Composite material mechanical arm, preparation method thereof, and mechanical hand

Abstract

This invention relates to a composite material robotic arm and its manufacturing method, belonging to the field of robotic arm technology. The composite material robotic arm includes: a cavity beam, metal inserts, a reinforcing tube, and a slide rail mounting base; the cavity beam is made of fiber composite material and internally divided into multiple cavities; the metal inserts are respectively disposed on the upper and lower surfaces of the cavity beam, and each metal insert has threaded holes; the reinforcing tube is also made of fiber composite material and wraps around the cavity beam and the metal inserts; the slide rail mounting base is disposed on the surface of the reinforcing tube, opposite to the internal metal inserts, and is fixed to the metal inserts by threaded fittings through the threaded holes on the metal inserts. The modular design avoids the significant strength reduction caused by fiber discontinuity after the slide rail mounting base is processed, and solves the quality defects caused by uneven pressure in the metal insert area and mismatched thermal expansion coefficients during one-piece molding.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, and particularly relates to a composite material robotic arm, its preparation method, and a robotic hand. Background Technology

[0002] Existing metal robotic arms are heavy and lack flexibility. Therefore, engineers have developed various fiber composite material robotic arms to reduce weight, lower drive energy consumption, and improve flexibility. However, depending on the application scenario, it is sometimes necessary to install slide rails on the surface of the robotic arm. To ensure the dimensional accuracy of the slide rail mounting bases, they need to be manufactured using machining methods.

[0003] When fiber composite robotic arms are fabricated using monolithic composite materials, the extensive machining of the slide rail mount during processing can disrupt the continuity of the mechanical fibers in the composite material, leading to a significant decrease in strength. When using a separate slide rail mount fabrication method, which then installs it onto the surface of the robotic arm body, the difficulty of tapping the composite material necessitates the addition of metal embedded parts within the composite robotic arm body. These embedded parts are then used to secure the slide rail mount. However, during the molding process of the integrally formed composite material with embedded metal, the different expansion coefficients and other physical properties between the metal and fiber composite materials can cause uneven pressure in the area of ​​the embedded metal, resulting in insufficient load-bearing capacity of the robotic arm. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a composite material robotic arm and its manufacturing method, comprising a robotic arm body divided into multiple parts including a cavity beam, metal inserts, and reinforcing tubes. A slide rail mounting base is disposed on the surface of the robotic arm body, and the multiple parts are assembled into a single unit. This design achieves excellent weight reduction and higher structural strength.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] In a first aspect, a composite material robotic arm includes: a cavity beam, a metal insert, a reinforcing tube, and a slide rail mounting base;

[0007] The cavity beam is made of fiber composite material and is internally divided into multiple cavities;

[0008] The metal inserts are respectively disposed on the upper and lower surfaces of the cavity beam, and the metal inserts have threaded holes;

[0009] The reinforcing tube is made of fiber composite material and is wrapped around the outside of the cavity beam and the metal insert;

[0010] The slide rail mounting base is disposed on the surface of the reinforcing tube, opposite to the position of the internal metal insert, and is fixed together with the threaded hole on the metal insert by a threaded mounting component.

[0011] Optionally, the slide rail mounting base is made of fiber composite material or metal.

[0012] Optionally, the length direction of the cavity is consistent with the length direction of the composite material robotic arm.

[0013] Optionally, reinforcing ribs are provided between the multiple cavities of the cavity beam, and the slide rail mounting base is provided with an outwardly protruding linear protrusion structure. The distribution position of the linear protrusion structure outside the slide rail mounting base is the same as the distribution position of the reinforcing ribs inside the cavity beam.

[0014] Optionally, the composite material robotic arm is provided with mounting holes that pass through the metal insert, the reinforcing tube, and the slide rail mounting base. The mounting holes of the metal insert are threaded holes, and the slide rail mounting base is fixedly connected to the threaded holes by a threaded mounting member. The threaded mounting member passes through the mounting holes on the slide rail mounting base and the reinforcing tube.

[0015] Optionally, the contact surface between the metal insert and the cavity beam is provided with multiple bosses, the threaded hole is located at the center of the boss, the cavity beam is provided with multiple through holes, the boss of the metal insert is located in the through hole of the cavity beam, and the outer edge shape of the boss is the same as the outline shape of the through hole.

[0016] Optionally, the reinforcing tube applies compressive stress to the internal cavity beams and metal inserts.

[0017] Optionally, the fiber composite material is one or more of carbon fiber prepreg, glass fiber prepreg, aramid fiber prepreg, basalt fiber prepreg, metal fiber prepreg, or hybrid fiber prepreg.

[0018] Optionally, the metal insert is made of stainless steel, titanium alloy, or aluminum alloy.

[0019] Optionally, the cavity beam, reinforcing tube, and slide rail mounting base are ply structures composed of continuous unidirectional fiber prepreg and / or twill woven prepreg.

[0020] Optionally, the threaded mounting component is a countersunk bolt, a flathead screw, or an internal hex screw.

[0021] Secondly, the method for preparing the aforementioned composite material robotic arm includes the following steps:

[0022] S1. Prepare the cavity beam, metal insert and slide rail mounting base respectively;

[0023] S2. The metal insert is attached to the upper and lower surfaces of the cavity beam, and a reinforcing tube is prepared by laying a layer on the outside of the metal insert and the cavity beam.

[0024] S3. Fix the slide rail mounting base to the surface of the reinforcing tube using a threaded mounting component, and fasten the threaded mounting component to the threaded hole of the metal insert.

[0025] Optionally, in S1, the reinforcing tube and the slide rail mounting base are machined to have through mounting holes.

[0026] Optionally, in S1, the through hole is machined into the cavity beam.

[0027] Optionally, in S2, mounting holes are prepared on the reinforcing tube by machining.

[0028] Thirdly, a robotic arm includes the aforementioned composite material robotic arm, which is subjected to bending moment and resists bending deformation through the rigidity-designed cavity beam and the reinforcing tube.

[0029] Optionally, a slide rail is installed on the slide rail mounting base of the composite material robotic arm, and the composite material robotic arm moves on the robotic arm in the same direction as the slide rail via the slide rail.

[0030] The beneficial effects of this invention are as follows:

[0031] 1. The composite material robotic arm of this invention adopts a modular design of slide rail mounting base and main beam, effectively avoiding the significant strength reduction caused by fiber discontinuity after slide rail mounting base processing, and also has a significant weight reduction effect. The main beam adopts a modular design of cavity beam, metal insert, and reinforcing tube, with the three modules molded separately, effectively solving the quality defects caused by uneven pressure in the metal insert area and mismatch of thermal expansion coefficients during one-piece molding. It has the advantages of light weight, good structural reliability, and excellent manufacturing quality.

[0032] 2. The present invention uses an assembly installation method to connect various modules, which can effectively adjust the internal stress of different parts in the sleeve structure and improve the load-bearing capacity of the composite material robotic arm in specific application scenarios by pre-stressing. Attached Figure Description

[0033] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0034] Figure 1 This is a schematic diagram of the composite material robotic arm in Embodiment 1 of the present invention;

[0035] Figure 2This is a schematic diagram of the cavity beam structure in Embodiment 1 of the present invention;

[0036] Figure 3 This is a schematic diagram of the metal insert in Embodiment 1 of the present invention;

[0037] Figure 4 This is a schematic diagram of the reinforcing tube in Embodiment 1 of the present invention;

[0038] Figure 5 This is a schematic diagram of the slide rail mounting base in Embodiment 1 of the present invention.

[0039] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0040] Among them, 1. Slide rail mounting base; 11. Linear protrusion structure; 12. First mounting hole; 2. Reinforcing tube; 21. Second mounting hole; 3. Metal insert; 31. Threaded hole; 32. Boss; 4. Cavity beam; 41. Cavity; 42. Through hole; 43. Reinforcing rib. Detailed Implementation

[0041] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0042] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0043] Example 1

[0044] A composite material robotic arm with a symmetrical upper and lower structure, such as Figure 1 As shown, it includes: cavity beam 4, metal insert 3, reinforcing tube 2 and slide rail mounting base 1;

[0045] like Figure 2 As shown, the cavity beam 4 is internally divided into multiple cavities 41;

[0046] like Figure 3 As shown, there are two metal inserts 3, which are respectively set on the upper and lower surfaces of the cavity beam 4. The metal inserts 3 have threaded holes 31.

[0047] like Figure 1As shown, the reinforcing tube 2 is made of fiber composite material and is wrapped around the outside of the cavity beam 4 and the metal insert 3;

[0048] There are two slide rail mounting bases 1, which are set on the surface of the reinforcing tube 2, opposite to the position of the internal metal insert 3, and are fixed together with the threaded hole 31 on the metal insert 3 by countersunk bolts.

[0049] Through the above settings, the modular design of slide rail mounting base 1, cavity beam 4, metal insert 3 and reinforcing tube 2 can effectively avoid the significant decrease in strength caused by fiber discontinuity after the slide rail mounting base is processed, and has a significant weight reduction effect; it can also effectively solve the quality defects caused by uneven pressure in the area of ​​metal insert 3 and mismatch of thermal expansion coefficient during one-piece molding, effectively reduce internal defects and possible weak links, and improve the strength of composite material robotic arm.

[0050] like Figure 2 As shown, the length direction of cavity 41 is consistent with the length direction of the composite material robotic arm; ribs 43 in the shape of partitions are provided between the multiple cavities 41 of the cavity beam 4, such as... Figure 5 As shown, the slide rail mounting base 1 is provided with an outwardly protruding linear protrusion structure 11. The distribution position of the linear protrusion structure 11 outside the slide rail mounting base 1 is the same as the distribution position of the reinforcing rib 43 inside the cavity beam 4; so that the reinforcing rib 43 can serve as a load-bearing structural load bending moment, effectively improving the strength of the composite material robotic arm.

[0051] like Figure 5 As shown, in this embodiment, the slide rail mounting base 1 includes three linear protrusions 11. The leftmost linear protrusion 11 is used for rack positioning, and the two linear protrusions 11 on the right are each used for positioning one slide rail. The essential purpose of the three linear protrusions 11 is to provide assembly positioning.

[0052] The composite material robotic arm is provided with mounting holes that penetrate the metal insert 3, the reinforcing tube 2, and the slide rail mounting base 1. The mounting holes of the metal insert 3 are threaded holes 31 (e.g., Figure 3 As shown), the slide rail mounting base 1 is fixedly connected to the threaded hole 31 by a countersunk bolt, and the bolt passes through the first mounting hole 12 on the slide rail mounting base 1 (as shown). Figure 5 (as shown) and the second mounting hole 21 on the reinforcing tube 2 (as shown) Figure 4 As shown, the bolt tail is fixed in the threaded hole 31 of the metal insert 3, and the bolt head presses the slide rail mounting seat 1 and the reinforcing tube 2 together to achieve the connection of the three.

[0053] Among them, such as Figure 5 As shown, the first mounting hole 12 is located on the outside of the linear protrusion structure 11, and the multiple first mounting holes are arranged linearly, with the arrangement direction being the same as the length direction of the linear protrusion structure 11.

[0054] like Figure 3 As shown, the contact surface between the metal insert 3 and the cavity beam 4 is provided with multiple bosses 32, and threaded holes 31 are located at the center of the bosses 32; as Figure 2 As shown, the cavity beam 4 is provided with multiple through holes 42. The boss 32 of the metal insert 3 is located in the through holes 42 of the cavity beam 4, and the outer edge shape of the boss 32 is the same as the outline shape of the through hole 42. This boss 32 structure increases the effective length of the threaded hole 31 in the metal insert 3, and the boss 32 is not provided in the position where there is no threaded hole 31, which improves the overall weight reduction effect of the composite robot arm. In addition, the boss 32 is stuck in the through hole 42, which can prevent the relative sliding between the metal insert 3 and the cavity beam 4, further improving the overall strength of the composite robot arm. The form of the through hole 42 is more convenient to form than the concave form.

[0055] The reinforcing tube 2 applies compressive stress to the internal cavity beam 4 and metal insert 3, improving the overall ability of the composite robotic arm to resist bending moment; there are no slide rails on the left and right sides of the cavity beam 4, so no metal insert 3 is provided.

[0056] The cavity beam 4 is made of carbon fiber prepreg and is a three-dimensional structure made of unidirectional fiber prepreg and twill woven prepreg layup.

[0057] The reinforcing tube 2 is prepared by layup of unidirectional carbon fiber prepreg. During the layup process, the fiber direction design scheme is: 40% in the 0° direction, 40% in the ±45° direction, and 20% in the 90° direction. The reinforcing tube has two functions: (1) to constrain the metal insert from falling off; (2) to improve the rigidity of the robotic arm, thereby reducing the amount of deformation during the movement of the robotic arm.

[0058] In this embodiment, the slide rail mounting base 1 is made of carbon fiber prepreg with the fiber direction being a quasi-isotropic layup.

[0059] Metal insert 3 is made of stainless steel.

[0060] The method for preparing the composite material robotic arm in this embodiment includes the following steps:

[0061] S1. The cavity beam 4 and the slide rail mounting base 1 are respectively prepared by fiber composite material layup, and through mounting holes (including the first mounting hole 12 and the second mounting hole 21) are machined into the reinforcing tube 2 and the slide rail mounting base 1. Through hole 42 is machined into the cavity beam 4.

[0062] Metal insert 3 is made of metal material, and a boss 32 is machined on the side of metal insert 3 that contacts cavity beam 4, and a threaded hole 31 is machined in the center of boss 32.

[0063] S2. Attach the metal insert 3 to the upper and lower surfaces of the cavity beam 4, and embed the boss 32 of the metal insert 3 into the through hole 42 of the cavity beam 4; prepare the reinforcing tube 2 on the outside of the metal insert 3 and the cavity beam 4, and machine the second mounting hole 21 on the reinforcing tube, aligning the second mounting hole 21 with the threaded hole 31 of the metal insert 3.

[0064] In the process of preparing reinforcing tube 2, the cavity beam is used as the core mold, the reinforcing tube is prepared by layup, and the whole is formed by co-bonding.

[0065] S3. The slide rail mounting base 1 is placed on the upper and lower surfaces of the reinforcing tube 2, and the first mounting hole 12 of the slide rail mounting base 1 is aligned with the second mounting hole 21 of the reinforcing tube 2, so that the countersunk bolt passes through the first mounting hole 12 and the second mounting hole 21 of the reinforcing tube 2 and is fastened in the threaded hole 31 of the metal insert 3, thus completing the assembly of the composite material robotic arm.

[0066] Example 2

[0067] A robotic arm comprising the composite material robotic arm described in Example 1.

[0068] In the Chinese patent "Thermoforming Press Loading and Unloading Robot" with application number 201610359305.0, the shuttle arm is installed at the lower end of the lifting arm. The shuttle arm clamps the workpiece on the moving loading or unloading worktable through the end effector. Since the end effector is not located directly below the lifting arm, the shuttle arm is subjected to bending moment.

[0069] When using the composite material robotic arm of Example 1, the metal insert 3 is located on the upper and lower sides of the composite material robotic arm. When subjected to bending moment, the upper metal insert 3 tends to tensile deformation, while the lower metal insert 3 tends to compressive deformation. Furthermore, the prestress artificially added during assembly can also enhance the effect of resisting bending moment.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A composite material robotic arm, characterized in that, include: Cavity beams, metal inserts, reinforcing tubes, and slide rail mounting bases; The cavity beam is made of fiber composite material and is internally divided into multiple cavities; The metal inserts are respectively disposed on the upper and lower surfaces of the cavity beam, and the metal inserts have threaded holes; The reinforcing tube is made of fiber composite material and is wrapped around the outside of the cavity beam and the metal insert; The slide rail mounting base is disposed on the surface of the reinforcing tube, opposite to the position of the internal metal insert, and is fixed together with the threaded hole on the metal insert by a threaded mounting part; The length direction of the cavity is consistent with the length direction of the composite material robotic arm; The cavity beam has reinforcing ribs between its multiple cavities, and the slide rail mounting base has an outwardly protruding linear protrusion structure. The distribution position of the linear protrusion structure outside the slide rail mounting base is the same as the distribution position of the reinforcing ribs inside the cavity beam. The contact surface between the metal insert and the cavity beam is provided with multiple bosses, and the threaded hole is located at the center of the boss. The cavity beam is provided with multiple through holes. The boss of the metal insert is located in the through hole of the cavity beam, and the outer edge shape of the boss is the same as the outline shape of the through hole. When subjected to bending moment, the upper metal insert tends to tensile deformation, and the lower metal insert tends to compressive deformation.

2. The composite material robotic arm as described in claim 1, characterized in that, The composite material robotic arm is provided with mounting holes that pass through a metal insert, a reinforcing tube, and a slide rail mounting base. The mounting holes of the metal insert are threaded holes. The slide rail mounting base is fixedly connected to the threaded holes by a threaded mounting component. The threaded mounting component passes through the mounting holes on the slide rail mounting base and the reinforcing tube.

3. The composite material robotic arm as described in claim 1, characterized in that, The reinforcing tube is bonded to the cavity beam to form an integral whole.

4. The composite material robotic arm as described in claim 1, characterized in that, The fiber composite material is one or more of the following: carbon fiber prepreg, glass fiber prepreg, aramid fiber prepreg, basalt fiber prepreg, metal fiber prepreg, or hybrid fiber prepreg. Optionally, the metal insert is made of stainless steel, titanium alloy, or aluminum alloy; Optionally, the slide rail mounting base is made of fiber composite material or metal.

5. The composite material robotic arm as described in claim 1, characterized in that, The cavity beam, reinforcing tube, and slide rail mounting base are plywood structures composed of continuous unidirectional fiber prepreg and / or twill woven prepreg. Optionally, the threaded mounting component is a countersunk bolt, a flathead screw, or an internal hex screw.

6. A method for preparing a composite material robotic arm as described in any one of claims 1-5, characterized in that, Includes the following steps: S1. Prepare the cavity beam, metal insert and slide rail mounting base respectively; S2. The metal insert is attached to the upper and lower surfaces of the cavity beam, and a reinforcing tube is prepared by laying a layer on the outside of the metal insert and the cavity beam. S3. Fix the slide rail mounting base to the surface of the reinforcing tube using a threaded mounting component, and fasten the threaded mounting component to the threaded hole of the metal insert.

7. The method for preparing the composite material robotic arm as described in claim 6, characterized in that, In S1, the mounting holes are machined through the reinforcing tube and the slide rail mounting base; Optionally, in S1, the through hole is machined into the cavity beam; Optionally, in S3, mounting holes are prepared on the reinforcing tube by machining.

8. A robotic arm, characterized in that, Includes a composite material robotic arm as described in any one of claims 1-5, wherein the composite material robotic arm is subjected to bending moment and resists bending deformation through the rigidity-designed cavity beam and the reinforcing tube; The composite material robotic arm has a slide rail mounted on its slide rail mounting base, and the composite material robotic arm moves on the robotic arm in the same direction as the slide rail via the slide rail.

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