TW200946302A - CFRP-based conveyance member and robot hand using same - Google Patents

Abstract

A CFRP-based conveyance member comprising a high elastic modulus pitch-based carbon fiber reinforced resin composite material layer (a pitch-based CFRP layer), and a flexible resin layer having a lower tensile elastic modulus than the matrix resin that constitutes the pitch-based CFRP layer. More specifically, a CFRP-based conveyance member having a structure in which the pitch-based CFRP layer is a unidirectional material comprising carbon fiber oriented in an unbroken manner along the longitudinal direction of the conveyance member, and the flexible resin layer is interposed between at least two pitch-based CFRP layers.

Description

200946302 VI. Description of the invention: [Technical field to which the invention belongs]

ReinforlTpLc Fiber A manipulator, component, and component made of pitch-based carbon material installed in the arm of an industrial robot. A robot with excellent vibration and scale properties as a workpiece support. In the "previous technique", the front end of the arm is transmitted through the machine; the device is attached to the machine, such as the liquid crystal display, which is used for the substrate transfer used in the manufacturing process. The size of the glass substrate made of precision products such as , , and 矽阳圆 has also changed to i.彳’ ^ The LCD must be increased. In addition, large-scale plasma displays (which must be more expensive than the above-mentioned LCDs. The size of the robots is [0004] is a conventional metal material for transportation, but with the transfer _ quality w plus And m = cause the hand, the quality of the piece itself (self-weight) increases, and the curve of the 3, in this case, the metal material described above also has its high rigidity and replacement, gradually using fiber reinforced composite ^^ /iaSt1!;--referred to as "Qing".). The member for transportation of a solid cross section defined by the solid material of CFRP is particularly popular. Therefore, in the current situation of more large-scale development, the use of CFRp solid material has been used since the end of the year, the robot itself is still heavy, 200946302 and there will be: caused by its own weight The deflection = the load of the robot drive system is also increased, and the two ^^ thinner [to enable the work i support = by, the thickness of the member for the transfer is flexed 'but in such countermeasures 'by the mechanical self-weight The song (load deflection) will become larger. In the case where the workpiece is supported by the workpiece-supporting portion, the vibration of the workpiece is likely to become large and the vibration is likely to occur when the workpiece is attached to the workpiece. There is also a support effect, which may hinder the problem of ^ and chemistry in the supportability or transportability of the workpiece. In the past, the following techniques have been proposed for the use of CFRp. For example, Patent Document 1 (manufacture of a 曰 冓 冓 冓 将 将 将 将 将 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表 表And a plate-shaped CFRp sheet in which the skin layer, the core layer and the laminate are laminated and heated to be thermally hardened

Composition. 1 Fu, the core layer, also by CFRP [_8] In this case, in the case of the above skin layer, (4) a plurality of prepreg sheets of different orientations are laminated, and the bending, squeaking, and heat resistance are improved. . In addition, in the above-mentioned core layer, the honeycomb-like center material composed of the human body and the combination of the human body and the CFRp dry material = in the second set, the bending rigidity, the vibration attenuation characteristic, the resistance resistance, and the like are the same. 〇_] However, this method does not adequately correspond to the larger size of several robots, so it seeks further improvement. Dust In such a situation, the "People's Proposal - The Peng k Method of Removing Components" is made more lightweight, and it is accompanied by = bending rigidity, vibration reduction characteristics, and the like. [0011] In the patent document 2 (Japanese Laid-Open Patent Publication No. 2002-292592, No. 2002-292592, proposed, a method of laminating a prepreg sheet on a specific surface of a center material, and fortunately) After the hardening, the member for transporting the hollow structure of the center material is removed, or the member for transporting the hollow structure is used to reduce the amount of the prepreg sheet around the center material. The erroneous layer is surrounded by a plurality of layers [0012] In the use of the patent documents 2, 3 k an: the self-face of the self-faced scratch _A good, the weight of the 彳 component workpiece increases ' ΟΙ 在 support in the pick and place参 参 ϊΐ ϊΐ; reduce, and become green for productivity 2 plate, with components, requires vibration and decay 22:: transport this glass base [〇〇 13] The inventor of this case, in the previous for the second, +, hit the The CFRP-made transfer member disclosed in the hollow structure is: ^ Ϊ Ϊ Ϊ Ϊ; carbon J* Wei Ding is a highly elastic pitch-based carbon fiber, which can easily improve the vibration mitigation by using the 'change i' shape (Patent Document文更【0014】 In the past, it has been known that it has been used as a material for providing vibration damping (vibration and vibration resistance). The use of a hybrid component is disclosed in Japanese Patent Laid-Open No. 2000-343476. [Patent Document 2] Japanese Patent Laid-Open Publication No. Hei. No. 2-292592. Patent Document 3: Japanese Patent Laid-Open Publication No. Hei No. Hei. No. 2-292591. Patent Document 4: W02005/102618 [Disclosure] [Problems to be Solved by the Invention] Miscellaneous High Elastic Modulus (4) (4) Based on the carbon fiber, the enthalpy characteristics have excellent vibration damping properties, but in the case of the transfer wire, the large Weigong ==200946302 method can fully correspond to this. Therefore, seek better improvement. Master Gan 〇1〇16] According to the present invention, it is an object of the present invention to provide a substrate for a transfer member having a source that is more upwardly lifted. The base resin of the cyan-based gRP layer has a lower number of properties than that of the 坜CFRP layer. It is better to use the raw material of the raw material. In addition, it is better in the asphalt-based rubber layer. The structure is good, and the flexible resin layer is heat-resistant structure: it has a prismatic tube shape, and the feeding member should have the following basis. CFRP layer, the main sweets v. The green resin layer interposed between the asphalt is placed on the lower side of the corner column tube. The rubber layer should be used in the range of the cantilever beam from the fixed = member. 3 or more [〇〇22] end of the manipulator, I object hair, is attached to the arm of the mechanical use of the robot to keep fixed at 4::; 2; 2; = support, the ί: [°. 23] S-part transfer member - member. % <Wood pressure 4 and the support part is the above-mentioned CFRP transfer arm beam state, especially about 'at least two c's The manipulator [0024! ^ C·材财冰^ According to the present invention, it is a member for transportation that suppresses the high-modulus number, and also has excellent vibration-reducing characteristics. [Embodiment] FIG. 1 is a perspective view (a), a cross-sectional column tube shape, and a cross-sectional view (C) of a first turbulent flow according to the present invention; Further, Fig. 2 shows a manipulator 10 in which the CFRp correction type shown in Fig. 1 is mounted. This robot 10 is mounted on an industrial robot, and is used to support liquid crystal display n (LCD), plasma display (pDH = round or precision machine... For the purpose of transportation, etc. + 蛉 10 [0028] In Fig. 2, the 'CFRP transmission mechanism' is braked in a cantilever state, and the plurality of c-systems 2 are held by the cradle 2, The front end portion is configured as shown in Fig. 2. The front end portion may be formed as shown in Fig. 2, and the hollow member 'which will be described later may be embedded in the front end portion of the open state. W for non-contact support, Yang Yang air supply: can be installed in the pedestal 2 example table: but ^ / 3 @ 3 member 1 When the seat piece 2 of the bolt mosquito is mounted on the pedestal 2, the fixing hole 18 is used and the joint surface is set Rubber material, etc.: The material is also defined in the hole 1 of the member 1 [9_Γ2, which can be attached to the transporting member], as long as it has the ability to make CFRP as a robot = 1_full strength and does not increase the weight. To or such a fine (4) can be, for example, 'can be shackled material or ship material, what. 4. Suitable for use and transport The same is the CFRP system [0030], and the member for the delivery is an example. In the case of the case of the hollow column tube structure, the plate coating can be determined as the plate shown in Patent Document 1. The shape of the member is a fixed shape and can be formed into a hand shape which is disclosed in Patent Document 1 and which can be defined as a solid seat. 200946302 It is limited to (4), and the lion can be used for the transportation of the present invention. The structure includes: an elastic modulus (4) a cyan-based CFRP layer, and a tensile resin layer of a south base resin excellent in stretching of a miscellaneous sister. A soft resin layer is interposed between the C-foot layers. In order to effectively demonstrate the characteristics of pitch-based carbon fibers, in the case of the methane-based (four) layer, it is also advisable to use a certain degree of elasticity in the case of the US (4) + fat. In the case of Malaya, it is preferred to withstand high temperature, high humidity ring 3;:= U. In order to provide impact resistance, in the second thermosetting resin, [〇〇33], it is preferable to use an epoxy resin which is a thermosetting resin. As long as there is a soft resin layer interposed between the layers, An elastic material such as a resin layer of the above-mentioned base resin, any layer of a stretch elastic mold rubber, etc. The softer resin is preferably II: desirably Μ~5_a, preferably G.1~ , carbon 4 隹 俨 俨 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为 因为Viscose (10)) rubber (SBR), polybutadiene rubber (CR), butadiene rubber material. Shoulder), Ethylene-propylene rubber (EPM, EPDM) and other heat-resistant rubber [0035] Although the 'soft resin layer can be the above-mentioned elastic material alone 200946302 / layer ' ΐΞ 于 in glass or carbon fiber impregnated latex impregnated Things. The more preferable the property is, the thicker the thickness of the transport layer is, and the vibration attenuation softness tends to be lowered. Therefore, in the present specification, the main modulus of the 490 to 950 GPa, the main site of the hemp, is the rigidity of the reinforcing fiber used for the volume ratio of the entire stretched elastic, so it is not self-contained. Can't get the above. Second, although the use of two = dynamic mitigation characteristics of the components. It is advisable to use (4) '- PAN-based carbon fiber, or the wall-breaking i = stretch-pull number less than 490GPa of other well-known strengthening fiber-only composition, '': fragrant non-polyamide fiber, carbonized stone fiber and many other mechanical costs Raise; better ^ 2 described step riding manufacturing. First of all, the raw materials of the pre-dip sheet and the soft tree screen are used. , the shape of the center material and the member to be transported i, 'formed as a swing function, and have a certain degree of the stomach, the plate, and the material of the center material. For example: Ming 2 from this point, MC nylon resin, polyimine tree, etc. are 匕, =, or ^, so because of the cooling after heating = ^ = rate necessary, in the center material silk secret Wei = Any one of the molds such as the bottle (10) (registered trademark) sheet, etc. can be used. 9 200946302 There is a heating in the Si step: the deformation is not the same as the heating temperature, it is almost not '',,,, == The nature of deformation. Under the above-mentioned conditions: the material of the center material is melted, or the heating conditions described above, no flexing, twisting or wrinkling, bending, etc. are produced; the material of the material is warped, bent, and the substrate of the sheet is immersed. The thermal hardening of the resin is carried out by means of a central material for conveying the scent, and the impregnated substrate of the resin is not hard carbon fiber slab. ©:,; Addable;: The material containing "the glass energy" is used for the transportation. ^^ will damage the high vibration of the pitch-based carbon fiber itself, minus 5 and open seams, etc., which may damage these characteristics. ^ ❹ ^, then: the reinforcing fibers are oriented in the same direction as the single anti-two; f, forging Patterned fabric, triaxial fabric leaching =: In the state in which most of the carbon fiber bundles are side by side, various types of impregnated matrix® are used corresponding to the use of the transport member ,: forming a ^10 10 200946302 - a rigid CFRP member In this way, the original prepreg sheet to be used is selected. Pre-==-other 'About all the pre-preg sheets selected as described above, all pre-diluted sheets of the size. Secondly, on each side of the center material, Center material subjected to demolding treatment In this case, it is only necessary to sequentially heat the film by using a hair dryer or the like to smash it with the lower layer 1 method or the 4 sheets, and laminate it to a desired thickness (for example, 丨~ claws t Predicting the volume reduction of the prepreg's wheel during heat hardening © The required plate thickness of the cfrp plate of the feed member 1. The pre-3 Wei axis is oriented to the straight side (4) for the long side direction.) The unidirectional thin plate of n") is laminated on the innermost layer (also (hereinafter referred to as "two sides" will be oriented parallel to the longitudinal direction (gentleman 5.) above the outer layer of multiple layers. Occasionally, in addition to strengthening the direction of the long side, the skew 45 is rotated clockwise or counterclockwise, and the direction of the ==. is = direction (45 ± 15 or 135 ± 15) (hereinafter referred to as "Ye or Pin" (2)) The layering direction is oriented in the direction of deflection of 45° and 135° in the direction of deflection and the case of turbulence. The oriented sheet has the effect of shrinking the long side. ΐί °90. Oriented sheet The utility model has the effect of suppressing the hollow structure collapse rigidity or twisting the vibration to reduce the thinness to the thin plate, so that the torsion thin plate is combined according to the above combination. The father has a thin plate, and has a single direction and can also be combined with the winding and correcting. After that, each of the father and the pre-dip sheet is wound around the entire center of the center material. The method of the entire circumference of each layer of the attached material, the outermost layer of the f-pre-dip sheet is placed around the center and the innermost layer of the pre-dip sheet is also wrapped around the center of the 200946302 center material, followed by the winding The prepreg laminate material is laminated in advance to a predetermined thickness, and finally the cross prepreg sheet is wound around the entire circumference of the center material. [0048] In the case where the size of the conveying member is relatively small, for example, the width is l〇 In the case of 〇mm or less and the south degree is 50mm or less, 9〇 may be omitted. The oriented thin plate is only crossed with a prepreg sheet and 0. Oriented sheet construction. [0049] At this time, the innermost layer may be taken to wrap the cross-prepreg sheet around the entire circumference of the center material, and the second layer is pre-laminated to a set thickness. The method of aligning the thin plate laminate material or the four sides of the center material, and finally, the cross-prepreg sheet is wound around the center material. ,

[_] In addition, as for the lamination order, from the viewpoint of the hole processing such as the solid hole 18 shown in Fig. i (8), it is preferred to set the prepreg sheet to the lowermost layer. ^ By thus, the cross-prepreg sheet is placed on the lowermost layer, and the cut-and-open hole processing 4 is performed to prevent fluffing or cracking at the processing portion. There is no need to worry about damage to the liquid crystal display, plasma display = ° another example in the example shown in Figure 1 (8), although the setting 2 2 ί, etc., the appropriate amount is mixed here, please check the size of the machine In addition, since it is laminated on the property of the upper member (for example, the bending rigidity P), the bending prevention property is the same as the viewpoint of the deflection prevention property.

The thin plate is on the upper layer. In considering this _ ^ &amp; Thin plate combination and lamination sequence.预 疋 疋 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 49 The film thickness of the pre-dip sheet is made into a film of the Shishi: the layered asphalt-based carbon g is inserted into the soft wax layer between the layers of the Qingqingqing 曰^# heat hardening to obtain 12 200946302 士 [〇〇54] In the manufacture of the present embodiment, the corner post tube is opened, because the flexible member is inserted between the pitch-based CFRP layer and placed on the upper and lower sides of the corner post tube (the conveying member is used in the structure of the use layer, so The flexible resin layer may not be inserted into the side surface thereof. The effect is obtained. [0055] Thus, a laminate member in a state in which the outer peripheral surface of the center material is laminated is formed by attaching a prepreg sheet to the center material. Thereafter, the outer circumference of the laminated member is covered with a prepreg sheet (coating step).免 1 1 或 或 〇〇 〇〇 〇〇 〇〇 〇〇 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 另 另 另 另 另 另 另 另 另 另 另 另 另 另 另 另 另 另 另 另PAN-based carbon fibers, glass _, carbon-cut fibers, etc. are preferred. Further, it is preferable to be a thin plate which can be densely combined with flexibility and adhesion. And the layer member, [057] after the coating step, from the un-hardened member of the square plate, such as the wisdom of the state, into the true * 懕 flat-tight plate, etc., this shape J::--- --- - TM ^ is added from 1G to (10) minutes, and after that, all the prepreg sheets contain thermosetting resin, so the lions are

In the case of the both ends of the flexible resin layer, it is also possible to press the plate with the C to attract the holes generated in the lamination step in the laminating step, and the ΐ0=ΐunhardened member is applied with a uniform external pressure (also That is, atmospheric pressure). , u + Further, it is also possible to apply an external pressure in a specific direction to the unhardened member. The top surface of the conveying member 1 (that is, the workpiece is again and again, 'and the ballast or the like is added in a manner that does not cause a gap between the second and second jaws and the thickness setting plate. Increasing the size (especially thickness) accuracy of the conveying member 1, and diluting ===the direction of the mutual (4) Na pressure, lifting in the pre-13 200946302 [0060] The building member i of the hollow structure is produced. Step out) In this way, for example, the structure is mounted on a mount or the like, and the weight is reduced. Therefore, the member used in the front end portion from the f or the load of the workpiece can prevent the accuracy of the workpiece from being lifted. Transport accuracy. _ fun to generate, and can increase the layer (four) points ff ^ contains the range of 2 ~ 4mm or so. Live horse 2 ~ I 〇 mm or so, more soft resin layer on the pre-corporate ί, hope The laminate is above the softness, preferably more than lmm. 1. The film thickness after the surface is 0.5mm.

The lake is riding a thin plate. ^, the layer disposed on the left and right sides of the layer i should be about the same thickness. The pitch of the asphalt-based CFRP human body on both sides of the soft 11-layer is formed. However, the long-side direction of the transport member is inserted into the hollow portion of the non-contact support workpiece 1 and can also be used as a tunnel or a member for transport. = The suction at the time of attaching the workpiece of the f-ji is based on this embodiment, because the centering material should be a wiring passage at 4 o'clock. In the case of the so-called pad when the pad is used as the layer of the layer, the two functions of the so-called middle mold are performed at the same time, so that the pre-dip sheets of the adjacent wall portions can be joined to each other. The layer U can use the component to cut the two-week table and also use the cross-cracking. In this way, in addition to the fluffing or tortoise display to the processing site, the sun-precision work: H is not bad (four) injury liquid money , 14 200946302 芸 [00671_ Moreover, by the cladding formed by the cross-prepreg sheet, there is also a burr or a drop of the joint portion of the edge portion of the i-boiled prepreg sheet, which is aesthetically pleasing: &amp; It is advantageous to reinforce the joint portion of the prepreg sheet. Further, in the method of transporting the member, the long prepreg sheet may be laminated and laminated in the center as described in the above Patent Document 3. The outer peripheral surface of the material. [0068] In the above description, the cross-sectional shape is described as an almost fixed 2 tube impurity, but the secret m can also be found as a special item. The transport structure that is more excellent in the vibration attenuation effect described in Patent Document 4 #〜f0069 The external dimensions of the member for transport are not particularly limited, and the length necessary for the length of the support is long, and the height or width is required to be "supported or used for the transfer of the robot." Example: a^Il〇l〇I, although the present embodiment is described with reference to the embodiment, the present invention is not limited to the embodiment. [0071] (1) Single-direction sheet. A2 e "XN_8" impregnated with epoxy resin 〇"Prepreg thin g 2 f 25〇gW . 33 ftt: f, 〇.2 —. Unidirectional prepreg A, the direction of the reinforcing fibers is opposite to the direction of the long side of the member It is used as a material. D [0072] (2) Unidirectional prepreg sheet, B2 is made of T〇ray (P) carbon fiber "T7〇〇s" ^ in a single direction and impregnated with epoxy resin "T700s" pre-, and angle I*%苜

% _, carrier resin content [0073] (3) cross-prepreg sheets c, D use Ding (10) 〆 ΡΑΝ German carbon fiber "Τ 300" (tensile elastic modulus: 15 200946302 230GPa) 'and The carbon fiber is woven in a straight manner, and contains 黍=200g/m, the content of the observation is 44%, and the surface of the sheet is 产.24. The cross-prepreg sheet is oriented with respect to the orientation angle of the reinforcing fibers: the degree of the long side of the member becomes 〇. And 90. The way to laminate. [0074] (4) Matrix resin As the matrix (IV) of the Wei resin, the secret tree has a tensile modulus of 2500 MPa. And more measured [〇〇75] (5) soft resin layer ϊΐ ί ί 15. 15 face of the thin sheet (tensile elastic modulus: bribe. SBR (four) plate gazing above and below the vascular, and ◎ 【0076】 Example 1 (4) Rectangular MC nylon with a width of 52.8 and a width of 52.8 as the center material: the innermost layer is G. and (4) the direction of the long side of the intersection is 9〇. Orientation &amp; plate ^

Itj? A2^fI r t pre-dip sheet A1, the outermost layer is 〇. And 90. Oriented = pre-gt; fork = anti-C, and after the hardening, the center material is extracted to obtain a width of 6 〇, height = - 8 mm, degree (3 46 mm above and below, side 3 6 〇 m, length % must be ❹冓 A. In addition, the lowermost pre-dip sheet D is - 连: =: 3 = 尧 1 layer, the upper and lower sides of the square tube are as shown in Table 1 below, the prepreg sheet A2, the prepreg sheet _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ In this way, all of the prepregs of the laminated structure shown in Fig. 1(6) were obtained by laminating the prepreg of the CFRP-made material shown in Fig. 1 (6). Cross and cfrp, 12 series by pre-dip r main two m 9 〇. The system is composed of pre-dip sheet A2, which is obtained by prepreg sheet A2, and 9 sheets of pre-dip sheet B1, 9〇opAN system 16 200946302 OFRP '15 series* SBR sheet. (4) A soft resin layer, 16 is a crucible which is obtained by the prepreg sheet A1. Asphalt based system cfrp, η is 0/90 obtained by the pre-dip shank "10 。. Cross CFRP. L [Xie] [Table 1] The thickness of the laminated layer in the stacking direction (upper and lower) (mm/piece) (°) (sheet) ί Cross and prepreg C 0.24 0/90 1 Prepreg A1 0.21 0 5 SBR sheet 0.15 - 1 Prepreg sheet B1 0.26 90 1 Prepreg sheet A2 0.21 0 6 Prepreg sheet B2 0.26 90 1 Cross prepreg D 0.24 0/90 1 Subtotal center material 11.1 - - Cross prepreg D 0.24 0/90 1 Prepreg sheet B2 0.26 90 1 Prepreg sheet A2 0.21 0 6 Prepreg sheet B1 0.26 90 1 SBR sheet 0.15 _ 1 Prepreg sheet A1 0.21 0 5 Cross prepreg sheet C 0.24 0/90 1 Subtotal total 17 200946302

【〇〇78】___Γ^2] Layer composition (side) Cross prepreg C Prepreg sheet B1 Prepreg sheet B1 Prepreg sheet B1 Cross prepreg D Center material Cross prepreg sheet C

交叉 Cross prepreg D prepreg sheet B1 prepreg sheet B1 prepreg sheet B1 [0079] Example 2 In Example 1, except for inserting the length of the prepreg sheet, from the fixed side to the conveying member The remainder of (10) is made in the same manner as in the embodiment i to obtain 1 [0080] Embodiment 3 * Lai member B. In Example 1, except that it was inserted into the prepreg, Example 1 was carried out in the same manner to obtain the member 1. So far [0081] Comparative Example 1 冉卞υ In Example i, except for the prepreg sheet A1 and the sheet, the same manner as in Example 1 was carried out in the same manner (10) = inserting SBR1, 4 Γηπ〇?1 The a ^ A 々 U force type is sent to the transport member D. h using the embodiment of the present invention &amp; comparative example obtained by moving 18 200946302 ‘: delivery: 4 by bending, attenuation characteristics. The range of 175 mm is fixed to the level of 21 == member 1 to *hold at the level. Therefore, the fixing portion is clamped to the long side and held in the state of the cantilever beam. The fixed side end portion is equivalent to 250 brittle white bottom: that is, the initial deflection is provided from the conveying member 22. J Jerry 2kg

; Fiber:: = component vibration. From the middle (four)::=;S ο vibration of the component D: ^4. In the case of the transfer member A and the transport member A for transport, the present invention is the same as the case where the 衰减I is soft and the resin layer is significantly different. It can be understood that even if it is inserted from the fixed side 4 and the same as in Fig. 10, the improvement of the lateral attenuation can be reduced from _ to 1/3 of the length [a brief description of the drawing] [0025] The conveying member of the embodiment The outline concept is shown in Fig. 2, which shows a method for evaluating the three-dimensional vibration damping characteristics of a robot that is inspected and sent in the present day. And the graph of the time variation of the strain in the comparative example. 19 200946302 [Description of main component symbols] 1~Transporting member 2~Rack 3~Adsorption pad 10~Robot 11~0/90° Cross CFRP layer 12~90° PAN system CFRP layer 13~0° pitch-based CFRP layer 14~90°PAN system CFRP layer 15~soft resin layer 16~asphalt-based CFRP layer 17~0/90°cross CFRP layer 18~fixing hole 19~adsorption pad Hole 21 ~ fixture 22 ~ heavy 23 ~ aromatic polyamide fiber 24 ~ strain gauge W ~ workpiece

Claims (1)

200946302 VII. Shen Sing's patent scope·· h A system for transporting, including: 冋 elastic modulus asphalt-based carbon fiber reinforced resin composite layer (asphalt-based enthalpy), layer of layer 'with tensile elastic modulus The number is lower than the cfrp remaining _ piece that constitutes the first item of the diidyl group (10) mi iF 申 1 ? ? , , , , , , , , , , , , , , , , , 主 主 主 主 主 主 主 主The structure of the resin layer is inserted between the two layers of the Gu-based CFRP layer, the soft ❿ is at least in the shape, and the base C coffee layer is interposed between the greening base layers, and is in the patent application scope. In the i to 4 items, the member system (4) arm beam state is used as the member, and the layer is the range in which the solid side is continuous and the length is 1/3 or more. Interesting soft tree month 6. If you apply for patent scope! Any of the five items includes a (10) carbon fiber reinforced resin composite material layer. The article for transporting clothes, 7 is as in the patent application, in the US item, 'the outermost layer contains the fiber-reinforced resin composite material/transporting member, 21 200946302 8. The manipulator is installed in industrial machinery. The front end of the human arm includes: a support portion for supporting the workpiece, and a holder portion for holding the support portion to the front end of the arm, and the support portion is any one of claims 1 to 7 CFRP transmission member. 9. The robot according to the eighth aspect of the invention, wherein at least two of the CFRP transport members are held in a cantilever state and fixed to the mount portion. Eight, schema 〇 22