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Compound spherical shell oriented to omnidirectional movement spherical robot, and preparation method thereof

A spherical robot and composite ball technology, applied in coatings, polyurea/polyurethane coatings, etc., can solve the problems of increasing the manufacturing cost of spherical robots, affecting the reliability and service life of spherical robots, and achieving good acid and alkali corrosion resistance and protection. Safe operation and the effect of precise control

Active Publication Date: 2019-06-14
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the performance of the selected material is poor, it will affect the reliability of the spherical robot, reduce its service life, or even disintegrate and destroy it under extreme working conditions; if the spherical shell is made of high-performance titanium alloy materials, the manufacturing cost of the spherical robot will be greatly increased.

Method used

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  • Compound spherical shell oriented to omnidirectional movement spherical robot, and preparation method thereof

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Experimental program
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Effect test

Embodiment 1

[0010] A composite spherical shell for an omnidirectional moving spherical robot and a preparation method thereof, characterized in that:

[0011] (1) Add 8 parts of hydrogenated rosin resin, 50 parts of epoxy resin, 2 parts of diethylenetriamine, and 2 parts of diketone acrylamide into a reaction kettle at 38°C, and react for 1 hour at a stirring speed of 200r / min , to obtain a pre-cured liquid resin. Take 5 layers of glass fiber cloth as a reinforcement, and place the fiber filaments of adjacent glass fiber cloth in different directions, so that the angle between the fiber filaments of adjacent glass fiber cloth is 36°. Spread the pre-cured liquid resin mixture evenly on the glass fiber cloth by hand to make it soak evenly, then put it into a vacuum bag for vacuuming (0.1MPa) to make the liquid resin cover the entire fiber cloth layer, and remove the vacuum bag to reinforce the fiber The resin pre-solid is placed inside the concave hemispherical steel mold and compacted by ...

Embodiment 2

[0014] A composite spherical shell for an omnidirectional moving spherical robot and a preparation method thereof, characterized in that:

[0015] (1) Add 6 parts of hydrogenated rosin resin, 40 parts of epoxy resin, 1 part of diethylenetriamine, and 1 part of diketone acrylamide into a reaction kettle at 38°C, and react for 1.5 minutes at a stirring speed of 230r / min. h, to obtain a pre-cured liquid resin. Two layers of basalt fiber cloth are used as reinforcements, and the fiber filaments of adjacent basalt fiber cloth are stacked in different directions so that the angle between the fiber filaments of adjacent basalt fiber cloth is 90°. Spread the pre-cured liquid resin mixture evenly on the glass fiber cloth by hand to make it soak evenly, then put it into a vacuum bag for vacuuming (0.1MPa) to make the liquid resin cover the entire fiber cloth layer, and remove the vacuum bag to reinforce the fiber The resin pre-solid is placed inside the concave hemispherical steel mold...

Embodiment 3

[0018] A composite spherical shell for an omnidirectional moving spherical robot and a preparation method thereof, characterized in that:

[0019] (1) Add 6 parts of hydrogenated rosin resin, 62 parts of epoxy resin, 3 parts of diethylenetriamine, and 3 parts of diketone acrylamide into a reaction kettle at 38°C, and react for 1.1 hours at a stirring speed of 150r / min. h, to obtain a pre-cured liquid resin. Three layers of carbon fiber cloth are used as reinforcements, and the fibers of adjacent carbon fiber cloths are stacked in opposite directions so that the angle between the fibers of adjacent carbon fiber cloths is 60°. Spread the pre-cured liquid resin mixture evenly on the glass fiber cloth by hand to make it soak evenly, then put it into a vacuum bag for vacuuming (0.1MPa) to make the liquid resin cover the entire fiber cloth layer, and remove the vacuum bag to reinforce the fiber The resin pre-solid is placed inside the concave hemispherical steel mold and compacted ...

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Abstract

The invention provides a compound spherical shell of a spherical robot. The compound structure of the spherical shell comprises a rigid substrate shell and a flexible coating layer, wherein the rigidsubstrate shell is made of structural type fiber reinforced compound material and is compounded by reinforced fibers and a thermosetting resin substrate; a honeycomb-shaped stiffening rib is arrangedon the inner surface of the rigid substrate shell, is made of thermosetting resin and can be subjected to integral hot press molding with the rigid substrate shell; the flexible coating layer is madeof copolymer elastomer materials. The light compound spherical shell has high specific strength, specific stiffness, rolling friction coefficients and impact energy dissipation factors and also has aquick repairing function. The spherical shell and the corresponding spherical robot serve as an open type automatic control platform, and various functional spherical robots can be developed and derived on the basis of the compound spherical shell of the spherical robot.

Description

technical field [0001] The invention relates to the technical field of polymer materials, in particular to a functional spherical hollow shell structure facing a spherical robot. Background technique [0002] The spherical robot is a system that installs motion actuators, sensors, controllers, and energy devices in a spherical shell. It is an instrument platform for exploration in special environments. It has good environmental adaptability and is not easy to overturn. Environment, such as the survey of pipeline ditches, liquid and corrosive environment operations, as a military reconnaissance combat platform. Because this type of robot has good dynamic and static balance, and has good sealing performance, it can drive in unmanned, sandy, humid, and corrosive harsh environments, and has amphibious functions. It can be used in planetary exploration, environmental monitoring, national defense equipment, entertainment and other fields. Due to the particularity of the spherica...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): C08L63/00C08L93/04C08K7/14C08J7/04C09D175/08C09D7/61B29C70/34
Inventor 孙汉旭马龙霍东帅
Owner BEIJING UNIV OF POSTS & TELECOMM
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