A suspension mechanical arm agitator and method of use thereof

Abstract

The application relates to the technical field of composite materials, and provides a suspension mechanical arm stirring device and a use method thereof.The device comprises a cuboid container, an ultrasonic device and a mechanical arm; the cuboid container is arranged in the ultrasonic device, the cuboid container contains suspension, and the inner wall of the cuboid container is provided with the mechanical arm; the mechanical arm is composed of multiple groups of long-face mechanical arms and multiple groups of wide-face mechanical arms, and the multiple groups of wide-face mechanical arms are located above the multiple groups of long-face mechanical arms.The beneficial effect is that the long-face mechanical arms and the wide-face mechanical arms are arranged to stir the suspension and the two kinds of solid-phase fibers in the cuboid container at the same speed, the wide-face mechanical arms stir back and forth along the parallel direction of the long face of the cuboid container, the long-face mechanical arms stir back and forth along the parallel direction of the wide face of the cuboid container, the wide-face mechanical arms stir first to make the suspension generate a turbulent state, then the long-face mechanical arms stir to mix the two kinds of solid-phase fibers uniformly, and meanwhile, the ultrasonic device assists vibration to improve the turbulent mixing effect.

Description

Technical Field

[0001] This invention relates to the field of composite material technology, specifically to a suspension robotic arm agitation device and its usage method. Background Technology

[0002] Fiber-reinforced thermoplastic composites are a type of lightweight, high-strength material with excellent corrosion resistance and mechanical properties. In recent years, the manufacture of fiber composites has provided a harder and lighter alternative to traditional metal parts.

[0003] Common solid-phase mixing methods currently available include carding and air-flow mixing. Carding generates a large amount of static electricity, which can cause fires and requires significant energy to remove. Depending on the properties of the fiber, carding is not suitable for carbon fibers, thus limiting the range of fibers that can be mixed. Air-flow mixing is suitable for fibers with similar densities; however, if the densities differ significantly, fiber stratification can occur during air-flow mixing, placing stringent requirements on the fibers.

[0004] Currently, fiber-reinforced thermoplastic composites are mainly characterized by uneven distribution of fibers and resin fibers. Therefore, this invention is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a suspension robotic arm agitation device and its usage method to solve the technical problems existing in the prior art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a suspension stirring device using a robotic arm, comprising: a cuboid container, an ultrasonic device, and a robotic arm; wherein, the cuboid container is placed in the ultrasonic device, the cuboid container contains a suspension, and the robotic arm is disposed on the inner wall of the cuboid container; the robotic arm consists of multiple sets of long-faced robotic arms and multiple sets of wide-faced robotic arms, with the multiple sets of wide-faced robotic arms positioned above the multiple sets of long-faced robotic arms; the multiple sets of wide-faced robotic arms and the long-faced robotic arms stir the suspension to form a turbulent state, uniformly mixing the two solid-phase fibers in the suspension; the multiple sets of wide-faced robotic arms stir before the multiple sets of long-faced robotic arms, and the stirring speed of the multiple sets of wide-faced robotic arms and the multiple sets of long-faced robotic arms is the same; while the multiple sets of wide-faced robotic arms and the long-faced robotic arms are stirring, the ultrasonic device assists in uniformly mixing the two solid-phase fibers in the suspension.

[0007] In an optional embodiment, there are two sets of wide-faced robotic arms and two sets of long-faced robotic arms; the wide-faced robotic arms rise after stirring, and then the long-faced robotic arms stir.

[0008] In an optional embodiment, each group of long-faced robotic arms includes a first long-faced robotic arm and a second long-faced robotic arm, which are respectively disposed on the two long-faced sidewalls of the rectangular container and are staggered.

[0009] In an optional embodiment, each group of wide-faced robotic arms includes a first wide-faced robotic arm and a second wide-faced robotic arm, which are respectively disposed on the two wide-faced sidewalls of the rectangular container and are staggered.

[0010] In an optional embodiment, the first long-faced robotic arm and the second long-faced robotic arm have the same structure, both including a long-faced forearm, a long-faced upper arm and a long-faced robotic claw. One end of the long-faced forearm is hinged to the long side wall of the rectangular container, the other end of the long-faced forearm is hinged to one end of the long-faced upper arm, and a long-faced robotic claw is installed at one end of the long-faced upper arm.

[0011] In an optional embodiment, the first wide-faced robotic arm and the second wide-faced robotic arm have the same structure, both including a wide-faced forearm, a wide-faced upper arm and a wide-faced robotic claw. One end of the wide-faced forearm is hinged to the wide side wall of the rectangular container, and the other end of the wide-faced forearm is hinged to one end of the wide-faced upper arm. A wide-faced robotic claw is installed at one end of the wide-faced upper arm.

[0012] In an optional embodiment, the long-faced upper arm is a plate-like structure, and the long-faced mechanical claw is a five-claw structure; the width of the five-claw structure of the long-faced mechanical claw is equal to the width of the plate-like structure of the long-faced upper arm; the wide-faced upper arm is a plate-like structure, and the wide-faced mechanical claw is a five-claw structure; the width of the five-claw structure of the wide-faced mechanical claw is equal to the width of the plate-like structure of the wide-faced upper arm.

[0013] In an optional embodiment, both the five-claw structure of the long-faced mechanical claw and the five-claw structure of the wide-faced mechanical claw are flat strip structures, and the gaps between adjacent parallel flat strip structures are equal.

[0014] On the other hand, the present invention also provides a method of using the suspension robotic arm agitation device as described above, comprising the following steps:

[0015] S1: Install multiple sets of wide-faced robotic arms and multiple sets of long-faced robotic arms on the rectangular container;

[0016] S2: Prepare a suspension of a certain concentration, wherein the suspension has a certain density; first, prepare the solvent as ethanol and deionized water, and add modifier, nanoparticles and nonionic surfactant to the solvent to prepare a suspension;

[0017] S3: Place the rectangular container into the ultrasonic device;

[0018] S4: While the multiple sets of wide-faced robotic arms and the multiple sets of long-faced robotic arms are stirring, the ultrasonic device is simultaneously activated to assist the two robotic arms in uniformly mixing the two solid-phase fibers in the suspension; wherein the density of the suspension is between the densities of the two solid-phase fibers.

[0019] In an optional embodiment, in S4, the wide-faced robotic arm stirs back and forth along the direction parallel to the long side of the rectangular container, and the long-faced robotic arm stirs back and forth along the direction parallel to the wide side of the rectangular container; wherein, after the wide-faced robotic arm stirs, the long-faced robotic arm stirs again, and the stirring speeds of the wide-faced robotic arm and the long-faced robotic arm are the same.

[0020] The beneficial effects of this invention are as follows: This suspension robotic arm agitation device uses multiple sets of long-faced robotic arms and multiple sets of wide-faced robotic arms to agitate the suspension and two types of solid-phase fibers in a rectangular container at the same speed. The wide-faced robotic arms agitate back and forth along the long side of the rectangular container, while the long-faced robotic arms agitate back and forth along the wide side of the rectangular container. The wide-faced robotic arms agitate first, followed by the long-faced robotic arms, creating a turbulent flow state in the suspension to mix the two types of solid-phase fibers evenly. Simultaneously, the ultrasonic device assists in vibration, which disperses the fibers and achieves the mixing effect. It is particularly noteworthy that the five-claw structure of the robotic claw is a flat strip structure, with equal gaps between adjacent parallel flat strip structures. The robotic claws can act as a fiber comber, promoting mixing between fibers. Through this structure, the fibers can be uniformly mixed. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the suspension robotic arm agitation device provided in one embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the structure of the long-faced robotic arm in a suspension robotic arm stirring device provided in one embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the structure of the wide-faced robotic arm in a suspension robotic arm agitation device provided in one embodiment of the present invention.

[0025] The attached figures are labeled as follows:

[0026] 1- Rectangular container;

[0027] 2-Long-faced robotic arm, 21-First long-faced robotic arm, 22-Second long-faced robotic arm, 211-Long-faced forearm, 212-Long-faced upper arm, 213-Long-faced robotic claw;

[0028] 3- Wide-face robotic arm, 21- First wide-face robotic arm, 22- Second wide-face robotic arm, 311- Wide-face forearm, 312- Wide-face upper arm, 313- Wide-face robotic gripper. Detailed Implementation

[0029] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it may be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it may be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0031] Example 1

[0032] Please see the appendix Figure 1-2The purpose of this embodiment is to provide a suspension stirring device using a robotic arm, comprising: a cuboid container 1, an ultrasonic device, and a robotic arm; wherein, the cuboid container 1 is placed in the ultrasonic device, and the cuboid container 1 contains a suspension, the suspension having specific ratio requirements, and the suspension itself having a certain density, which can modify the fibers to better bond them with the resin fibers. A robotic arm is mounted on the inner wall of the cuboid container 1, and the robotic arm consists of multiple sets of long-faced robotic arms 2 and multiple sets of wide-faced robotic arms 3, with the wide-faced robotic arms 3 positioned above the long-faced robotic arms 2. The multiple sets of wide-faced robotic arms 3 and long-faced robotic arms 2 stir the suspension to create a turbulent flow state, uniformly mixing the two solid-phase fibers in the suspension; wherein, the two solid-phase fibers are, generally, carbon fiber as the reinforcing fiber, and one of PA6, PP, PPEK, or other resin fibers. Turbulent flow can be understood by those skilled in the art as a smooth flow inside a suspension under the action of a robotic arm, such as back-and-forth stirring. The back-and-forth stirring of the robotic arm causes the suspension to flow in a parallel direction, which is different from rotary stirring (different from eddies).

[0033] It should be noted that the multiple sets of wide-face robotic arms 3 agitate before the multiple sets of long-face robotic arms 2, generating turbulence first. This is because the wide faces are longer, and after agitation, turbulence appears throughout the entire cuboid container 1. (The wide-face robotic arms 3 are longer than the long-face robotic arms, and agitation first allows the suspension to flow as a whole. The turbulence effect generated by the shorter long-face robotic arms 2 is better, resulting in a better initial mixing effect.) The agitation speed of the multiple sets of wide-face robotic arms 3 and the multiple sets of long-face robotic arms 2 is the same, which makes the generated turbulence state more stable.

[0034] In this embodiment, there are two sets of wide-faced robotic arms 3 and two sets of long-faced robotic arms 2. After the wide-faced robotic arms 3 complete their stirring, they rise up, and then the long-faced robotic arms 2 begin stirring. While multiple sets of wide-faced robotic arms 3 and long-faced robotic arms 2 are stirring, an ultrasonic device assists in the uniform mixing of the two solid-phase fibers in the suspension. The ultrasonic device assists in vibration, which disperses and mixes the two fibers, thereby improving the uniformity of the mixing of the two solid-phase fibers.

[0035] Specifically, each set of long-faced robotic arms 2 includes a first long-faced robotic arm 21 and a second long-faced robotic arm 22, which are respectively disposed on the two long-faced sidewalls of the rectangular container 1 and are staggered. Each set of wide-faced robotic arms 3 includes a first wide-faced robotic arm 31 and a second wide-faced robotic arm 32, which are respectively disposed on the two wide-faced sidewalls of the rectangular container 1 and are staggered. This structure facilitates the sequential stirring of the wide-faced robotic arms 31 and 32.

[0036] Furthermore, the first long-faced robotic arm 21 and the second long-faced robotic arm 22 have the same structure, both including a long-faced forearm 211, a long-faced upper arm 212, and a long-faced robotic gripper 213. One end of the long-faced forearm 211 is hinged to the long sidewall of the rectangular container 1, and the other end of the long-faced forearm 211 is hinged to one end of the long-faced upper arm 212. A long-faced robotic gripper 213 is mounted on one end of the long-faced upper arm 212. The first wide-faced robotic arm 31 and the second wide-faced robotic arm 32 have the same structure, both including a wide-faced forearm 311, a wide-faced upper arm 312, and a wide-faced robotic gripper 313. One end of the wide-faced forearm 311 is hinged to the wide sidewall of the rectangular container 1, and the other end of the wide-faced forearm 311 is hinged to one end of the wide-faced upper arm 312. A wide-faced robotic gripper 313 is mounted on one end of the wide-faced upper arm 212.

[0037] Furthermore, the long-faced upper arm 212 has a plate-like structure, and the long-faced mechanical claw 213 has a five-claw structure. The width of the five-claw structure of the long-faced mechanical claw 213 is equal to the width of the plate-like structure of the long-faced upper arm 212; the wide-faced upper arm 312 has a plate-like structure, and the wide-faced mechanical claw 313 has a five-claw structure; the width of the five-claw structure of the wide-faced mechanical claw 313 is equal to the width of the plate-like structure of the wide-faced upper arm 312. It is particularly noteworthy that the five-claw structures of both the long-faced and wide-faced mechanical claws are flat strip structures, with equal gaps between adjacent parallel flat strip structures. This structure enhances the turbulence generated by the agitation of the long-faced and wide-faced mechanical arms, improving the uniformity of fiber mixing.

[0038] It needs to be clarified that the two solid-phase fibers refer to the reinforcing fiber and the resin fiber. The density difference between the reinforcing fiber and the resin fiber is more than double, with the reinforcing fiber having a higher density. The reinforcing fiber and the resin fiber are uniformly dispersed throughout the suspension in a relatively static state. The suspension has a certain density between the density of the reinforcing fiber and the resin fiber. This is also designed to address the density difference between the reinforcing fiber and the resin fiber.

[0039] Example 2

[0040] Please see the appendix Figure 1-2 The purpose of this embodiment is to provide a method for using the suspension robotic arm agitation device as described above, based on Embodiment 1, including the following steps:

[0041] S1: Install multiple sets of wide-faced robotic arms 3 and multiple sets of long-faced robotic arms 2 on a rectangular container 1;

[0042] S2: Prepare a suspension of a certain concentration with a certain density. First, prepare a solvent of ethanol and deionized water. Add a modifier, nanoparticles, and nonionic surfactant to the solvent to prepare a suspension. The modifier (modified fiber) strengthens the bond between the reinforcing fiber and the resin fiber, and the nonionic surfactant increases the density of the suspension.

[0043] S3: Place the rectangular container 1 into the ultrasonic device;

[0044] S4: While multiple sets of wide-faced robotic arms 3 and multiple sets of long-faced robotic arms 2 are stirring, an ultrasonic device is simultaneously activated to assist the two robotic arms in uniformly mixing the two solid-phase fibers in the suspension; wherein, the two solid-phase fibers, the reinforcing fiber is generally carbon fiber, and the resin fiber is one of PA6, PP, PPEK, etc.; wherein, the density of the suspension is between the densities of the two solid-phase fibers.

[0045] It should be noted that the wide-faced robotic arm 3 stirs back and forth along the direction parallel to the long side of the rectangular container 1, while the long-faced robotic arm 2 stirs back and forth along the direction parallel to the wide side of the rectangular container 1. After the wide-faced robotic arm 3 stirs, the long-faced robotic arm 2 stirs again. The wide-faced robotic arm 3 and the long-faced robotic arm 2 stir at different times, and the stirring speeds of the wide-faced robotic arm 3 and the long-faced robotic arm 2 are the same.

[0046] This suspension agitation device uses multiple sets of long robotic arms 2 and multiple sets of wide robotic arms 3 to agitate the suspension and two types of solid fibers in a rectangular container 1 at the same speed. The wide robotic arms 3 agitate back and forth along the long side of the rectangular container 1, while the long robotic arms 2 agitate back and forth along the wide side of the container. The wide robotic arms 3 first create turbulence in the suspension, followed by the long robotic arms 2, ensuring the two types of solid fibers are evenly mixed. Simultaneously, an ultrasonic device assists in vibration to enhance the mixing effect. This avoids the stratification phenomenon that occurs when the two types of solid fibers have significantly different densities in water, resulting in one fiber sinking to the bottom and the other floating on the surface.

[0047] Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention shall be included within the scope of protection of this invention.

Claims

1. A suspension robotic arm agitation device, comprising: A cuboid container (1), an ultrasonic device, and a robotic arm; wherein the cuboid container (1) is placed in the ultrasonic device, the cuboid container (1) contains a suspension, and a robotic arm is provided on the inner wall of the cuboid container (1); The feature is that the robotic arm is composed of multiple sets of long-faced robotic arms (2) and multiple sets of wide-faced robotic arms (3), with the multiple sets of wide-faced robotic arms (3) located above the multiple sets of long-faced robotic arms (2); the multiple sets of wide-faced robotic arms (3) and the long-faced robotic arms (2) agitate the suspension to form a turbulent state, and mix the two solid-phase fibers in the suspension evenly; Multiple sets of wide-faced robotic arms (3) agitate before multiple sets of long-faced robotic arms (2), and the agitation speed of multiple sets of wide-faced robotic arms (3) and multiple sets of long-faced robotic arms (2) is the same; while multiple sets of wide-faced robotic arms (3) and long-faced robotic arms (2) are agitating, the ultrasonic device assists in mixing the two solid-phase fibers in the suspension evenly. Both the wide-faced robotic arm (3) and the long-faced robotic arm (2) are in two sets; the wide-faced robotic arm (3) rises after stirring, and then the long-faced robotic arm (2) stirs; Each set of long-faced robotic arms (2) includes a first long-faced robotic arm (21) and a second long-faced robotic arm (22). The first long-faced robotic arm (21) and the second long-faced robotic arm (22) are respectively disposed on the two long-faced side walls of the cuboid container (1) and are staggered. Each set of wide-faced robotic arms (3) includes a first wide-faced robotic arm (31) and a second wide-faced robotic arm (32). The first wide-faced robotic arm (31) and the second wide-faced robotic arm (32) are respectively disposed on the two wide-faced side walls of the cuboid container (1) and are staggered. The first long-faced robotic arm (21) and the second long-faced robotic arm (22) have the same structure, both including a long-faced forearm (211), a long-faced upper arm (212) and a long-faced robotic claw (213). One end of the long-faced forearm (211) is hinged to the long side wall of the cuboid container (1), and the other end of the long-faced forearm (211) is hinged to one end of the long-faced upper arm (212). A long-faced robotic claw (213) is installed at one end of the long-faced upper arm (212). The first wide-faced robotic arm (31) and the second wide-faced robotic arm (32) have the same structure, both including a wide-faced small arm (311), a wide-faced large arm (312) and a wide-faced robotic claw (313). One end of the wide-faced small arm (311) is hinged to the wide side wall of the cuboid container (1), and the other end of the wide-faced small arm (311) is hinged to one end of the wide-faced large arm (312). A wide-faced robotic claw (313) is installed at one end of the wide-faced large arm (312). The long-faced upper arm (212) has a plate-like structure, and the long-faced mechanical claw (213) has a five-claw structure; the width of the five-claw structure of the long-faced mechanical claw (213) is equal to the width of the plate-like structure of the long-faced upper arm (212); the wide-faced upper arm (312) has a plate-like structure, and the wide-faced mechanical claw (313) has a five-claw structure; the width of the five-claw structure of the wide-faced mechanical claw (313) is equal to the width of the plate-like structure of the wide-faced upper arm (312); The wide-faced robotic arm (3) stirs back and forth along the direction parallel to the long face of the cuboid container (1), and the long-faced robotic arm (2) stirs back and forth along the direction parallel to the wide face of the cuboid container (1); wherein, after the wide-faced robotic arm (3) stirs, the long-faced robotic arm (2) stirs again, the wide-faced robotic arm (3) and the long-faced robotic arm (2) stir at different times, and the stirring speed of the wide-faced robotic arm (3) and the long-faced robotic arm (2) is the same.

2. The suspension robotic arm agitation device according to claim 1, characterized in that, The five-claw structure of the long-faced mechanical claw (213) and the five-claw structure of the wide-faced mechanical claw (313) are both flat strip structures, and the gaps between adjacent parallel flat strip structures are equal.

3. A method of using the suspension robotic arm agitation device as described in any one of claims 1-2, characterized in that, Includes the following steps: S1: Install multiple sets of wide-faced robotic arms (3) and multiple sets of long-faced robotic arms (2) on the cuboid container (1); S2: Prepare a suspension of a certain concentration, wherein the suspension has a certain density; firstly, prepare the solvent as ethanol and deionized water, and add modifier, nanoparticles and nonionic surfactant to the solvent to prepare a suspension; S3: Place the rectangular container (1) into the ultrasonic device; S4: When multiple sets of wide-faced robotic arms (3) and multiple sets of long-faced robotic arms (2) are stirring, the ultrasonic device is turned on at the same time to assist the two robotic arms in uniformly mixing the two solid-phase fibers in the suspension; wherein the density of the suspension is between the densities of the two solid-phase fibers.

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