Manufacturing process of composite material shaft body for industrial robot key component

Abstract

A manufacturing process of a composite material shaft body for a key component of an industrial robot comprises the following steps that S1, ferric trichloride hexahydrate, copper acetate and zinc chloride are dissolved in deionized water, tannic acid is added, and a multi-metal ion-polyphenol composite solution is prepared; s2, 4, 4 '-diaminodiphenylmethane and polyether-ether-ketone powder are dissolved in a solvent, and TDE-90 epoxy resin is added to prepare a modified matrix resin premix; s3, performing plasma treatment on carbon fibers, and coating the carbon fibers with the multi-metal ion-polyphenol composite solution to prepare modified carbon fibers; s4, coating the modified matrix resin premix on the modified carbon fiber to prepare a prepreg; and S5, laying the prepreg in a mold, and placing the mold in RTM equipment for curing. According to the manufacturing process of the composite material shaft body for the key part of the industrial robot, through surface treatment, matrix resin modification and comprehensive optimization of an advanced process, the problems that a traditional carbon fiber composite material is poor in interface bonding force, limited in mechanical property and low in production efficiency are solved.

Description

Technical Field

[0001] The invention belongs to the field of composite shaft materials, and in particular relates to a manufacturing process of a composite shaft for key components of an industrial robot. Background Art

[0002] The shaft parts of industrial robots are important components of their motion systems and are used to achieve various complex movements, including linear axes, rotary axes, joint axes, etc. Traditional robot shaft parts are usually made of high-quality alloy steel, stainless steel and other materials, but as the requirements for high performance and lightweight of industrial robots continue to increase, composite materials are increasingly used in shaft manufacturing.

[0003] Carbon fiber composite materials have good performance advantages. The density of carbon fiber is only about 1 / 3 of that of steel, but its strength is much higher than many metal materials. While maintaining structural strength, it can significantly reduce the weight of the shaft. In addition, it also has the characteristics of high rigidity, fatigue resistance, corrosion resistance, high temperature resistance, low thermal expansion coefficient, and high energy efficiency. For example, the Tesla humanoid robot Optimus uses carbon fiber materials to make a lightweight body. For the shaft, the use of carbon fiber composite materials can improve the robot's energy efficiency and load capacity.

[0004] Carbon fiber composites also face some challenges in application: (1) Insufficient interface bonding strength: The interface bonding strength between carbon fiber and resin matrix is ​​weak, resulting in low interlaminar shear strength of the composite material, affecting the overall mechanical properties; (2) Complex molding process: Traditional processes such as hand lay-up and winding are difficult to ensure consistency in product quality and production efficiency.

[0005] Therefore, the present invention provides an improved manufacturing process for composite shafts for key components of industrial robots. Through comprehensive optimization of surface treatment, matrix resin modification and advanced processes, the prepared carbon fiber composite material has higher mechanical properties, meets the demand for high-performance materials for key components of industrial robots, and is of great significance for promoting the development of high-end manufacturing. Summary of the invention

[0006] Purpose of the invention: In order to overcome the above shortcomings, the purpose of the present invention is to provide a manufacturing process for a composite shaft for key components of an industrial robot. The process has a reasonable design and comprehensive optimization of surface treatment, matrix resin modification, advanced technology and material selection, thereby overcoming the problems of poor interface bonding strength and low production efficiency of traditional carbon fiber composite materials. The prepared carbon fiber composite material has higher mechanical properties and broad application prospects.

[0007] The objective of the present invention is achieved through the following technical solutions: A manufacturing process of a composite material shaft body for a key component of an industrial robot comprises the following steps: S1: dissolving ferric chloride hexahydrate, copper acetate and zinc chloride in deionized water, stirring on a magnetic stirrer for 10-30 minutes until the solution is uniformly dissolved, then adding tannic acid, continuing to vigorously stir for 5-15 minutes, then slowly adding sodium hydroxide solution dropwise, adjusting the pH value to 8-9, continuing to stir for 5-15 minutes, to obtain a multi-metal ion-polyphenol composite solution for standby use; S2: Dissolve 4,4'-diaminodiphenylmethane and polyetheretherketone powder in N-methylpyrrolidone, stir at 70-90°C until completely dissolved, then add TDE-90 epoxy resin, continue stirring at 70-90°C for 10-20 minutes to fully mix, and prepare a modified matrix resin premix for standby use; S3: Plasma-treating the carbon fiber, and then uniformly coating the above-mentioned multi-metal ion-polyphenol composite solution on the surface of the plasma-treated carbon fiber through a spraying device, and drying it in a drying oven at 70-90° C. for 1-2 hours after coating to obtain modified carbon fiber for standby use; S4: 60-80% of the modified matrix resin premix is ​​evenly coated on the modified carbon fiber through a coating device, and dried overnight to prepare a prepreg; S5: using an automated placement device to lay the prepreg in a mold, then placing the mold in an RTM device, injecting the remaining amount of modified matrix resin premix into the mold for curing, and after curing, naturally cooling to room temperature, demolding, and obtaining a carbon fiber composite material; S6: Use the above carbon fiber composite material to manufacture a composite shaft.

[0008] The manufacturing process of the composite material shaft body described in the present invention combines plasma treatment and multi-metal ion-polyphenol composite coating to double modify the carbon fiber surface. The plasma treatment improves the activity of the carbon fiber surface, and the multi-metal ion-polyphenol composite coating further enhances the interfacial bonding force. Polyetheretherketone with excellent mechanical properties and heat resistance is introduced into the matrix resin to form a blending system with epoxy resin, etc., which improves the toughness and bonding properties of the matrix resin, and also improves the heat resistance, and can adapt to various working environments of industrial robots. Automated laying technology and RTM technology are used to ensure the accuracy of the layering and the resin impregnation effect, improve the mechanical properties and quality consistency of the composite material shaft body, and reduce production costs.

[0009] Through the comprehensive optimization of the above-mentioned surface treatment, matrix resin modification and advanced technology, the problems of poor interface bonding and low production efficiency of traditional carbon fiber composites have been overcome. The carbon fiber composite material finally prepared has higher mechanical properties. The use of this carbon fiber composite group to manufacture composite shafts can meet the needs of key components of industrial robots for high-performance materials.

[0010] Furthermore, in the above-mentioned manufacturing process of the composite material shaft for the key components of the industrial robot, the S1, the ratio of ferric chloride hexahydrate, cupric acetate, zinc chloride, tannic acid and deionized water in the multi-metal ion-polyphenol composite solution is (2-5) g: (1-3) g: (1-3) g: (0.5-2) g: (10-15) L.

[0011] Multi-metal ions (Fe³⁺, Cu²⁺, Zn²⁺) and tannic acid are introduced to form a multi-metal ion-polyphenol composite solution. Different metal ions can form different coordination bonds with polyphenols, thereby improving the functionality of the coating and enhancing the interfacial bonding between the coating and the carbon fiber and matrix resin.

[0012] Furthermore, in the above-mentioned manufacturing process of the composite material shaft for the key components of the industrial robot, in S2, the ratio of 4,4'-diaminodiphenylmethane, polyetheretherketone powder, TDE 90 epoxy resin, and N-methylpyrrolidone in the modified matrix resin premix is ​​(2-4) g: (2-4) g: (8-12) g: (4-6) mL.

[0013] Furthermore, in the manufacturing process of the composite material shaft for the key components of the above-mentioned industrial robot, the S3, before the carbon fiber is plasma treated, the carbon fiber is first pretreated, the carbon fiber is ultrasonically cleaned in acetone for 1-3 hours, and then washed with deionized water for multiple times until no acetone remains, and the cleaned carbon fiber is placed in a drying oven at 70-90°C for drying and set aside.

[0014] Furthermore, in the manufacturing process of the composite material shaft for the key components of the above-mentioned industrial robot, the carbon fiber is Toray T1000G carbon fiber.

[0015] The high-strength and high-modulus Toray T1000G carbon fiber is selected, which has better tensile strength and modulus than ordinary carbon fiber, and can significantly improve the bearing capacity and deformation resistance of the shaft.

[0016] Furthermore, in the manufacturing process of the composite material shaft for the key components of the above-mentioned industrial robot, in S3, the parameters of the plasma treatment are set as follows: the gas is a mixture of oxygen and argon, the ratio is 1:1, the working power is 200-500W, the frequency is 10-20MHz, the processing pressure is 100-200 Pa, and the processing time is 10-20min; the parameters of the spraying equipment are set as follows: keeping the distance between the nozzle and the carbon fiber at 15-20 cm, the spraying pressure is 0.2-0.3 Mpa, and the spraying amount is 1-5L / m².

[0017] The carbon fiber is subjected to plasma surface treatment. Plasma treatment can introduce active functional groups such as hydroxyl and carboxyl groups on the surface of the carbon fiber, increase the surface roughness and surface energy, and improve the surface activity of the carbon fiber.

[0018] Furthermore, in the manufacturing process of the composite material shaft for the key components of the above-mentioned industrial robot, the S5 uses an automated laying device to accurately lay 10-20 layers of prepreg in a mold according to a set laying angle and sequence; the parameters of the automated laying device are set as follows: the laying angle is 0° / ±45° / 90° staggered laying, the laying speed is 1-20m / min, the temperature is controlled at 20-25°C, and the humidity is controlled at 40-60%.

[0019] Automated production processes reduce labor costs and production cycles, and improve production efficiency.

[0020] Furthermore, in the manufacturing process of the composite shaft for the key components of the above-mentioned industrial robot, the S5 places the mold in the RTM equipment, and injects the remaining process amount of the modified matrix resin premix into the mold to ensure that the gas fully infiltrates the modified carbon fiber; the parameters of the RTM equipment are set as follows: the injection pressure is 0.1-1.0MPa, the temperature of the modified matrix resin premix is ​​70-90°C, the temperature of the mold is 70-90°C, and a vacuum assist of -0.08 MPa is applied.

[0021] The RTM process achieves efficient injection and infiltration of resin, reduces the generation of voids and bubbles, and ensures the quality and performance of the composite material.

[0022] The resin in the prepreg is used to initially wet the carbon fiber to ensure interlayer bonding, and the remaining resin is injected during the RTM process to ensure that there are no voids inside the entire composite material and that the resin is fully saturated. This method can improve the quality of the composite material and avoid defects caused by insufficient or excessive injection of resin at one time.

[0023] Furthermore, in the manufacturing process of the composite material shaft for the key components of the above-mentioned industrial robot, the specific curing process of S5 is: first heat up to 110-130°C, keep warm for 1-1.5h, then heat up to 150-160°C, keep warm for 1-1.5h, then heat up to 180-190°C, keep warm for 2-2.5h, and then naturally cool to room temperature.

[0024] Furthermore, in the above-mentioned manufacturing process of the composite material shaft for the key component of the industrial robot, the mass ratio of the modified matrix resin premix to the modified carbon fiber is (2-4): (6-8).

[0025] Compared with the prior art, the present invention has the following beneficial effects: (1) The manufacturing process of the composite material shaft for the key components of industrial robots disclosed in the present invention enhances the interfacial bonding force between the carbon fiber and the resin matrix, introduces active functional groups on the surface of the carbon fiber through plasma treatment, improves its surface energy and roughness, and provides a good foundation for the adhesion of subsequent coatings. The composite coating formed by the introduction of multi-metal ions (Fe³⁺, Cu²⁺, Zn²⁺) and tannic acid can form coordination bonds and coordination bonds between the carbon fiber and the matrix resin, enhance the interfacial chemical bonding force, and improve the interlayer shear strength; (2) The manufacturing process of the composite material shaft for the key components of industrial robots disclosed in the present invention optimizes the matrix resin. Polyetheretherketone has excellent wear resistance, toughness and heat resistance. It is blended with epoxy resin to enhance the comprehensive performance of the matrix resin and improve the mechanical properties and heat resistance of the composite material. The modification of the coating and the matrix resin enables the composite material to maintain stable performance during long-term and high-frequency use, thereby extending its service life. (3) The manufacturing process of the composite material shaft for the key components of industrial robots disclosed in the present invention ensures the accuracy and consistency of the carbon fiber layer through the automated placement technology, reduces the errors and defects caused by manual operation, improves production efficiency, and realizes efficient injection and infiltration of resin in combination with the RTM process, reduces the generation of voids and bubbles, and ensures the quality and performance of the composite material; the resin is added step by step to avoid the problem of excessive or insufficient resin, thereby improving the quality stability of the composite material; (4) The manufacturing process of the composite shaft for the key components of industrial robots disclosed in the present invention improves the mechanical properties of the carbon fiber composite material through comprehensive optimization of material selection, surface treatment, matrix resin modification and advanced processes. The use of the carbon fiber composite material group to manufacture the composite shaft can meet the demand for high-performance materials for the key components of industrial robots. DETAILED DESCRIPTION

[0026] The following examples 1, 2, 3, 4 and 5 are combined with specific experimental data to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention. The following embodiments 1, 2, 3, 4 and 5 provide a manufacturing process for composite materials used for key components of industrial robots.

[0027] Example 1 The manufacturing process of the composite material for key components of an industrial robot in Example 1 comprises the following steps: S1 Preparation of polymetallic ion-polyphenol composite solution Materials preparation: Ferrous chloride hexahydrate: 3 g Copper acetate: 1 g Zinc chloride: 1 g Tannic acid: 1 g Deionized water: 10 L preparation: Dissolve ferric chloride hexahydrate, cupric acetate and zinc chloride in deionized water, stir on a magnetic stirrer for 15 minutes to ensure uniform dissolution, add tannic acid to the above solution, stir vigorously for 5 minutes to mix it thoroughly, slowly add sodium hydroxide solution dropwise, adjust the pH value of the solution to 8, continue stirring for 10 minutes, and obtain a stable multi-metal ion-polyphenol composite solution for use.

[0028] S2 Preparation of modified matrix resin premix material Materials preparation: 4,4'-Diaminodiphenylmethane: 2.2 g PEEK powder: 2 g TDE 90 epoxy resin: 10 g N-Methylpyrrolidone: 4 mL preparation: 4,4'-diaminodiphenylmethane and polyetheretherketone powders were dissolved in N-methylpyrrolidone, heated and stirred at 80°C until they were completely dissolved to form a uniform solution, TDE 90 epoxy resin was added, and stirring was continued at 80°C for 10 minutes to fully mix them to obtain a modified matrix resin premix.

[0029] S3 Preparation of modified carbon fiber Materials preparation: Toray T1000G carbon fiber acetone Deionized water Prepared multi-metal ion-polyphenol composite solution preparation: The Toray T1000G carbon fiber was ultrasonically cleaned in acetone for 2 h to remove the surface sizing agent and impurities. The carbon fiber was washed with deionized water for multiple times until no acetone remained. The cleaned carbon fiber was placed in a drying oven at 80°C for later use.

[0030] The carbon fiber is subjected to plasma surface treatment. Plasma treatment can introduce active functional groups such as hydroxyl and carboxyl groups on the surface of the carbon fiber, increase the surface roughness and surface energy, and improve the surface activity of the carbon fiber. The parameters of the plasma treatment are set as follows: the gas is a mixture of oxygen and argon in a ratio of 1:1, the working power is 200 W, the frequency is 13.56 MHz, the processing pressure is 120 Pa, and the processing time is 10 min.

[0031] The prepared multi-metal ion-polyphenol composite solution is evenly coated on the surface of the plasma-treated carbon fiber through a spraying device, with a dosage of 2 L / m². During spraying, the distance between the nozzle and the carbon fiber should be kept at 15-20 cm, and the spraying pressure should be 0.2-0.3 MPa to ensure the uniformity of the coating.

[0032] The coated carbon fiber was placed in a drying oven at 80°C for 1 h to ensure the stability and adhesion of the coating.

[0033] S4 Prepreg Preparation Materials preparation: Prepared modified matrix resin premix material Prepared modified carbon fiber (the mass ratio of modified carbon fiber to modified matrix resin premix material is 7:3) preparation: The modified matrix resin premix with a process dosage of 65% is evenly coated on the modified carbon fiber using a coating device. During coating, the coating thickness and uniformity should be controlled, and after coating, it is dried overnight at room temperature to form a prepreg.

[0034] S5 Preparation of composite materials Materials preparation: Modified matrix resin premix material of the remaining process amount of the prepared prepreg preparation: Using automated placement equipment, 12 layers of prepreg are precisely placed in the mold according to the set ply angle and order to ensure the quality and consistency of the ply. The parameters of the automated placement equipment are set as follows: ply angle of 0° / ±45° / 90° staggered ply, ply speed of 5 m / min, temperature control at 20-25°C, and humidity control at 50%.

[0035] The mold is placed in the RTM equipment, and the remaining amount of modified matrix resin premix is ​​injected into the mold to ensure that the resin fully impregnates the carbon fiber. The parameters of the RTM equipment are set as follows: injection pressure is 0.5MPa, modified matrix resin premix temperature is 80℃, mold temperature is 80℃, and -0.08MPa vacuum assistance is applied to eliminate air and improve the resin impregnation effect.

[0036] The curing process is as follows: firstly, the temperature is raised to 120°C, kept at this temperature for 1 hour, then the temperature is raised to 160°C, kept at this temperature for 1 hour, then the temperature is raised to 180°C, kept at this temperature for 2 hours, then naturally cooled to room temperature, and demolded to obtain the composite material of Example 1. Example 2 The manufacturing process of the composite material for key components of industrial robots in Example 2 includes the following steps: S1 Preparation of polymetallic ion-polyphenol composite solution Materials preparation: Ferrous chloride hexahydrate: 2 g Copper acetate: 2 g Zinc chloride: 1.5g Tannic acid: 1.5 g Deionized water: 10 L preparation: Dissolve ferric chloride hexahydrate, cupric acetate and zinc chloride in deionized water, stir on a magnetic stirrer for 15 minutes to ensure uniform dissolution, add tannic acid to the above solution, stir vigorously for 5 minutes to mix it thoroughly, slowly add sodium hydroxide solution dropwise, adjust the pH value of the solution to 8, continue stirring for 10 minutes, and obtain a stable multi-metal ion-polyphenol composite solution for use.

[0037] S2 Preparation of modified matrix resin premix material Materials preparation: 4,4'-Diaminodiphenylmethane: 3 g PEEK powder: 3 g TDE 90 epoxy resin: 10 g N-Methylpyrrolidone: 5 mL preparation: 4,4'-diaminodiphenylmethane and polyetheretherketone powders were dissolved in N-methylpyrrolidone, heated and stirred at 80°C until they were completely dissolved to form a uniform solution, TDE 90 epoxy resin was added, and stirring was continued at 80°C for 10 minutes to fully mix them to obtain a modified matrix resin premix.

[0038] S3 Preparation of modified carbon fiber Materials preparation: Toray T1000G carbon fiber acetone Deionized water Prepared multi-metal ion-polyphenol composite solution preparation: The Toray T1000G carbon fiber was ultrasonically cleaned in acetone for 2 h to remove the surface sizing agent and impurities. The carbon fiber was washed with deionized water for multiple times until no acetone remained. The cleaned carbon fiber was placed in a drying oven at 80°C for later use.

[0039] The carbon fiber is subjected to plasma surface treatment. Plasma treatment can introduce active functional groups such as hydroxyl and carboxyl groups on the surface of the carbon fiber, increase the surface roughness and surface energy, and improve the surface activity of the carbon fiber. The parameters of the plasma treatment are set as follows: the gas is a mixture of oxygen and argon in a ratio of 1:1, the working power is 200 W, the frequency is 13.56 MHz, the processing pressure is 120 Pa, and the processing time is 10 min.

[0040] The prepared multi-metal ion-polyphenol composite solution is evenly coated on the surface of the plasma-treated carbon fiber through a spraying device, with a dosage of 3 L / m². During spraying, the distance between the nozzle and the carbon fiber should be kept at 15-20 cm, and the spraying pressure should be 0.2-0.3 MPa to ensure the uniformity of the coating.

[0041] The coated carbon fiber was placed in a drying oven at 80°C for 1 h to ensure the stability and adhesion of the coating.

[0042] S4 Prepreg Preparation Materials preparation: Prepared modified matrix resin premix material Prepared modified carbon fiber (the mass ratio of modified carbon fiber to modified matrix resin premix material is 68:32) preparation: The modified matrix resin premix with a process dosage of 65% is evenly coated on the modified carbon fiber using a coating device. During coating, the coating thickness and uniformity should be controlled, and after coating, it is dried overnight at room temperature to form a prepreg.

[0043] S5 Preparation of composite materials Materials preparation: Modified matrix resin premix material of the remaining process amount of the prepared prepreg preparation: Using automated placement equipment, 12 layers of prepreg are precisely placed in the mold according to the set ply angle and order to ensure the quality and consistency of the ply. The parameters of the automated placement equipment are set as follows: ply angle of 0° / ±45° / 90° staggered ply, ply speed of 5 m / min, temperature control at 20-25°C, and humidity control at 50%.

[0044] The mold is placed in the RTM equipment, and the remaining amount of modified matrix resin premix is ​​injected into the mold to ensure that the resin fully impregnates the carbon fiber. The parameters of the RTM equipment are set as follows: injection pressure is 0.5MPa, modified matrix resin premix temperature is 80℃, mold temperature is 80℃, and -0.08MPa vacuum assistance is applied to eliminate air and improve the resin impregnation effect.

[0045] The curing process is as follows: firstly, the temperature is raised to 120°C, kept at this temperature for 1 hour, then the temperature is raised to 160°C, kept at this temperature for 1 hour, then the temperature is raised to 180°C, kept at this temperature for 2 hours, then naturally cooled to room temperature, and demolded to obtain the composite material of Example 2.

[0046] Example 3 The manufacturing process of the composite material for key components of an industrial robot of Example 3 comprises the following steps: S1 Preparation of polymetallic ion-polyphenol composite solution Materials preparation: Ferrous chloride hexahydrate: 2 g Copper acetate: 2 g Zinc chloride: 2g Tannic acid: 2 g Deionized water: 10 L preparation: Dissolve ferric chloride hexahydrate, cupric acetate and zinc chloride in deionized water, stir on a magnetic stirrer for 15 minutes to ensure uniform dissolution, add tannic acid to the above solution, stir vigorously for 5 minutes to mix it thoroughly, slowly add sodium hydroxide solution dropwise, adjust the pH value of the solution to 8, continue stirring for 10 minutes, and obtain a stable multi-metal ion-polyphenol composite solution for use.

[0047] S2 Preparation of modified matrix resin premix material Materials preparation: 4,4'-Diaminodiphenylmethane: 3 g PEEK powder: 4 g TDE 90 epoxy resin: 12 g N-Methylpyrrolidone: 5 mL preparation: 4,4'-diaminodiphenylmethane and polyetheretherketone powders were dissolved in N-methylpyrrolidone, heated and stirred at 80°C until they were completely dissolved to form a uniform solution, TDE 90 epoxy resin was added, and stirring was continued at 80°C for 10 minutes to fully mix them to obtain a modified matrix resin premix.

[0048] S3 Preparation of modified carbon fiber Materials preparation: Toray T1000G carbon fiber acetone Deionized water Prepared multi-metal ion-polyphenol composite solution preparation: The Toray T1000G carbon fiber was ultrasonically cleaned in acetone for 2 h to remove the surface sizing agent and impurities. The carbon fiber was washed with deionized water for multiple times until no acetone remained. The cleaned carbon fiber was placed in a drying oven at 80°C for later use.

[0049] The carbon fiber is subjected to plasma surface treatment. Plasma treatment can introduce active functional groups such as hydroxyl and carboxyl groups on the surface of the carbon fiber, increase the surface roughness and surface energy, and improve the surface activity of the carbon fiber. The parameters of the plasma treatment are set as follows: the gas is a mixture of oxygen and argon in a ratio of 1:1, the working power is 200 W, the frequency is 13.56 MHz, the processing pressure is 120 Pa, and the processing time is 10 min.

[0050] The prepared multi-metal ion-polyphenol composite solution is evenly coated on the surface of the plasma-treated carbon fiber through a spraying device, with a dosage of 3 L / m². During spraying, the distance between the nozzle and the carbon fiber should be kept at 15-20 cm, and the spraying pressure should be 0.2-0.3 MPa to ensure the uniformity of the coating.

[0051] The coated carbon fiber was placed in a drying oven at 80°C for 1 h to ensure the stability and adhesion of the coating.

[0052] S4 Prepreg Preparation Materials preparation: Prepared modified matrix resin premix material Prepared modified carbon fiber (the mass ratio of modified carbon fiber to modified matrix resin premix material is 65:35) preparation: The modified matrix resin premix with a process dosage of 65% is evenly coated on the modified carbon fiber using a coating device. During coating, the coating thickness and uniformity should be controlled, and after coating, it is dried overnight at room temperature to form a prepreg.

[0053] S5 Preparation of composite materials Materials preparation: Modified matrix resin premix material of the remaining process amount of the prepared prepreg preparation: Using automated placement equipment, 12 layers of prepreg are precisely placed in the mold according to the set ply angle and order to ensure the quality and consistency of the ply. The parameters of the automated placement equipment are set as follows: ply angle of 0° / ±45° / 90° staggered ply, ply speed of 5 m / min, temperature control at 20-25°C, and humidity control at 50%.

[0054] The mold is placed in the RTM equipment, and the remaining amount of modified matrix resin premix is ​​injected into the mold to ensure that the resin fully impregnates the carbon fiber. The parameters of the RTM equipment are set as follows: injection pressure is 0.5MPa, modified matrix resin premix temperature is 80℃, mold temperature is 80℃, and -0.08MPa vacuum assistance is applied to eliminate air and improve the resin impregnation effect.

[0055] The curing process is as follows: firstly heating to 120°C, keeping warm for 1 hour, then heating to 160°C, keeping warm for 1 hour, then heating to 180°C, keeping warm for 2 hours, then naturally cooling to room temperature, demolding, and obtaining the composite material of Example 3.

[0056] Example 4 The manufacturing process of the composite material for key components of industrial robots in Example 4 includes the following steps: S1 Preparation of polymetallic ion-polyphenol composite solution Materials preparation: Ferrous chloride hexahydrate: 3 g Copper acetate: 1 g Zinc chloride: 2g Tannic acid: 1.5 g Deionized water: 10 L preparation: Dissolve ferric chloride hexahydrate, cupric acetate and zinc chloride in deionized water, stir on a magnetic stirrer for 15 minutes to ensure uniform dissolution, add tannic acid to the above solution, stir vigorously for 5 minutes to mix it thoroughly, slowly add sodium hydroxide solution dropwise, adjust the pH value of the solution to 8, continue stirring for 10 minutes, and obtain a stable multi-metal ion-polyphenol composite solution for use.

[0057] S2 Preparation of modified matrix resin premix material Materials preparation: 4,4'-Diaminodiphenylmethane: 2 g PEEK powder: 4 g TDE 90 epoxy resin: 12 g N-Methylpyrrolidone: 5 mL preparation: 4,4'-diaminodiphenylmethane and polyetheretherketone powders were dissolved in N-methylpyrrolidone, heated and stirred at 80°C until they were completely dissolved to form a uniform solution, TDE 90 epoxy resin was added, and stirring was continued at 80°C for 10 minutes to fully mix them to obtain a modified matrix resin premix.

[0058] S3 Preparation of modified carbon fiber Materials preparation: Toray T1000G carbon fiber acetone Deionized water Prepared multi-metal ion-polyphenol composite solution preparation: The Toray T1000G carbon fiber was ultrasonically cleaned in acetone for 2 h to remove the surface sizing agent and impurities. The carbon fiber was washed with deionized water for multiple times until no acetone remained. The cleaned carbon fiber was placed in a drying oven at 80°C for later use.

[0059] The carbon fiber is subjected to plasma surface treatment. Plasma treatment can introduce active functional groups such as hydroxyl and carboxyl groups on the surface of the carbon fiber, increase the surface roughness and surface energy, and improve the surface activity of the carbon fiber. The parameters of the plasma treatment are set as follows: the gas is a mixture of oxygen and argon in a ratio of 1:1, the working power is 200 W, the frequency is 13.56 MHz, the processing pressure is 120 Pa, and the processing time is 10 min.

[0060] The prepared multi-metal ion-polyphenol composite solution is evenly coated on the surface of the plasma-treated carbon fiber through a spraying device, with a dosage of 3.5 L / m². During spraying, the distance between the nozzle and the carbon fiber should be kept at 15-20 cm, and the spraying pressure should be 0.2-0.3 MPa to ensure the uniformity of the coating.

[0061] The coated carbon fiber was placed in a drying oven at 80°C for 1 h to ensure the stability and adhesion of the coating.

[0062] S4 Prepreg Preparation Materials preparation: Prepared modified matrix resin premix material Prepared modified carbon fiber (the mass ratio of modified carbon fiber to modified matrix resin premix material is 7:3) preparation: The modified matrix resin premix with a process dosage of 65% is evenly coated on the modified carbon fiber using a coating device. During coating, the coating thickness and uniformity should be controlled, and after coating, it is dried overnight at room temperature to form a prepreg.

[0063] S5 Preparation of composite materials Materials preparation: Modified matrix resin premix material of the remaining process amount of the prepared prepreg preparation: Using automated placement equipment, 12 layers of prepreg are precisely placed in the mold according to the set ply angle and order to ensure the quality and consistency of the ply. The parameters of the automated placement equipment are set as follows: ply angle of 0° / ±45° / 90° staggered ply, ply speed of 5 m / min, temperature control at 20-25°C, and humidity control at 50%.

[0064] The mold is placed in the RTM equipment, and the remaining amount of modified matrix resin premix is ​​injected into the mold to ensure that the resin fully impregnates the carbon fiber. The parameters of the RTM equipment are set as follows: injection pressure is 0.5MPa, modified matrix resin premix temperature is 80℃, mold temperature is 80℃, and -0.08MPa vacuum assistance is applied to eliminate air and improve the resin impregnation effect.

[0065] The curing process is as follows: firstly heating to 120°C, keeping warm for 1 hour, then heating to 160°C, keeping warm for 1 hour, then heating to 180°C, keeping warm for 2 hours, then naturally cooling to room temperature, demolding, and obtaining the composite material of Example 4.

[0066] Example 5 The manufacturing process of the composite material for key components of an industrial robot of Example 5 comprises the following steps: S1 Preparation of polymetallic ion-polyphenol composite solution Materials preparation: Ferrous chloride hexahydrate: 4 g Copper acetate: 2 g Zinc chloride: 3g Tannic acid: 2 g Deionized water: 15 L preparation: Dissolve ferric chloride hexahydrate, cupric acetate and zinc chloride in deionized water, stir on a magnetic stirrer for 15 minutes to ensure uniform dissolution, add tannic acid to the above solution, stir vigorously for 5 minutes to mix it thoroughly, slowly add sodium hydroxide solution dropwise, adjust the pH value of the solution to 8, continue stirring for 10 minutes, and obtain a stable multi-metal ion-polyphenol composite solution for use.

[0067] S2 Preparation of modified matrix resin premix material Materials preparation: 4,4'-Diaminodiphenylmethane: 3 g PEEK powder: 4 g TDE 90 epoxy resin: 12 g N-Methylpyrrolidone: 6 mL preparation: 4,4'-diaminodiphenylmethane and polyetheretherketone powders were dissolved in N-methylpyrrolidone, heated and stirred at 80°C until they were completely dissolved to form a uniform solution, TDE 90 epoxy resin was added, and stirring was continued at 80°C for 10 minutes to fully mix them to obtain a modified matrix resin premix.

[0068] S3 Preparation of modified carbon fiber Materials preparation: Toray T1000G carbon fiber acetone Deionized water Prepared multi-metal ion-polyphenol composite solution preparation: The Toray T1000G carbon fiber was ultrasonically cleaned in acetone for 2 h to remove the surface sizing agent and impurities. The carbon fiber was washed with deionized water for multiple times until no acetone remained. The cleaned carbon fiber was placed in a drying oven at 80°C for later use.

[0069] The carbon fiber is subjected to plasma surface treatment. Plasma treatment can introduce active functional groups such as hydroxyl and carboxyl groups on the surface of the carbon fiber, increase the surface roughness and surface energy, and improve the surface activity of the carbon fiber. The parameters of the plasma treatment are set as follows: the gas is a mixture of oxygen and argon in a ratio of 1:1, the working power is 200 W, the frequency is 13.56 MHz, the processing pressure is 120 Pa, and the processing time is 10 min.

[0070] The prepared multi-metal ion-polyphenol composite solution is evenly coated on the surface of the plasma-treated carbon fiber through a spraying device, with a dosage of 4 L / m². During spraying, the distance between the nozzle and the carbon fiber should be kept at 15-20 cm, and the spraying pressure should be 0.2-0.3 MPa to ensure the uniformity of the coating.

[0071] The coated carbon fiber was placed in a drying oven at 80°C for 1 h to ensure the stability and adhesion of the coating.

[0072] S4 Prepreg Preparation Materials preparation: Prepared modified matrix resin premix material Prepared modified carbon fiber (the mass ratio of modified carbon fiber to modified matrix resin premix material is 67:33) preparation: The modified matrix resin premix with a process dosage of 65% is evenly coated on the modified carbon fiber using a coating device. During coating, the coating thickness and uniformity should be controlled, and after coating, it is dried overnight at room temperature to form a prepreg.

[0073] S5 Preparation of composite materials Materials preparation: Modified matrix resin premix material of the remaining process amount of the prepared prepreg preparation: Using automated placement equipment, 12 layers of prepreg are precisely placed in the mold according to the set ply angle and order to ensure the quality and consistency of the ply. The parameters of the automated placement equipment are set as follows: ply angle of 0° / ±45° / 90° staggered ply, ply speed of 5 m / min, temperature control at 20-25°C, and humidity control at 50%.

[0074] The mold is placed in the RTM equipment, and the remaining amount of modified matrix resin premix is ​​injected into the mold to ensure that the resin fully impregnates the carbon fiber. The parameters of the RTM equipment are set as follows: injection pressure is 0.5MPa, modified matrix resin premix temperature is 80℃, mold temperature is 80℃, and -0.08MPa vacuum assistance is applied to eliminate air and improve the resin impregnation effect.

[0075] The curing process is as follows: firstly, the temperature is raised to 120°C, kept at this temperature for 1 hour, then the temperature is raised to 160°C, kept at this temperature for 1 hour, then the temperature is raised to 180°C, kept at this temperature for 2 hours, then naturally cooled to room temperature, and demolded to obtain the composite material of Example 5.

[0076] Effect verification The composite materials prepared in Examples 1-5 were subjected to performance tests: (1) Interlaminar shear strength test: The test was conducted in accordance with JC / T773-2010 "Fiber-reinforced plastic short beam method for determination of interlaminar shear strength". The interlaminar shear strengths of the composite materials prepared in Examples 1-5 were 76.32 Mpa, 78.45 Mpa, 76.56 Mpa, 77.14 Mpa, and 79.13 Mpa, respectively.

[0077] (2) Tensile strength test: The test was conducted according to GB / T 3354-2014 "Test method for tensile properties of oriented fiber reinforced polymer matrix composites". The tensile strengths of the composite materials prepared in Examples 1-5 were 2813.52 Mpa, 2853.74 Mpa, 2867.16 Mpa, 2826.43 Mpa, and 2819.78 Mpa, respectively.

[0078] (3) Flexural strength test: The test was conducted according to GB / T 3356-2014 "Test method for flexural properties of oriented fiber reinforced polymer matrix composite materials". The flexural strengths of the composite materials prepared in Examples 1-5 were 1635.78 Mpa, 1645.59 Mpa, 1657.61 Mpa, 1620.34 Mpa, and 1659.21 Mpa, respectively.

[0079] In summary: The present invention provides a manufacturing process for composite shafts for key components of industrial robots. Through comprehensive optimization of material selection, surface treatment, matrix resin modification and advanced processes, the problems of poor interface bonding, impact on mechanical properties and low production efficiency of traditional carbon fiber composite materials are overcome. The carbon fiber composite material finally prepared has higher mechanical properties and higher production efficiency. The use of the carbon fiber composite material to manufacture composite shafts meets the demand for high-performance materials for key components of industrial robots.

[0080] The present invention has many specific application paths, and the above is only a preferred embodiment of the present invention. It should be pointed out that the above embodiments are only used to illustrate the present invention, and are not used to limit the protection scope of the present invention. For those of ordinary skill in the art, several improvements can be made without departing from the principle of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. A manufacturing process for composite material shafts used as key components of industrial robots, characterized in that: The steps include: S1: dissolving ferric chloride hexahydrate, copper acetate and zinc chloride in deionized water, stirring on a magnetic stirrer for 10-30 minutes until the solution is uniformly dissolved, then adding tannic acid, continuing to vigorously stir for 5-15 minutes, then slowly adding sodium hydroxide solution dropwise, adjusting the pH value to 8-9, continuing to stir for 5-15 minutes, to obtain a multi-metal ion-polyphenol composite solution for standby use; S2: Dissolve 4,4'-diaminodiphenylmethane and polyetheretherketone powder in N-methylpyrrolidone, stir at 70-90°C until completely dissolved, then add TDE-90 epoxy resin, continue stirring at 70-90°C for 10-20 minutes to fully mix, and prepare a modified matrix resin premix for standby use; S3: Plasma-treating the carbon fiber, and then uniformly coating the above-mentioned multi-metal ion-polyphenol composite solution on the surface of the plasma-treated carbon fiber through a spraying device, and drying it in a drying oven at 70-90° C. for 1-2 hours after coating to obtain modified carbon fiber for standby use; S4: 60-80% of the modified matrix resin premix is ​​evenly coated on the modified carbon fiber through a coating device, and dried overnight to prepare a prepreg; S5: using an automated placement device to lay the prepreg in a mold, then placing the mold in an RTM device, injecting the remaining amount of modified matrix resin premix into the mold for curing, and after curing, naturally cooling to room temperature, demolding, and obtaining a carbon fiber composite material; S6: Use the above carbon fiber composite material to manufacture a composite shaft.

2. The manufacturing process of composite material shaft for key components of industrial robots according to claim 1, characterized in that: In the S1, the ratio of ferric chloride hexahydrate, cupric acetate, zinc chloride, tannic acid and deionized water in the multi-metal ion-polyphenol composite solution is (2-5) g: (1-3) g: (1-3) g: (0.5-2) g: (10-15) L.

3. The manufacturing process of composite material shaft for key components of industrial robots according to claim 1, characterized in that: In the S2, the ratio of 4,4'-diaminodiphenylmethane, polyetheretherketone powder, TDE 90 epoxy resin and N-methylpyrrolidone in the modified matrix resin premix is ​​(2-4) g: (2-4) g: (8-12) g: (4-6) mL.

4. The manufacturing process of composite material shaft for key components of industrial robots according to claim 1, characterized in that: In the step S3, before the carbon fiber is subjected to plasma treatment, the carbon fiber is pretreated by ultrasonically cleaning the carbon fiber in acetone for 1-3 hours, and then washing the carbon fiber with deionized water for multiple times until no acetone remains, and drying the cleaned carbon fiber in a drying oven at 70-90° C. for later use.

5. The manufacturing process of composite material shaft for key components of industrial robots according to claim 1, characterized in that: The carbon fiber is Toray T1000G carbon fiber.

6. The manufacturing process of composite material shaft for key components of industrial robots according to claim 1, characterized in that: In S3, the parameters of the plasma treatment are set as follows: the gas is a mixture of oxygen and argon in a ratio of 1:1, the working power is 200-500W, the frequency is 10-20MHz, the treatment pressure is 100-200 Pa, and the treatment time is 10-20min; the parameters of the spraying equipment are set as follows: keeping the distance between the nozzle and the carbon fiber at 15-20 cm, the spraying pressure is 0.2-0.3Mpa, and the spraying amount is 1-5 L / m².

7. The manufacturing process of composite material shaft for key components of industrial robots according to claim 1, characterized in that: The S5 uses an automated laying device to accurately lay 10-20 layers of prepreg in a mold according to a set laying angle and sequence; the parameters of the automated laying device are set as follows: the laying angle is 0° / ±45° / 90° staggered laying, the laying speed is 1-20 m / min, the temperature is controlled at 20-25°C, and the humidity is controlled at 40-60%.

8. The manufacturing process of composite material shaft for key components of industrial robots according to claim 1, characterized in that: The S5, places the mold in the RTM equipment, injects the remaining process amount of modified matrix resin premix into the mold, and ensures that the gas fully infiltrates the modified carbon fiber; the parameters of the RTM equipment are set as follows: injection pressure of 0.1-1.0MPa, temperature of the modified matrix resin premix of 70-90°C, temperature of the mold of 70-90°C, and vacuum assistance of -0.08 MPa.

9. The manufacturing process of composite material shaft for key components of industrial robots according to claim 1, characterized in that: The specific curing process of S5 is: first heat up to 110-130°C, keep warm for 1-1.5h, then heat up to 150-160°C, keep warm for 1-1.5h, then heat up to 180-190°C, keep warm for 2-2.5h, and then naturally cool to room temperature.

10. The manufacturing process of composite material shaft for key components of industrial robots according to claim 1, characterized in that: The mass ratio of the modified matrix resin premix to the modified carbon fiber is (2-4):(6-8).