JP2002292591A - Production method of robot hand element - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the number of production process steps in a production method for a robot hand element that is attached to an industrial robot arm and that is light and excels in flatness, flexural rigidity, heat-resistance, etc. SOLUTION: A preimpregnation sheet 7 including reinforced fiber is wound in several layers to the outer surface of a specified section core material 6 made by using a material that has no heat deformation less than a specified temperature. The outside molds 10a, 10b having a specified inner surface form are pressed to the outer surface of the preimpregnation sheet laminated material 9 wound in several layers and the outside of the preimpregnation sheet laminated material 9 is formed to a specified dimension, and this preimpregnation sheet laminated material 9 is thermally set by heating to a specified temperature and becomes the fiber reinforced composite. It is manufactured by extracting the core material 6 from an element 11 made of fiber-reinforced composite as hollow structure. In this way, the production process steps are reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of manufacturing a robot hand member which is attached to an arm of an industrial robot and is lightweight, excellent in flatness, excellent in bending rigidity, heat resistance and the like. The present invention relates to a method for manufacturing a robot hand member which aims to reduce the number of manufacturing steps by winding a prepreg sheet containing reinforcing fibers around an outer peripheral surface of a material and thermally curing the prepreg sheet to form a fiber reinforced composite material.

[0002]

2. Description of the Related Art With the spread of liquid crystal displays (LCD), the size of glass substrates has been increasing. Accordingly, LCDs, plasma display panels (PD
P), the size of the substrate transfer robot hand used in the manufacturing process of precision products such as silicon wafers also needs to be increased. In addition, large plasma display panels (P
DP) The size of the transfer robot hand is the above LCD
Larger than the transfer robot hand.

[0003] Metals such as iron, stainless steel and aluminum have been used as materials for robot hands up to now. With the recent increase in size of robot hands, weight reduction is required, and fiber reinforced composite materials (Fiber Re
inforced Plastic: Hereinafter, abbreviated as "FRP". ) Is being used. In particular, carbon fiber reinforced composite materials (Carbon Fiber Reinforced Plastic:
P ”. Robot hand members made of solid materials are widely used. However, under the current situation of further increase in size, the solid hand of CFRP used so far makes the robot hand itself heavy, and the deflection due to its own weight increases. Also, when the robot hand becomes heavier, the load on the robot drive system increases, which may affect the design and cost of the robot itself.

In such a situation, by reducing the thickness of the robot hand member or reducing the width of the work supporting surface to reduce the weight, the deflection of its own weight can be eliminated to some extent. Since the bending stiffness of the robot hand decreases, the bending (load bending) when supporting the workpiece increases. In particular, when a long robot hand member is mounted on a cantilever, the bending at the tip becomes large, and the vibration or the like at the time of supporting the work is likely to increase, which hinders the work supportability or transportability. There was a fear.

Conventionally, for manufacturing a robot hand member using CFRP, as described in Japanese Patent Application Laid-Open No. 2000-343476, a plurality of prepreg sheets containing carbon fibers are laminated, heated and thermoset. A skin layer made of plate-like carbon fiber reinforced composite material (CFRP) and CFRP
A core layer composed of a core layer, a skin layer is laminated on the upper and lower surfaces of the core layer using the core layer as a core material, and the core layer and the skin layer are bonded to each other with an adhesive. I have.

In this case, as the skin layer, a plurality of prepreg sheets having different orientation directions of carbon fibers are laminated to improve bending rigidity, vibration damping characteristics, heat resistance and the like. Further, as the core layer, a honeycomb-shaped core material made of a metal such as aluminum or a fiber assembly and a CFRP material are combined to reduce the weight and improve bending rigidity, vibration damping characteristics, heat resistance, and the like. ing.

[0007]

However, in manufacturing such a conventional robot hand member, a skin layer made of CFRP having a predetermined thickness and area is once formed as a material, and a core layer also made of CFRP or the like is formed. A layer is formed, a skin layer is laminated on the upper surface and lower surface of the core layer using the core layer as a core material, bonded with an adhesive, and the laminated body is cut into a predetermined length and width to be processed into a predetermined shape. Therefore, a step of heating and curing the prepreg sheet for each molding of the skin layer and the core layer, a step of bonding the skin layer and the core layer with an adhesive, and a step of cutting and processing the laminate into a predetermined shape Was necessary. Therefore, the number of manufacturing steps is increased, and the time required for manufacturing the robot hand member is increased, and the manufacturing efficiency is deteriorated and the manufacturing cost is increased.

[0008] In the above-mentioned CFRP laminating method, a method of laminating a CFRP plate of four surfaces (heat-cured) formed in advance to a predetermined thickness using an adhesive is also conceivable. However, this method requires a prepreg laminating step, a CFRP molding step, and a bonding step, and has a problem that the strength of the bonded and bonded portion with respect to the load is low.

Further, since the robot hand member transports a precision product such as a liquid crystal display, a plasma display panel, and a silicon wafer as a work, the robot hand member needs to have sufficient flatness so that the work is not damaged. However, there is a problem that the center part is easily depressed when the robot hand member has a hollow structure. Therefore, there is a need to develop a manufacturing method capable of eliminating or reducing the post-processing of flattening the hollow-structured robot hand member and reducing the manufacturing cost.

Accordingly, an object of the present invention is to provide a method of manufacturing a robot hand member which addresses such a problem and reduces the number of manufacturing steps.

[0011]

In order to achieve the above object, a method of manufacturing a robot hand member according to the present invention comprises a core having a predetermined cross-sectional shape using a material which is not deformable by heating at a predetermined temperature or lower. Winding a prepreg sheet containing reinforcing fibers on the outer peripheral surface of the material, and pressing an outer mold having a predetermined inner surface shape on the outer peripheral surface of the wound prepreg sheet to form the outer surface shape of the prepreg sheet into a predetermined dimension. Step, heating the molded prepreg sheet to a predetermined temperature and heat curing to obtain a fiber reinforced composite material, and extracting a core material from the member made of the fiber reinforced composite material to form a hollow structure, It is performed sequentially. The core material is made of a material that has heat non-deformability at a predetermined temperature or lower in the heat curing step and can be easily extracted from the fiber reinforced composite material after the heat curing. The predetermined temperature is, for example, a heating temperature in a heat curing treatment of a prepreg sheet. In addition, the prepreg sheet containing the reinforcing fibers refers to an uncured sheet in which reinforcing fibers such as carbon fibers, glass fibers, aramid fibers, and silicon carbide fibers are impregnated with a thermosetting resin.

With such a configuration, a prepreg sheet containing reinforcing fibers is wound around the outer peripheral surface of a core material having a predetermined cross-sectional shape using a material having heat non-deformability at a predetermined temperature or lower. An outer mold having a predetermined inner surface shape is pressed against the outer peripheral surface of the prepreg sheet to form the outer surface shape of the prepreg sheet into a predetermined size, and the formed prepreg sheet is heated to a predetermined temperature and thermally cured to obtain a fiber-reinforced composite material. Then, a core material is extracted from the member made of the fiber reinforced composite material to produce a hollow structure.
Thus, the number of manufacturing steps can be reduced.

[0013] Further, a method of manufacturing a robot hand member by another means is as follows: a core material having a predetermined cross-sectional shape using a material having a non-heat-deformable property at a predetermined temperature or less;
Winding a prepreg sheet containing reinforcing fibers, pressing an outer mold having a predetermined inner surface shape on an outer peripheral surface of the wound prepreg sheet to form an outer surface shape of the prepreg sheet to a predetermined size, Heating the prepreg sheet to a predetermined temperature and thermally curing the prepreg sheet to obtain a fiber-reinforced composite material integrated with the core material. The core material has a non-deformability under heating at a predetermined temperature or lower in the heat curing step, and is made of a material having excellent adhesion to the prepreg sheet, and is integrated with the prepreg sheet after thermosetting. As the core material, a lightweight member made of, for example, a synthetic resin, which is lighter than the fiber-reinforced composite material, is used.

With such a configuration, a prepreg sheet containing reinforcing fibers is wound around the outer peripheral surface of a core material having a predetermined cross-sectional shape using a material having heat non-deformability at a predetermined temperature or lower. An outer mold having a predetermined inner surface shape is pressed against the outer peripheral surface of the prepreg sheet to form the outer surface shape of the prepreg sheet into a predetermined dimension, and the formed prepreg sheet is heated to a predetermined temperature, thermally cured, and integrated with the core material. It is manufactured as a fiberized fiber reinforced composite material. Thereby, even in a solid structure having a core material, the weight is reduced by using a lightweight member such as a synthetic resin which is lighter than the fiber reinforced composite material as the core material,
The number of manufacturing steps can be reduced.

[0015] In the manufacturing method of each of the above means,
The step of winding the prepreg sheet around the outer peripheral surface of the core material includes winding the prepreg sheet into a plurality of layers. Thereby, the prepreg sheet laminates having different thicknesses can be appropriately designed, and the bending rigidity and the like of the robot hand member can be controlled.

Further, the step of winding the prepreg sheet around a plurality of layers includes a step of laminating the prepreg sheets so that the orientation of the reinforcing fibers of the prepreg sheet is different in a direction along the longitudinal direction and a direction substantially orthogonal to the longitudinal direction. This makes it possible to control the bending stiffness, vibration damping characteristics, heat resistance, and other characteristics of the robot hand members according to the usage environment of the robot hand.

Further, the outermost layer around which the prepreg sheet is wound includes a step of winding a cross prepreg sheet. Thereby, when cutting or polishing is performed as the post-processing, fluffing is reduced and workability as a member is improved, and the appearance of the product is improved. In this case, the cross prepreg sheet is a sheet that is laminated in addition to the above prepreg sheet, and is an uncured sheet in which reinforcing fibers woven in a plurality of directions are impregnated with a thermosetting resin.

[0018]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a perspective view showing a robot hand 1 to which a method for manufacturing a robot hand member according to the present invention is applied. The robot hand 1 is attached to an arm of an industrial robot. For example, a flat attachment member 2 to be attached to an arm of a robot (not shown) and a work 3 fixed to the attachment member 2 are supported. And a robot hand member 4 as a member. In FIG. 1, reference numeral 5 denotes a mounting hole formed in the mounting member 2 for mounting on the arm of the robot.

The robot hand member 4 supports and transports a work 3 such as a liquid crystal display (LCD), a plasma display panel (PDP), or a glass substrate such as a semiconductor wafer, and is lightweight and excellent in flatness. ,
It is made of fiber reinforced composite material (FRP) to make it excellent in bending stiffness, heat resistance, etc., and is formed, for example, in the shape of a hollow pipe with a hollow structure. Attached to. Its size is
For example, the width is about 50 mm and the length is about 1500 mm. The mounting member 2 and the robot hand member 4 may be formed integrally.

First, a method for manufacturing the robot hand member 4 having a hollow structure will be described with reference to FIG. First, as shown in FIG. 2 (a), a plurality of prepreg sheets 7 containing reinforcing fibers are provided on the outer peripheral surface of a core material 6 having a predetermined cross-sectional shape using a material having heat non-deformability at a predetermined temperature or lower. Wrap around layers. The core material 6 serves as a base member on which the prepreg sheet 7 is wound. The core material 6 heats a molded prepreg sheet laminate 9 described below to a predetermined temperature (depending on resin, usually about 100 to 190 ° C.). At a temperature slightly higher than the temperature of the curing step, the material has a property that it is hardly deformed by heating, and is formed of a material that can be easily extracted from the FRP after heat curing, for example, in a rectangular rod shape having a rectangular cross section. Here, that the core material 6 is hardly deformed by heating means that the material of the core material 6 is melted or warped to the member of the core material 6 in the step of heating and curing the prepreg sheet laminate 9.
No deformation such as bending, bending, twisting, wrinkling, or folding occurs. Examples of the material of the core material 6 include metals such as aluminum, iron, and stainless steel, MC nylon resin,
There is a resin such as a polyimide resin. The above metals and resins are
Because it has a higher coefficient of thermal expansion than FRP, it contracts by cooling after heating, making it easier to extract. If necessary, a release material may be applied to the surface of the core material. As the release material, application of a chemical (eg, a surfactant) by spraying or the like, or use of a release sheet such as a Teflon (registered trademark) sheet may be used.

The prepreg sheet 7 is a so-called unidirectional material such as a unidirectional plain woven fabric in which reinforcing fibers are oriented in one direction or a unidirectional nonwoven sheet, a plain woven fabric in which reinforcing fibers are oriented in two directions, or a twill fabric. A sheet made of a bidirectional material such as a satin fabric or a triaxial material such as a triaxial fabric in which reinforcing fibers are oriented in three directions is impregnated with a matrix resin in advance, and has a slightly tacky uncured It is in the state. in this case,
Generally, carbon fibers are used as the reinforcing fibers from the viewpoint of rigidity and lightness. However, besides carbon fiber, glass fiber, aramid fiber, silicon carbide fiber and the like can also be used. For example, a plurality of prepreg sheets 7 to be laminated are:
The carbon fiber prepreg sheet may be used as a main component, and the prepreg sheet containing the above glass fiber or the like or another fiber may be added to a part of the prepreg sheet as long as the support performance or the transfer performance as the robot hand member is not impaired. There are two types of carbon fibers, polyacrylonitrile (PAN) -based carbon fibers and pitch-based carbon fibers, depending on the difference in raw materials.

As the matrix resin, a thermosetting resin such as an epoxy resin, a phenol resin, a cyanate resin, an unsaturated polyester resin, a polyimide resin and a bismaleimide resin is used. Alternatively, for the purpose of imparting impact resistance and toughness, a material obtained by adding fine particles made of rubber or resin to a thermosetting resin or a material obtained by dissolving a thermoplastic resin in a thermosetting resin is used. Here, the rubber as the fine particles is nitrile rubber, butadiene rubber, styrene-
Butadiene rubber, butadiene-nitrile rubber, acrylic rubber, butyl rubber and the like. As the resin as the fine particles, a thermosetting resin or a thermoplastic resin is used. As thermosetting resin, epoxy resin, phenol resin,
There are unsaturated polyester resins, amino resins, urethane resins and the like. Examples of the thermoplastic resin include a polyimide resin, a polyacrylate resin, a polyvinyl acetate resin, a polyamide resin, a boriaramid resin, and a polycarbonate resin. Further, examples of the thermoplastic resin dissolved in the thermosetting resin include a polysulfone resin, a polycarbonate resin, a polyethersulfone resin, a polyetherimide resin, an aromatic polyester resin, a polyvinyl formal resin, a polyamide resin, and a polyimide resin.

Here, in the step of winding the prepreg sheet 7 into a plurality of layers, as shown in FIG. 3, the prepreg sheets 7 are laminated while the orientation direction of the reinforcing fibers is changed.
That is, the reinforcing fibers 8 of the prepreg sheet 7a of a certain layer
The orientation direction of a is 0 degree, and the prepreg sheet 7 of another layer is
b, the orientation direction of the reinforcing fibers 8b is 90 degrees, and in addition to the above prepreg sheet, a prepreg sheet 7c of another layer may be laminated, and the reinforcing fibers 8c of the prepreg sheet 7c are bidirectional reinforcing fibers. May be laminated with a cross prepreg sheet or unidirectional prepreg sheet intersecting at an orientation angle of 90 degrees oriented in a pair at ± 45 degrees with respect to the longitudinal direction. In such a state, the prepreg sheets 7a, 7b, 7c of the respective layers are sequentially laminated with an appropriate thickness,
Finally, the layers are laminated to a thickness of, for example, about 1 to 7 mm. In this case, the thickness of the laminated layer is determined in consideration of the volume decrease when the prepreg sheet is cured by heating.
It is preferable that the thickness is slightly larger than the required thickness of the plate.

An example in which a plurality of the prepreg sheets 7 are laminated will be described in more detail below. In FIG. 2A, the orientation direction of the reinforcing fibers of the prepreg sheet 7 of the innermost layer laminated in contact with the core material 6 is, for example, 0 ° or 90 ° with respect to the longitudinal direction. The second prepreg sheet 7 laminated on the innermost layer has the orientation direction of the reinforcing fibers set to, for example, 0 degrees with respect to the longitudinal direction, and has the purpose of preventing longitudinal bending and improving vibration damping characteristics. . The third prepreg sheet 7 laminated on the second prepreg sheet 7 has the orientation direction of the reinforcing fibers set to, for example, 90 degrees with respect to the longitudinal direction, and is combined with the two laminated prepreg sheets 7. The object is to improve the bending stiffness of the entire member and the vibration damping characteristics of bending vibration, and to prevent warpage and bending. In addition to the above, a layer of the prepreg sheet 7 in which the orientation direction of the reinforcing fibers is set to, for example, ± 45 degrees with respect to the longitudinal direction may be added. In this case, the torsional rigidity and torsional vibration damping characteristics of the entire member can be improved. Further, in addition to the prepreg sheet 7, a cross prepreg sheet can be laminated on the outermost layer. This cross prepreg sheet is a prepreg sheet composed of a reinforced fiber woven fabric, and the reinforcing fibers are preferably carbon fiber, glass fiber, aramid fiber or silicon carbide fiber, and the woven structure is plain weave, twill weave, satin weave, Triaxial weave or the like can be used as appropriate. Laminating the cross prepreg sheet has the purpose of improving the workability as a member with less fuzz when cut or polished as a post-process and improving the appearance of the product.

The order of laminating the prepreg sheets 7 is as follows: the 90-degree oriented sheet is the lowermost layer (the innermost layer).
It is preferable from the viewpoint of easy removal of the core material 6. Because the carbon fiber has a lower heat shrinkage than the matrix resin, the shrinkage as a sheet is lower in the fiber orientation direction than in the fiber arrangement direction. By forming the inner surface of the FRP plate with a 90-degree oriented sheet, the carbon fibers are oriented so as to surround the outer periphery of the core material 6, so that when thermally cured, the diameter of the pipe-shaped FRP plate is not so reduced. It is not necessary to do it.

The higher the prepreg sheet (outer sheet) laminated on the upper layer, the higher the contribution to the characteristics (flexural rigidity, etc.) of the robot hand member.
It is preferable to laminate the upper layer than the 0-degree oriented sheet from the viewpoint of preventing bending. Therefore, the combination of the prepreg sheets to be used and the lamination order may be determined in consideration of the above points.

Next, as shown in FIG. 2 (b), the outer dies 10a and 10b having a predetermined inner surface shape are pressed against the outer peripheral surface of the prepreg sheet laminate 9 wound around the plurality of layers to form the prepreg sheet. The outer shape of the laminate 9 is formed to a predetermined size. This is because, when the number of laminations around which the prepreg sheet 7 is wound around the core material 6 shown in FIG. 2A increases, each corner is bulged outward, and the shape of the corner becomes uneven. It is formed so as to have a substantially right angle shape. For this purpose, for example, two channel-shaped outer dies 10a and 10 having an inner peripheral surface formed in a U-shape are used.
b is arranged above and below the prepreg sheet laminate 9 so as to face each other, and pressed as indicated by arrows A and B in the same manner as in the press working. Thereby, each corner of the prepreg sheet laminate 9 is pressed by the U-shaped inner surface shape of the outer dies 10a and 10b to be formed into a substantially right angle.

Next, as shown in FIG. 2C, the formed prepreg sheet laminate 9 is heated to a predetermined temperature and thermally cured to obtain a fiber reinforced composite material (FRP). At this time, the entire prepreg sheet laminate 9 is put into, for example, a vacuum bag and heated. As for the heating temperature condition, for example, the temperature is raised from room temperature at a rate of 2 to 10 ° C./min.
The temperature is kept at 00 to 190 ° C. for about 60 minutes, and then the heating is stopped and the temperature is lowered by natural cooling to return to room temperature. As a result, the entire prepreg sheet laminate 9 is thermally cured to become FRP. In this case, since the core material 6 is made of a material that is not deformable by heating at a predetermined temperature or lower, the core material 6 is hardly deformed by the above-described heating process, and the cross-sectional shape of the core material 6 can be properly maintained. it can. The reason why the prepreg sheet laminate 9 is put in the vacuum bag is to suck air bubbles between the sheets generated in the laminating step and to apply an external pressure (atmospheric pressure) to the prepreg sheet laminate 9 substantially uniformly. There is a purpose.

Next, as shown in FIG.
The core member 6 is extracted from the member 11 and has a hollow structure. Thereby, as shown in FIG. 4, the robot hand member 4 formed in a square pipe shape is manufactured. The rectangular pipe-shaped hollow portion is provided with a tube for performing air blowing or air suction for supporting and transporting the work 3, and a sensor for detecting the presence or holding of the work 3. It can also be used for electrical wiring and the like.

The cross-sectional shape of the robot hand member 4 is not limited to the above-described square pipe shape, but may be any shape such as a triangle, a polygon, a circle, or a semicircle. For example, as shown in FIG. 5, the pipe may have a flat upper surface and an arcuate lower surface. In this case, the cross-sectional shape of the core material 6 shown in FIG. 2A also has a flat upper surface and an arcuate lower surface.

Next, a method for manufacturing the robot hand member 4 having a solid structure according to another embodiment will be described. In the case of this embodiment, in FIG. 2A, the core material 6 having a predetermined cross-sectional shape has a heating non-deformability at a predetermined temperature or less,
It is made of a material having excellent adhesion to a prepreg sheet. As the core member 6, it is preferable to use a lightweight member made of, for example, a synthetic resin, which is lighter than FRP. As the lightweight member, the molded prepreg sheet laminate 9 is heated at a predetermined temperature (depending on the resin, usually about 100 to 190).
At a temperature slightly higher than the temperature in the step of heating to (° C.) and thermally curing, the material is formed of a material that does not cause a gap with the FRP after molding due to heating. For example, plastics such as an epoxy resin, a phenol resin, an unsaturated polyester resin, a polyimide resin, a bismaleimide resin, a polyurethane resin, and a foamed material thereof can be used. The surface of the core material 6 may be subjected to a surface roughening treatment with sandblasting, sandpaper or the like in order to improve the adhesion to the prepreg sheet 7. Moreover, you may apply | coat an adhesive agent as needed.

The manufacturing process is shown in FIG.
2B and 2C, the process proceeds in exactly the same manner, and the step of extracting the core material 6 from the FRP member 11 shown in FIG. 2D and forming a hollow structure is not performed. That is, the process is completed by heating the prepreg sheet laminate 9 shown in FIG. Also in this case, since the core material 6 is made of a material having heat non-deformability at a predetermined temperature or less, the core material 6 is hardly deformed by the heating step shown in FIG. Can be kept right.

As a result, as shown in FIG. 6, the robot hand member 4 having a solid structure in which the core member 6 made of a lightweight member remains inside the member 11 made of FRP.
Thereafter, a hole such as an air blowing path or an air suction path for supporting and transporting the work 3, an electric wiring path for a sensor for detecting the presence or holding of the work 3, and a screw hole for attachment are formed by a machine. Apply by processing. In this embodiment, the weight of the solid structure having the core member 6 is reduced, and the number of manufacturing steps is reduced.

In the robot hand member 4 having the above-mentioned solid structure, the step of extracting the core member 6 is unnecessary, so that the time required for manufacturing can be greatly reduced. Further, since the core member 6 made of a lightweight member is left, disadvantages of both the hollow-structured robot hand member and the solid-state robot hand member are eliminated. That is, in the case of a hollow-structured robot hand member, there is a disadvantage that a temporal deformation such as a dent is generated in a central portion with use, and when switching from a conventional solid robot hand member, a groove or a hole is required. However, such a disadvantage does not occur in the robot hand member 4 having the solid structure according to the present embodiment. Furthermore, since the weight of the entire robot hand member can be reduced while maintaining the same volume as that of the solid-state robot hand member, the deflection of the load in addition to its own weight can be suppressed.

In the above description, the prepreg sheet 7 is wound around the outer peripheral surface of the core material 6 in a plurality of layers. However, the present invention is not limited to this. When the prepreg sheet 7 is formed to have a predetermined thickness, a single-layer prepreg sheet 7 may be wound.

[0036]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments of a robot hand member manufactured by applying the method for manufacturing a robot hand member according to the present invention will be described below.

(1) Comparative example: Table 1 shown in FIG. 7... Example of lamination of solid CFRP material This comparative example is the same as the CF described in the section of the prior art.
A description will be given of a case where a robot hand member is manufactured from solid RP material, and Table 1 shows an example of the manufactured numerical value. In this example, the orientation direction of the carbon fibers is 0 degree and 90 degrees with respect to the longitudinal direction.
Cross prepreg mixed at a degree and tensile modulus of 800
Using prepreg-A in which GPa pitch-based carbon fibers are oriented at an orientation direction of 0 ° and prepreg-B in which PAN-based carbon fibers having a tensile modulus of 240 GPa are oriented at an orientation direction of 90 °, cross the innermost layer and the outermost layer. A prepreg is laminated, and two layers of prepreg-A and three layers of prepreg-B are laminated between them to make a total of seven layers. CF of production result
The RP plate thickness is 12 mm, the weight deflection is 1.6 mm, and the weight is 1.53 kg.

(2) Embodiment 1: Table 2 shown in FIG. 8... Example of lamination of hollow structure of CFRP This embodiment 1 describes a case where a hollow structure robot hand member is manufactured by the manufacturing method shown in FIG. Table 2 shows a numerical example of the production. In this example, the orientation direction of the carbon fibers is 0 degree and 90 degrees with respect to the longitudinal direction.
Cross prepreg mixed at a degree and tensile modulus of 800
Using a prepreg-A in which GPa pitch-based carbon fibers are oriented at an orientation direction of 0 °, a prepreg-B in which PAN-based carbon fibers having a tensile modulus of 240 GPa are oriented at an orientation direction of 90 °, and a core material made of aluminum A cross prepreg is laminated as an innermost layer on the outer peripheral surface of the core material, and two layers of prepreg-A, two layers of prepreg-B, and a cross prepreg are laminated on the outermost layer to form a total of six layers. After thermosetting the laminate, the above-mentioned core material was removed to form a hollow structure. The resulting CFRP plate thickness is 2.55
mm, square pipe thickness is 12mm, own weight deflection is 0.47mm, weight is
0.75kg. The thickness at the center of the robot hand member is 11.8 mm, and the thickness at the end (12.0 mm, 1
Although it was slightly depressed from 2.1 mm), there was no problem with the support performance and transport performance of the work, and the flatness was excellent. From this, in the case of Example 1, the deflection of its own weight was reduced from 1.6 mm to 0.47 mm as compared with the comparative example, and the weight was 1.53 k.
It can be seen that it has decreased from g to 0.75 kg.

(3) Example 2: Table 3 shown in FIG. 9... Example of lamination of solid structure of CFRP This example 2 describes a case where a robot hand member having a solid structure shown in FIG. 6 is manufactured. Yes,
Table 3 shows an example of the production numerical value. In this example, a cross prepreg in which the orientation directions of carbon fibers cross each other at 0 ° and 90 ° with respect to the longitudinal direction, and a prepreg-A in which pitch-based carbon fibers having a tensile modulus of 800 GPa are oriented in an orientation direction of 0 °.
And a prepreg-B in which a PAN-based carbon fiber having a tensile modulus of 240 GPa is oriented in an orientation direction of 90 degrees, and a core material made of a lightweight member of urethane foam, and a cross prepreg as an innermost layer on the outer peripheral surface of the core material. Are laminated, and two layers of prepreg-A, two layers of prepreg-B and two layers of cross prepreg are laminated on the outermost layer to form a total of six layers, and the laminate of the prepreg is thermally cured while the core material is inserted. It is a thing. As a result of the production, the thickness of the CFRP plate is 2.55 mm, the thickness of the rectangular pipe is 12 mm, the deflection by its own weight is 0.57 mm, and the weight is 1.06 kg. The thickness of the robot hand member is the same (12.0 mm) at both the end and the center, and it can be understood that the robot hand member is superior in flatness to the robot hand member having the hollow structure of the first embodiment. From this, in the case of Example 2,
It can be seen that the self-weight deflection is reduced from 1.6 mm to 0.57 mm and the weight is reduced from 1.53 kg to 1.06 kg as compared with the comparative example.

[0040]

The present invention has been configured as described above.
According to the invention according to claim 1, a prepreg sheet containing reinforcing fibers is wound around an outer peripheral surface of a core material of a material having heat non-deformability at a predetermined temperature or lower, and an outer mold is pressed against the outer peripheral surface of the prepreg sheet to form an outer surface. Form the shape to the prescribed dimensions,
This is heated to a predetermined temperature and thermally cured to obtain a fiber reinforced composite material. The core material is extracted from this member, and a robot hand member having a hollow structure can be manufactured. Thereby, unlike the conventional case, it is possible to heat and cure each time a member of a different layer is formed, to bond the members of the plurality of layers with an adhesive, and further, it is not necessary to cut these laminates into a predetermined shape,
The number of manufacturing steps can be reduced. Therefore, the time required for manufacturing the robot hand member can be reduced, the manufacturing efficiency can be improved, and the manufacturing cost can be reduced. Further, using a fiber reinforced composite material, it is possible to manufacture a robot hand member which is lighter than an aluminum robot hand, has excellent flatness, and is excellent in bending rigidity, vibration damping characteristics, heat resistance and the like.

According to the second aspect of the present invention, a prepreg sheet containing reinforcing fibers is wound around an outer peripheral surface of a core material made of a material having a non-deformable property at a predetermined temperature or lower.
An outer mold is pressed against the outer peripheral surface of the prepreg sheet to form the outer surface into a predetermined dimension, which is heated to a predetermined temperature and thermally cured to be integrated with the core material as a fiber-reinforced composite material. The component can be manufactured.
Thereby, even in a solid structure having a core material,
By using a lightweight member such as a synthetic resin that is lighter than the fiber-reinforced composite material as the core material, the weight can be reduced, and the number of manufacturing steps can be reduced, and the time required for manufacturing can be reduced.

Further, according to the third aspect of the present invention, in the step of winding the prepreg sheet around the outer peripheral surface of the core material, the prepreg sheet is wound into a plurality of layers to appropriately design a prepreg sheet laminate having a different thickness. It is possible to control the bending rigidity and the like of the robot hand member.

According to the fourth aspect of the present invention, in the step of winding the prepreg sheet into a plurality of layers, if the orientation of the reinforcing fibers of the prepreg sheet is different from the direction along the longitudinal direction and the direction substantially orthogonal to the longitudinal direction. The bending stiffness, vibration damping characteristics,
Characteristics such as heat resistance can be controlled.

According to the fifth aspect of the present invention, the outermost layer around which the prepreg sheet is wound includes a step of winding a cross prepreg sheet, so that the outermost layer is less fuzzy when cut or polished as a post-process. Processability as well as the appearance of the product can be improved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a robot hand to which a method for manufacturing a robot hand member according to the present invention is applied.

FIG. 2 is an explanatory sectional view showing steps of a method for manufacturing a robot hand member of the present invention.

FIG. 3 is an explanatory diagram showing a state in which the prepreg sheets are laminated with the orientation directions of reinforcing fibers of the prepreg sheets varied in a step of winding the prepreg sheets into a plurality of layers.

FIG. 4 is a perspective view showing a robot hand member manufactured in a rectangular pipe shape.

FIG. 5 is a cross-sectional view showing a modification of the cross-sectional shape of the robot hand member.

FIG. 6 is a cross-sectional view illustrating a robot hand member manufactured by a method for manufacturing a robot hand member according to another embodiment.

FIG. 7 is a table 1 showing specific numerical examples of manufacturing a laminate of solid CFRP as a comparative example of a robot hand member.
It is.

FIG. 8 is Table 2 showing specific numerical examples of manufacturing a laminated body having a hollow structure of CFRP as Embodiment 1 of the robot hand member.

FIG. 9 is Table 3 showing specific examples of manufacturing numerical values for manufacturing a laminate having a faithful structure of CFRP as Embodiment 2 of the robot hand member.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Robot hand 2 ... Mounting member 3 ... Work 4 ... Robot hand member 6 ... Core material 7, 7a, 7b, 7c ... Prepreg sheet 8a, 8b, 8c ... Reinforcing fiber 9 ... Prepreg sheet laminated body 10a, 10b ... Outer die 11 ... FRP members

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Daisuke Uchida 1-3-12 Nishishinbashi, Minato-ku, Tokyo Nishiishi Mitsui Corporation R & D Department F-term (reference) 3C007 DS01 ES02 ES17 EV05 EW00 NS09 NS10 NS12 NS13 4F205 AA36 AD16 AG07 AG09 AH05 HA02 HA11 HA14 HA23 HA25 HA45 HB01 HC05 HK03 HK04 HL12 HL13 HT02 5F031 CA02 CA05 GA01 GA41

Claims (5)

[Claims] 1. A method for manufacturing a robot hand member attached to an arm of an industrial robot, comprising: a core material having a predetermined cross-sectional shape formed of a material having a non-heat-deformable property at a predetermined temperature or lower; Winding a prepreg sheet containing reinforcing fibers; pressing an outer mold having a predetermined inner surface shape on an outer peripheral surface of the wound prepreg sheet to form the outer surface shape of the prepreg sheet to a predetermined dimension; Heating the prepreg sheet to a predetermined temperature and thermally curing the prepreg sheet to form a fiber-reinforced composite material; and removing a core material from the member made of the fiber-reinforced composite material to form a hollow structure. Manufacturing method of a robot hand member. 2. A method for manufacturing a robot hand member to be attached to an arm of an industrial robot, comprising the steps of: forming a core material having a predetermined cross-sectional shape by using a material which is not deformable by heating at a predetermined temperature or lower; Winding a prepreg sheet containing reinforcing fibers; pressing an outer mold having a predetermined inner surface shape on an outer peripheral surface of the wound prepreg sheet to form the outer surface shape of the prepreg sheet to a predetermined dimension; And heating the prepreg sheet to a predetermined temperature and thermally curing the prepreg sheet to form a fiber-reinforced composite material integrated with the core material. 3. The method according to claim 1, wherein the step of winding the prepreg sheet around the outer peripheral surface of the core material includes winding the prepreg sheet into a plurality of layers. 4. The step of winding the prepreg sheet around a plurality of layers includes a step of laminating the prepreg sheets such that the orientation of the reinforcing fibers of the prepreg sheet is different in a direction along the longitudinal direction and a direction substantially orthogonal to the longitudinal direction. The method for manufacturing a robot hand member according to claim 3, wherein 5. The method for manufacturing a robot hand member according to claim 1, wherein the outermost layer around which the prepreg sheet is wound includes a step of winding a cross prepreg sheet.