The robot hand member according to the first embodiment is different in that the core material 120 remains.
[0057]
In this case, in order to suppress the total weight of the robot hand member 100, the core material 120 is made of a resin that has heat non-deformability at a predetermined temperature or lower and has good adhesion to the thermally cured prepreg sheet.Rectangular cross sectionAnd using a lightweight member composed of a material lighter than the FRP member, epoxy resin, unsaturated polyester resin, phenol resin, polyurethane resin, polyimide resin, bismaleimide resin, or a combination of these, Or these foam materials are suitable. In addition, in order to improve the adhesiveness with the prepreg sheet piece 133, the core member 120 may be subjected to a surface roughening treatment using sandblasting, sandpaper, or the like. Moreover, you may apply | coat an adhesive agent as needed.
[0058]
The manufacturing method of the robot hand member 100 is the manufacturing method according to the first embodiment in the stacking process, covering process, heating process, and the like of the prepreg sheet pieces 133a, 133b, 133c, and 133d, except that the core extracting process is omitted. It is almost the same as the method.
In this embodiment, when it is desired to form the air supply path, the suction path, the wiring path, or the like, a groove is engraved in the laminated member after the lamination process or a tube is embedded, and then the prepreg is applied to the construction site. A means such as covering the sheet and heat-curing may be adopted, or a post-process such as engraving a groove or machining a hole in a desired part of the FRP member or opening a hole or a screw hole. You may give it.
[0059]
In the present embodiment, the core material extraction step is unnecessary, so that the required manufacturing time can be greatly shortened. Further, since the lightweight core material 120 remains in the robot hand member 100, the disadvantages of both the hollow structure robot hand member and the solid material are eliminated.
That is, in the case of a robot hand having a hollow structure, there is a problem that a dent or the like is deformed with time in the center portion with use, and when switching from a conventional robot hand member (that is, a solid material), Although there has been an inconvenience that the design change of the hole processing part is unavoidable, in the case of the present embodiment, such an inconvenience does not occur.
[0060]
Further, since the total weight of the member can be reduced while maintaining a volume equivalent to that of the solid robot hand member, it is possible to suppress load deflection in addition to its own weight deflection.
The robot hand member manufacturing method according to the third embodiment is a method for manufacturing the robot hand member 200 shown in FIG.Formed by integrally forming a laminated member of a prepreg sheet on a part of the outer peripheral surface of the core material 220,Core material220The prepreg sheet pieces 233a and 233b are laminated on the upper surface 221 and the lower surface 222 of the sheet. The prepreg sheet piece 233a or 233bThe surface to be laminated is the core material220In this case, only the upper surface 221 serving as a work supporting surface may be used, or the upper surface 221 and a part of the side surface may be used.
[0061]
In the method according to the present embodiment, in order to maintain the shape as the robot hand member 200, in addition to the core material 220 remaining, the bondability between the core material 220 and the lowermost prepreg sheet piece is ensured. Need to be done. In this case, bondability is ensured by thermosetting the prepreg sheet.
In addition, as an example of the core material 220 that is suitable for the present embodiment and has a light weight property and ensures a bonding property to the prepreg sheet, the light weight member obtained by applying a thermosetting adhesive to the laminated surfaces 221 and 222. , Thermosetting resin, urethane foam and the like.
[0062]
The manufacturing method of the robot hand member 200 is the second in the covering step and the heating step, except that the prepreg sheet pieces 233a and 233b are laminated and pasted on the upper side 221 and the lower side 222 of the core member 220 in the laminating step. This is substantially the same as the manufacturing method according to the embodiment. Note that the thickness setting plate may be omitted as the outer mold in the heating step.
[0063]
Prepreg sheet piece 233a, 233bThe core material 220 is cured and integrated by heating, so that a robot hand member having a solid structure can be formed.
According to the manufacturing method of the present embodiment, in addition to the effects of the manufacturing method of the second embodiment, since the amount of prepreg sheet used can be reduced, the material cost can be greatly reduced.
[0064]
【Example】
Below, the Example and comparative example of the robot hand member manufactured by the manufacturing method of the robot hand member concerning the present invention are described with reference to FIGS.
(1) Comparative example
A comparative example of the robot hand member shown in FIG. 8 is a robot hand member made of a solid CFRP material manufactured by a conventional method.
[0065]
In this example, a robot hand member having a thickness of 12 mm is formed by laminating about 1500 mm × 50 mm prepreg sheets and thermosetting them. In this case, the tensile modulus of 240 GpaPAN systemA prepreg B ′ sheet in which the carbon fiber is oriented 90 ° and a pitch-based carbon fiber having a tensile modulus of 800 Gpa are oriented 0 ° on both the upper and lower sides of the laminate of the prepreg B sheet in which the carbon fiber is oriented 0 °. A predetermined number of prepreg A sheets are laminated and the outermost layer is 0 ° / 90 ° cross prepreg.GusiA laminate of a total of 7 layers formed by pasting a sheet is heat-cured.
[0066]
The total weight of the robot hand member was 1.53 kg, and the self-weight deflection at the distal end when the projection was attached to the attachment member by about 1200 mm was 1.6 mm.
(2) Examples of the manufacturing method according to the first embodiment
The example shown in FIG. 9 is a robot hand member 10 having a hollow structure manufactured by the method of the first embodiment, and Table 2 shows an example of numerical values for manufacturing.
[0067]
In this embodiment, the core 20 having a length of 1500 mm, a width of 36 mm, and a thickness of about 6.9 mm is laminated by heating and curing the prepreg sheet pieces 33 on the four surfaces in the longitudinal direction. It was manufactured by extracting
In this case, after the wide prepreg sheet pieces 33 a and 33 b of about 1500 mm × 36 mm are laminated on the upper surface 21 and the lower surface 22 of the core material 20, the wide prepreg sheet pieces at both ends are placed on the left and right side surfaces 23 and 24 of the core material 20. A thin prepreg sheet of about 1500 mm × 11.5 mm is laminated so as to cover the edge of the laminated body, and the laminated member 40 is heated and cured.
[0068]
In this case, after forming a laminated member 40 by laminating a predetermined number of 90 ° -oriented prepreg B ′ sheets and laminating a predetermined number of 0 ° -oriented prepreg A sheets on each surface of the core material 20, A cross prep is provided on the outer peripheral surface of the laminated member 40.GusiA robot hand member having a hollow structure in which the thickness of the robot hand member 10 is about 12 mm and the thickness of the CFRP plate is about 2.55 mm by removing the core material 20 after being wound and covered and heated and cured. 10 was formed.
[0069]
The total weight of the robot hand member 10 was 0.75 kg, and the self-weight deflection was 0.47 mm. Although the thickness at the center of the robot hand member is 11.8 mm, which is slightly less than the thickness at the end (12.0 mm, 12.1 mm), there is no problem in workpiece support performance and transport performance. The flatness was excellent.
[0070]
According to the present embodiment, it can be understood that the robot hand member according to the comparative example is lighter and has a higher deflection preventing property.
(3) Examples of the manufacturing method according to the second embodiment
The example shown in FIG. 10 is a robot hand member 100 having a solid structure manufactured by the method of the second embodiment, and Table 3 shows an example of numerical values for manufacturing.
[0071]
In this example, a foamed urethane core material 120 having a length of 1500 mm, a width of 36 mm, and a thickness of about 6.9 mm was used.
The wide prepreg sheet pieces 133a and 133b and the narrow prepreg sheet pieces 133c and 133d having the same size as in the first embodiment are respectively laminated on the upper and lower surfaces of the foamed urethane core material 120 and coated with the cross prepreg sheet 134, followed by heat curing. Thus, the robot hand member 100 having a solid structure with a robot hand member 100 thickness of about 12 mm and a CFRP plate thickness of about 2.55 mm was formed.
[0072]
In this case, the laminated state of the prepreg sheet 133 is the same as the laminated state of the first embodiment.
The total weight of the robot hand member 100 was 1.06 kg, and the self-weight deflection was 0.77 mm.
Also in this example, it can be understood that it is lighter and has a higher anti-bending property than the robot hand member according to the comparative example.
[0073]
Also, the thickness of the robot hand member 100 is the same (12.0 mm) at the end and at the center, and the flatness is much superior to the hollow robot hand member 10 of the first embodiment. Understandable.
[0074]
【The invention's effect】
According to the first aspect of the present invention, a resin having heat non-deformability at a predetermined temperature or lower and good adhesion to a thermoset prepreg sheet is used.Rectangular cross sectionOf the outer peripheral surface of the core materialOn each of the four surfaces, a prepreg sheet having a PAN-based carbon fiber oriented in the innermost layer and an orientation direction of 90 ° with respect to the longitudinal direction of the core material is laminated. Laminated prepreg sheets with pitch-based carbon fibers that are higher than the fibers, with the orientation direction oriented at 0 degrees with respect to the longitudinal direction of the core, and oriented so that the carbon fibers in two directions intersect at 90 degrees in the outermost layer Wrap the covered cloth prepreg sheetThe core materialFull outer peripheral surfaceA prepreg sheet laminated member is formed, and the formed laminated member is heated and thermally cured to form an FRP member integrated with the core material.Of solid structureA robot hand member can be manufactured.
In this case, the core material is made of a resin that has heat non-deformability at a predetermined temperature or lower and has good adhesion to the thermoset prepreg sheet.Rectangular cross sectionIt is said that the core materialFor each of the four outer peripheral surfacesAdhesiveness with the laminated prepreg sheets can be improved. Therefore, a solid structure member can be manufactured by firmly integrating the FRP member thermally cured with respect to the core material. Also, aboveThe innermost prepreg sheet wound around the outer peripheral surface of the core material has an orientation direction of the PAN-based carbon fiber of 90 degrees with respect to the longitudinal direction of the core material. The pitch-based carbon fiber having a higher tensile elastic modulus than the PAN-based carbon fiber has an orientation direction of 0 degree with respect to the longitudinal direction of the core material., Prevents bending of the FRP member by heat curing in the longitudinal direction and improves vibration damping characteristicsbe able to. Furthermore, since the outermost layer prepreg sheet is a cross prepreg sheet oriented so that carbon fibers in two directions intersect at 90 degrees, fluffing occurs when cutting or polishing is performed as a post-processing of the robot hand member. Therefore, the processability as a member is reduced and the beauty as a product can be improved. From these things, the bending rigidity of the whole member made into the FRP member by thermosetting can be improved,The dimensional accuracy of the robot hand member can be improved.Also,Even a solid structure having a core material can be reduced in weight by using a resin that is lighter than the FRP member as the core material.
[0077]
Claim2According to the invention according to the present invention, using a metal or a resin that has non-deformability to heating at a predetermined temperature or less and has a larger thermal expansion coefficient than the FRP member.Rectangular cross sectionThe outer peripheral surface of the core materialOn each of the four surfaces, a prepreg sheet having a PAN-based carbon fiber oriented in the innermost layer and an orientation direction of 90 ° with respect to the longitudinal direction of the core material is laminated. A pitch-based carbon fiber higher than the carbon fiber is laminated with a prepreg sheet whose orientation direction is oriented at 0 degrees with respect to the longitudinal direction of the core material, and carbon fibers in two directions intersect at 90 degrees in the outermost layer. Wrap and coat an oriented cloth prepreg sheetA prepreg sheet laminated member is formed on the entire outer peripheral surface of the core material, and the formed laminated member is heated and thermally cured to form an FRP member, and the core material is extracted from the FRP member to form a hollow structure. A hand member can be manufactured.
In this case, the core material is made of a metal or a resin that has non-deformability to heat at a predetermined temperature or lower and has a larger coefficient of thermal expansion than the FRP member.Rectangular cross sectionTherefore, after heat curing, it shrinks and can be easily extracted from the FRP member. Also, on the entire outer peripheral surface of the core materialThe innermost prepreg sheet wound around multiple layers is made of PAN-based carbon fiber.Since the orientation direction is 90 degrees with respect to the longitudinal direction of the core material, the FRP member does not shrink much when heat-cured, and the core material can be easily extracted. Therefore, a robot hand member having a hollow structure can be easily manufactured. further,Since the prepreg sheet of the intermediate layer is a pitch-based carbon fiber having a tensile modulus higher than that of the PAN-based carbon fiber, the orientation direction is set to 0 degree with respect to the longitudinal direction of the core material., Prevention of bending in the longitudinal direction of materials made into FRP members by thermosetting and improving vibration damping characteristicsbe able to. Furthermore, since the outermost layer prepreg sheet is a cross prepreg sheet oriented so that carbon fibers in two directions intersect at 90 degrees, fluffing occurs when cutting or polishing is performed as a post-processing of the robot hand member. Therefore, the processability as a member is reduced and the beauty as a product can be improved. From these, the bending rigidity of the whole member made into the FRP member by thermosetting can be improved.The dimensional accuracy of the robot hand member can be improved. Further, by using the FRP member, it is possible to manufacture a robot hand member that is lighter than an aluminum robot hand, excellent in flatness, and excellent in bending rigidity, vibration damping characteristics, heat resistance, and the like.
[0079]
Claim3According to the invention according toThe prepreg sheet is laminated on the intermediate layer because the orientation direction of the carbon fibers of the prepreg sheet includes those oriented at 0 degrees and 90 degrees with respect to the longitudinal direction of the core material. It is possible to prevent the bending of the member having a rectangular cross section in the longitudinal direction and improve the vibration damping characteristics, and improve the bending rigidity of the entire member and the vibration damping characteristics of the bending vibration..
[Brief description of the drawings]
FIG. 1 is a perspective view of a robot hand manufactured by a method for manufacturing a robot hand member according to an embodiment of the present invention.
FIG. 2 is a cross-sectional view of the robot hand member.
FIG. 3 is a cross-sectional view of a carbon fiber prepreg sheet used for the robot hand member.
4A and 4B are perspective views showing a method of manufacturing a robot hand member according to an embodiment of the present invention, where FIG. 4A is a state in which a prepreg sheet piece is formed, and FIG. 4B is a state in which the prepreg sheet piece is laminated on a core (C) is the state which coat | covers a cross prepreg sheet | seat on a laminated member, (d) shows the state which pressed the outer mold | type against the laminated member, (e) shows the state which extracts a core material.
FIG. 5 is a perspective view showing a stacked state of the prepreg sheet pieces.
FIG. 6 is a perspective view showing a robot hand member manufactured by a method for manufacturing a robot hand member according to a second embodiment of the present invention.
FIG. 7 is a perspective view showing a robot hand member manufactured by a method for manufacturing a robot hand member according to a third embodiment of the present invention.
FIG. 8 is a table 1 showing an example of numerical values for manufacturing a robot hand member made of a solid CFRP material as a comparative example of the robot hand member of the present invention.
FIG. 9 is a table 2 showing an example of numerical values for manufacturing a robot hand member having a hollow structure as an example of the robot hand member of the present invention.
FIG. 10 is a table 3 showing an example of numerical values for manufacturing a robot hand member having a solid structure as an example of the robot hand member of the present invention.
[Explanation of symbols]
10, 100, 200 ... Robot hand member
20, 120, 220 ... core material
30 ...Original prepreg sheet
31 ... Reinforcing fiber
33, 133, 233 ... prepreg sheet pieces
34, 134, 234 ... Cross prepreg sheet
40 ... Laminated member
50 ... FRP member

Claims (3)

In a method of manufacturing a robot hand member that is made of a FRP member obtained by laminating a prepreg sheet containing carbon fiber and having a rectangular cross-section and thermosetting, and attached to an arm portion of an industrial robot,
The innermost layer is formed on each of the four outer peripheral surfaces of the core material having a rectangular cross section using a resin having heat non-deformability at a temperature equal to or lower than the predetermined temperature and having good adhesion to the thermoset prepreg sheet. Is a PAN-based carbon fiber laminated with a prepreg sheet whose orientation direction is oriented at 90 degrees with respect to the longitudinal direction of the core material, and the intermediate layer has a pitch-based carbon fiber having a higher tensile elastic modulus than the PAN-based carbon fiber. A prepreg sheet whose orientation direction is oriented at 0 degrees with respect to the longitudinal direction of the core material is laminated, and a cross prepreg sheet oriented so that carbon fibers in two directions intersect at 90 degrees is wound on the outermost layer. a lamination step of covering, a laminated member of the prepreg sheets on all the outer peripheral surface of the core material Te,
A heating step of heating and thermosetting the laminated member formed in the laminating step to form an FRP member integrated with the core;
A method for manufacturing a robot hand member, characterized in that: In a method of manufacturing a robot hand member that is made of a FRP member obtained by laminating a prepreg sheet containing carbon fiber and having a rectangular cross-section and thermosetting, and attached to an arm portion of an industrial robot,
Below the predetermined temperature, each of the four outer peripheral surfaces of the core material having a rectangular cross section using a metal or a resin having heat non-deformability and a thermal expansion coefficient larger than that of the FRP member , and the innermost layer is a PAN system A prepreg sheet in which the orientation direction of the carbon fiber is oriented at 90 degrees with respect to the longitudinal direction of the core material is laminated, and the pitch-type carbon fiber having a higher tensile elastic modulus than the PAN-based carbon fiber is oriented in the intermediate layer. A prepreg sheet whose direction is oriented at 0 degrees with respect to the longitudinal direction of the core material is laminated, and a cross prepreg sheet oriented so that carbon fibers in two directions intersect at 90 degrees is wrapped around the outermost layer and covered. A laminating step of forming a prepreg sheet laminating member on the entire outer peripheral surface of the core material;
A heating step to form a F RP member by heating thermoset laminated member formed in the laminating step,
A core material extraction step of extracting the core material from the FRP member to form a hollow structure;
A method for manufacturing a robot hand member, characterized in that: To laminate a prepreg sheet on the intermediate layer, according to claim 1, characterized in that it comprises what orientation direction of the carbon fibers of the prepreg sheet is oriented at 0 degrees and 90 degrees relative to the longitudinal direction of the core member Or the manufacturing method of the robot hand member of 2 .

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