KR101855374B1 - High damping Robot hand and manufacturing method of the same - Google Patents

High damping Robot hand and manufacturing method of the same Download PDF

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KR101855374B1
KR101855374B1 KR1020150114423A KR20150114423A KR101855374B1 KR 101855374 B1 KR101855374 B1 KR 101855374B1 KR 1020150114423 A KR1020150114423 A KR 1020150114423A KR 20150114423 A KR20150114423 A KR 20150114423A KR 101855374 B1 KR101855374 B1 KR 101855374B1
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fiber layer
carbon fiber
carbon
aramid
longitudinal direction
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KR1020150114423A
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Korean (ko)
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KR20160022261A (en
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최진경
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주식회사 라컴텍
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/063—Transporting devices for sheet glass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B5/00—Layered products characterised by the non- homogeneity or physical structure, i.e. comprising a fibrous, filamentary, particulate or foam layer; Layered products characterised by having a layer differing constitutionally or physically in different parts
    • B32B5/02—Layered products characterised by the non- homogeneity or physical structure, i.e. comprising a fibrous, filamentary, particulate or foam layer; Layered products characterised by having a layer differing constitutionally or physically in different parts characterised by structural features of a fibrous or filamentary layer
    • B32B5/06—Layered products characterised by the non- homogeneity or physical structure, i.e. comprising a fibrous, filamentary, particulate or foam layer; Layered products characterised by having a layer differing constitutionally or physically in different parts characterised by structural features of a fibrous or filamentary layer characterised by a fibrous or filamentary layer mechanically connected, e.g. by needling to another layer, e.g. of fibres, of paper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • G—PHYSICS
    • G02—OPTICS
    • G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
    • G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
    • G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour 
    • G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour  based on liquid crystals, e.g. single liquid crystal display cells
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L51/56—

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Nonlinear Science (AREA)
  • Mechanical Engineering (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Laminated Bodies (AREA)
  • Moulding By Coating Moulds (AREA)

Abstract

In the high-damping robotic hand according to the present invention, the carbon fiber layer and the aramid fiber layer are laminated on the hand portion, the rigidity is ensured by the carbon fiber layer, and the vibration damping effect can be obtained by the aramid fiber layer. In addition, the aramid fibers contained in the aramid fiber layer are cut along the longitudinal direction of the hand portion and are spaced apart from each other by a predetermined distance, so that transmission of vibration can be more effectively blocked.

Description

TECHNICAL FIELD The present invention relates to a high-damping robot hand,

The present invention relates to a high-damping robot hand and a method of manufacturing the same, and more particularly, to a high-damping robot hand capable of further improving vibration damping performance and a method of manufacturing the same.

With the recent development of display technology, the size of display devices such as TVs gradually increases, and the size of LCD discs, which is the matrix of display panels, is dramatically increasing. In order to increase the production efficiency of the LCD panel with the enlargement of the LCD original plate, various attempts and studies are being carried out to shorten the manufacturing process time, load the LCD original plate, and shorten the transfer time between the process. In order to shorten the transfer time of the LCD original plate, research on the material of the robot hand as well as the manufacturing technology of the robot for transferring the LCD and the precision automatic control technology are progressing actively.

Robot hand for LCD transfer refers to arm which is attached to robot and is made to fix and move LCD glass plate. Since the robot hand is exposed to various processes such as heat treatment, chemical treatment, and plasma treatment according to the manufacturing process of the LCD glass plate as well as simple movement, it is important to select the material in accordance with the characteristics of the manufacturing process. Etc. are used. In addition, the length of the robot hand is getting longer due to the enlargement of the LCD original plate. As the length of the robot hand becomes longer, the oscillation width of the distal end portion at the time of operation or stop of the robot hand becomes larger, so that the waiting time before the stoppage is lengthened and the production efficiency is lowered.

Korean Patent No. 10-1265685

An object of the present invention is to provide a high-damping robot hand capable of efficiently damping vibration and a method of manufacturing the same.

A high-damping robotic hand according to the present invention comprises: a first carbon fiber layer in which first carbon fibers are impregnated into a first matrix; Wherein the aramid fibers are embedded in at least one of the upper and lower sides of the first carbon fiber layer, and the aramid fiber layer is impregnated into the second matrix.

According to another aspect of the present invention, there is provided a high-damping robotic hand, comprising: a first carbon fiber layer impregnated with a first matrix, the first carbon fibers being continuously arranged in a longitudinal direction; An aramid fiber layer laminated on the first carbon fiber layer, the aramid fiber layer being cut into a predetermined length and being spaced apart from each other along the longitudinal direction and impregnated into the second matrix; And the second carbon fibers laminated on the aramid fiber layer and continuously arranged in the longitudinal direction include a second carbon fiber layer impregnated in the third matrix.

According to another aspect of the present invention, there is provided a method of manufacturing a high-damping robotic hand, comprising: forming a first carbon fiber layer by laminating first carbon fiber ply; Laminating aramid fiber plies on the first carbon fiber layer to form an aramid fiber layer; Cutting the aramid fiber plies to a predetermined length along the longitudinal direction; Laminating the second carbon fiber layers by laminating second carbon fiber ply on the cut aramid fiber layer; And heating and pressing the laminated first carbon fiber layer, the aramid fiber layer, and the second carbon fiber layer to cure the resin to integrate the resin.

In the high-damping robotic hand according to the present invention, the carbon fiber layer and the aramid fiber layer are laminated on the hand portion, the rigidity is ensured by the carbon fiber layer, and the vibration damping effect can be obtained by the aramid fiber layer.

In addition, the aramid fibers contained in the aramid fiber layer are cut along the longitudinal direction of the hand portion and are spaced apart from each other by a predetermined distance, so that transmission of vibration can be more effectively blocked.

1 is a schematic view of a high-damping robot hand according to a first embodiment of the present invention.
Fig. 2 is a longitudinal sectional view of the hand portion shown in Fig. 1; Fig.
3 is a view showing a manufacturing method of the hand portion shown in Fig.
4 is a longitudinal sectional view of a hand unit according to a second embodiment of the present invention.
Fig. 5 is a sectional view taken along the line AA in Fig. 4. Fig.
6 is a view showing a manufacturing method of the hand portion shown in Fig.
7 is a cross-sectional side view of a hand portion according to a third embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a schematic view of a high-damping robot hand according to a first embodiment of the present invention. Fig. 2 is a longitudinal sectional view of the hand portion shown in Fig. 1; Fig.

Referring to Fig. 1, a high-damping robotic hand 1 is mounted on a transfer robot for lifting and transferring a conveyed object. The conveyance includes an LCD panel, a general glass panel, and an OLED panel.

The high-damping robotic hand 1 includes a fixed part 2 fixed to the transfer robot and a plurality of hand parts 4 protruding from the fixed part and on which the object is lifted. The plurality of hand parts 4 are each formed to be long in the longitudinal direction and are spaced apart from each other by a predetermined distance.

Referring to FIG. 2, the hand 4 includes a first carbon fiber layer 10, an aramid fiber layer 30, and a second carbon fiber layer 20.

The first carbon fiber layer 10 is formed by laminating a plurality of first carbon fiber plies 11, 12, and 13. The plurality of first carbon fiber plies 11, 12 and 13 are prepregs impregnated with the first carbon fibers 10a in the first matrix 10b, respectively. The first carbon fibers 10a may be the same as the second carbon fibers 20a included in the second carbon fiber layer 20 described below. The first carbon fibers 10a are hereinafter referred to as carbon fibers. A polymer resin is used for the first matrix 10b. The first carbon fiber plies 11, 12, and 13 may include a first filler (not shown). In the present embodiment, the first carbon fiber layer 10 is formed by stacking three first carbon fiber plies 11, 12, and 13 in the vertical direction Z, for example. The carbon fibers included in the first carbon fiber plies 11, 12 and 13 are continuously arranged in the longitudinal direction Y of the hand unit 4. [ That is, the arrangement directions of the carbon fibers included in the first carbon fiber plies 11, 12, and 13 are the same, and the arrangement direction is parallel to the longitudinal direction Y. However, the present invention is not limited to this, and the carbon fibers included in the plurality of first carbon fiber plies 11, 12, 13 may be arranged in different directions, It is of course possible to arrange them in an inclined manner. At this time, at least one of the plurality of first carbon fiber plies 11, 12 and 13 is arranged so that the carbon fiber is arranged parallel to the longitudinal direction Y of the hand portion 4 .

The aramid fiber layer 30 is formed by laminating a plurality of aramid fiber plies 31, 32, and 33. The plurality of aramid fiber plies 31, 32 and 33 are each formed of a prepreg impregnated with a plurality of aramid fibers 30a in the second matrix 30b. A polymer resin is used for the second matrix 30b. The aramid fiber plies 31, 32, and 33 may include a third filler. In the present embodiment, the aramid fiber layer 30 is exemplified by three aramid fiber plies 31, 32, and 33 stacked in the up and down direction Z. FIG. The aramid fibers contained in the aramid fiber plies 31, 32, and 33 are continuously arranged in the longitudinal direction of the hand unit 4. That is, the alignment directions of the aramid fibers 31, 32, and 33 are the same as each other, and the alignment direction is parallel to the longitudinal direction Y. However, the present invention is not limited to this, and the aramid fibers included in the plurality of aramid fiber plies 31, 32, and 33 may be arranged in different directions, It is of course possible to arrange them in an inclined manner. At least one ply of the plurality of aramid fiber plies 31, 32 and 33 is preferably arranged such that the aramid fibers are elongated in the longitudinal direction Y of the hand unit 4 Do. The aramid fibers may be woven fabric aramid fibers as well as unidirectional fibers. The thickness of the aramid fiber layer 30 is about 10% of the thickness of the hand 4. For example, if the thickness of the hand portion 4 is about 3 mm, the thickness of the aramid fiber layer 30 may be set to about 0.3 mm.

The second carbon fiber layer 20 is formed by laminating a plurality of second carbon fiber plies 21, 22, and 23. The plurality of second carbon fiber plies 21, 22 and 23 are prepregs impregnated with the plurality of second carbon fibers 20a in the third matrix 20b. The second carbon fibers 20a are the same as the first carbon fibers 10a included in the first carbon fiber layer 10 and are hereinafter referred to as carbon fibers. A polymer resin is used for the third matrix 20b. The second carbon fiber plies 21, 22, and 23 may include a second filler (not shown). In the present embodiment, the second carbon fiber layer 20 is exemplified by three second carbon fiber plies 21, 22, and 23 stacked in the up and down direction Z. FIG. The carbon fibers contained in the second carbon fiber plies 21, 22 and 23 are continuously arranged in the longitudinal direction Y of the hand unit 4. That is, the carbon fibers included in each of the second carbon fiber plies 21, 22, and 23 are continuously arranged in the longitudinal direction Y of the hand unit 4. That is, the arrangement directions of the carbon fibers included in the second carbon fiber plies 21, 22, and 23 are the same, and the arrangement direction is parallel to the longitudinal direction Y. However, the present invention is not limited to this, and the carbon fibers included in the second carbon fiber plies 21, 22, and 23 may be arranged in different directions, It is of course possible to arrange them at an angle. In this case, at least one of the plurality of second carbon fiber plies 21, 22, and 23 is formed so that the carbon fibers are arranged long in the longitudinal direction Y of the hand unit 4 . Although the carbon fibers included in the second carbon fiber layer 20 and the carbon fibers included in the first carbon fiber layer 10 are arranged in the same direction as each other, Of course it is possible.

The first and third matrices of the first and second carbon fiber layers 10 and 20 and the second matrix of the aramid fiber layer 30 are the same and improve the mutual adhesion. The polymer resin is exemplified by an epoxy being used, but it is of course possible to use a resin other than epoxy. The first, second, and third pillars may have a filler having the same function, or a filler having a different function may be used. The first carbon fiber and the second carbon fiber may be carbon fibers. However, the first carbon fibers and the second carbon fibers may be carbon fibers.

In the present embodiment, the first and second carbon fiber layers 10 and 20 and the aramid fiber layer 30 are laminated one by one. The first and second carbon fiber layers 10 and 20 and the aramid fiber layer 30 may be stacked one on the other or the first carbon fiber layer 10 and the aramid fiber layer 30, The second carbon fiber layer 20 may be sequentially laminated repeatedly in the vertical direction a plurality of times.

Although the aramid fiber layer 30 has been described as being laminated between the first carbon fiber layer 10 and the second carbon fiber layer 20 in the above embodiment, It is also possible that the carbon fiber layers are laminated, that one aramid fiber layer is laminated on one carbon fiber layer, or one carbon fiber layer is laminated on one aramid fiber layer.

A method of manufacturing a hand of a robot hand according to an embodiment of the present invention will now be described.

3 is a view showing a manufacturing method of the hand portion shown in Fig.

Referring to FIG. 3, the first carbon fiber plies 11, 12, and 13 are laminated in a vertical direction Z. As shown in FIG. In the present embodiment, three first carbon fiber plies 11, 12, and 13 are laminated, but the present invention is not limited thereto. For example, the number of the first carbon fiber plies 11, Can be set. At this time, the carbon fibers contained in the first carbon fiber plies 11, 12, 13 are continuously arranged along the longitudinal direction of the hand unit 4. That is, the carbon fibers are arranged long without cutting along the longitudinal direction of the hand portion 4. The carbon fibers of the first carbon fiber plies 11, 12 and 13 are arranged in a direction parallel to the longitudinal direction Y, for example. At least one of the first carbon fiber plies 11, 12, 13 may be formed so that the carbon fibers are arranged parallel to the longitudinal direction Y of the hand portion 4, And the remaining plies may be arranged such that the carbon fibers are inclined at a predetermined angle in the longitudinal direction (Y).

The aramid fiber plies 31, 32 and 33 are laminated in the vertical direction Z on the first carbon fiber plies 11, 12 and 13 stacked as described above. In this embodiment, three aramid fiber plies 31, 32 and 33 are laminated, but the present invention is not limited thereto. The number of the aramid fiber plies 31, 32 and 33 may be varied depending on the use of the hand 4, have. At this time, the aramid fibers contained in the aramid fiber plies 31, 32, and 33 are continuously arranged along the longitudinal direction of the hand unit 4. That is, the aramid fibers are arranged long along the longitudinal direction of the hand portion 4 without cutting. The aramid fibers 31, 32, and 33 are arranged in a direction parallel to the longitudinal direction Y, for example. At least one ply of the aramid fiber plies 31, 32 and 33 may be arranged such that the aramid fibers are arranged parallel to the longitudinal direction Y of the hand 4, And the remaining plies may be arranged such that the aramid fibers are inclined at a predetermined angle in the longitudinal direction (Y).

The second carbon fiber plies 21, 22 and 23 are laminated in the vertical direction Z on the aramid fiber plies 31, 32 and 33 laminated as described above. In the present embodiment, three second carbon fiber plies 21, 22, and 23 are laminated, but the present invention is not limited thereto. For example, Can be set. At this time, the carbon fibers included in the second carbon fiber plies 21, 22, and 23 are continuously arranged along the longitudinal direction of the hand unit 4. That is, the carbon fibers are arranged long without cutting along the longitudinal direction of the hand portion 4. The carbon fibers of the second carbon fiber plies 21, 22 and 23 are arranged in a direction parallel to the longitudinal direction Y, for example. At least one ply of the second carbon fiber plies 21, 22, and 23 may be formed so that the carbon fibers are arranged parallel to the longitudinal direction Y of the hand unit 4, And the remaining plies may be arranged such that the carbon fibers are inclined at a predetermined angle in the longitudinal direction (Y).

After the first carbon fiber layer 10, the aramid fiber layer 30 and the second carbon fiber layer 20 are stacked in this order, the resin is cured by heating and pressing.

The rigidity of the aramid fiber layer 30 is about 40 GPa, and the rigidity of the first and second carbon fiber layers 10 and 20 is about 350 GPa. The rigidity of the aramid fiber layer 30 is lower than the rigidity of the first and second carbon fiber layers 10 and 20 but higher than the rigidity of the resin layers made of resin such as polymer or rubber. The rigidity of the resin layers is about 1 to 5 GPa.

In addition, since the aramid fiber layer 30 has higher vibration damping properties than the first and second carbon fiber layers 10 and 20, the aramid fiber layer 30 can reduce vibration.

Therefore, by stacking the aramid fiber layer 30 between the first carbon fiber layer 10 and the second carbon fiber layer 30, the rigidity of the hand portion 4 can be ensured, and it is effective for attenuating high frequency vibration .

4 is a longitudinal sectional view of a hand unit according to a second embodiment of the present invention. 5 is a sectional view taken along the line A-A in Fig.

4 and 5, the hand unit 140 according to the second embodiment of the present invention includes a first carbon fiber layer 110, an aramid fiber layer 130, and a second carbon fiber layer 120, And the aramid fibers contained in the aramid fiber layer 130 are cut in a predetermined length along the longitudinal direction Y of the hand part 140 and are cut along the longitudinal direction Y, The second embodiment is different from the first embodiment in terms of arrangement and spacing, and the rest of the configuration and operation are similar to each other.

The first carbon fiber layer 110 is formed by stacking a plurality of first carbon fiber plies 111, 112 and 113 in a vertical direction Z. [ The plurality of first carbon fiber plies 111, 112 and 113 are prepregs impregnated with the first carbon fibers 110a in the first matrix 110b, respectively. The first carbon fibers 110a may be the same as the second carbon fibers 120a included in the second carbon fiber layer 120, which will be described later. Hereinafter, the first carbon fibers 110a will be referred to as carbon fibers. A polymer resin is used for the first matrix 110b. The first carbon fiber plies 111, 112, and 113 may include a first filler (not shown). The carbon fibers included in the first carbon fiber plies 111, 112, and 113 are continuously and longitudinally arranged along the longitudinal direction Y, respectively. That is, each of the strands of the carbon fibers is long without being cut in the longitudinal direction (Y). However, when the length of the carbon fibers is shorter than the length of the hand unit 140, the carbon fibers are preferably formed so that at least some of the carbon fibers are overlapped or connected to each other and are continuously arranged along the longitudinal direction Y Do.

The second carbon fiber layer 120 is formed by stacking a plurality of second carbon fiber plies 121, 122, and 123 in the up and down direction Z. The plurality of second carbon fiber plies 121, 122 and 123 are prepregs impregnated with the plurality of second carbon fibers 120a in the third matrix 120b. The second carbon fibers 120a are the same as the first carbon fibers 110a included in the first carbon fiber layer 110, and are hereinafter referred to as carbon fibers. A polymer resin is used for the third matrix 120b. The second carbon fiber plies 121, 122 and 123 may include a second filler (not shown). The carbon fibers included in the second carbon fiber plies 121, 122 and 123 are also continuously arranged along the longitudinal direction Y. [ That is, each of the strands of the carbon fibers is long without being cut in the longitudinal direction (Y). However, when the length of the carbon fibers is shorter than the length of the hand unit 140, the carbon fibers are preferably formed so that at least some of the carbon fibers are overlapped or connected to each other and are continuously arranged along the longitudinal direction Y Do.

The aramid fiber layer 130 is formed by stacking a plurality of aramid fiber plies 131, 132, and 133 in the up and down direction Z. The aramid fiber layer 130 is formed by laminating a plurality of aramid fiber plies 131, 132, and 133. The plurality of aramid fiber plies 131, 132, and 133 are formed of prepregs impregnated with the plurality of aramid fibers 130a in the second matrix 130b. A polymer resin is used for the second matrix 130b. The aramid fiber plies 131, 132, and 133 may include a third filler (not shown). The aramid fibers contained in the aramid fiber plies 131, 132, and 133 are cut and arranged along a predetermined length along the length direction Y. That is, the aramid fibers are arranged in parallel to the longitudinal direction (Y) but are arranged non-continuously. Therefore, the aramid fibers are spaced apart from each other along the longitudinal direction Y by a predetermined distance d. The length of each of the aramid fibers is about 100 mm, for example.

The first and third matrices 110b and 120b of the first and second carbon fiber layers 110 and 120 and the second matrix 130b of the aramid fiber layer 30 may be the same, . The polymer resin is exemplified by an epoxy being used, but it is of course possible to use a resin other than epoxy. The first, second, and third pillars may have a filler having the same function, or a filler having a different function may be used. The first carbon fiber and the second carbon fiber may be carbon fibers. However, the first carbon fibers and the second carbon fibers may be carbon fibers.

In this embodiment, the first and second carbon fiber layers 110 and 120 and the aramid fiber layer 130 are laminated one by one. The first and second carbon fiber layers 110 and 120 and the aramid fiber layer 130 may be stacked one upon the other or the first carbon fiber layer 110 and the aramid fiber layer 130, The second carbon fiber layers 120 may be sequentially stacked in the vertical direction a plurality of times.

In the above embodiment, the aramid fiber layer 130 is laminated between the first carbon fiber layer 110 and the second carbon fiber layer 120. However, It is also possible that the carbon fiber layers are laminated, that one aramid fiber layer is laminated on one carbon fiber layer, or one carbon fiber layer is laminated on one aramid fiber layer.

A method of manufacturing the hand unit 140 according to the second embodiment of the present invention will now be described.

6 is a view showing a manufacturing method of the hand portion shown in Fig.

Referring to FIG. 6A, the first carbon fiber plies 111, 112, and 113 are stacked in the vertical direction Z. As shown in FIG. In the present embodiment, three first carbon fiber plies 111, 112 and 113 are laminated, but the present invention is not limited thereto. For example, the number of the first carbon fiber plies 111, Can be set. At this time, the carbon fibers contained in the first carbon fiber ply 111, 112, and 113 are continuously arranged along the longitudinal direction of the hand unit 140. That is, the carbon fibers are arranged long without cutting along the longitudinal direction of the hand unit 140. The carbon fibers of the first carbon fiber plies 111, 112 and 113 are arranged in a direction parallel to the longitudinal direction Y, for example. At least one ply of the first carbon fiber plies 111, 112, and 113 may be formed so that the carbon fibers are arranged parallel to the longitudinal direction Y of the hand unit 140 And the remaining plies may be arranged such that the carbon fibers are inclined at a predetermined angle in the longitudinal direction (Y).

Referring to FIG. 6B, the aramid fiber plies 131, 132, and 133 are stacked in the up and down direction Z on the first carbon fiber plies 111, 112, do. In the present embodiment, three aramid fiber plies 131, 132 and 133 are laminated, but the number of the aramid fiber plies 131, 132 and 133 is not limited thereto. have. At this time, the aramid fibers included in the aramid fiber plies 131, 132, and 133 are continuously and longitudinally arranged along the length direction of the hand unit 140. That is, the aramid fibers are arranged long without cutting along the longitudinal direction of the hand unit 140. At least one ply of the aramid fiber plies 131, 132, and 133 may be formed such that the aramid fibers are continuously and longitudinally arranged along the longitudinal direction Y of the hand unit 140, And the remaining plies are arranged such that the aramid fibers are inclined at a predetermined angle with respect to the longitudinal direction (Y).

Referring to FIG. 6C, the aramid fiber plies 131, 132, and 133 stacked as described above are cut into a predetermined length in the longitudinal direction Y by using the cutter 150. When the aramid fiber plies 131, 132, and 133 are cut using the cutter 150, the aramid fiber plies 131, 132, and 133 are inserted into the cutter 150, And spaced apart by an interval d as much as the space left. The aramid fiber plies 131, 132 and 133 are spaced apart from each other by the distance d so that the propagation of the vibration propagating along the longitudinal direction of the fiber in the longitudinal direction of the hand part 140 is blocked, The propagation of the vibration of the hand unit 140 can be minimized.

In the present embodiment, the aramid fiber plies 131, 132, and 133 are laminated and then cut. However, the present invention is not limited to this, and the aramid fiber plies 131, 132, ) May be preliminarily cut to predetermined lengths, and then laminated.

Referring to FIG. 6D, the second carbon fiber plies 121, 122, and 123 are cut in the up and down direction Z on the aramid fiber plies 131, 132, . In the present embodiment, three second carbon fiber plies 121, 122 and 123 are laminated, but the present invention is not limited thereto. For example, the number of the second carbon fiber plies 121, Can be set. At this time, the carbon fibers included in the second carbon fiber plies 121, 122, and 123 are continuously arranged along the longitudinal direction of the hand unit 140. That is, the carbon fibers are arranged long without cutting along the longitudinal direction of the hand unit 140. At least one ply of the second carbon fiber plies 121, 122 and 123 may be formed so that the carbon fibers extend continuously along the longitudinal direction Y of the hand unit 140 And the remaining plies may be arranged such that the carbon fibers are inclined at a predetermined angle in the longitudinal direction (Y).

After the first carbon fiber layer 110, the aramid fiber layer 130 and the second carbon fiber layer 120 are stacked in this order, the resin is cured by heating and pressing.

As described above, the aramid fibers are cut and spaced apart from each other by a predetermined distance d, so that the propagation of vibration proceeding along the length direction of the fiber is blocked, thereby minimizing the propagation of vibration of the hand unit 140 .

7 is a cross-sectional side view of a hand portion according to a third embodiment of the present invention.

7, the hand 150 according to the third embodiment of the present invention includes a first carbon fiber layer 151, an aramid fiber layer 153, and a second carbon fiber layer 152 stacked in this order And the hand unit 150 are formed in a hollow shape. The other structures and operations of the hand unit 150 are similar to those of the first embodiment, so that a detailed description of the similar structure will be omitted.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

4, 140, 150: hand part 10, 110, 151: first carbon fiber layer
20,120,152: second carbon fiber layer 30,130,153: aramid fiber layer

Claims (9)

A first carbon fiber layer in which the first carbon fibers are impregnated into the first matrix;
An aramid fiber layer laminated on the first carbon fiber layer, the aramid fiber layer being impregnated with the second matrix;
And a second carbon fiber layer laminated on the aramid fiber layer and the second carbon fibers impregnated in the third matrix,
Wherein the first matrix, the second matrix and the third matrix are formed of the same material,
Wherein the first carbon fiber layer is formed by continuously arranging the first carbon fibers in a longitudinal direction of the high-
Wherein the second carbon fiber layer is formed by continuously arranging the second carbon fibers in the longitudinal direction of the high-damping robotic hand,
Wherein the aramid fiber layer is formed such that the aramid fibers are cut along a longitudinal direction of the high-damping robotic hand to a predetermined length and are spaced apart from each other by a predetermined distance along the longitudinal direction. delete delete delete delete The method according to claim 1,
Wherein the first carbon fiber layer, the aramid fiber layer, and the second carbon fiber layer are laminated in order in the vertical direction a plurality of times repeatedly. The method according to claim 1,
The high damping robot hand is a hollow damping robot hand. delete Forming a first carbon fiber layer by laminating first carbon fiber ply formed by impregnating first carbon fibers into a resin;
Laminating the aramid fiber layers by laminating the aramid fiber plies formed by impregnating the aramid fibers with the resin on the first carbon fiber layer;
Cutting the aramid fiber plies to a predetermined length along the longitudinal direction;
Stacking the second carbon fiber ply formed by impregnating the second carbon fibers with the resin on the aramid fiber layer cut in the above, and laminating the second carbon fiber layer;
And heating and pressing the laminated first carbon fiber layer, the aramid fiber layer, and the second carbon fiber layer to cure the resin to integrate the resin.
KR1020150114423A 2014-08-19 2015-08-13 High damping Robot hand and manufacturing method of the same KR101855374B1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006269951A (en) * 2005-03-25 2006-10-05 Shikibo Ltd Transport device band
JP2012162062A (en) * 2011-02-09 2012-08-30 Jx Nippon Oil & Energy Corp Carbon fiber-reinforced plastic molding

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101265685B1 (en) 2011-04-01 2013-05-22 (주) 청심이엔지 Robot hand for carrying glass

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006269951A (en) * 2005-03-25 2006-10-05 Shikibo Ltd Transport device band
JP2012162062A (en) * 2011-02-09 2012-08-30 Jx Nippon Oil & Energy Corp Carbon fiber-reinforced plastic molding

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