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A composite spherical shell for omnidirectional motion spherical robot and preparation method thereof

A technology of spherical robots and composite balls, applied in coatings, polyurea/polyurethane coatings, etc., can solve problems affecting the reliability and service life of spherical robots, increase the manufacturing cost of spherical robots, etc., and achieve mass production and good acid resistance Effect of alkali corrosion performance and good vibration damping function

Active Publication Date: 2021-12-28
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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  • A composite spherical shell for omnidirectional motion 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, remove the vacuum bag and reinforce the fiber The resin pre-solid is placed inside the concave hemispherical steel mold and compacted by han...

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 hours 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, remove the vacuum bag and reinforce the fiber The resin pre-solid is placed inside the concave hemispherical steel mold and ...

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 at a stirring speed of 150r / min for 1.1 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, remove the vacuum bag and reinforce the fiber The resin pre-solid is placed inside the concave hemispherical steel mold and compacted by hand to...

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Abstract

The patent of the present invention provides a composite spherical shell of a spherical robot. The spherical shell composite structure includes a rigid matrix shell and a flexible coating layer. The rigid matrix shell is a structural fiber-reinforced composite material, which is composed of reinforcing fibers and a thermosetting resin matrix. Honeycomb stiffeners are arranged on the inner surface of the rigid matrix shell. The stiffener material is thermosetting resin, which can be combined with the rigid matrix shell. Integrated thermoforming; flexible coating layer adopts copolymer elastomer material. The lightweight composite spherical shell has high specific strength, specific stiffness, rolling friction coefficient, impact energy dissipation coefficient and quick repair function. The spherical shell and the corresponding spherical robot are used as an open automatic control platform, and a variety of functional spherical robots can be developed on the basis of the spherical robot composite spherical shell.

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 Patents(China)
IPC IPC(8): C08L63/00C08L93/04C08K7/14C08J7/04C08J7/046C09D175/08C09D7/61B29C70/34
Inventor 孙汉旭马龙霍东帅
Owner BEIJING UNIV OF POSTS & TELECOMM
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