阅读说明：本技术 一种四足机器人大腿连续碳纤维fdm 3d打印方法 (Continuous carbon fiber FDM 3D printing method for thigh of quadruped robot ) 是由 秦敬伟 邱金勇 于 2020-12-13 设计创作，主要内容包括：本发明公开了一种四足机器人大腿连续碳纤维FDM 3D打印方法,该3D打印方法包括以下步骤：根据3D打印技术的特点,对四足机器人大腿设计进行分体结构优化和再设计优化,分别为模型A和模型B。该一种四足机器人大腿连续碳纤维FDM 3D打印方法,通过发明四足机器人大腿连续碳纤维FDM 3D打印方法,结合连续碳纤维增强聚合物复合材料打印的复杂形状零部件,其具有轻质高强的特点以及出色的耐高温和抗化学性能,采用3D打印技术首先实现对四足机器人的腿足的连续碳纤维3D打印成型制造,逐步实现四足机器人机身及其整体部件的连续碳纤维3D打印成型制造,对于四足机器人轻量化及其高承载比的发展具有重要意义。(The invention discloses a method for printing continuous carbon fiber FDM 3D on a thigh of a quadruped robot, which comprises the following steps: according to the characteristics of the 3D printing technology, split structure optimization and redesign optimization are carried out on thigh design of the quadruped robot, namely a model A and a model B. According to the thigh continuous carbon fiber FDM 3D printing method of the four-foot robot, by the thigh continuous carbon fiber FDM 3D printing method of the four-foot robot, parts with complex shapes printed by continuous carbon fiber reinforced polymer composite materials are combined, the thigh continuous carbon fiber FDM 3D printing method has the advantages of being light in weight, high in strength, excellent in high temperature resistance and chemical resistance, the continuous carbon fiber 3D printing forming manufacturing of the legs and the feet of the four-foot robot is firstly achieved by adopting a 3D printing technology, the continuous carbon fiber 3D printing forming manufacturing of the body of the four-foot robot and the integral parts of the body of the four-foot robot is gradually achieved, and the thigh continuous carbon fiber FDM 3D printing forming manufacturing.)

1. The continuous carbon fiber FDM 3D printing method for the thigh of the quadruped robot is characterized by comprising the following steps of: the 3D printing method comprises the following steps:

s1, according to the characteristics of the 3D printing technology, performing split structure optimization and redesign optimization on thigh design of the quadruped robot, namely a model A and a model B respectively;

s2, respectively importing the optimized thigh model A and the optimized thigh model B into slicing software of the FDM printing system in sequence, respectively placing the model A and the model B on a printing platform and carrying out slicing processing;

s3, placing the composite material of the chopped fiber filled nylon as a base material and the continuous carbon fiber filament material in a common blast drying oven for drying;

s4, heating the base material nozzle and the carbon fiber nozzle of the FDM printing system;

s5, placing the two dried materials into a material box of an FDM printing system for further drying;

s6, sending the basic material filament and the continuous carbon fiber filament out through the basic material nozzle and the carbon fiber nozzle respectively, and printing layer by layer;

s7, the foundation thigh model carries out continuous carbon fiber filling, printing and forming on the internal main body structure of the thigh by adopting a carbon fiber concentric I-shaped steel filling mode on the basis of the base material;

s8, carrying out continuous carbon fiber filling, printing and forming on the groove or boss area at the top end of the thigh in an isotropic filling manner;

s9, controlling the printing temperature, the printing layer thickness, the printing speed and other process parameters to finally obtain a continuous carbon fiber filled nylon composite material 3D printed thigh model A and a model B of the quadruped robot;

s10, inlaying the thigh model A and the thigh model B of the 3D printing quadruped robot according to a split inlaying structure, bonding by adopting a high-strength adhesive, and then placing into a blast oven for curing;

and S11, finally, performing post-processing on the spliced model to finally obtain the thighs of the quadruped robot which are subjected to continuous carbon fiber filling, 3D printing and splicing.

2. The method for printing continuous carbon fiber FDM 3D on the thigh of the quadruped robot according to claim 1, wherein the method comprises the following steps: the structural optimization in the S1 is a general principle to form a tensile structure, an I-shaped steel structure or a round tube structure, the general tubular profile design appearance and the structural optimization, and the thigh is divided into a model A and a model B of an embedded structure.

3. The method for printing continuous carbon fiber FDM 3D on the thigh of the quadruped robot according to claim 1, wherein the method comprises the following steps: the slicing software in S2 is Eigger, the model placing mode is a diagonal flat placing mode, and the model A and the model B are respectively arranged.

4. The method for printing continuous carbon fiber FDM 3D on the thigh of the quadruped robot according to claim 1, wherein the method comprises the following steps: and in the S3, the drying temperature is 60-120 ℃, and the drying time is 4-8 hours.

5. The method for printing continuous carbon fiber FDM 3D on the thigh of the quadruped robot according to claim 1, wherein the method comprises the following steps: in S4, the temperature of the base material nozzle and the temperature of the carbon fiber nozzle are 260-280 ℃ and 240-260 ℃ respectively.

6. The method for printing continuous carbon fiber FDM 3D on the thigh of the quadruped robot according to claim 1, wherein the method comprises the following steps: and S5, the material box is a sealed material box, and is connected with the forming chamber, the drying temperature is 0-100 ℃, and the drying time is continuous drying.

7. The method for printing continuous carbon fiber FDM 3D on the thigh of the quadruped robot according to claim 1, wherein the method comprises the following steps: the base material filaments and continuous carbon fiber filaments described in S6 were printed separately from the nozzle and separate control layers, respectively.

8. The method for printing continuous carbon fiber FDM 3D on the thigh of the quadruped robot according to claim 1, wherein the method comprises the following steps: the main body structure inside the thigh in the S7 is filled and printed in a carbon fiber concentric I-shaped steel filling mode, the groove or boss area at the top end of the thigh in the S8 is filled and printed in an isotropic filling mode, the printing temperature in the S9 is 260-280 ℃, the printing layer thickness is 0.1-0.2 mm, and the printing speed is 30-45 mm/S.

9. The method for printing continuous carbon fiber FDM 3D on the thigh of the quadruped robot according to claim 1, wherein the method comprises the following steps: the high-strength adhesive in the S10 is high-strength AB glue, the curing temperature is 80-100 ℃, and the curing time is 12-15 hours.

10. The method for printing continuous carbon fiber FDM 3D on the thigh of the quadruped robot according to claim 1, wherein the method comprises the following steps: the post-treatment in the S11 is manual sand paper polishing, wherein the polishing is performed step by respectively adopting 100 meshes, 500 meshes, 1000 meshes, 1500 meshes and 3000 meshes, and the polishing time is 20-40 minutes each time.

Technical Field

The invention relates to the technical field of quadruped robots, in particular to a continuous carbon fiber FDM 3D printing method for thighs of a quadruped robot.

Background

The carbon fiber reinforced thermoplastic composite material taking the carbon fiber as the reinforcement and the thermoplastic resin as the matrix has the characteristics of light weight, high strength, member weight reduction, member efficiency improvement, member reliability improvement, member service life extension and the like, and has the advantages which cannot be compared with metal materials. The carbon fiber has important value in the field of robot lightweight mechanism design. The density of the carbon fiber material is only 1.5-2g/cm3, which is equivalent to 1/4 of the density of steel and 1/2 of the density of aluminum alloy, but the carbon fiber material has high strength, the tensile strength can reach 3000-4000MPa, and the elasticity is 4-5 times greater than that of steel and 6-7 times greater than that of aluminum. The traditional continuous carbon fiber forming mode comprises a pasting forming process, a compression molding forming process and a weaving forming process. These conventional machining methods are time and cost intensive and are not suitable for machining complex parts, particularly those having contoured and topologically optimized structures. And the three-dimensional forming technology greatly widens the application range of the continuous carbon fiber material and gets rid of the limitation of a complex model structure. Through developing corresponding research to continuous carbon fiber 3D printing apparatus and molding process technique, adopt 3D printing technique at first to realize printing the shaping manufacturing to the continuous carbon fiber 3D of the leg foot of four-footed robot, gradually realize that the continuous carbon fiber 3D of four-footed robot fuselage and whole part prints the shaping manufacturing.

Therefore, a method for printing continuous carbon fiber FDM 3D on the thigh of a quadruped robot is provided.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a continuous carbon fiber FDM 3D printing method for a thigh of a quadruped robot, wherein the 3D printing method comprises the following steps:

s1, according to the characteristics of the 3D printing technology, performing split structure optimization and redesign optimization on thigh design of the quadruped robot, namely a model A and a model B respectively;

s2, respectively importing the optimized thigh model A and the optimized thigh model B into slicing software of the FDM printing system in sequence, respectively placing the model A and the model B on a printing platform and carrying out slicing processing;

s3, placing the composite material of the chopped fiber filled nylon as a base material and the continuous carbon fiber filament material in a common blast drying oven for drying;

s4, heating the base material nozzle and the carbon fiber nozzle of the FDM printing system;

s5, placing the two dried materials into a material box of an FDM printing system for further drying;

s6, sending the basic material filament and the continuous carbon fiber filament out through the basic material nozzle and the carbon fiber nozzle respectively, and printing layer by layer;

s7, the foundation thigh model carries out continuous carbon fiber filling, printing and forming on the internal main body structure of the thigh by adopting a carbon fiber concentric I-shaped steel filling mode on the basis of the base material;

s8, carrying out continuous carbon fiber filling, printing and forming on the groove or boss area at the top end of the thigh in an isotropic filling manner;

s9, controlling the printing temperature, the printing layer thickness, the printing speed and other process parameters to finally obtain a continuous carbon fiber filled nylon composite material 3D printed thigh model A and a model B of the quadruped robot;

s10, inlaying the thigh model A and the thigh model B of the 3D printing quadruped robot according to a split inlaying structure, bonding by adopting a high-strength adhesive, and then placing into a blast oven for curing;

and S11, finally, performing post-processing on the spliced model to finally obtain the thighs of the quadruped robot which are subjected to continuous carbon fiber filling, 3D printing and splicing.

Preferably, the structure optimization described in S1 is a general principle to form a tensile structure, an i-steel structure or a round tube structure, the general tubular profile design shape and structure optimization, and the thigh is divided into a model a and a model B of a mosaic structure.

Preferably, the slicing software in S2 is Eigger, the model placing mode is a diagonal placing mode, and the model a and the model B are respectively set.

Preferably, the drying temperature in S3 is 60-120 ℃, and the drying time is 4-8 hours.

Preferably, the base material nozzle and the carbon fiber nozzle in S4 have temperatures of 260 to 280 ℃ and 240 to 260 ℃, respectively.

Preferably, the material box in S5 is a sealed material box, and is connected with the forming chamber, the drying temperature is 0 to 100 ℃, and the drying time is continuous drying.

Preferably, the base material filaments and continuous carbon fiber filaments described in S6 are printed separately from the nozzle and separate control layers, respectively.

Preferably, the main structure inside the thigh in the step S7 is filled and printed in a carbon fiber concentric circular I-shaped steel filling mode, the groove or boss area at the top end of the thigh in the step S8 is filled and printed in an isotropic filling mode, the printing temperature in the step S9 is 260-280 ℃, the printing layer thickness is 0.1-0.2 mm, and the printing speed is 30-45 mm/S.

Preferably, the high-strength adhesive in S10 is high-strength AB glue, the curing temperature is 80-100 ℃, and the curing time is 12-15 hours.

Preferably, the post-treatment in S11 is manual sand paper polishing, which is performed by using 100-mesh, 500-mesh, 1000-mesh, 1500-mesh and 3000-mesh step-by-step polishing, wherein the polishing time is 20-40 minutes each time.

Compared with the prior art, the invention has the following beneficial effects: according to the thigh continuous carbon fiber FDM 3D printing method of the four-foot robot, the thigh continuous carbon fiber FDM 3D printing method of the four-foot robot is invented, parts with complex shapes printed by combining a continuous carbon fiber reinforced polymer composite material have excellent high temperature resistance and chemical resistance, the parts with the light weight and high strength can be manufactured by the 3D printing carbon fiber composite material, the 3D printing technology is adopted to firstly realize the 3D printing and forming manufacturing of the continuous carbon fibers of the legs and the feet of the four-foot robot, the 3D printing and forming manufacturing of the continuous carbon fibers of the body and the integral parts of the four-foot robot are gradually realized, and the method has important significance for the development of the light weight and the high bearing ratio of the four-foot robot.

Drawings

Fig. 1 is a schematic view of the overall structure of the thigh of the quadruped robot of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the invention discloses a method for 3D printing of continuous carbon fiber FDM (fused deposition modeling) on a thigh of a quadruped robot, wherein the 3D printing method comprises the following steps:

s1, according to the characteristics of the 3D printing technology, performing split structure optimization and redesign optimization on thigh design of the quadruped robot, namely a model A and a model B respectively;

s2, respectively importing the optimized thigh model A and the optimized thigh model B into slicing software of the FDM printing system in sequence, respectively placing the model A and the model B on a printing platform and carrying out slicing processing;

s3, placing the composite material of the chopped fiber filled nylon as a base material and the continuous carbon fiber filament material in a common blast drying oven for drying;

s4, heating the base material nozzle and the carbon fiber nozzle of the FDM printing system;

s5, placing the two dried materials into a material box of an FDM printing system for further drying;

s6, sending the basic material filament and the continuous carbon fiber filament out through the basic material nozzle and the carbon fiber nozzle respectively, and printing layer by layer;

s7, the foundation thigh model carries out continuous carbon fiber filling, printing and forming on the internal main body structure of the thigh by adopting a carbon fiber concentric I-shaped steel filling mode on the basis of the base material;

s8, carrying out continuous carbon fiber filling, printing and forming on the groove or boss area at the top end of the thigh in an isotropic filling manner;

s9, controlling the printing temperature, the printing layer thickness, the printing speed and other process parameters to finally obtain a continuous carbon fiber filled nylon composite material 3D printed thigh model A and a model B of the quadruped robot;

s10, inlaying the thigh model A and the thigh model B of the 3D printing quadruped robot according to a split inlaying structure, bonding by adopting a high-strength adhesive, and then placing into a blast oven for curing;

and S11, finally, performing post-processing on the spliced model to finally obtain the thighs of the quadruped robot which are subjected to continuous carbon fiber filling, 3D printing and splicing.

The structural optimization in the S1 is a general principle to form a tensile structure, an I-shaped steel structure or a round tube structure, the general tubular profile design appearance and the structural optimization, and the thigh is divided into a model A and a model B of an embedded structure.

The slicing software in S2 is Eigger, the model placing mode is a diagonal flat placing mode, and the model A and the model B are respectively arranged.

And in the S3, the drying temperature is 60-120 ℃, and the drying time is 4-8 hours.

In S4, the temperature of the base material nozzle and the temperature of the carbon fiber nozzle are 260-280 ℃ and 240-260 ℃ respectively.

And S5, the material box is a sealed material box, and is connected with the forming chamber, the drying temperature is 0-100 ℃, and the drying time is continuous drying.

The base material filaments and continuous carbon fiber filaments described in S6 were printed separately from the nozzle and separate control layers, respectively.

The main body structure inside the thigh in the S7 is filled and printed in a carbon fiber concentric I-shaped steel filling mode, the groove or boss area at the top end of the thigh in the S8 is filled and printed in an isotropic filling mode, the printing temperature in the S9 is 260-280 ℃, the printing layer thickness is 0.1-0.2 mm, and the printing speed is 30-45 mm/S.

The high-strength adhesive in the S10 is high-strength AB glue, the curing temperature is 80-100 ℃, and the curing time is 12-15 hours.

The post-treatment in the S11 is manual sand paper polishing, wherein the polishing is performed step by respectively adopting 100 meshes, 500 meshes, 1000 meshes, 1500 meshes and 3000 meshes, and the polishing time is 20-40 minutes each time.

It should be noted that, when the thigh of the quadruped robot is printed by adopting a 3D printing method, firstly, according to the characteristics of the 3D printing technology, the thigh design of the quadruped robot is subjected to split structure optimization and redesign optimization, namely a model a and a model B; respectively and sequentially importing the optimized thigh model A and the optimized thigh model B into slicing software of an FDM printing system, and respectively placing the model A and the model B on a printing platform and carrying out slicing processing; placing a composite material of short fiber filled nylon as a base material and a continuous carbon fiber filament material in a common blast drying oven for drying; heating a base material nozzle and a carbon fiber nozzle of the FDM printing system; putting the two dried materials into a material box of an FDM printing system for further drying; sending out the basic material filament and the continuous carbon fiber filament through the basic material nozzle and the carbon fiber nozzle respectively, and printing layer by layer; the foundation thigh model is used for carrying out continuous carbon fiber filling, printing and forming on an internal main body structure of a thigh on a base material in a carbon fiber concentric I-shaped steel filling mode; carrying out continuous carbon fiber filling, printing and forming on the groove or boss area at the top end of the thigh in an isotropic filling manner; controlling the printing temperature, the printing layer thickness, the printing speed and other process parameters to finally obtain a thigh model A and a thigh model B of the continuous carbon fiber filled nylon composite material 3D printed quadruped robot; inlaying a thigh model A and a thigh model B of a 3D printing quadruped robot according to a split inlaying structure, bonding by adopting a high-strength adhesive, and then placing in a blast oven for curing; and finally, post-processing the spliced model to finally obtain the continuous carbon fiber filled 3D printed and spliced thigh of the quadruped robot.

Wherein, the structure optimization is a general principle to form a tensile structure, an I-shaped steel structure or a circular tube structure, the general tubular outline design appearance and the structure optimization, the thigh is divided into a model A and a model B with an embedded structure, the slicing software is Eigger, the model placing mode is a diagonal flat mode, the model A and the model B are respectively arranged, the drying temperature is 60-120 ℃, the drying time is 4-8 hours, the temperatures of a basic material nozzle and a carbon fiber nozzle are respectively 260-280 ℃ and 240-260 ℃, the material box is a sealed material box, the drying temperature is 0-100 ℃ together with a forming chamber, the drying time is continuous drying, the basic material filament and the continuous carbon fiber filament are respectively printed by an independent nozzle and an independent control layer, the main body structure in the thigh is filled and printed by adopting a carbon fiber concentric circular I-steel filling mode, the groove or boss area at the top end of the thigh is filled and printed by adopting an isotropic filling mode, the printing temperature is 260-280 ℃, the printing layer thickness is 0.1-0.2 mm, the printing speed is 30-45 mm/S, the high-strength adhesive is high-strength AB glue, the curing temperature is 80-100 ℃, the curing time is 12-15 hours, the post-treatment is manual abrasive paper polishing, the polishing is performed step by respectively adopting 100 meshes, 500 meshes, 1000 meshes, 1500 meshes and 3000 meshes, and the polishing time is 20-40 minutes each time.

By the adoption of the thigh continuous carbon fiber FDM 3D printing method for the quadruped robot, parts in complex shapes printed by combining a continuous carbon fiber reinforced polymer composite material have excellent high temperature resistance and chemical resistance, and 3D printed carbon fiber composite parts with light weight and high strength can be manufactured.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.