Carbon fiber exoskeleton swing arm and preparation method thereof

Abstract

The invention discloses a carbon fiber exoskeleton swing arm and a preparation method thereof, and belongs to the technical field of exoskeleton production and manufacturing. According to the carbon fiber exoskeleton swing arm and the preparation method thereof, integrated forming of the material and the structure of the special-shaped hollow exoskeleton swing arm is achieved, and the overall structural strength and rigidity are guaranteed; compared with a traditional metal material, the carbon fiber exoskeleton swing arm can achieve about 30% weight reduction under the condition that the use load is met, the overall weight of exoskeleton equipment is effectively reduced, the load on a wearer is reduced, and meanwhile the endurance time of the exoskeleton equipment is prolonged; the carbon fiber exoskeleton swing arm is prepared by taking a carbon fiber composite material as a raw material and has the advantage of light weight, the material and the structure are integrally formed, the overall strength is high, the anti-fatigue performance is excellent, meanwhile, the appearance surface is smooth, and the attractiveness is improved due to surface plain weaving and warp and weft staggering.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeleton production and manufacturing, and specifically relates to a carbon fiber exoskeleton swing arm and a preparation method thereof. Background Art

[0002] Existing technical solutions all use metal materials to make exoskeleton swing arms. Metal materials are relatively dense, and the resulting parts increase the wearer's weight, limiting the application of exoskeleton swing arms in exoskeleton robots. As a wearable device, exoskeleton robots have extremely stringent quality requirements. Exoskeleton swing arms made of traditional metal materials increase the wearer's weight and reduce the endurance of the exoskeleton robot. At the same time, excessive mass will exacerbate the inertia effect, reducing the response speed and stability of the robotic exoskeleton.

[0003] In terms of molding technology, differential pressure casting equipment is expensive and the production equipment costs are high. The aluminum alloy needs to be heated and melted during the casting process, which consumes a lot of heat and energy. Metal 3D printing technology also requires precision equipment. The equipment price is generally in the millions or even tens of millions. The high production cost restricts its large-scale application. During the molding process, high-energy laser beams selectively melt the metal powder layers and stack them layer by layer. The required laser beam energy density is high and the energy consumption is large. At the same time, the mechanical properties of parts formed by metal 3D printing are anisotropic, and the interlayer bonding strength is much lower than that of traditional metal forgings. Multiple rounds of tests are required to optimize the strength to avoid brittle fracture problems. The outer surface roughness of parts formed by differential pressure casting and metal 3D printing technology is high, and the apparent molding quality is poor. Both require separate post-processing of the appearance surface, which increases the production process and production cycle.

[0004] Therefore, there is an urgent need for an exoskeleton swing arm that can meet the requirements of light weight, high strength and load-bearing capacity, simple production equipment, convenient molding and low energy consumption. Summary of the Invention

[0005] The present invention mainly solves the technical problems existing in the above-mentioned prior art and provides a carbon fiber exoskeleton swing arm and a preparation method thereof.

[0006] The above technical problems of the present invention are mainly solved through the following technical solutions: a carbon fiber exoskeleton swing arm and its preparation method, comprising a decorative texture layer, a structural layer and an epoxy varnish layer. The appearance shape of the carbon fiber exoskeleton swing arm follows the shape of the human body, and the interior is hollow for power mechanism installation and threading.

[0007] Preferably, the decorative pattern layer is formed by laying out carbon fiber / epoxy resin plain weave prepreg.

[0008] Preferably, the structural layer is made of carbon fiber / epoxy resin unidirectional prepreg, and different layers are laid with optimized angle design.

[0009] Preferably, the resins used in the decorative pattern layer, the structural layer and the epoxy varnish layer are the same, which are all medium-temperature epoxy resin systems, and the resin glass transition temperature (Tg) is above 120°C.

[0010] A method for preparing a carbon fiber exoskeleton swing arm comprises the following steps:

[0011] Step 1: Use carbon fiber / epoxy resin plain weave prepreg and carbon fiber / epoxy resin unidirectional prepreg to cut and blank according to the required shape by the blanking machine, and write the layup sequence number for layup preparation;

[0012] Step 2: Assemble the core block and the silicone inner mold as the inner mold for prepreg cladding. First, lay a layer of carbon fiber / epoxy resin plain weave prepreg on the surface of the inner mold, then lay the carbon fiber / epoxy resin unidirectional prepreg in the order of plying, and finally lay another layer of carbon fiber / epoxy resin plain weave prepreg on the outermost layer;

[0013] Step 3: After the carbon fiber exoskeleton swing arm is laid, the laid prepreg together with the inner mold is placed into the lower cavity mold, the upper cavity mold is closed by positioning guide pins, and the mold gap between the upper and lower cavity molds is controlled by limit blocks;

[0014] Step 4: After closing the mold, fix the upper and lower cavity molds with connecting bolts and place them in an oven for heating and curing.

[0015] Preferably, the forming mold is composed of a silicone inner mold, a core pulling block, an upper cavity mold, a positioning guide column, a lower cavity mold, a limit block and connecting bolts.

[0016] Preferably, the upper cavity mold and the lower cavity mold adopt a one-mold multi-cavity structure to control the outer contour of the molded carbon fiber exoskeleton swing arm.

[0017] Preferably, the upper cavity mold and the lower cavity mold are positioned by positioning guide pillars when the mold is closed, and are connected and fixed by connecting bolts. The limit blocks are used to control the mold closing gap.

[0018] Preferably, the core-pulling block and the silicone inner mold are combined into the inner cavity of the carbon fiber exoskeleton swing arm, which is used for laying and molding the carbon fiber prepreg. When heated and cured, the silicone inner mold expands due to the heat, and the prepreg is pressurized and cured from the inside.

[0019] Preferably, when removing the mold, first separate the upper and lower cavity molds, then pull out the core pulling block from the large end opening, and then use the flexible properties of the silicone inner mold to pull out the silicone inner mold from the inside of the carbon fiber exoskeleton swing arm to complete the demolding.

[0020] The present invention has the beneficial effects of: the carbon fiber exoskeleton swing arm and its preparation method realize the integrated molding of the material and structure of the special-shaped hollow exoskeleton swing arm, ensuring the overall structural strength and rigidity; compared with traditional metal materials, the carbon fiber exoskeleton swing arm can achieve about 30% weight reduction while meeting the use load, effectively reducing the overall weight of the exoskeleton device, reducing the burden on the wearer, and at the same time improving the endurance time of the exoskeleton device.

[0021] The carbon fiber exoskeleton swing arm is made of carbon fiber composite materials, which has the advantages of light weight. The integrated molding of materials and structures has high overall strength and excellent fatigue resistance. At the same time, the appearance is smooth and the plain weave warp and weft on the surface enhances the aesthetics.

[0022] The carbon fiber exoskeleton swing arm and preparation method thereof of the present invention adopt a one-mold multi-cavity molding mold, which improves production efficiency and shortens the production cycle; the production curing process only requires the use of an oven for heating and curing, and the production equipment is simple, the cost is low, and the energy consumption is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the carbon fiber exoskeleton swing arm structure of the present invention;

[0024] Figure 2 This is an enlarged schematic cross-sectional view of the carbon fiber exoskeleton swing arm of the present invention;

[0025] Figure 3 Schematic diagram of the forming mold used in the present invention.

[0026] In the figure: 1. Carbon fiber exoskeleton swing arm; 2. Silicone inner mold; 3. Core pulling block; 4. Upper cavity mold; 5. Positioning guide column; 6. Lower cavity mold; 7. Limit block; 8. Connecting bolt; 11. Decorative pattern layer; 12. Structural layer; 13. Epoxy varnish layer. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be further specifically described below through embodiments and in conjunction with the accompanying drawings.

[0028] Example: A carbon fiber exoskeleton swing arm and its preparation method, such as Figure 1-Figure 3 As shown, it comprises a decorative pattern layer 11, a structural layer 12 and an epoxy varnish layer 13. The carbon fiber exoskeleton swing arm 1 has an appearance and shape that conforms to the shape of the human body. It is hollow inside and is used for power mechanism installation and wiring.

[0029] The decorative pattern layer 11 is formed by laying out carbon fiber / epoxy resin plain weave prepreg.

[0030] The structural layer 12 is made of carbon fiber / epoxy resin unidirectional prepreg, and is laid with different layers at optimized angles.

[0031] The resin used in the decorative pattern layer 11, the structural layer 12 and the epoxy varnish layer 13 is the same, which is a medium-temperature epoxy resin system with a glass transition temperature (Tg) of the resin above 120°C.

[0032] A method for preparing a carbon fiber exoskeleton swing arm 1 comprises the following steps:

[0033] Step 1: Use carbon fiber / epoxy resin plain weave prepreg and carbon fiber / epoxy resin unidirectional prepreg to cut and blank according to the required shape by the blanking machine, and write the layup sequence number for layup preparation;

[0034] Step 2: Assemble the core block 3 and the silicone inner mold 2 as the inner mold for prepreg cladding. First, lay a layer of carbon fiber / epoxy resin plain weave prepreg on the surface of the inner mold. Then, lay the carbon fiber / epoxy resin unidirectional prepreg in the order of plying. Finally, lay another layer of carbon fiber / epoxy resin plain weave prepreg on the outermost layer.

[0035] Step 3: After the carbon fiber exoskeleton swing arm 1 is laid, the laid prepreg together with the inner mold is placed in the lower cavity mold 6, the upper cavity mold 4 is closed by the positioning guide column 5, and the mold clearance between the upper and lower cavity molds 6 is controlled by the limit block 7;

[0036] Step 4: After closing the mold, fix the upper and lower cavity molds 6 with connecting bolts 8 and put them into an oven for heating and curing.

[0037] The forming mold consists of a silicone inner mold 2, a core pulling block 3, an upper cavity mold 4, a positioning guide column 5, a lower cavity mold 6, a limit block 7 and a connecting bolt 8.

[0038] The upper cavity mold 4 and the lower cavity mold 6 adopt a one-mold multi-cavity structure, which is used to control the outer contour of the carbon fiber exoskeleton swing arm 1.

[0039] When the upper cavity mold 4 and the lower cavity mold 6 are closed, they are positioned by the positioning guide pillars 5 and fixed by the connecting bolts 8. The limit blocks 7 are used to control the closing gap.

[0040] The core-pulling block 3 and the silicone inner mold 2 are combined to form the inner cavity of the carbon fiber exoskeleton swing arm 1, which is used for laying and molding the carbon fiber prepreg. When heated and cured, the silicone inner mold 2 expands due to the heat, and the prepreg is pressurized and cured from the inside.

[0041] When demolding, first separate the upper and lower cavity molds 6, then pull out the core-pulling block 3 from the large end opening, and then use the flexible characteristics of the silicone inner mold 2 to pull out the silicone inner mold 2 from the inside of the carbon fiber exoskeleton swing arm 1 to complete the demolding.

[0042] The principle of the present invention is as follows: carbon fiber / epoxy resin plain weave prepreg and carbon fiber / epoxy resin unidirectional prepreg are cut and blanked by a blanking machine according to the required shape, and a ply sequence number is written for ply preparation;

[0043] The core block 3 and the silicone inner mold 2 are assembled as the inner mold for prepreg cladding. A layer of carbon fiber / epoxy resin plain weave prepreg is first laid on the surface of the inner mold, and then the carbon fiber / epoxy resin unidirectional prepreg is laid in the order of plying. Finally, another layer of carbon fiber / epoxy resin plain weave prepreg is laid on the outermost layer.

[0044] After the carbon fiber exoskeleton swing arm 1 is laid, the laid prepreg together with the inner mold is placed in the lower cavity mold 6, and the upper cavity mold 4 is closed by positioning the positioning guide pillars 5, and the mold clearance between the upper cavity mold 4 and the lower cavity mold 6 is controlled by the limit block 7;

[0045] After the molds are closed, the upper cavity mold 4 and the lower cavity mold 6 are fixed with connecting bolts 8 and placed in an oven for heating and curing.

[0046] During curing, the outer contour of the carbon fiber exoskeleton swing arm 1 is formed by the upper cavity mold 4 and the lower cavity mold 6. The internal silicone inner mold 2 expands when heated, applying pressure to the carbon fiber exoskeleton swing arm 1 prepreg from the inside. The prepreg is cured and formed under the action of the oven heating and the expansion pressure of the silicone inner mold 2.

[0047] After curing, demolding is performed, the upper cavity mold 4 and the lower cavity mold 6 are removed, and the core-pulling block 3 is pulled out from the large end opening. Then, the silicone inner mold 2 is pulled out from the inside of the carbon fiber exoskeleton swing arm 1 by utilizing its flexible properties, and demolding is completed;

[0048] The exterior surface of the carbon fiber exoskeleton swing arm 1 after demolding is cut, polished and cleaned to remove burrs and other defects, and the motor connection and installation holes are drilled; finally, an epoxy varnish layer 13 is sprayed on the exterior surface of the carbon fiber exoskeleton swing arm 1 to complete the preparation.

[0049] Finally, it should be noted that the above embodiments are merely representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments and is susceptible to numerous variations. Any simple modifications, equivalent variations, and modifications to the above embodiments based on the technical essence of the present invention are deemed to fall within the scope of protection of the present invention.

Claims

1. A carbon fiber exoskeleton swing arm, characterized by: The carbon fiber exoskeleton swing arm (1) comprises a decorative pattern layer (11), a structural layer (12) and an epoxy varnish layer (13). The outer shape of the carbon fiber exoskeleton swing arm (1) follows the shape of the human body and is hollow inside for installation and threading of a power mechanism.

2. The carbon fiber exoskeleton swing arm according to claim 1, characterized in that: The decorative grain layer (11) is formed by laying carbon fiber / epoxy resin plain weave prepreg.

3. The carbon fiber exoskeleton swing arm according to claim 1, characterized in that: The structural layer (12) is formed by laying carbon fiber / epoxy resin unidirectional prepreg, and different layers are laid with optimized angle design.

4. The carbon fiber exoskeleton swing arm according to claim 1, characterized in that: The resins used in the decorative pattern layer (11), the structural layer (12) and the epoxy varnish layer (13) are the same, and are all medium-temperature epoxy resin systems, with a glass transition temperature (Tg) of the resin being above 120°C.

5. A method for preparing a carbon fiber exoskeleton swing arm, characterized in that: The following steps are involved: Step 1: Use carbon fiber / epoxy resin plain weave prepreg and carbon fiber / epoxy resin unidirectional prepreg to cut and blank according to the required shape by the blanking machine, and write the layup sequence number for layup preparation; Step 2: Assemble the core block (3) and the silicone inner mold (2) as an inner mold for prepreg paving, first lay a layer of carbon fiber / epoxy resin plain weave prepreg on the surface of the inner mold, then lay the carbon fiber / epoxy resin unidirectional prepreg in the order of plying, and finally lay another layer of carbon fiber / epoxy resin plain weave prepreg on the outermost layer; Step 3: After the carbon fiber exoskeleton swing arm (1) is laid, the prepreg after laying is placed together with the inner mold into the lower cavity mold (6), the upper cavity mold (4) is closed by the positioning guide column (5), and the mold clearance between the upper and lower cavity molds (6) is controlled by the limit block (7); Step 4: After closing the mold, fix the upper cavity mold (4) and the lower cavity mold (6) with connecting bolts (8), and place them in an oven for heating and curing.

6. A carbon fiber exoskeleton swing arm and a method for preparing the same as claimed in claim 5, characterized in that: The forming mold consists of a silicone inner mold (2), a core-pulling block (3), an upper cavity mold (4), a positioning guide column (5), a lower cavity mold (6), a limit block (7) and connecting bolts (8).

7. The carbon fiber exoskeleton swing arm and the method for preparing the same as claimed in claim 5, characterized in that: The upper cavity mold (4) and the lower cavity mold (6) adopt a one-mold multi-cavity structure and are used to control the outer contour of the formed carbon fiber exoskeleton swing arm (1).

8. The carbon fiber exoskeleton swing arm and the method for preparing the same as claimed in claim 5, characterized in that: When the upper cavity mold (4) and the lower cavity mold (6) are closed, they are positioned by the positioning guide pillar (5) and connected and fixed by the connecting bolt (8). The limit block (7) is used to control the closing gap.

9. The carbon fiber exoskeleton swing arm and the method for preparing the same as claimed in claim 5, characterized in that: The core-pulling block (3) and the silicone inner mold (2) are combined to form the inner mold cavity of the carbon fiber exoskeleton swing arm (1), which is used for laying and molding the carbon fiber prepreg. When heated and cured, the silicone inner mold (2) expands due to the heat, and the prepreg is pressurized and cured from the inside.

10. The carbon fiber exoskeleton swing arm and the method for preparing the same as claimed in claim 5, characterized in that: When demolding, the upper cavity mold (4) and the lower cavity mold (6) are first separated, and then the core-pulling block (3) is pulled out from the large end opening. Then, the silicone inner mold (2) is pulled out from the inside of the carbon fiber exoskeleton swing arm (1) by utilizing the flexible characteristics of the silicone inner mold (2) to complete the demolding.

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