A novel three-dimensional weaving robot arm and its manufacturing method

Abstract

The present invention discloses a novel three-dimensional braiding robot arm, comprising: a first joint, a second joint and a braiding body; the braiding body comprises: a first side wall, a second side wall and a connecting piece; the first side wall and the second side wall are arranged at intervals, and the first side wall and the second side wall are arranged oppositely; the connecting piece is placed between the first side wall and the second side wall, and the connecting piece is used to connect the first side wall and the second side wall; a first hole is arranged on the first side wall, and a second hole is arranged on the second side wall; the first joint is placed in the first hole, and the side of the first joint away from the first side wall is connected to the second side wall; the second joint is placed in the second hole, and the side of the second joint away from the second side wall is connected to the first side wall. The above technical scheme reduces the weight of the novel three-dimensional braiding robot arm by setting the first side wall, the second side wall and the connecting piece, thereby improving the precision of the parts and further improving the performance of the parts.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arms, and in particular to a novel three-dimensional weaving robot arm. Background Art

[0002] As a subcategory of the robotic arm, the lightweight robotic arm consists of a base, a robotic arm, and an actuator. One end of the robotic arm is rotatably connected to the base, and the other end of the robotic arm is rotatably connected to the actuator. The base is used to drive the robotic arm to rotate relative to the base, and the robotic arm is used to drive the actuator to rotate relative to the robotic arm.

[0003] However, the existing robotic arms have many parts, and the middle part of the existing robotic arms is made of composite materials, while the two ends are made of metal. In the existing robotic arms, the proportion of metal is relatively high, and the advantage of lightweight for some parts is not obvious; it is suitable for use in transmission shafts, but not suitable for applications such as SCARA (horizontal multi-joint) robotic arms. In addition, the connection method between composite materials and metal parts is adhesive bonding, or adhesive bonding plus toothed matching. The former has limited connection strength, and the latter has a complex connection method. Summary of the invention

[0004] In view of the above problems, the present application provides a new three-dimensional braided robotic arm to improve the lightweight effect of the robotic arm and ensure the accuracy and connection strength of the robotic arm.

[0005] To achieve the above-mentioned object, the present application provides a novel three-dimensional braiding robot arm, comprising: a first joint, a second joint and a braiding body;

[0006] The braided body comprises: a first side wall, a second side wall and a connecting piece; the first side wall and the second side wall are arranged at intervals, and the first side wall and the second side wall are arranged opposite to each other; the connecting piece is placed between the first side wall and the second side wall, and the connecting piece is used to connect the first side wall and the second side wall; the first side wall is provided with a first hole, and the second side wall is provided with a second hole;

[0007] The first joint is placed in the first hole, and a side of the first joint away from the first side wall is connected to the second side wall; the second joint is placed in the second hole, and a side of the second joint away from the second side wall is connected to the first side wall;

[0008] Among them, the first joint is a first metal joint, and the second joint is a second metal joint; the height of the first joint is equal to the height of the second joint, and the height of the first joint is equal to the height of the connecting piece.

[0009] In some embodiments, a first glue cavity is provided on a surface of the first joint close to the second side wall, and the first glue cavity is used to contain glue;

[0010] A second glue cavity is disposed on a surface of the second joint close to the first side wall, and the second glue cavity is used for accommodating glue.

[0011] In some embodiments, a plurality of first stubble grooves arranged in an array are disposed at the bottom of the first glue chamber, the first stubble grooves are inclined, and the bottom of the first stubble grooves is located at a side of the first stubble groove opening away from the second joint;

[0012] A plurality of second beating grooves arranged in an array are arranged at the bottom of the second glue chamber. The second beating grooves are arranged obliquely, and the bottom of the second beating grooves is placed on a side of the opening of the second beating groove close to the first joint.

[0013] In some embodiments, there are multiple connecting members, and the multiple connecting members are respectively placed on one side of the first joint and one side of the second joint, and the connecting members touch the side walls of the first joint and the second joint.

[0014] In some embodiments, a third glue cavity is further provided on the side wall of the first joint, the third glue cavity is placed on the side of the first joint in contact with the connecting member, and the third glue cavity is used to contain glue.

[0015] In some embodiments, a fourth glue cavity is further provided on the side wall of the second joint, the fourth glue cavity is placed on the side of the second joint in contact with the connecting member, and the fourth glue cavity is used to contain glue.

[0016] In some embodiments, the invention further comprises: a limit pin, wherein the limit pin is disposed on a side of the second side wall away from the first side wall;

[0017] Alternatively, the limiting pin is disposed on a side of the first side wall away from the second side wall.

[0018] In some embodiments, it further includes: a positioning post; the positioning post is multiple, the positioning post passes through the first side wall and is connected to a side of the first joint close to the first side wall, and the positioning post passes through the first side wall and is connected to a side of the second joint close to the first side wall;

[0019] The positioning column passes through the second side wall and is connected to a surface of the second joint close to the second side wall. The positioning column passes through the second side wall and is connected to a surface of the first joint close to the second side wall.

[0020] On the other hand, the present application also discloses a novel method for preparing a three-dimensional braiding robot arm, comprising the steps of:

[0021] The fibers are braided to form a braided body preform;

[0022] Placing the braided main body preform in a mold, injecting resin, and dipping and curing the resin to form the braided main body;

[0023] A first joint positioning column hole, a second head positioning column hole and a limit pin hole are formed on the braided body;

[0024] A positioning post hole is formed on the first joint, and a positioning post hole is formed on the second joint;

[0025] Applying glue into the first glue cavity and the second glue cavity;

[0026] Install the first connector in the first hole, and install the second connector in the second hole, so that the positioning post hole on the first connector is aligned with the first connector positioning post hole on the braided body, and the positioning post hole on the second connector is aligned with the second connector positioning post hole on the braided body;

[0027] Install the positioning column;

[0028] After the glue is cured, make mounting holes on the robot arm.

[0029] Different from the prior art, the above technical solution reduces the weight of the novel three-dimensional weaving robot arm by setting the first side wall, the second side wall and the connecting piece, thereby improving the precision of components and further improving the performance of components.

[0030] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0032] Figure 1 This is a structural diagram of the novel three-dimensional weaving robot arm;

[0033] Figure 2 An exploded view of the novel three-dimensional weaving robotic arm;

[0034] Figure 3 The first joint structure Figure 1 ;

[0035] Figure 4 The first joint structure Figure 2 ;

[0036] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0037] Figure 6 for Figure 4 Enlarged view of point B in the middle;

[0038] Figure 7 It is the structural diagram of the braided main body;

[0039] Figure 8 This is a structural diagram of the first beating trough and the second beating trough.

[0040] Description of reference numerals:

[0041] 100, actuator; 200, base;

[0042] 1. First joint; 2. Second joint; 3. Braided body; 4. Limit pin; 5. Positioning column;

[0043] 11. First glue chamber; 12. Third glue chamber; 13. First septum groove;

[0044] 21. Second glue chamber; 22. Fourth glue chamber; 23. Second septum trough;

[0045] 31. first side wall; 32. second side wall; 33. connecting member;

[0046] 311. The first hole. DETAILED DESCRIPTION

[0047] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0049] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0050] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0051] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0052] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0053] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0054] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0055] See also Figures 1 to 7The present application discloses a novel three-dimensional braiding robot arm, comprising: a first joint 1, a second joint 2 and a braiding body 3 (shell); the braiding body 3 comprises: a first side wall 31, a second side wall 32 and a connecting piece 33; the first side wall 31 and the second side wall 32 are arranged at intervals, and the first side wall 31 and the second side wall 32 are arranged oppositely; the connecting piece 33 is placed between the first side wall 31 and the second side wall 32, and the connecting piece 33 is used to connect the first side wall 31 and the second side wall 32; the first side wall 31 is provided with a first hole 311, and the second side wall 32 is provided with a second hole; the first joint 1 is placed in the first hole 311, and the side of the first joint 1 away from the first side wall 31 is connected to the second side wall 32; the second joint 2 is placed in the second hole, and the side of the second joint 2 away from the second side wall 32 is connected to the first side wall 31. In some embodiments, the first joint 1 is a first metal joint, and the second joint 2 is a second metal joint.

[0056] The first joint 1 is a cylindrical structure with one end open and the interior hollow, and the first joint 1 is made of metal. Preferably, the first joint 1 is an aluminum alloy joint.

[0057] The second joint 2 is a cylindrical structure with one end open and the interior hollow, and the second joint 2 is made of metal, preferably, the second joint 2 is an aluminum alloy joint. The first joint 1 and the second joint 2 have the same structure and material.

[0058] The first side wall 31 and the second side wall 32 have the same structure and shape. The first side wall 31 and the second side wall 32 are arranged opposite to each other, and there is a gap between the first side wall 31 and the second side wall 32. The first side wall 31 is provided with a first hole 311, and the second side wall 32 is provided with a second hole. The first hole 311 and the second hole are arranged alternately. Specifically, the first hole 311 is placed at one end of the braided body, and the second hole is placed at the other end of the braided body. The first hole 311 and the second hole are both through holes.

[0059] The connecting member 33 is placed between the first side wall 31 and the second side wall 32, and one end of the connecting member 33 is connected to the first side wall 31, and the other end of the connecting member 33 is connected to the second side wall 32. The connecting member 33 is perpendicular to the first side wall 31, and the connecting member 33 is perpendicular to the second side wall 32. Further, the height of the connecting member 33 is the same as the height of the first joint 1 and the second joint 2.

[0060] In some embodiments, the connecting member 33 may be a connecting wall or a solid structure; specifically, when the connecting member 33 is a connecting wall, the connecting wall is placed on the edge of the first side wall 31 and the second side wall 32, or on the edge of the first hole 311 and the second hole, so that the woven body 3 is a hollow structure; when the connecting member 33 is a solid structure, the connecting member 33 fills the gap between the first side wall 31 and the second side wall 32, at this time, the first hole 311 is based on the second side wall 32, and the second hole is based on the first side wall 31 as the bottom.

[0061] In actual operation, when the first joint 1 is engaged with the first side wall 31 and the second side wall 32, and the opening of the first joint 1 faces the first hole 311; similarly, the second joint 2 is engaged with the first side wall 31 and the second side wall 32, and the opening of the second joint 2 faces the second hole.

[0062] The first side wall 31, the second side wall 32 and the connecting member 33 are integrally formed to form a braided main body 3; the braided main body 3 is manufactured by a three-dimensional carbon fiber braiding process and an RTM process. Specifically, the three-dimensional braided carbon fiber is a preformed structural part (referred to as a "preform"), which is then used as a reinforcing material for resin impregnation and curing to form a composite material structure. Since the reinforcing fibers are distributed in multiple directions in three-dimensional space, the expansion of interlayer cracks in the composite material under the impact load is prevented or slowed down, so that the performance of the composite material is greatly improved.

[0063] Most three-dimensional braided composite materials are impregnated and cured using liquid molding processes to directly form composite structural parts, such as resin transfer molding (RTM), resin film infiltration (RFI) and vacuum assisted resin infiltration (VARI).

[0064] In the present application, the cross-section of the braided body is trapezoidal.

[0065] The above technical solution reduces the weight of the novel three-dimensional braiding robot arm by disposing the first side wall 31, the second side wall 32 and the connecting member 33, thereby improving the precision of components and further improving the performance of components.

[0066] According to some embodiments of the present application, referring to Figures 4 to 5 A first glue cavity 11 is provided on a surface of the first joint 1 close to the second side wall 32 , and the first glue cavity 11 is used for accommodating glue.

[0067] The first glue cavity 11 is placed on the surface of the first joint 1 close to the second side wall 32, that is, a groove is provided on the surface of the first joint 1 close to the second side wall 32, and the groove is adapted to the cross section of the first joint 1. After the operator applies glue to the first glue cavity 11, the first joint 1 with glue is installed in the first hole 311 to fix the first joint 1. The first side wall 31 completely covers the opening of the groove.

[0068] It should be further explained that the cross-section of the first glue cavity is a trapezoid, that is, the opening area of ​​the first glue cavity is smaller than the bottom area of ​​the first glue cavity, and the cavity wall of the first glue cavity extends outward from the opening of the first glue cavity to the bottom of the first glue cavity; the same applies to the second glue cavity.

[0069] According to some embodiments of the present application, referring to Figure 8 , a plurality of first beating grooves 13 arranged in an array are provided at the bottom of the first glue chamber, the first beating grooves 13 are inclined, and the bottom of the first beating grooves 13 is placed on a side of the opening of the first beating grooves 13 away from the second joint;

[0070] A plurality of second beating grooves 23 arranged in an array are arranged at the bottom of the second glue chamber. The second beating grooves 23 are arranged obliquely, and the bottom of the second beating grooves 23 is placed on a side of the opening of the second beating grooves 23 close to the first joint.

[0071] In the present embodiment, since one end of the robot arm of the present application is connected to the actuator 100 and the other end is connected to the base 200, when the robot arm is operating, the robot arm will rotate out from above the base 200, and the actuator 100 will also rotate out from above the robot arm, so that the four-axis robot from left to right is the actuator 100, the robot arm and the base 200; therefore, the actuator 100 is only supported by the rotating connection between the actuator 100 and the robot arm.

[0072] In order to improve the bearing capacity of the robot arm for the actuator 100, the first spiking groove 13 is added at the bottom of the first glue chamber in this embodiment to improve the bearing capacity of the robot arm. Figure 8 In this state, the side of the actuator 100 away from the first joint has a tendency to move downward due to gravity, so the side of the actuator 100 close to the first joint will have a tendency to move upward and leftward, further causing the first joint to be pulled upward and leftward.

[0073] The first beating groove 13 will increase the contact area between the first joint and the glue, so that the connection between the first joint and the braided body is more firmly connected, and the first joint is further prevented from escaping upward from the braided body; further, since the opening of the first beating groove 13 is close to the first joint, and the bottom of the first beating groove 13 is close to the second joint, when the solidified glue is placed in the first glue cavity and the first beating groove 13, and the actuator 100 is rotated to the left side of the braided body, the solidified glue will apply force to the side wall of the first beating groove 13 close to the second joint, thereby offsetting the leftward and upward pulling force.

[0074] The second beating groove 23 will increase the contact area between the second joint and the glue, so that the connection between the second joint and the braided body is more firmly established, and the second joint is further prevented from slipping downward from the braided body; further, since the opening of the second beating groove is close to the second joint, the bottom of the second beating groove 23 is close to the first joint, when the cured glue is placed in the second glue cavity and the second beating groove 23, and the braided body is rotated to the left side of the base 200, the cured glue will apply force to the side wall of the second beating groove 23 close to the first joint, thereby offsetting the rightward and downward pulling force.

[0075] In some embodiments, a plurality of first beating grooves 13 arranged in an array are provided at the bottom of the first glue chamber, and the first beating grooves 13 are trapezoidal; a plurality of second beating grooves 23 arranged in an array are provided at the bottom of the second glue chamber, and the second beating grooves 23 are trapezoidal.

[0076] Specifically, the opening of the first beating groove 13 is smaller than the bottom of the first beating groove 13; similarly, the opening of the second beating groove 23 is smaller than the bottom of the first beating groove 13. That is, the opening area of ​​the end of the first beating groove 13 close to the second side wall is smaller than the area of ​​the end of the first beating groove 13 away from the second side wall; the opening area of ​​the end of the second beating groove 23 close to the first side wall is smaller than the area of ​​the end of the second beating groove 23 away from the first side wall.

[0077] The trapezoidal setting increases the contact area of ​​the glue, thereby increasing the viscosity between the first joint and the second side wall, and further preventing the first joint from falling out.

[0078] According to some embodiments of the present application, referring to Figures 4 to 5 The second joint 2 is provided with a second glue cavity 21 on one side close to the first side wall 31, and the second glue cavity 21 is used to contain glue. Since the first joint 1 and the second joint 2 have the same structure, the structure of the second joint 2 can refer to the structure of the first joint 1.

[0079] The second glue cavity 21 is placed on the surface of the second joint 2 close to the first side wall 31, that is, a groove is provided on the surface of the second joint 2 close to the first side wall 31, and the groove is adapted to the cross-section of the second joint 2. After the operator applies glue to the second glue cavity 21, the second joint 2 with glue is installed in the second hole to fix the second joint 2.

[0080] According to some embodiments of the present application, referring to Figure 7 There are multiple connecting members 33, and the multiple connecting members 33 are respectively placed on one side of the first joint 1 and one side of the second joint 2, and the connecting members 33 touch the side walls of the first joint 1 and the second joint 2.

[0081] In this embodiment, the connecting member 33 is a connecting wall, which is placed on one side of the side wall of the first joint 1 and the second joint 2, and the connecting wall is in contact with the side wall of the first joint 1 and the second joint 2, that is, the side wall of the first joint 1 and the connecting wall are adapted to each other, when the side wall of the first joint 1 is arc-shaped, the connecting wall is also arc-shaped, and when the side wall of the first joint 1 is a plane, the connecting wall is also a plane; the same is true for the side wall of the second joint 2, which will not be repeated.

[0082] According to some embodiments of the present application, referring to Figure 4 and Figure 6 A third glue chamber 12 is also provided on the side wall of the first joint 1. The third glue chamber 12 is placed on the side where the first joint 1 contacts the connecting member 33, and the third glue chamber 12 is used to contain glue.

[0083] The third glue chamber 12 is a groove, the opening of which is arranged toward the connecting wall, and the connecting wall completely covers the opening of the third glue chamber 12. The arrangement of the groove will make the side wall of the first connector 1 adhere to the braided body 3, further preventing the first connector 1 from rotating or sliding in the braided body 3, and preventing the first connector 1 from falling off the braided body 3.

[0084] According to some embodiments of the present application, referring to Figure 4 and Figure 6 A fourth glue chamber 22 is also provided on the side wall of the second joint 2. The fourth glue chamber 22 is placed on the side where the second joint 2 contacts the connecting member 33, and the fourth glue chamber 22 is used to contain glue.

[0085] The fourth glue cavity 22 is a groove, the opening of which is arranged toward the connecting wall, and the connecting wall completely covers the opening of the fourth glue cavity 22. The arrangement of the groove enables the side wall of the second connector 2 to adhere to the braided body 3, further preventing the second connector 2 from rotating or sliding in the braided body 3, and preventing the second connector 2 from falling off the braided body 3.

[0086] According to some embodiments of the present application, referring to Figure 1 to Figure 2 , further comprising: a limiting pin 4, the limiting pin 4 being disposed on a side of the second side wall 32 away from the first side wall 31; or the limiting pin 4 being disposed on a side of the first side wall 31 away from the second side wall 32. The limiting pin 4 is disposed on the outer wall of the braided body 3. Since the first side wall 31 and the second side wall 32 have the same structure, only the first side wall 31 is taken as an example in this embodiment.

[0087] The limiting pin 4 is a column structure, and is disposed on a side of the first side wall 31 away from the second side wall 32, and the limiting pin 4 is disposed on one side of the first hole 311. The limiting pin 4 can be integrally formed with the braided body 3, or fixed to the first side wall 31 by gluing or threading.

[0088] The present application is mainly used on a four-axis robot. The second joint 2 is rotatably connected to the four-axis robot base 200, the first joint 1 is rotatably connected to the actuator 100 of the four-axis robot, and the limit pin 4 is used to limit the rotation of the four-axis robot actuator 100. The setting of the limit pin 4 prevents the actuator 100 from rotating above the robotic arm of the present application, and prevents the actuator 100 from overlapping with the robotic arm.

[0089] When the limiting pin 4 is placed on the second side wall 32 , the limiting pin 4 will prevent the robot arm from rotating to be placed above the base 200 , thereby preventing the robot arm from overlapping with the base 200 .

[0090] According to some embodiments of the present application, referring to Figure 1 to Figure 2 , further comprising: a positioning post 5; the positioning post 5 is multiple, the positioning post 5 penetrates the first side wall 31 and is connected to a side of the first joint 1 close to the first side wall 31, the positioning post 5 penetrates the first side wall 31 and is connected to a side of the second joint 2 close to the first side wall 31; the positioning post 5 penetrates the second side wall 32 and is connected to a side of the second joint 2 close to the second side wall 32, the positioning post 5 penetrates the second side wall 32 and is connected to a side of the first joint 1 close to the second side wall 32. In some embodiments, glue can also be injected into the cavity accommodating the positioning post, so that the connection between the positioning post and the cavity accommodating the positioning post is tighter.

[0091] The positioning post 5 is made of metal and is used to connect the first joint 1 and the braided body 3 and the second joint 2 and the braided body 3. Glue is applied in the positioning holes on the first joint 1, the second joint 2, the first side wall 31 and the second side wall 32 for accommodating the positioning post 5.

[0092] The present application also provides a novel method for preparing a three-dimensional braided robotic arm, comprising the steps of: weaving fibers to form a braided main body preform; placing the braided main body preform in a mold, injecting resin, and curing the preform to form a braided main body. In the present embodiment, epoxy resin can be injected; forming a first joint positioning column hole, a second head positioning column hole, and a limit pin hole on the braided main body; forming a positioning column hole on the first joint, and forming a positioning column hole on the second joint; applying glue to the first glue cavity and the second glue cavity; installing the first joint in the first hole, and installing the second joint in the second hole, so that the positioning column hole on the first joint is aligned with the first joint positioning column hole on the braided main body, and the positioning column hole on the second joint is aligned with the second joint positioning column hole on the braided main body; installing the positioning column; after the glue is cured, making a mounting hole on the robotic arm.

[0093] It should be noted that the weaving structure and resin system are designed according to the product performance requirements. The main body adopts a fiber weaving preform and then is formed by RTM. The metal connectors are pre-processed to leave a margin. The main body and the metal connectors are positioned and connected with positioning columns and adhesives. After curing, they are finely processed. The woven main body preform is a carbon fiber woven main body preform.

[0094] In actual operation, the braided main body preform is first placed in the mold, and then the mold is locked; after the mold is locked, the mold is evacuated; after the mold is evacuated, hot resin is injected into the inner surface of the mold through the reserved holes on the mold to completely close the mold; the resin is continued to be extruded to make the braided main body preform coated with a resin film shell; finally, after the shell is cured, the mold is opened to take out the formed braided main body; that is, the braided main body preform is formed by weaving, and the braided main body preform is used as a reinforcement, and the resin transfer molding process (RTM) is adopted to perform resin impregnation and curing to directly form a composite material structure.

[0095] Then, glue is applied in the first glue cavity and the third glue cavity of the first joint and in the second glue cavity and the fourth glue cavity of the second joint; the first joint coated with glue is installed in the first hole, and the second joint coated with glue is installed in the second hole, so that the first joint is connected to the second side wall, and the second joint is connected to the first side wall.

[0096] After the glue is cured, the positioning column is inserted into the corresponding positioning hole for positioning. Finally, a mounting hole is made on the robot arm, and the mounting hole is used to connect the actuator 100 and the base 200.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A novel method for preparing a three-dimensional braiding robot arm, characterized in that: The novel three-dimensional braiding robot arm comprises: a first joint, a limit pin, a positioning column, a second joint and a braiding body; The braided body comprises: a first side wall, a second side wall and a connecting piece; the first side wall and the second side wall are arranged at intervals, and the first side wall and the second side wall are arranged opposite to each other; the connecting piece is arranged around the gap between the first side wall and the second side wall, and one side of the connecting piece is connected to the edge of the first side wall, and the other side of the connecting piece is connected to the edge of the second side wall, and the connecting piece is used to connect the first side wall and the second side wall; and a first hole is arranged on the first side wall, and a second hole is arranged on the second side wall, and the apertures of the first hole and the second hole are the same; The first joint is placed in the first hole, and the side of the first joint away from the first side wall is connected to the second side wall; the second joint is placed in the second hole, and the side of the second joint away from the second side wall is connected to the first side wall; wherein the first joint is clamped between the first side wall and the second side wall, and the second joint is clamped between the first side wall and the second side wall; Wherein, the first joint is a first metal joint, and the second joint is a second metal joint; the height of the first joint is equal to the height of the second joint, and the height of the first joint is equal to the height of the connecting member; the cross-section of the braided body is a trapezoid; A first glue cavity is provided on a surface of the first joint close to the second side wall, and the first glue cavity is used to contain glue; A second glue cavity is provided on a surface of the second joint close to the first side wall, and the second glue cavity is used to contain glue; The limiting pin is disposed on a side of the second side wall away from the first side wall; Or the limiting pin is placed on a side of the first side wall away from the second side wall; There are multiple positioning posts, each of which passes through the first side wall and is connected to a side of the first joint close to the first side wall, and each of which passes through the first side wall and is connected to a side of the second joint close to the first side wall; The positioning post passes through the second side wall and is connected to a side of the second joint close to the second side wall. The positioning post passes through the second side wall and is connected to a side of the first joint close to the second side wall. Includes steps: The fibers are braided to form a braided body preform; Placing the braided main body preform in a mold, injecting resin, and dipping and curing the resin to form the braided main body; A first joint positioning column hole, a second joint positioning column hole and a limiting pin hole are formed on the braided body; A positioning post hole is formed on the first joint, and a positioning post hole is formed on the second joint; Applying glue into the first glue cavity and the second glue cavity; Install the first connector in the first hole, and install the second connector in the second hole, so that the positioning post hole on the first connector is aligned with the first connector positioning post hole on the braided body, and the positioning post hole on the second connector is aligned with the second connector positioning post hole on the braided body; Install the positioning column; After the glue is cured, make mounting holes on the robot arm.

2. A novel method for preparing a three-dimensional braiding robot arm according to claim 1, characterized in that: A plurality of first stubble grooves arranged in an array are provided at the bottom of the first glue chamber, the first stubble grooves are arranged obliquely, and the bottom of the first stubble groove is placed on a side of the opening of the first stubble groove away from the second joint; A plurality of second beating grooves arranged in an array are arranged at the bottom of the second glue chamber. The second beating grooves are arranged obliquely, and the bottom of the second beating grooves is placed on a side of the opening of the second beating groove close to the first joint.

3. A novel method for preparing a three-dimensional braided robotic arm according to claim 1, characterized in that: A plurality of first beating grooves arranged in an array are provided at the bottom of the first glue chamber, and the first beating grooves are trapezoidal; A plurality of second beating grooves arranged in an array are arranged at the bottom of the second glue chamber, and the second beating grooves are trapezoidal.

4. According to the novel method for preparing a three-dimensional braiding robot arm according to claim 1, it is characterized in that: A third glue cavity is also provided on the side wall of the first joint. The third glue cavity is placed on the side of the first joint in contact with the connecting piece, and the third glue cavity is used to contain glue.

5. The method for preparing a novel three-dimensional braiding robot arm according to claim 1, characterized in that: A fourth glue cavity is also provided on the side wall of the second joint. The fourth glue cavity is placed on the side of the second joint in contact with the connecting piece, and the fourth glue cavity is used to contain glue.

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