TW200539996A

TW200539996A - Hand portion of industrial robot and method for making the same

Info

Publication number: TW200539996A
Application number: TW93141130A
Authority: TW
Inventors: Shinichi Takemura; Daisuke Uchida
Original assignee: Nippon Oil Corp
Priority date: 2004-04-20
Filing date: 2004-12-29
Publication date: 2005-12-16
Also published as: JP4980712B2; JPWO2005102618A1; WO2005102618A1

Abstract

An industrial robot hand member constructed from carbon fiber reinforced composite is mounted at the hand portion in the front end of the robot arm and significantly improves the vibration decay characteristics. The invention is characterized by using a high-elasticity carbon fiber that has a volume ratio of more than 30% and a stretch modulus between 490 and 950 GPa as carbon fiber. (1) A hollow structure is configured such that its outer periphery being perpendicular to the longitudinal direction is getting increasingly smaller towards the front end thereof; or (2) a hollow structure where the near side of the hand member relative to the mounting portion of the robot hand is configured to be enclosed, and at the same time, the profile of the side of the front end opposed to the near side of the hand member with respect to the longitudinal direction is configured to be open, and the open profile faces oppositely the work supporting surface of the hand member.

Description

200539996 九、發明說明：【發明所屬之技術領域】本發明係關於一種機器人手腕部，其係安裝於產業用機器人的手臂部，而且具備質輕、平坦性、抗彎曲剛性、以及耐熱j生等優點，尤其是關於以具備優秀振動衰減率特性的碳纖維強化複合材料所製造而成的構件。此外，本發明亦關於該種機器人 ; 構件的製造方法。 σ 【先前技術】產業用機器人的機器人手腕部係安裝於機器人手腕部的前端，並藉由機器人手臂的動作，進行支持、握持、夾持工作件等各種動作。此種產業用的機器人，通常係用於機械加工或是焊接用裝置的安裝等各種加工用途，然而，藉由在手臂的前端安裂手腕部構件，即可使其適用於在液晶顯示器⑽）、電_示器面板 (PDP)、矽晶圓等精密產品的生產過程中，搬運基板的作業。隨著LCD與PDP日趨大型化，使用在LCD的玻璃基板尺寸也日趨增大，於是，此等搬運用機器人手腕部的尺寸也必須跟著增大。另-方面，搬運大型的電漿顯示器面板（PDp)用的機器人| 腕部，尺寸，則必須比上述搬運LCD的機器人手腕部更大。就習用的機器人手腕部的材料而言’可使用例如鐵、不鐵鋼、銘等的^屬」但是隨著被崎物的f量增加，因此對於材料的要求也跟著提高，其必須制具備更高的彈性係數，也就是更不容 ^變形的材料。而機器人手腕部的大型化，會造成手腕部構件本身質量（自重）的增加’因而使手腕部產生因自身重量而撓曲的問題。對於這種情況’如果使用前述的金屬材料，則其高剛性化與輕篁化都有-定的限度。因此，有人使用纖維強化複合材料 (Fiber Reinforced Plastic，以下簡稱為FRp)。尤其是由純碳纖維強化複合材料(Carbon Fiber Reinforced Plastic，以下簡稱為CFRP)猶，射所射實叫面賴器人手卿構件逐漸普 200539996 及0 所然而’隨著LCD與PDP日漸大型化，即使目前所使用的純CFRp 材質也產生一個問題，也就是由於機器人手腕部本身的重量婵加，使自重所導致的撓曲亦變大。另外，當機器人手腕部的^量增?的時候’對顧人_緖所造成的諸亦會增大，從機器人本身的設計以及成本造成影響。 β —在這種情況之下，可藉由減小機器人手腕部構件的厚度，或疋細減工作件支持面寬度的設計，而達成輕量化的目標，進而可在某種程度上減輕因為自身重量所導致的撓曲。但是因為此種解決方式將會造成機器人手腕部的抗彎曲剛性減低，所以在支持工作件時的撓曲（負重撓曲）變大。尤其是在以單錄態安裝長形的機器人手騎構件時’因為前端部分的撓曲會更為嚴重 ^能會導致其發生撞擊容納X作件職置（基板g)之問題。此外尚彳明題，就是在支持工作件時的振動也容易增大，導致，動衰減特性惡化。於是在工作件支持性或者是搬運性上，產生一定程度的阻礙之虞。羽Α ί同專利文件1 (日本特開343476號公報）所揭露，在 /知技術使用CFRP製造機器人手腕部構件之過程中，係使表層分卿成。其+ ’表層係將含有碳纖維的聚數片之後再予以加熱，經過熱硬化之後呈板狀的碳，維?化複“才料CCFRP：)所構成；而核層同樣亦是由CFRp所構缺方式疋將上述核層作為芯材，並於其上方與下方疊積表層，，、、、'後再用接著繼絲層與核層無彳&生產的技術。片ΐί表層：Γ係將使碳纖維的排列方向相異的複數層，以提昇其抗，彎曲剛性、振動衰減特性、以及耐 .、、、陡4。此外，就該核層而言，係將由鋁等的金屬維 ΐϊΐ，巢狀芯材與’材組合喊，在達成輕量化的同時，亦月b夠，幵抗彎曲剛性、振動衰減特性、耐熱性等。但是就此種方法而言，如果卿人手腕部更為大型化的話， 200539996 這種方法並無法充分加以因應，必須進一步加以改p 方法在=冗進= ^仍能確保所隨之而來必要的抗彎曲剛性以及振動|丨：層的特定面上，且予以加熱硬化之後，再將芯材 .保留 --一一…又化心傻， 2出來’使其形成中空構造的機器人手腕部的方法；或是心材’但將使用的芯材輕量化的方法。相同地，在專利文件” 以達成機器人手腕部，而在騎的觸捲繞複數層的聚轉片二生產的簡化 ’ 專利文件1 專利文件2 專利文件3 曰本特開2000-343476號公報曰本特開2002-292592號公報曰本特開2002-292591號公報【發明内容】登明所欲解決之坪^ 写人專利文件3中’雖然:大幅度地改善了由於機 ==手腕部支持的工作件之重量增加， ί r尤妓lcd用的玻璃基板，係以不使各基板 ff j木子的方式，被㈣在稱為基板E的架子内進行搬運，但 ΣΙ”人手腕部的鶴衰舰碑驗，職紅作件*** =板ϋ時，必須等到所產生的振動靜止下來之後才能夠進行插 “k因ί ’巧導致生產、_速度降低，妨礙生產效率的提昇。，、於目别的趨勢是玻璃基板本身的外形大型化，但是厚度 ϊίΐί、、，13此基板本身變得容減曲，料受職動。因此，、；種搬運玻璃基板的機器人手腕部構件應具備的振動衰減特 200539996 性更為嚴格。本發明即鑒於上述的狀況，目的在於提供一種安裝於產業用機器人手臂前端的機器人手腕部用之構件，可顯著提昇振動^減性0 解決問之ripH明/1等人，在對該專利文件2、3中所揭露的中空構造 ^齡作為碳雜’其具備構造，且其與長邊方向直父方向之外周，愈朝向前端部就愈小。部的翻第1項之機11人手腕部構件，其中該前端、卜，4機裔人手腕部構件的固定端侧外周的1/3〜9/1〇。機考範圍第1或2項之機器人手腕部構件，其中該空^形管^。料係愈朝向前端，其寬度變得愈窄的推拔形狀中件ϋ申m圍/1或3項中任一項之機器人手腕部構〜^維㈣轉片係㈣雑係數介於_ 邊方向呈。±5'的;!=: 吏其與機器人手腕部構件的長人手第4項之機器人手腕雜件，其中該機器單-方^s?署二^伸彈性係數未滿49GGpa的碳纖維以’5。的膠片ί將拉的外層再疊層聚§旨膠片，且後者之聚酿 "、早糸數介於490〜950GPa之間的高彈性碳纖維， 200539996 =與機器人手腕部構件的長邊方向呈0±5。的單一方向配置；而於最外層則係將含有強化纖維所構成的交叉聚酯膠片捲繞覆層構造’然後再予以熱硬化之後而得。且合材料所製造，用體積比率3G%以上之拉伸彈性係數介於〜95{)Gpa 2碳纖維的高雜韻維，其安裝賴^人手腕部的該 3侧係具備封閉剖面之中空構造，而與該構件的長邊方向的近的前端側，其剖面形狀係開口剖面，且開口朝向* 4構件的工作物支持面相對的方向。〃 ⑺如申請專利範圍帛6項之機器人手腕部構件，二幾t備中空構造的範圍，係從該近端側的端部'起，而，為人手腕部構件全長的2/5以上4/5 ☆ 人手腕部構部構件，其中該機器該機器人手腕7項之機器人手腕部構件’其中矩形之中空方形g的面之，端侧部分’其剖面形狀為形。且開放d面的前端侧之剖面形狀係呈匸字作為碳纖維的項之機器人手腕部構件，其中咖㈣之_ S係拉伸彈性係數介於490〜的長邊方向呈0+5。單^^ 係將包含與機器人手腕部構件方向配置的聚醋膠片的疊層構造，予以熱 200539996 硬化之後而得。抑（12)如申請專利範圍第η項中之機器人手腕部構件，其中讀機器士手腕部構件係於拉伸彈性係數未滿49〇Gpa的碳纖維以9〇= 5的單一方向配置之聚酯膠片的外層再疊層聚酯膠片，且後者、 J醋膠片係將拉伸彈性係數介於〜_哪之_高彈性、准，以與機器人手腕部構件的長邊方向呈〇±5。的單一方向配置；200539996 IX. Description of the invention: [Technical field to which the invention belongs] The present invention relates to a robot wrist, which is mounted on the arm of an industrial robot, and has light weight, flatness, bending rigidity, heat resistance, etc. Advantages, especially regarding components made from carbon fiber reinforced composite materials with excellent vibration attenuation characteristics. In addition, the present invention also relates to such a robot; a method for manufacturing a component. σ [Prior art] The robot wrist of an industrial robot is mounted on the front end of the robot's wrist and performs various actions such as supporting, holding, and holding a work piece by the movement of the robot arm. This type of industrial robot is usually used for various processing applications such as machining or mounting of welding equipment. However, by breaking the wrist member at the front end of the arm, it can be applied to LCD monitors.) In the production process of precision products such as electronic display panel (PDP), silicon wafers, etc. As LCDs and PDPs have become larger, the size of glass substrates used in LCDs has also increased. Therefore, the size of the wrists of these transport robots must also increase. On the other hand, a robot for carrying a large plasma display panel (PDp) | the wrist must be larger in size than the wrist of the robot for carrying an LCD. As for the materials of the wrists of conventional robots, 'such as iron, non-iron steel, and inscriptions can be used.' However, as the amount of f of the object increases, the requirements for materials also increase, and it must be equipped Higher elastic coefficients are materials that are less tolerant of deformation. The enlargement of the wrist of the robot will cause an increase in the mass (self-weight) of the wrist member itself, thereby causing the wrist to flex due to its own weight. In this case, if the aforementioned metal material is used, its rigidity and weight reduction are limited. Therefore, some people use Fiber Reinforced Plastic (hereinafter referred to as FRp). In particular, pure carbon fiber reinforced plastic (Carbon Fiber Reinforced Plastic, hereinafter referred to as CFRP) is still used, and the shots are called face-to-face devices, and manual components are gradually popular 200539996 and 0. However, with the increasing size of LCD and PDP, even The currently used pure CFRp material also has a problem, that is, due to the increase in the weight of the robot's wrist itself, the deflection caused by its own weight also becomes larger. In addition, when the amount of robot wrists increases, it will also increase the amount of damage caused to the person, which will affect the design and cost of the robot itself. β —In this case, the goal of weight reduction can be achieved by reducing the thickness of the robot's wrist components, or by reducing the width of the support surface of the work piece, which can further reduce Deflection due to weight. However, since this solution will reduce the bending rigidity of the wrist of the robot, the deflection (deflection under load) when supporting the work piece will increase. Especially when installing a long robotic hand-carrying member in a single-recording state, ‘because the deflection of the front end part will be more serious ^ It may cause a problem of accommodating the X-work position (substrate g). In addition, there is still a clear problem, that is, when supporting the work piece, the vibration is also easy to increase, resulting in deterioration of the dynamic attenuation characteristics. Therefore, there is a possibility of a certain degree of obstacles in the work piece supportability or transportability. Feather Α As disclosed in Patent Document 1 (Japanese Patent Laid-Open No. 343476), in the process of manufacturing wrist components of a robot using CFRP, the surface layer is divided into layers. The + 'surface layer is composed of carbon fiber-containing poly-sheets and then heated. After being hardened, it is plate-shaped carbon, which is composed of "CF CRPRP :); and the core layer is also composed of CFRp. The method is to use the above core layer as the core material, and superimpose the surface layer above and below it, and then use the technology that is followed by the silk layer and the core layer without & production. A plurality of layers in which the alignment direction of the carbon fibers are different will be improved to improve its resistance, bending rigidity, vibration attenuation characteristics, and resistance to sharpness 4. In addition, the core layer will be made of metal such as aluminum The combination of the nested core material and the 'material', while achieving light weight, is also enough to resist bending rigidity, vibration attenuation characteristics, heat resistance, etc. But in this method, if the wrist of the person is more With the increase in size, 200539996 cannot fully cope with this method, and it must be further modified. The method is still redundant = ^ can still ensure the necessary resistance to bending rigidity and vibration | 丨: specific surface of the layer, And heat-hardened, then Retaining the core material-one by one ... and turning the heart silly, 2 come out 'the method of making the robot wrist of a hollow structure; or the method of the heart material' but the core material used is lightweight. Similarly, in the patent Documents "to achieve a simplified production of a robotic wrist, and the production of poly-rotating discs of multiple layers wound on the touch of a ride 'Patent Document 1 Patent Document 2 Patent Document 3 Japanese Patent Application Publication No. 2000-343476 Japanese Patent Application Publication No. 2002- [Patent No. 292592] Japanese Unexamined Patent Publication No. 2002-292591 [Summary of the Invention] Demonstrate the desired solution ^ Written in Patent Document 3 'Although: the weight of the work piece supported by the machine == the wrist is greatly improved In addition, the glass substrates used for LCDs are transported in a rack called substrate E in a way that does not allow each substrate ff j muzi. When the professional red work piece is inserted into the board, you must wait until the generated vibration has stopped before you can insert the "k due to the inconvenience, which reduces production and speed, which hinders the improvement of production efficiency. For the purpose of the trend, the shape of the glass substrate itself has become larger, but the thickness of the substrate itself has become less tolerant, and it is expected that it will work. Therefore, the vibration damping characteristics of a wrist component of a robot that handles glass substrates are more stringent. In view of the above situation, the present invention aims to provide a component for a robot wrist mounted on the front end of an industrial robot arm, which can significantly improve vibration. The hollow structure disclosed in 2 and 3 has a structure as a carbon impurity, and the outer periphery of the hollow structure with respect to the straight direction of the long side direction becomes smaller toward the front end portion. The wrist member of 11 people who turned the first item of the machine is 1/3 ~ 9/10 of the fixed end side outer periphery of the wrist member of the 4 machine man. The robot wrist component of item 1 or 2 of the computer-based test scope, wherein the hollow tube ^. The more the material system is toward the front end, the narrower its push-out shape is. The middle part of the robot wrist structure of either m / 1/1 or 3 ~ ^ Dimensions of the turning system are between _ side. The direction was. ± 5 ';! =: The robot wrist miscellaneous item No. 4 of the long hand of the robot and its wrist component, in which the machine has a single-square ^ s? . The outer layer of the film will be laminated and the film will be laminated, and the latter is made of high-elastic carbon fiber with an early diameter of 490 ~ 950GPa. 200539996 = It is in the direction of the long side of the wrist component of the robot. 0 ± 5. And the outermost layer is obtained by winding a cross-coated polyester film containing a reinforcing fiber and coating the structure ', followed by heat curing. Manufactured by a composite material, with a volume ratio of 3G% or higher, the elastic modulus of the carbon fiber is between ~ 95 {) Gpa 2 with high rhyme dimensions. The 3 sides of the wrist are equipped with a closed section hollow structure. The cross-sectional shape of the member near the front end side in the longitudinal direction of the member is an opening cross-section, and the opening faces a direction opposite to the work support surface of the * 4 member. ⑺ ⑺ If the robot wrist component of the 6th item of the patent application is applied, the range of the hollow structure of the ki t t is from the end of the proximal side, and it is 2/5 or more of the total length of the human wrist component 4 / 5 ☆ The human wrist component, among which the robot wrist component of the robot wrist 7 item 'of the rectangular hollow square g surface, the end side portion' has a cross-sectional shape. In addition, the cross-sectional shape of the front end side of the open d-plane is 匸. As a carbon fiber item, it is a wrist member of the robot. Among them, the _S series of elasticity coefficient of coffee is 490 ~ and the length direction is 0 + 5. Single ^^ is obtained by hardening a laminated structure containing polyacetate film arranged in the direction of the robot's wrist components. (12) For example, the robot wrist component in item η of the patent application scope, in which the wrist component of the robot is a polyester with carbon fibers with a tensile elasticity coefficient of less than 49 MPa and a single orientation of 90 = 5 The outer layer of the film is further laminated with a polyester film, and the latter and J vinegar film will have a tensile elasticity coefficient of ~ _which_high elasticity and precision, so as to be 0 ± 5 from the long side direction of the robot wrist component. Single-direction configuration

Si外層則係將含有強化纖維所構成的交叉聚轉片捲繞覆蓋的疊層構造，然後再予以熱硬化之後而得。辄請ΐ利範圍第6〜12項中任—項之機器人手婉揭件之製造方法，其特徵為：在事先 = t ；ί^1；；Γ ：刀，並將該特定範圍設為開口剖面。背系耵π (⑷-種如巾請專利範圍第6〜12項性。陳牛之製造方法，其特徵為包含·· 、之μ人手知使用在特疋/JZL度下，具備抗加熱變形性， & 特定的剖面形狀的怒材外周，疊層 ^並且在§又為且予以加熱，或者是純、層化娜聚轉片，並從該步驟中所得到的硬化物將n，膠片硬化的步驟；化樹脂的中空構造體的步驟；以及〜材抽取出’而得到碳纖維強 (15)—種如申請專利範圍第1〜部，該機器人手腕部係安裝於中任—項之機器人手腕特徵為具備：於°亥產業用機器人手腕部的前端，其 —機器人手腕部構件，用以固 -安裝部’用以將該機器人手婉%::固‘ 【實施方式】發明之效杲 200539996 一根據本發明，可提供一種容易生產的機器人手腕部構件，可 ^幅度提昇振動衰減特性，尤其是在搬運日漸大型化的玻璃基板等工作件的時候，能夠促進生產效率。圖1係顯。示根據本發明的第丨實施型態，安裝機器人手腕部構件10之機器人手腕部丨；圖4則係顯示根據本發型態，安裝機器人手腕部構件10,之機器人手腕圖貫2 機器人手腕部1及1’，係安裝於產業用機器人的手臂的前端，用來作為支持及搬運液晶顯示器⑽）、電聚顯示面板(PDP) 體晶圓、以及精密機械等的工作件2。。如圖1及圖4所示，機器人手腕部丨及丨，，具備··安裝 ϊ'ί 安1於_之產#賴11人的手f;機11人手腕邛構件10及10 ，固定安裝於安裝部前端。其次說明關於本發明之第i實施型態之機器人手腕部構 10 ° 的機器人手腕部構件10，其特徵在於與其長邊方向直3C的方向相，係朝向前端部逐漸變小的巾 f此’所謂的「長邊方向」，如圖2所示，係指連接中空^狀的近 =(ίί部側i的剖面中心(G1)，以及前端部的剖面中心“ ，。例如，若將近端_寬度與高度分別設為H1 的^度與高度則分別設為_T2。則其示月= 刖端，僅厚度變得愈小（HI =H2，T1 >厂有愈朝向或者是寬度與高度兩者都同時變小構件!。的剖面形狀並不限定於方形管狀；=人τ 11 200539996 與件之間的接觸面儘可能平坦化的形狀。此外，就將外，朝,前端方向愈來愈小的型態而言，並非限如圖2、3所示， 1近端侧朝向前端侧成均等的比讎減的態樣，而可以是各式各的型態。例如，可採用在與機器人手腕部的安裝部4接觸田f分’其外周大小沒有變化，然後再從此處前方的自由端向外 "漸漸縮士的態樣；或者是使外周縮小到長邊方向的中央部分為止，再往前端則維持固定的大小等，各種態樣皆可。口、，外[在其前端部，可以是如圖2、3所示的開口型態，但也可同後述的在製造中空構件的時候，將聚酯膠片折彎，塞 ^二前端部亦可。或者是在開口狀態的前端部中，嵌***由橡膠專弹性材質所構成的塞套(cap)亦可。圖1係顯不具備2條機器人手腕部構件1〇的機器人手腕部。 Ϊϊί發麵不限定於此種魏，亦可配合玉作件_類與承載重，等，組合希望的根數。另外，安裝部的形狀也不限於圖】的 ί ί i可適當的設定為想要的钱部H面，可如圖2所示，寬，方向成推拔形狀，也可以將長邊方向的側面兩邊皆作成推 ^形狀。此外亦可如圖i所示，在機器人手腕部的外侧不設置推僅於其内部設置推拔形狀部分，即可在使機器人手腕袖控制祕與·的系統相同’不加以改變的情況下使用。都irf較佳的情況是機器人手腕部構件ι〇在前端部的外周和f長度在固定端側的外周的3分之丨以上，更佳的情況是具 ί Y分與兩者相同的時候相較之下，即使將外周“ Ϊ审ί ?ί揮振動衰減性的效果，較佳的情況是在10分之9以下，更佳的情況則是在5分之3以下。更佳的輕量性、抗f _性、耐難，因此本發明伸彈性係數的碳纖維之碳纖維強化複合材料介Γ9。〜950GPa之間的高彈性碳纖維作為碳纖心如其體積比率3〇%以下的話，則無法獲得充分_性，m 12 200539996 獲得振動衰減特性高的構件。此外，較佳的情況是在另外，所使用的強化纖維，可以全部都是高彈性碳二附是其他種類的強化纖維。例如：拉伸彈性 =纖維、玻璃纖維、芳香族聚酰胺(aramid)纖維、碳化石夕纖^ =積比率的9G%，剩餘的部份則結合其他強化纖維，特別H ^性係數未滿49_a的碳纖維使用。則此時從機械性能、以及振動衰減特性以及生產成本的角度來看其效果更加優異。 …此種機器人手腕部構件1〇，係可藉由例如前述專/利文冗載之步驟生產。首先，準備好芯材與原形聚师片，作 ^巧，成為與機器人手腕部構件1〇的形狀相互對應的，形，並且在豐層聚轉片時作為所謂的按壓板發揮功效，並且 /、備某種程度的剛性。在形成機器人手腕部構件1〇的 ^胃的中f日簡蹲功能，芯材最好係使用具備在加熱過程中，在 γ溫度以下不會變賴㈣，且從加熱硬化後的GFRp構件中容易抽取的材質。基於此種觀點，就芯材的材質而言，例如，銘、鋼等的金屬；MC尼龍樹脂、聚醯亞胺(ρ〇1_㈣樹脂等車^為^:由於與CFRP相較之下，前述的金屬與樹脂熱膨服率較，因此藉由加熱後的冷卻收縮，可使得抽取更為容易。另外， ^要的話，也可以在芯材的表面施以脫模材的施工。就脫模材 =，可使用喷灑劑等的藥劑（例如：界面活性劑等）噴灑，或者是使用鐵福，（註冊商標）片等的脫模片等任何方法均可。此外’所謂在該特定溫度的加熱抗變雜性，係指具備即使 f後述的加熱過程巾的加熱溫度下，也幾乎不會變形的性質而所謂的在該加熱過程中也幾乎不會變形，係指在後述的加之下，心材的材料不會產生趣曲、彎曲、撓曲、扭曲、皺形。此外，該特定溫度，係指根據後述之原形聚二、j的基負樹脂的熱硬化速度，例如其係指約1⑽〜19(TC以上的温度。 13 200539996 、例如，要用以製造圖2中的機器人手腕部構件ι〇的芯材，係，加工成剖面呈橫長長方形狀的角材，其愈朝向前端寬度就愈狹窄的推拔形狀。另外，用以製造圖3的機器人手腕部構件1〇的芯材，係使用愈朝向前端高度就愈小的形狀。、在此所用的原形聚酯膠片，係指將碳纖維片狀化，再將其浸，在基質樹脂内，處於未硬化狀態的片狀物。例如，較佳的情況疋被疊層的複數個聚酯膠片，係以拉伸彈性係數介於·〜95〇Gpa 之間的f彈性碳纖維聚酯膠片作為主體使用；而剩餘的部分則使用拉伸彈性係數未滿490Gpa的碳纖維聚酯膠片。另外，只要在不The outer layer of Si is obtained by winding and covering a cross-convergent rotor made of reinforcing fibers, and then heat-hardening it.辄 Please use the manufacturing method of any of the items in the 6th to 12th ranges of the robot hand, which is characterized in advance: t = in advance; ^ 1; Γ: knife, and set the specific range as an opening section. The back is 耵 π (⑷-kind, please refer to items 6 to 12 in the patent scope. The method of manufacturing Chen Niu is characterized by the use of μ, which is known by humans. It is resistant to heat deformation under special 疋 / JZL degrees. Nature, & the outer periphery of a particular cross-section profile, laminated ^ and heated in §, or a pure, layered polycondensation film, and the hardened product obtained in this step will be n, film A step of hardening; a step of converting a hollow structure of a resin; and a step of extracting a carbon fiber to obtain a strong carbon fiber (15) —such as the first to the scope of the patent application, the robot wrist is mounted on a robot The wrist is characterized by: The front end of the wrist of the industrial robot, which is the robot wrist component, is used to fix-install the portion 'to make the robot hand% :: solid' [Embodiment] The effect of the invention 杲200539996 According to the present invention, it is possible to provide a robot wrist component which is easy to produce, which can greatly improve the vibration attenuation characteristics, especially when transporting work pieces such as glass substrates which are becoming increasingly large, which can promote production efficiency. Figure 1 The display shows the robot wrist part with the robot wrist component 10 installed according to the first embodiment of the present invention; FIG. 4 shows the robot wrist diagram 2 with the robot wrist component 10 installed according to the current configuration. The wrists 1 and 1 'of the robot are mounted on the front end of the arm of an industrial robot, and are used to support and carry liquid crystal displays (⑽), wafers for PDP body wafers, and work pieces 2 such as precision machinery. . As shown in Figs. 1 and 4, the robot wrists 丨 and 丨 are equipped with a mounting bracket "ί 安 1 于 _ 之产 # 赖 11 person's hand; machine 11 person's wrist cymbals 10 and 10, fixed installation At the front of the mounting section. Next, the robot wrist member 10 of the robot wrist structure 10 ° of the i-th embodiment of the present invention will be described. The robot wrist member 10 is characterized in that the longitudinal direction of the robot wrist member 10 is 3C, which is gradually reduced toward the front end. The so-called "long side direction", as shown in FIG. 2, refers to the section center (G1) near the hollow section (i) and the center of the section at the front end ". For example, if the proximal end _ The width and height are set to H1, respectively, and the height and height are set to _T2 respectively. Then its moon = 刖 end, only the thickness becomes smaller (HI = H2, T1 > the more the factory is oriented or the width and height Both become smaller members at the same time! ... The cross-sectional shape is not limited to a square tube; = Human τ 11 200539996 The shape where the contact surface between the part and the part is as flat as possible. In addition, the outer and the front ends are increasingly As for the smaller type, it is not limited to the state shown in Figs. 2 and 3, and the ratio of the near side to the front side decreases uniformly, but various types can be used. For example, Contact with the mounting part 4 of the robot's wrist, and the field size has not changed, and From the free end in front here, the appearance of "gradually shrinking"; or to reduce the outer periphery to the central part in the long side direction, and then to maintain a fixed size toward the front end. ，外 [At its front end, it can be an open shape as shown in Figs. 2 and 3, but it can also be used to bend the polyester film when manufacturing a hollow member as described later, and the front end can also be plugged. Alternatively, it is also possible to insert a cap made of a rubber elastic material into the front end portion of the open state. Fig. 1 shows a robot wrist portion which does not have two robot wrist members 10. Ϊϊί 发面It is not limited to this kind of Wei, and it can also be combined with the desired number of jade pieces and types, load weight, etc. In addition, the shape of the mounting part is not limited to the figure. Ί i can be appropriately set as desired The H surface of the money section can be wide and pushed in the direction shown in Figure 2, or both sides of the side in the long direction can be made into the shape of ^. In addition, as shown in Figure i, it can be outside the wrist of the robot If no push is set, only the push shape part is set inside, you can The robot wrist sleeve control is the same as that of the system. 'It is used without change. It is better to use the robot wrist member ι〇 the outer periphery of the front end portion and the length of the outer periphery of the fixed end side 1/3丨 Above, it is better to have ίY points as compared to the two, even if the effect of vibration attenuation on the outer periphery is "Ϊreviewed", it is better to be below 9/10 The better case is less than 3/5. Better light weight, f_ resistance, and resistance, so the carbon fiber reinforced composite material of the carbon fiber of the present invention has an elongation coefficient of Γ9. ~ 950GPa If the volume ratio of the highly elastic carbon fiber as the carbon fiber core is 30% or less, sufficient properties cannot be obtained, and m 12 200539996 provides a member having high vibration attenuation characteristics. In addition, it is preferable that all of the reinforcing fibers used may be highly elastic carbon. The secondary fibers are other types of reinforcing fibers. For example: Tensile elasticity = fiber, glass fiber, aramid fiber, carbon fiber ^ = 9G% of the volume ratio, and the remaining part is combined with other reinforcing fibers, especially the H ^ coefficient is less than 49_a Use of carbon fiber. In this case, the effect is more excellent from the viewpoints of mechanical properties, vibration attenuation characteristics, and production costs. … Such a robot wrist component 10 can be produced by, for example, the above-mentioned special / levine redundant steps. First of all, prepare the core material and the original shape of the master piece, make it to match the shape of the robot wrist member 10, and shape it, and function as a so-called pressing plate when the layer is turned, and / Be prepared to some degree of rigidity. In order to form a simple squat function of the stomach of the robot wrist member 10, it is best to use a core material with a GFRp member that does not change below γ temperature during heating and is hardened from heat Easy to extract materials. From this point of view, in terms of the material of the core material, for example, metal such as Ming and steel; MC nylon resin, polyimide (ρ〇1_㈣ resin, etc.) ^ is ^: Compared with CFRP, the foregoing The metal and resin have a higher thermal expansion ratio, so it can be extracted more easily by cooling and shrinking after heating. In addition, if necessary, the surface of the core material can also be applied with a release material. Material =, can be sprayed with spraying agents (such as surfactants, etc.), or using Tiefu, (registered trademark) tablets and other release films, etc. Any method can be used. The term "heating resistance" refers to the property that it hardly deforms even at the heating temperature of the heating process described later, and the so-called hardly deforms during the heating process. The material of the heartwood will not produce interesting music, bending, flexing, twisting, wrinkling. In addition, the specific temperature refers to the thermosetting speed of the base negative resin based on the original shape poly, j, which will be described later, for example, it refers to about 1⑽ ~ 19 (TC or higher. 13 200539996 For example, the core material to be used to manufacture the robot wrist component ι0 in Fig. 2 is processed into an angle material with a horizontal and rectangular cross section, and the pusher shape becomes narrower as it goes toward the front end. Additionally, The core material used to manufacture the robot wrist member 10 in FIG. 3 uses a shape that decreases in height toward the front end. The original polyester film used here refers to a sheet of carbon fiber, which is then impregnated. In the matrix resin, the sheet is in an unhardened state. For example, it is preferred that a plurality of laminated polyester films are laminated with a f-elasticity of a stretch elasticity coefficient between · ~ 95 ° Gpa Carbon fiber polyester film is used as the main body; the remaining part uses carbon fiber polyester film with a tensile modulus of less than 490 Gpa. In addition,

損及具備作為機器人手腕部構件的支持性能或是搬運性能的前提下，亦可一部分使用添加含有該玻璃纖維等，或是其他纖維的聚醋膠片。就基質樹脂而言，可使用環氧樹脂、盼（phen〇1)樹脂、氰酸鹽（cyanate)、不飽和聚酯（p〇iyester)樹脂、聚醯亞胺樹脂、雙馬來醯亞胺（bismaleimide)樹脂等的熱硬化性樹脂。在此種，況下，制橡膠加硫等可耐高溫高溼環境的物質較佳。此外，該熱硬化性細旨，亦可制為了舒耐撞擊性以及她為目的，在熱硬化性樹脂巾添加轉膠或樹縛組成的微粒，或硬化性樹脂中使熱可塑性樹脂溶解後之物質。Under the premise of impairing the supporting performance or handling performance as a wrist member of the robot, a part of the polyester film containing the glass fiber or the like may be used. As for the matrix resin, epoxy resin, phen〇1 resin, cyanate, unsaturated polyester resin, polyimide resin, and bismaleimide can be used. (Bismaleimide) A thermosetting resin such as a resin. In this case, it is better to make rubber and sulfur-resistant materials that can withstand high-temperature and high-humidity environments. In addition, the thermosetting properties can also be made by adding particles made of rubber or resin to thermosetting resin towels for the purpose of improving impact resistance and her purpose, or dissolving thermoplastic resin in the hardening resin. substance.

就碳纖維的種類而言，包括：未滿·Gpa的觸系，以及於490〜950GPa之間的瀝青(pitch)系等兩種者結合_。在這飾兄下，_ _品具=== 聚醋膠片而言’可分成強化纖維向同—方向配置的向只、. 紋織法㈨也贿幻、斜紋織法(twi11請J)、緞紋織法（satm weave)、三軸織法等的交又膠片等。而 950GPa之間的高彈性碳纖維聚酯膠片，最好是使用單—方The type of carbon fiber includes a combination of two types: a contact system of less than Gpa and a pitch system of 490 to 950 GPa. Under this decoration brother, _ 品品 === Polyester film can be divided into reinforcing fibers arranged in the same direction, only. Weaving method also brimming, twill weaving (twi11 please J), satin Weaving (satm weave), triaxial weave, and so on. For 950GPa high elastic carbon fiber polyester film, it is best to use single-square

膠片。 J 形式的產品’例如就原形聚酯膠片而言，可以使用各式各樣 14 200539996 使強化纖維的種類不同，或是使相對於基質樹脂的強化纖維之使用比例不同，或者是使強化纖維的配向狀態不同。因此，最好事先準備好各種不同形式者，然後配合機器人手腕部1的使用目的或機器人手腕部構件的使用場所，使其能夠形成具備最適當的抗彎曲剛性的CFRP構件，並且選擇複數個可使用的原^聚酯膠片。、另外，關於該被選擇的全部原形聚酯膠片，也是相同地先形成特定尺寸的聚酯膠片。其次，以疊層的方式黏貼聚酯膠片於芯材的各個面上。因為聚酯膠片是屬於未硬化的狀態，故具有某個程度的黏著力，因此在施以脫模處理的芯材上，只要將片'材依序重疊起來即可黏貼。巧種航下，可㈣斗狩以加熱，使其與下層的膜或膠片f始、5，並且使其緊密疊層到想要的厚度（例如大約1〜7刪左右）為止。在這種情況下所希望的厚度，較理想的聚酯膠片在加熱硬化時體積減少的程度，然後 ^，係於最_ (也就是最下層）疊層複數段單-方向膠片，且直向（町稱為9G°配向）係相對於長邊方向呈略 Ϊ日il l 然後再於其上方，疊層複數段單一方向膠稱為^於長邊方向呈略平行(G±5。）的方向配置（以下稱為0配向）。在這種情況下，除了上述的膠片之於機器人手腕部構件的長邊方向順時"鐘方向或方式，使強化纖維朝向斜向咖。或135± 纖維相互呈現直交相交的雙向交叉(織物;聚J者於機1§人手腕部構件的長邊方向，以順時鐘 3、= ，纖^的配向方向組合為配置成45。與135。的兩個 =的則具備抑制中空構造=效特=5配= 15 200539996 片與135。配向膠片，可更進—步的提昇抗扭曲剛性與扭曲振動衰film. For J-form products, for example, for the original polyester film, a variety of types can be used. 14 200539996 Different types of reinforcing fibers can be used, or the ratio of reinforcing fibers to matrix resins can be different. The alignment state is different. Therefore, it is best to prepare various forms in advance, and then cooperate with the purpose of use of the robot wrist 1 or the place of use of the robot wrist components, so that it can form a CFRP member with the most appropriate bending rigidity, and select a plurality of Raw ^ polyester film used. In addition, all the selected original polyester films are also formed into polyester films of a specific size in the same manner. Second, the polyester film is laminated on each side of the core material in a laminated manner. Since the polyester film is in an uncured state, it has a certain degree of adhesion. Therefore, on the core material subjected to the release treatment, as long as the sheets are laminated in order, they can be stuck. If you want to use a variety of seeds, you can heat it to make it and the lower film or film f, 5 and tightly laminated to the desired thickness (for example, about 1 to 7 left and right). In this case, the desired thickness is the degree to which the volume of the polyester film is reduced when it is heated and hardened. Then, it is tied to the most _ (that is, the lowest layer) laminated multiple uni-directional films and straight (The term is referred to as 9G ° orientation) is slightly il l relative to the long side direction, and then above it, the lamination of a plurality of sections in a single direction is called ^ is slightly parallel to the long side direction (G ± 5.) Directional configuration (hereinafter referred to as 0-alignment). In this case, in addition to the above-mentioned film, the long-side direction of the wrist member of the robot is clockwise or clockwise or in such a manner that the reinforcing fibers are oriented obliquely. Or 135 ± fibers intersect at right angles and intersect in two directions (fabric; gather the person in the machine 1 § the direction of the long side of the human wrist component, the clockwise 3, =, fiber ^ alignment direction is combined to configure 45. and 135 Two of the two have the ability to suppress the hollow structure = Effective = 5 with 15 200539996 and 135. Alignment film can further improve the torsional rigidity and torsional vibration attenuation

減特性。_於交叉膠片’亦具有類似單—方向膠片的上述組合之效果。 U 另外，就疊層順序而言，基於使芯材更容易抽取出的角度看’較佳的情況是將90配向膠片設為最下層（最内側）。這是因為與基質樹脂相較之下’碳纖維的熱收縮率較低，故就作為膠片的收縮率而言，由於纖維配向方向的收縮率比纖維排列方向^收縮率為低，故藉由以90。配向膠片構成管狀的CFRp板的内側面，可使強化纖維以包圍芯材外圍的型態配向。因此，在熱硬化的候，即使管狀的CFRP板未大幅度地縮徑亦可。而就9〇。配向膠片而言，較佳的情況是使用拉伸彈性係數未滿49〇Gpa的碳纖維^酯膠片。此外，疊層在愈上層的膠片（也就是愈往外侧的膠片），對機器人手腕部構件10的特性（也就是抗彎曲剛性等）的貢獻率就兪高，因此，從避免撓曲的觀點來看，較佳的方法係將0、。配向膠G 疊層於比90°配向膠片更上層之處。因此應在考慮此種因素的同時，決定使用的聚酯膠片的組合以及疊層順序。尤其是就0°配向膠片而言，較佳的情況是使用49〇〜95〇GPa 之間的高彈性碳纖維聚酯膠片。藉由這種方式，在芯材102的所有面上疊層黏貼聚酯膠片 101，可形成一疊層構件，且此種疊層構件係在芯材的外周面上形成聚酯膠片的疊層體之狀態。然後，再於此疊層構件的外周包覆/ 一捲或少數捲交叉聚酯膠片（包覆程序）。。除此之外，所謂的交叉聚酯膠片，係指將以複數個方向交織而成的強化纖維，浸泡在該基質樹脂後，尚未硬化狀態下的膠片，言，而就強化纖維而言，可使用織物狀的碳纖維、^璃纖▲、芳香族聚酰胺纖維、或是碳化矽纖維等皆可。另外，為了使其可與疊層構件相互緊密覆蓋，因此較佳的情況是選擇可撓性及艺占性較佳的膠片。 ^ 16 200539996 在完成此包覆程序之後，從四個方向以按壓板等按壓，然後再將處於此狀態下的未硬化構件放入真空袋中，並且予以加熱，然後即可形成本實施型態的機器人手腕部構件10。在此種情況下的加熱條件是以2〜lG°C/min的速率，使溫度從室溫開始提昇，並且在約100〜190 C之間，保持1〇〜18〇分鐘，然後停止加埶使其自然降溫，恢復到常溫之下。 … 囚马不管疋哪一個聚酯膠片都含有熱硬化性樹脂，因此在每一個膠片的面以及膠片邊緣部，都是以彼此相互黏著的型態硬化。除此之外，將未硬化的構件放入真空袋，其目的係在吸附於疊，程序巾在膠片間所產生的氣泡，以便對未硬化的構件施加略均等的外在壓力（也就是大氣壓力）。 —另外，亦可對於未硬化的構件施加特定方向的外壓。例如，，由從上方以石頭等重物施壓的方式，使按壓板與厚度設定板之曰=會產生間隙，因此可提升機||人手腕部構件1G上方（也就是 j件的支持面）的平坦性，亦可提高機器人手腕部構件10的尺是厚度〕的精紐。此外，因為用虎頭钳等使接合界面 ^ =5的方向推壓，可提升聚酯膠片邊緣部的接合性。 η ίΐ上述程序後，進行抽取芯材（抽取步驟）。並藉由此過程，二的機曰器人手腕部構件10。根據本實施例，機器人手成，並進來作為純GFRP材，*是可种空構造體構件時，可以避免因為自身的重量或者是工作3 運精密度義生撓曲或雜’以提昇卫錢較持精密度與搬碰支g作人手腕部構件10的中空部分，作為非觸裝感測器時的配杨領件的前端安疊層聚根據本貫施型態’因為係使芯材發揮在夕$作為所明的按壓板，以及在加熱成形機器人手腕 17 200539996 部構件ίο時，作為所謂的中間模等兩個功能，因此可同時進行 CFRP板的形成（也就是聚醋膠片_層），以及機器人手腕部構的成形（也就是與相鄰壁部的聚酯膠片之間的相互接合）。此外，因為係以交又聚酯膠片包覆外周面，因此可避免打切削或，？孔等後料在加卫部位產钱毛球或是產生等情況。藉錢種域，不但可以提昇加玉效率，更可以得電浆顯示器、以及彻等精密的工作件造合部位等優點。除此之外，就機器人手腕 =糾：:=專==法使用㈣ /、人況明關於貫鉍型態2的機器人手腕部構件1〇,。長邊器人手腕部構件1〇,係具備的1船Bt為邊向的近端侧（也就是機器人手腕部端側的封閉剖面之中空構造笳門焱〜< ~ 幵口口面〇亥近 18 200539996 構ί 1G’❺高度係呈愈靠近前端的話就愈小，而且剖面形的該前端部分中’該機器人手腕部構件抓的高 ^ 愈朝向前端愈小，此縮小的方式可係呈直線變化，或者疋拋物線等的任意曲線變化皆可。交麟ί!=大呈開口剖面的該前端部分中，開口的方向係與工作件的支持面相對的面，也就是下方側，而且只要至少有如在近端側的封閉剖面形狀係加工為矩形的中空方，官$ ’敢佳的情況是從封閉剖面部分與開放剖面部分的交^ i另外，開口部的開始點⑼與推拔形狀 £1¾ 係從側面所見之圖。刀I圓叫面二的機器人手腕部構件10’❸近端部的封閉疋於方形管狀，其他像是三角形、多角形、圓形、圓形專各式各樣的形狀皆可’只要是選擇可使且盜工作件的：ί皆可。在此種情況下，當將細大設為：㈣始點側的開口寬度與前端側的開口寬ΐ即么二二：呈二角形時，如果去除工作件支持面成為在圓形或是半圓形（將直線部分作為工作件支持面）的情況時’如圖6⑷所示，半橢圓形的開口為1〇, a。為了要使其具備輕量化、抗彎曲剛性、耐熱性等優點，因此 19 200539996 =2定，ΐ性係數的碳纖維之碳纖維強化複合材料 (CFRP)構成。扃太者妖圳处丄，卜〜火纖畔滅化铍甘柯科如果率的高彈性韻維作為碳纖維。眺的話，就無法得戦分的剛性，因此亦| 950GPai^ ·ΐ，型/%中’亦使用拉伸彈性係數介於棚如果體積比」法得到震動：的強化纖維，可以全部都是高彈性碳纖維， m 如：㈣雜係數未滿魏維等，酰胺(aramid)纖維、碳化 :ί:=ί ϊ9〇%，剩餘的部份則組合其他強化纖維，特別 t數未滿49GGpa的韻維使用。則此時從機械性能、乂及^動哀減特性以及生產成本的歧來看，其效果更加優異。，始的中空方形管，可藉由如該專利文件2所記載之步驟生 ^首先，如圖7(a)所示，準備好芯材1〇2與原形聚酯膠片1〇1，為準備步驟。其中，芯材1〇2係形成為與機器人手腕部構件1〇，白^長邊方向相關’具備—定的矩形剖面。同時，在疊層聚醋膠片時作為所謂的按壓板發揮功效，並且具備某種程度的剛性。另外，在，形機器人手腕部構件1〇,的時候，芯材1〇2係作為所謂的中間1發揮功能，其具備在加熱過程中在加熱溫度以下不會變形的性質（加熱不變形性），並且使用從加熱硬化後的CFRp構件中容易抽取的材質。基於此種觀點，就芯材1〇2的材質而言，例如，鋁、鐵、不鏽鋼等的金屬；以及MC尼龍樹脂、聚醯亞胺樹脂等較為適合。與CFRP相較之下，由於前述的金屬與樹脂熱膨脹率較大，因此藉由加熱後的冷卻所導致的收縮，可使得抽取更為容易。另外，有必要的話，也可以在芯材的表面施以脫模的施工。就脫模材而言，可使用喷灑劑等的藥劑（例如，界面活性劑等）喷灑，此種機器人手腕部構件][〇，白勺生產方式，可以是例如先生產、:始的中空方形菅，然後再予以裁減成想要的開口形狀後來製這。以下參照圖7，說明此種製造方式。 200539996 或者疋使用鐵福龍（註冊商標）片等的雌片等方法均可。料聚Ϊ膠片101係指將碳纖維膠片化之後，再浸泡於基質未硬化的膠片。例如，較佳的情況是疊層的複數片聚 ϋ㈣作為主體使用；_餘的部分則個拉伸雜係滿490Gpa的碳纖維聚酯膠片。另外，只要在不損及具 ^手腕部構，的支持性能或是搬運性能的前提下，亦可使用、二刀〜加$有忒玻璃纖維等，或是其他纖維的聚酯膠片。言，可使用環氧樹脂、酴樹脂、氰酸鹽、不飽 ί 聚醯亞胺樹脂、雙馬來醯亞胺樹脂等的熱硬化性樹 : 兄下’使用橡膠加硫等可耐高溫高渥ί裒境的物質較 ^此外，賴硬化性樹脂，亦可制為了賦予_擊性以及勤 ^ ”勒在熱硬化性樹脂中添加由橡膠或樹脂等組成的微粒，或者，^熱硬化性樹脂中使熱可塑性樹脂溶解後之物質。就碳纖維的種類而言，包括··未滿棚Gpa的pAN系， ΐΓΓ9?GPa之間的瀝青系等兩種，但本發明係將此兩者結合情況下，瀝青系的物品具備彈性係數高的特徵；系的物品則具備拉伸強度高的特徵。此外，就原形聚醋膠片而吕，、可分成強化纖維向同一方向配置的單一方向片；以及如平紋織法、斜紋織法、緞紋織法、三軸織法等的交又膠片而介於490〜950GPa之間的高彈性碳纖維聚酯膠片好單-方向性的膠片。门料疋便用就原形聚酯膠片1〇1而言，可以使用各式各樣形式的產品，例如使強化纖維的麵不同，或是使相對於基質樹脂的強化纖維之使用比例不同，或者是使強化纖維的配向狀態不同。因此，最好事先準備好各種不_式者，織配合機狀手腕部1,的使用目的或機器人手腕部構件1〇的使用場所，使其能夠形成具當的抗彎_性的CFRP構件，並且獅複數個可使用的原形聚醋膠片。 21 200539996 ^外，關於該被選擇的全部原形聚酯膠片程』二著力，因Jil旨膠片是屬於未硬化的狀態，故具有某個重疊起來即可黏貼。脫模處理的芯材上，只要將片材依序片等斗軒以加熱，使其與下層的膜或膠Less characteristics. _Yu Cross Film 'also has an effect similar to the above combination of uni-directional films. U In addition, in terms of the stacking order, from the perspective of making it easier to extract the core material, it is preferable to set the 90-alignment film as the lowermost layer (the innermost layer). This is because the thermal shrinkage of carbon fibers is lower than that of matrix resins. As for the shrinkage of films, the shrinkage rate in the fiber alignment direction is lower than the shrinkage rate in the fiber array direction. 90. The alignment film forms the inner side surface of the tubular CFRp plate, and enables the reinforcing fibers to be aligned in a shape surrounding the periphery of the core material. Therefore, even when the tubular CFRP plate is not significantly reduced in diameter during heat curing. And just 90. For the alignment film, it is preferable to use a carbon fiber ester film having a tensile elasticity coefficient of less than 49 GPa. In addition, the film laminated on the upper layer (that is, the film facing outward) contributes significantly to the characteristics of the robot wrist member 10 (that is, resistance to bending rigidity, etc.). Therefore, from the viewpoint of avoiding deflection It seems that the better method is 0. The alignment glue G is laminated on the upper layer than the 90 ° alignment film. Therefore, it is necessary to decide the combination of the polyester film to be used and the laminating order while considering such factors. Especially for the 0 ° alignment film, it is preferable to use a highly elastic carbon fiber polyester film between 49-95 GPa. In this way, the polyester film 101 is laminated and adhered on all surfaces of the core material 102 to form a laminated member, and the laminated member forms a laminate of the polyester film on the outer peripheral surface of the core material. State of the body. Then, the outer periphery of this laminated member is covered with a roll or a few rolls of cross-linked polyester film (covering process). . In addition, the so-called cross-polyester film refers to a film in which the reinforcing fibers interwoven in a plurality of directions are immersed in the matrix resin and have not yet hardened. In terms of reinforcing fibers, however, Fabric-like carbon fibers, glass fibers, aramid fibers, or silicon carbide fibers can be used. In addition, in order to closely cover the laminated member with each other, it is preferable to select a film having better flexibility and performance. ^ 16 200539996 After completing this cladding procedure, press in four directions with a pressure plate, etc., and then put the unhardened components in this state into a vacuum bag and heat them, and then form this embodiment Robot wrist member 10. In this case, the heating condition is to raise the temperature from room temperature at a rate of 2 ~ 1G ° C / min, and maintain it at about 100 ~ 190 C for 10 ~ 18 minutes, and then stop adding Let it cool down naturally and return to below normal temperature. … Regardless of which polyester film is used, the prison horse contains a thermosetting resin. Therefore, the surface of each film and the edges of the film are hardened with each other. In addition, the purpose of placing the unhardened components in a vacuum bag is to adsorb the stacks, and the air bubbles generated between the films by the program towel in order to apply a slightly equal external pressure (that is, atmospheric pressure) to the unhardened components. force). -In addition, external pressure in a specific direction can also be applied to unhardened components. For example, by pressing from the top with a heavy object such as a stone, a gap will be created between the pressing plate and the thickness setting plate, so the machine can be lifted above the 1G wrist member (that is, the support surface of j pieces) ) Can improve the flatness of the wrist component 10 of the robot]. In addition, since the bonding interface is pushed in the direction of ^ = 5 with a vice or the like, the bonding property of the edge portion of the polyester film can be improved. η After the above procedure, the core material is extracted (extraction step). And through this process, the second machine is called the wrist member 10 of the robot. According to this embodiment, the robot is hand-made and comes in as a pure GFRP material. * When it is an empty structural member, it can avoid flexing or miscellaneous due to its own weight or work. The hollow part of the wrist member 10 with the precision and the moving support g is used as the front end of the fitting with a young collar when the sensor is not touch-mounted. According to the usual implementation mode, because the core material is used In the evening, as the pressing plate as known, and as a component of the thermoforming robot wrist 17 200539996, as a so-called intermediate mold, the CFRP plate can be formed at the same time (that is, polyacetate film_layer). , And the formation of the robot wrist structure (that is, the mutual bonding with the polyester film of the adjacent wall). In addition, because the outer surface is covered with cross-linked polyester film, cutting or cutting can be avoided. After the holes and other materials in the guard area to produce money or produce hair balls. Borrowing money can not only improve the efficiency of adding jade, but also obtain advantages such as plasma displays and precise work parts. In addition, regarding the robot wrist = correction :: ==== method of using ㈣ /, the human condition is clear about the bismuth type 2 robot wrist component 10 ,. The wrist member 10 of the long side robot is equipped with 1 ship Bt which is the proximal side of the side (that is, the hollow structure of the closed cross section of the robot wrist end side of the door 笳～焱焱口口面〇ハNear 18 200539996 The height of the 1G'❺ system is smaller as it approaches the front end, and in the section of the front end, the height of the grip of the robot wrist component ^ decreases toward the front end. This reduction method can be A straight line change, or any curve change such as a parabola can be used. Crossed! = In the front end of the large cross section, the direction of the opening is the side opposite to the support surface of the work piece, that is, the lower side, and only At least, the closed section shape on the proximal side is processed into a rectangular hollow square. In the case of Dangjia, it is from the intersection of the closed section and the open section ^ In addition, the starting point of the opening and the push shape £ 1¾ is a figure seen from the side. The knife I is called the robot wrist member 10 'of the second face. The closed end is closed in a square tube. The others are triangular, polygonal, round, and round. Shape Both can be used as long as it is possible to select and steal the work piece: ί. In this case, when the size is set to: 的 The opening width at the starting point side and the opening width at the front end side are two or two: In the case of a two-sided shape, if the support surface of the work piece is round or semi-circular (the straight part is used as the support surface of the work piece), as shown in FIG. 6 (a), the semi-oval opening is 10, a In order to make it have the advantages of light weight, bending rigidity, heat resistance, etc., 19 200539996 = 2, carbon fiber reinforced composite material (CFRP) made of carbon fiber with a coefficient of stiffness. 扃太者妖 zhen Department 丄, Bu ~ If the rate of high elasticity of the beryllium gancoco is high as the carbon fiber, then the rigidity cannot be obtained. Therefore, 950GPai ^ · ΐ, the type /% medium 'also uses a tensile elasticity medium. If the volume ratio in the shed method is used to obtain vibration: all the reinforcing fibers can be highly elastic carbon fibers, such as: the doping coefficient is less than Wei Wei, etc., amide (aramid) fibers, carbonization: ί: = ί 〇90%, The remaining part is combined with other reinforcing fibers, especially t The use of rhyme dimensions less than 49GGpa. At this time, from the point of view of the differences in mechanical properties, motion reduction characteristics, and production costs, the effect is more excellent. The original hollow square tube can be used as in the patent document 2 The described steps are as follows: First, as shown in FIG. 7 (a), the core material 102 and the original polyester film 101 are prepared as preparation steps. Among them, the core material 102 is formed with the robot wrist. The component 10, which has a constant rectangular cross-section, is related to the long-side direction. At the same time, it functions as a so-called pressing plate when laminated with polyacetate film and has a certain degree of rigidity. In addition, the robot At the time of the wrist member 10, the core material 102 functions as a so-called intermediate 1. It has the property that it will not deform below the heating temperature during heating (non-deformability during heating), and uses hardening from heating Materials that can be easily extracted from the later CFRp components. From such a viewpoint, the material of the core material 102 is, for example, metals such as aluminum, iron, and stainless steel; and MC nylon resin, polyimide resin, and the like are suitable. Compared with CFRP, because the aforementioned metal and resin have a large thermal expansion rate, the shrinkage caused by cooling after heating can make extraction easier. In addition, if necessary, demoulding can be applied to the surface of the core material. As for the release material, spraying agents (eg, surfactants, etc.) can be used for spraying. Such robot wrist components] [0, the production method can be, for example, first production, The hollow square 菅 was then cut into the desired opening shape and then made. Hereinafter, such a manufacturing method will be described with reference to FIG. 7. 200539996 or female methods such as using Tiefulong (registered trademark) films. Polycarbonate film 101 refers to a film made of carbon fiber and then immersed in a film that is not hardened on the substrate. For example, it is better to use a plurality of laminated polyfluorene as the main body; the remaining part is a stretched carbon fiber polyester film of 490Gpa. In addition, as long as it does not damage the support performance or handling performance of the wrist structure, it can also be used, two-knife ~ plus glass fiber, or other fiber polyester film. In other words, epoxy resins, resins, cyanates, unsaturated polyimide resins, bismaleimide resins, and other thermosetting trees can be used. In addition, the substance of the environment is more difficult. In addition, depending on the hardenable resin, it can also be made to impart shock resistance and hard work. Adding particles made of rubber or resin to the thermosetting resin, or The thermoplastic resin is dissolved in the resin. As for the type of carbon fiber, there are two types: pAN based on Gpa and asphalt based on 9ΓΓ9? GPa, but the present invention combines these two. In the case, the asphalt-based articles have the characteristics of high elastic coefficient; the series-based articles have the characteristics of high tensile strength. In addition, the original polyacetate film can be divided into single-directional sheets with reinforcing fibers arranged in the same direction; And high-elasticity carbon fiber polyester film between 490 ~ 950GPa, such as plain weave, twill weave, satin weave, triaxial weave, etc. Good single-directional film. Use the original polyester film 101 In other words, various types of products can be used, such as making the surface of the reinforcing fibers different, or using the ratio of reinforcing fibers relative to the matrix resin, or changing the orientation state of the reinforcing fibers. Therefore, it is best to Ready for various types of people, weaving to match the use purpose of the machine-like wrist part 1, or the use place of the robot wrist member 10, so that it can form a CFRP member with proper bending resistance. The original polyacetate film used. 21 200539996 ^ In addition, the focus is on the selection of all the original polyester film. Because the Jil film is in an uncured state, it can be pasted with some overlap. Release On the processed core material, as long as the sheet is heated in order to make it contact with the underlying film or glue

Ui在下所希望的厚度，較理想的情況是先估算 =峰片在加熱硬化時體積減少的程度，然後使苴 ^腕:二板的要求板稍微更厚一些。聚酯膠片的疊層方 J角(90 ^ )的方向；然後再於其上方，疊層複數段單一方向膠 Γί相對於長邊方向呈略平行(〇土5。)的方向配置（以下 =0配向）。在這種情況下，除了上述的膠片之外，藉由使單一 =^片朝向相對於機器人手腕部構件的長邊方向順時鐘方向或 ==童=旋轉45°的方式’使強化纖維朝向斜向(45±15。或. 15 )配向（以下浦為45。或135。配向）的層；或者是使用使相交的雙向交叉（織物）聚醋，藉由將此相對 ;桟态人手腕邛構件的長邊方向，以順時鐘方向傾斜45。，再將強，纖維的配向方向組合為配置成45。與135。的兩個方向的聚醋膠片所構成的層，予以組合疊層亦可。在此種情況下，『配向膠^ 具備長邊方向的撓曲防止性，以及振動衰減特性。而9〇。配向膠片則具備抑制中空構造潰散的效果。除此之外，藉由組合45。配^膠片與135配向膠片，可更進一步的提昇抗扭曲剛性與扭曲振動衰減特性。而關於交叉膠片，亦具有類似單一方向膠片的上述組^ 之效果。、口另外，就疊層順序而言，基於使芯材更容易抽取出的角度來看車父佳的情況疋將90配向膠片設為最下層（最内側）。這是因 22 200539996 ，與基g树脂相較之下，碳纖維的熱收縮率更低，因為就作為膠片，吕，*於對纖維配向方⑽收縮率，比對纖維排列方向的收縮率變得更低，所以，藉由以9〇。配向膠片構成管狀的板的内側面，可使強化纖維吨圍芯材相的鶴配向。因此，在敎硬化的時候，即使管狀的CFRP板未大幅度地縮徑亦可。而就9〇'、。 490Gpa 此外，疊層在愈上層的膠片（也就是愈往外側的膠片），對機 =人手腕部構件1〇’㈣性（也就是抗彎曲剛性等）#貢 =思因此，從避免撓曲的觀點來看’較佳的方法係將〇::ί膠吐宜:^匕90配向膠片更上層之處。因此應在考慮此種因素的同寻’決定使用的聚酯膠片的組合以及疊層順序。尤其是就0。配向膠片而言，較佳的情況是使用49〇〜9 之間的高彈性碳纖維聚酯膠片。藉由這種方式，在芯材1〇2的所有面上疊層黏貼聚酯膠片 I可形成一疊層構件，且此種疊層構件係在芯材1〇2 酯膠片麗的#層體之狀態。然後，再於此疊層構件的外周包覆一捲或少數捲交叉聚酯膠片（包覆程序）。除此之外，所謂的交叉聚酯膠片，係指將以複數個方向，的強化纖維’浸泡在該基質樹脂後，尚未硬化狀態下的膠片，而就強化纖維而言，可使用織物狀的碳纖維、玻璃纖^、了香族聚酰胺纖維、或是碳化矽纖維等皆可。另外，為了 ί生密覆蓋’因雜佳的航是選擇可撓性及黏著在完成此包覆程序之後，從四個方向以按壓板等按壓，妙，處於此狀態下的未硬化構件放人真空袋中，並且^以加^曼 w後即可形成本實施型態的機器人手腕部構件1〇，。在此種^ I的加熱條件是以2〜lGt：/min的速率，使溫度從室溫開始^ 幵，並且在約1〇〇〜19(Tc之間，保持1〇〜180分鐘，然後停°止加 23 200539996 熱使其自然降溫，恢復到常溫之下。因為不管是哪一個聚酯膠片都含有熱硬化性樹脂，因此在每一個膠片的面以及膠片邊緣部，都是以彼此相互黏著的型態硬 t。除此之外，將未硬化的構件放入真空袋，其目的係在吸附於疊層程序中在膠片間所產生的氣泡，以便對未硬化的構件施加略均等的外在壓力（也就是大氣壓力）。另外，亦可對於未硬化的構件施加特定方向的外壓。例如，藉由從上方以石頭等重物施壓的方式，使按壓板與厚度設定板之，不會產生間隙’因此可提升機器人手腕部構件1G，上方（也就疋工作件的支持面）的平坦性，亦可提高機器人手腕部構件1〇， (尤其是厚度）的精密度。此外，因為用虎頭钳等使接合界面彼此咬合的方向鍾’可提升聚轉μ邊騎的接合性。 it I因為細蚊聚轉#包覆賴面，因此可避免在進 ίίΠγ後工序時在加卫部位產生起毛球或是產生毛邊方式，不但可以提昇加工效率，更可以得到減、電_示器、以及珍晶圓等精密的工作件造成才貝傷的疑慮之優點。的^優點。除此之外，就機器人手腕部構件酯i片捲I在芯材專件3所記載，使用將長邊的聚順序依序如^卜周面，再相疊層的方法。具體而言，其強化纖維的聚酉旨膠片捲繞於與前述相同的芯材的外周驟並且使其熱硬化，成為以及之模具按卜周面’以具有特定的内面形狀 ⑶將該成型的聚轉狀成為所需尺寸的步纖維強化複合材料的步驟"、’ 24 200539996 ⑷合圖材二=二由此種方式，形成具備中空構造的中空CFRP管10J步驟）。並藉 ^ 103 ^ 及側面的二二種麟錢騎石—刀&― 切割處i的表面i刀害粉塵。㈣灯，因此可_其產生微小的 ;=製;，面形狀呈矩形的機器人手腕部：t? 置構成圖。在此係使用安裝於與上2 υ 1 腕部構件前端部，且側面呈推拔形狀傾斜 G f 於上方、側面、以及下面等疊層黏貼具備=再 201。最後，如圖所示，再將配合機器人二&聚曰膠片、形的專用外模204a以及204b，從疊層構件的^ 形狀成卜模的狀態下的剖面分別顯示在圖^btii，專用的辅助構件以及外模。雖然使公腕部構件的尺碼相同;而且因為開 25 200539996 >因為根據本實麵H，係使芯材發揮在疊層聚轉片時作為所謂，按壓板，以及在加熱成形機器人手腕部構件1〇，的時候作為所謂的中間模，等兩種功能，因此可以同時進行CFRp板的形成 (也就是聚轉片的疊層）；與機||人手腕部構件的成形（也就是與相鄰壁部的聚酯膠片之間的相互接合）等兩個程序。另一方面，再從集束架（creel stand)連續地捲出所需數量的碳巧維，將其整理整齊之後，藉蝴脂含浸裝置，以加熱後的成 ^模使其硬彳b ’也就是所謂的藉由抽製顧彡而模造的中空方形笞，去除剖面的一部分之後而形成開口亦可。將使用這種方式生產而得到的機器人手腕部構件1〇，藉由 ^ 4所顯示的方式組合後，可得縣發_機器人手腕部構件。在機器人手腕部構件1G，的中空部分，可配置用以在非接 =工〒兄，氣體供應管；吸附支持工作件情況時的 Φ或ΐ疋在機$人手卿構件1()，的前端等安*感測器時作為配置配線等使用。 Α了實施例㈣以下將參照圖式詳細說明依據本發明的較佳實施例。在以下的實施形11中’該構_係舉例說明，本發明並不限定= 件之ΐ由例以及比較例中所得到的機器人手腕部構件之中，關於後述的貫施例卜味例i以及比較例的方式測定其彎曲振動衰減特性。，、下用夾碰機n人钱部構件之-侧 S伴=^夾具從上下兩側予以夾持，並且以的機11人手腕部的端部起2〇〇馳的上方及十(gauge)。#由在機器人手腕部的自由猎由裁斷垂下的魏，使機器人手腕部產生振動，且ί量自^ 26 200539996 „曲與扭曲，以測量機器人手腕振Ξ振幅強表動振幅強度㈣是時間ητ的 [式1] (1) Δ = Ιΐηί〇The desired thickness of Ui is below. The ideal situation is to first estimate the degree of volume reduction of the peak plate during heat hardening, and then make the thickness of the plate of the two plates slightly thicker. The direction of the J corner (90 ^) of the laminate of the polyester film; then on top of it, a plurality of layers of the single-direction laminate are arranged in a direction slightly parallel to the long side (0 soil 5.) (the following = 0Alignment). In this case, in addition to the above-mentioned film, the reinforcing fibers are oriented obliquely by orienting the single sheet in a clockwise direction with respect to the long side direction of the robot wrist member or == Child = 45 ° (45 ± 15. Or .15) layer (45. or 135. orientation); or use two-way cross (fabric) polyacetate to make the intersecting, by this; The longitudinal direction of the member is inclined 45 in a clockwise direction. Then, the orientation direction of the strong fiber is combined into a configuration of 45. With 135. The layers made of two-direction polyacetate film may be combined and laminated. In this case, the "alignment glue ^ has the property of preventing deflection in the longitudinal direction and vibration attenuation characteristics. And 90. The alignment film has the effect of suppressing the collapse of the hollow structure. In addition, by combining 45. Alignment film and 135 alignment film can further improve the anti-torsional rigidity and torsional vibration attenuation characteristics. As for the cross film, it also has an effect similar to the above-mentioned group of single-direction films. In addition, in terms of stacking order, based on the angle that makes the core material easier to extract, let's look at the situation of Chevron. Set the 90-alignment film as the lowest layer (innermost). This is because 22 200539996, compared with the base resin, the thermal shrinkage of carbon fiber is lower, because as a film, Lu, the shrinkage rate of the fiber alignment square, compared to the shrinkage rate of the fiber alignment direction becomes Lower, so, by 90. The alignment film forms the inner side of the tube-shaped plate, which enables the crane to align the reinforced fiber to the core material. Therefore, even when the tubular CFRP plate is not significantly reduced in diameter when the sclerosis is cured. And just 90 ′ ,. 490Gpa In addition, the film laminated on the upper layer (that is, the film that goes to the outside) is opposite to the machine = human wrist components 10 ′ nature (that is, resistance to bending rigidity, etc.) From a point of view, the better method is to align the 0 :: ί Jiao Tu Yi: ^ dagger 90 to the upper layer of the film. Therefore, consideration should be given to such factors to determine the combination of polyester films to be used and the lamination order. Especially 0. For alignment film, it is better to use high elastic carbon fiber polyester film between 49 ~ 9. In this way, the polyester film I is laminated and adhered on all surfaces of the core material 102 to form a laminated structure, and this laminated structure is a #layer body of the core material 102 ester film. Of the state. Then, one or a few rolls of cross-linked polyester film are coated on the periphery of the laminated member (coating procedure). In addition, the so-called cross-polyester film refers to a film in which the reinforcing fibers are immersed in the matrix resin in a plurality of directions and have not been hardened. For the reinforcing fibers, a fabric-like film can be used. Carbon fiber, glass fiber, aramid fiber, or silicon carbide fiber can be used. In addition, in order to cover densely and densely, the flexibility and adhesion are selected. After completing this coating process, press from four directions with a pressing plate, etc., and the unhardened components in this state are put in. In the vacuum bag, the robot wrist component 10 of this embodiment can be formed after adding ^ man. In such a heating condition, the temperature is started from room temperature at a rate of 2 to 1 Gt: / min, and maintained at about 100 to 19 (Tc, for 10 to 180 minutes, and then stopped ° Only add 23 200539996 heat to naturally cool down and return to normal temperature. No matter which polyester film contains thermosetting resin, the surface of each film and the edge of the film are adhered to each other In addition, the type of hardened t. In addition, the unhardened components are placed in a vacuum bag, the purpose of which is to adsorb the air bubbles generated between the films during the lamination process, in order to apply a slightly equal external force to the unhardened components. Under pressure (that is, atmospheric pressure). In addition, external pressure in a specific direction can also be applied to the unhardened member. For example, by pressing from the top with a heavy object such as a stone, There will be no gap ', so it can improve the flatness of the robot wrist member 1G, the upper part (that is, the support surface of the work piece), and the precision of the robot wrist member 10, especially the thickness. In addition, Because use Directional clocks such as pliers that engage the joint interfaces with each other can improve the jointability of the poly-turn μ while riding. It ’s because the thin mosquito-revolving # covers the surface, so it can be avoided in the guard area during the post-processing. Pilling or burr generation can not only improve the processing efficiency, but also get the advantages of reducing the doubts about the damage caused by precision work pieces such as electronic indicators and rare wafers. For the robot wrist component ester sheet roll I described in the core material part 3, a method of sequentially stacking the long sides such as the peripheral surface and then laminating them is used. Specifically, the reinforcing fiber Polyester film is wound around the outer periphery of the same core material and heat-cured as described above, and the mold is formed on the peripheral surface with a specific inner surface shape. Steps of step fiber-reinforced composite material ", 24 200539996 Coupling pattern 2 = 2 In this way, a hollow CFRP tube with a hollow structure is formed in step 10J). And borrow ^ 103 ^ and two or two kinds of Linqian riding stones on the side—knife & ― the surface i of the cutting point i cuts dust. ㈣ lights, so it can _ produce tiny; = system ;, the shape of the robot wrist with a rectangular shape: t? In this system, it is mounted on the front end of the upper 2 υ 1 wrist member, and the side has a push-out shape inclined G f on top, side, and bottom. Finally, as shown in the figure, the special outer molds 204a and 204b that are compatible with the robot II & poly film and shape are shown in Figure ^ btii. Auxiliary components and outer molds. Although the size of the male wrist member is the same; and because of the opening 25 200539996 > because according to the real surface H, the core material is used as a so-called pressing plate when the laminated rotor is laminated, and the wrist member of the thermoforming robot At the time of 10, as the so-called intermediate mold, and other two functions, it can simultaneously form the CFRp plate (that is, the lamination of the poly-rotor); and the forming of the wrist component of the machine Adhesive bonding between adjacent polyester film) and other procedures. On the other hand, the required number of carbon fibers are continuously rolled out from the creel stand, and after they are neatly arranged, a butterfly impregnation device is used to make the hardened molds hardened by heating. It is a hollow square 笞 molded by drawing Gu 彡, and it is also possible to form an opening after removing a part of the cross section. The robot wrist member 10 produced by using this method is combined with the method shown in ^ 4 to obtain the county's robot wrist member. In the hollow part of the robot wrist component 1G, you can configure the front end of the Φ or ΐ 疋 on-machine component 1 (), which is used to connect the non-connected = industrial workers, gas supply pipe; adsorption support work conditions It is used for configuration wiring when waiting for the safety sensor. Embodiments ㈣ Preferred embodiments according to the present invention will be described in detail below with reference to the drawings. In the following eleventh embodiment, 'this structure is an example, the present invention is not limited to = among the components of the robot wrist obtained from the example and the comparative example, the following implementation examples and flavor examples i and The flexural vibration attenuation characteristics were measured in the manner of the comparative example. The bottom side of the n-money component of the clip machine-side S partner = ^ clamps to hold from the upper and lower sides, and from the end of the wrist of the machine 11 people above the top and ten (gauge ). #Free hunting on the wrist of the robot by cutting the hanging Wei makes the robot ’s wrist vibrate, and the amount is ^ 26 200539996 „Curving and twisting, to measure the vibration of the robot ’s wrist, the amplitude of the vibration, the strength of the dynamic amplitude, and time [Formula 1] (1) Δ = Ιΐηί〇

❿ 下的實施例中所使用的單—方向聚轉片Α、單-方向聚酉曰膠片B及B、單-方向聚醋膠片m及扮，的 The uni-directional polymer film A, the uni-directional polymer film used in the examples below, and the uni-directional polymer films M and B,

的詳細内容如下所述。 &又认膠片CThe details are as follows. & Film C

(1)單一方向聚g旨膠片A 八的單—方向聚轉片A係將由日本^墨纖維（股份有限 7^Ρ 遞t系高彈性係數碳纖維「XN_80」（拉伸彈性係數成的H、呈Ϊ2向配置’然後再使其浸泡過環氧樹脂後而 9ftn、) 2曰 > 片。在聚酯膠片中含有的每單位面積的碳纖維質量為 ^/πι，環氧樹脂含量為幻· 5質量％，每片聚醋膠片的厚度為。所谓的單一方向聚酯膠片A，係指用來當作與強化纖維· 句方向相對於機器人手腕部構件的長邊方向呈大致平行的〇。材使用。 (2)單一方向聚酯膠片b及B，、所明的單一方向聚酯膠片B及B’係將由日本t〇ray(股份有司^生產的PAN系碳纖維「T7〇〇S」（拉伸彈性係數230GPa) 呈單一方向配置，然後再使其浸泡過環氧樹脂後而成。在聚酉』^片中含有的每單位面積的碳纖維質量為210g/m2，環氧樹脂含 =為33.5質量％，每片聚酯膠片的厚度為〇 2〇麵。在使用此單一方向聚酯膠片時，所謂的聚酯膠片B，係指與強化纖維配向方向 27 200539996 相對於機器人手腕部構件的長邊方向呈9〇。的9〇。材；而所謂的聚醋膠片B’ ’係指用來當作與強化纖維配向方向相對於機器人手腕部構件的長邊方向呈大致平行的〇。材。 (3) 單一方向聚酯膠片B1及B1，所謂的單一方向聚酯膠片B1及ΒΓ係將由日本T0RAY(股份有限^）生產的PAN系碳纖維「770叱」（拉伸彈性係數23〇GPa) ，，呈單了方向，-，然後再使其浸泡過環氧樹脂後而成。在聚 =膠片中含有胃的每單位面積的碳纖維質量為26〇g/m2，環氧樹脂含篁為33· 5質量％ ’每片聚酯膠片的厚度為0.25腿。在使用此單 -方向聚轉片時’所謂的單—方向聚轉片B卜係·來當作與強化纖維配向方向相對於機器人手腕部構件的長邊方向呈90。，90材使用，而所謂的單_方向聚酯膠片B1，，係指用來當作向方向相對於機器人手腕部構件的長邊方向呈大致平仃的0材使用。 (4) 交叉聚酯膠片c(1) A single-direction poly-g film A A single-direction poly-rotary film A series will be made of Japan ^ ink fiber (stock limited 7 ^ P t t series high elastic coefficient carbon fiber "XN_80" (H, It was placed in a 2-direction configuration, and then immersed in epoxy resin and then 9ftn, 2) sheets. The mass of carbon fiber per unit area contained in the polyester film was ^ / πι, and the epoxy resin content was magic. 5% by mass, and the thickness of each piece of polyacetate film is. The so-called unidirectional polyester film A is used to mean that the direction of the reinforcing fiber and the sentence are substantially parallel to the longitudinal direction of the robot wrist member. (2) The unidirectional polyester films b and B, and the unidirectional polyester films B and B ', which are specified, will be produced by Japan Toray (PAN Corporation carbon fiber "T7OOS" ( The tensile modulus of elasticity (230GPa) is arranged in a single direction and then immersed in epoxy resin. The mass of carbon fiber per unit area contained in the polymer sheet is 210g / m2, and the epoxy resin contains = 33.5% by mass, the thickness of each polyester film is 0. 20 sides. In use In this unidirectional polyester film, the so-called polyester film B refers to the orientation direction with the reinforcing fiber 27 200539996. The 90% relative to the long side direction of the robot wrist member; 90%; and the so-called polyester film B '' refers to a material that is aligned with the orientation direction of the reinforcing fiber and is approximately parallel to the longitudinal direction of the wrist member of the robot. (3) Unidirectional polyester films B1 and B1, so-called unidirectional polyester Films B1 and BΓ are PAN series carbon fibers "770 叱" (tensile elasticity coefficient: 23 GPa) produced by Japan Toray (Stock Limited ^) in a single direction,-, and then immersed in epoxy resin The mass of the carbon fiber per unit area of the stomach containing poly in the film is 26 g / m2, and the content of the epoxy resin is 33.5 mass%. The thickness of each polyester film is 0.25 legs. In the case of the single-direction converging piece, the so-called single-directional converging piece B is used as the alignment direction of the reinforcing fiber with respect to the long side direction of the robot wrist member. 90, 90 materials are used, and the so-called single _ Orientation polyester film B1, refers to It is used as a material whose direction is generally flat with respect to the longitudinal direction of the robot wrist member. (4) Cross polyester film c

實施例]Example]

首先準備一在近側端部的寬/ 依序由内層向外少 28 200539996First prepare a wide at the proximal end / sequentially from the inner layer to the outside less 28 200539996

聚醋膠片A、及聚酯膠片C。其中，聚醋膠片β係將PAN 向與芯材的長邊方向呈9G。配置；聚S旨膠片A係將瀝 =，纖_向與騎的長邊方向呈Q。配置；而在最外層的聚醋 ΐί t則係使交叉聚轉片呈『及9『的型態疊層而成。將芯材 1曰元成，並且使其加熱硬化，在硬化之後抽出其芯材，即可得至1 f拔形狀的方形管，其尺寸分別為在近端側的端部寬度為6〇 :别端部的寬度為3G _、高度12 mm、材質厚度2· 55 mm、長度 iU(J0 mm 〇 [表1] 聚酯種類厚度（mm/ 疊層方向 (。）疊層片數 (片）合計厚度 (mm) c 0.25 0/90 1 〇. 25 0.22 ：—~——--- _0 5 1.1 ,0.20 90 6 1.2 6. 9 — 一 6.9 0·20 90 6 1. 2 兔醋膠片A 0.22 0 5 1.1 片 c 0.25 0/90 1 〇 25 24 12·0 也較例1 首先準備一片銘板作為芯材，其尺寸為寬度55· 1顏，厚度7.1 然後依序由内層向外層，根據如下表i所示的疊層數，分別疊層聚轉>}Β'聚g旨膠片B，、及聚§旨膠片c。其中，聚醋膠片 B，係將PAN系碳纖維朝向與芯材的長邊方向呈9〇。配置；聚酯膠片 B係將PAN系碳纖維朝向與芯材的長邊方向呈〇。配置；而在最外層的聚醋膠片C則係使交叉聚酯膠片呈0。及90。的型態疊層；並且，其加熱硬化，在硬化之後抽出其芯材，即可得到一中空的方幵乂苔其尺寸分別為寬度為6〇随、高度12隨、材質厚度2. 45腿、 29 200539996 長度1000 mm [表2]Polyester film A and polyester film C. Among them, the polyacetate film β has 9G in the direction of PAN from the long side of the core material. Configuration; Poly S film A series will be =, the fiber direction is Q with the long side of the ride. Configuration; and the outermost layer of polyacetic acid is made by stacking the cross-converting pieces in a "and 9" pattern. The core material 1 is made into a yuan, and it is heated and hardened. After the core material is pulled out, a square tube with a shape of 1 f drawn can be obtained, and the sizes of the end portions on the proximal side are 60: The width at the other end is 3G _, the height is 12 mm, the material thickness is 2.55 mm, and the length is iU (J0 mm 〇 [Table 1] polyester type thickness (mm / lamination direction (.)) Number of laminations (pieces) Total thickness (mm) c 0.25 0/90 1 〇. 25 0.22: — ~ ——--- _0 5 1.1, 0.20 90 6 1.2 6. 9 — a 6.9 0 · 20 90 6 1. 2 rabbit vinegar film A 0.22 0 5 1.1 pieces c 0.25 0/90 1 〇25 24 12 · 0 Also compared to Example 1 First prepare a nameplate as the core material with a width of 55 · 1 color and a thickness of 7.1. Then sequentially from the inner layer to the outer layer, according to the following table The number of laminations shown in i are respectively laminated poly-> > B ′ polyg film B, and poly § film c. Among them, the polyacetate film B is oriented to the length of the PAN-based carbon fiber and the length of the core material. The side direction is 90%. The polyester film B is oriented toward the long side of the PAN carbon fiber. The configuration is polyester; the polyester film C at the outermost layer is a cross-linked polyester film. 0 ° and 90 ° type laminates; and, it is heat-hardened, and the core material is pulled out after hardening, and a hollow square moss can be obtained. The dimensions are 60 ° in width, 12 ° in height, and material. Thickness 2. 45 legs, 29 200539996 length 1000 mm [Table 2]

比較例2 及交B_層體上不使料材，而疊層聚轉片B，管，JL::二,C ’並且使其加熱硬化，即可得到-實心的CFRP 醋膠片高度12_、長度⑽。讓。各聚Comparative Example 2 and Cross B_Layered body is not made of materials, but the polycondensation sheet B, tube, JL :: II, C 'is laminated and heat-hardened to obtain a solid CFRP vinegar film height 12_, Length ⑽. Let. All together

--—---------- -___59 12 〇 [表3] 30 200539996 別顯示在下列的表4以及圖形 [表4]------------- -___ 59 12 〇 [Table 3] 30 200539996 Do not display in the following Table 4 and graphics [Table 4]

固有振動％0^^ 彎曲振動 ~ —-----」咏 D 線 C 且借二，间口，振動數，因此具有極佳的彎曲振動衰減特性。 Ιί極ΐι的時間内，消除機器人手腕部的振動，提昇作業效率。為』輕其作成為推拔形狀之形狀’可達到使其自身重量更部構ϊΐί參照實施例等，說關於第2實施縣的機器人手腕實施例2 準備二塊厚度30腿，寬度75驅，具有矩形剖面，且長 :Ϊί t邱。然後，使用聚賴A，作為強化纖維與田手Y構件的長邊方向相互平行的碳纖維聚醋膠片。另 ==器七人手腕部構件的長邊方向呈9。。的方向配置之前述碳纖維聚酯膠片。然後，使用前述之交叉聚醋膝片C ’作為捲繞機||人手騎構件最外部之交叉聚醋。丰旨膠片’並域照下列的順序，使具備機器人的^人中空構造之方形管成形。表5係關於第2實施例取西二R1腕3件的疊層構成。首先，在鋁製芯材的外侧捲繞時，係使聚轉片B1的強化纖維之™GS碳纖維， S件的長邊額呈9G。配置；也就是說，碳纖維的型能晶;。⑽方向。另外，聚轉片β1係捲繞銘製&材2圈的 31 200539996 匕1其次，在聚酯膠片B1的外側，捲繞聚酯膠片A。此時，使聚酯膠片A的強化纖維χΝ—8〇碳纖維，係與機器人手腕部構件的長邊方向相互平行，也就是呈0。的方向配置。聚酯膠片Α係以捲繞聚酯膠片B1的外侧8圈的型態疊層而成的。隶後二在聚酯膠片A的外側，捲繞交叉聚酯膠片C作為最外層。作為交叉聚酯膠片C的強化纖維之T300碳纖維，係與機器人手腕部構件的長邊方向平行(〇。額）以及無呈直肖方向⑽》配置另外，並在聚酉旨膠片Δ的外側疊層交叉聚g旨膠片c一圈。使用壓力鍋（aut〇ciave)成形裝置，將根據上述的步驟所得到的聚酯疊層體加熱硬化。然後分別以長度25〇〇歷、寬度8〇麵、厚度10 mm的鋁製板材按壓聚酯疊層體的上侧及下側；以長度⑽ mm、寬度35 mm、厚度1〇 mm的鋁製板材按壓聚酯疊層體右侧^後再將其放人真空袋中。使袋子真空化，然後藉由g 锅將其加壓到G』9MPa(7kgf/cm2)，賴以13代使其進行2 = 後拔細才，然後即可得到一長度2500咖、寬度脾m腿、板厚度2.5晒，具備中空構造的方形管。算起500 _範圍内，去除下方側。此時， ^為-，而在去除了下方側的範圍内的機器二::二高度’係时朝向前端舰呈直線減少_態，2件的根據上述的生產程序，從近端側端部延著。 2000腿為止的範圍，皆係具備高度為35mm，且H异起’到構造，從此前端侧起的500丽的範圍内，其剖面、接=°1】面的中空空構造的下方側的要素去除後之匸字狀的開口 ϋ卩疋呈將中側端部的構件高度為7麵的機器人手腕部構件。得到在前端 32 200539996 [表5] 聚酯種類厚度（腿/ 片）強化纖維的配置方向（。）疊層張數 (片）合計厚度 (mm)Natural vibration% 0 ^^ Bending vibration ~ ------- "Yong D line C and borrowing two, the gap, the number of vibrations, so it has excellent bending vibration attenuation characteristics. Eliminate the vibration of the wrist of the robot within a very short time and improve the work efficiency. In order to "lighten its shape into a push-out shape", it can achieve its own weight more detailed. With reference to the examples, the second implementation of the robot wrist example 2 of the prefecture prepared two pieces of thickness 30 legs, width 75 driving, It has a rectangular cross section and is long: Ϊί t 邱. Polyurethane A was used as a carbon fiber polyacetate film in which the reinforcing fibers and the longitudinal direction of the Tate Y member were parallel to each other. In addition, the long-side direction of the wrist component of the Qiqi person was 9. . The aforementioned carbon fiber polyester film is arranged in the direction of. Then, the aforementioned cross polyacetate knee sheet C 'was used as the winder || The Fengzhi film's parallel shape follows the following sequence to form a square tube with a hollow structure with a robot. Table 5 relates to the second embodiment. The laminated structure of three West 2 R1 wrists was taken. First, when winding on the outer side of the aluminum core material, the GS carbon fiber, which is the reinforcing fiber of the polyrotating piece B1, is 9G in the long side. Configuration; that is, the type energy crystal of carbon fiber; ⑽ Direction. In addition, the poly-turning sheet β1 is wound with a engraving & material 2 turns 31 200539996. Secondly, the polyester film A is wound on the outside of the polyester film B1. At this time, the reinforcing fiber χ-80 carbon fiber of the polyester film A is made parallel to the longitudinal direction of the robot wrist member, that is, zero. The configuration of the direction. Polyester film A is formed by stacking eight outer turns of polyester film B1. The next two are wound on the outer side of the polyester film A, and the intersecting polyester film C is wound as the outermost layer. The T300 carbon fiber, which is the reinforcing fiber of the cross-polyester film C, is parallel to the longitudinal direction of the wrist member of the robot (0. amount) and there is no vertical direction. It is also placed on the outside of the poly film Δ The layers intersect with the film c in a circle. The polyester laminate obtained by the above steps was heat-hardened using a pressure cooker forming apparatus. Then press the upper and lower sides of the polyester laminate with aluminum plates with a length of 2500 calendars, a width of 80 surfaces, and a thickness of 10 mm; aluminum with a length of ⑽ mm, a width of 35 mm, and a thickness of 10 mm After pressing the sheet to the right of the polyester laminate ^, place it in a vacuum bag. Vacuum the bag, and then pressurize it to G 9MPa (7kgf / cm2) with a g pot, and rely on 13 generations to make it 2 = pull-out before fine, then you can get a length of 2500 coffee, width spleen m The legs and plates have a thickness of 2.5 square feet and a square tube with a hollow structure. Within 500 _ range, remove the lower side. At this time, ^ is-, and when the machine on the lower side is removed, the two :: two heights are linearly reduced toward the front ship when the system is in the _ state. According to the above-mentioned production process, two pieces are produced from the near end. Hold on. The range up to 2000 legs are all elements with a height of 35mm and a structure from H to the structure. The range of 500 li from the front end side is the element on the lower side of the hollow structure with a cross section and connection = ° 1. The zigzag-shaped opening after removal is a robot wrist member with a height of 7 members at the middle end. Obtained at the front end 32 200539996 [Table 5] Type of polyester Thickness (legs / sheet) Reinforcement fiber arrangement direction (.) Number of laminated sheets (sheet) Total thickness (mm)

~— _______uu mm_ 口主·方形S的寬度方向的尺寸，係以寬度75腿的銘製芯材+板厚 2· 5 mm X2片，因此總寬度係8〇腿。 tMMl 和實施例3係以與實施例2相同的材料以及尺寸，作成具有中，才f造^方形管’ ^旦是去除下方側的範圍則如下所示。將i匕具有中空構造方形管的-端作為前端側，然後將從此前端侧算起了議聰的範_，去除下方侧。此時，在前端側部的構件高度約為21 咖1而在^除了下方側的範圍内的機器人手腕部構件的高度，係以愈朝向前端側就呈直線減少的型態，裁斷側面板。、根據上述的生產程序，從近端側端部延著長邊方向算起，到 100^ mm為止的範圍，皆係具備高度為35醒，且為封閉剖面的中空才f造、，從此前端側起的1500 min的範圍内，其剖面構造都是呈將$ 空構造的下方側的要素去除後之匚字狀的開口面；而側端部的構件高度為21腿的機器人手腕部構件。而 λΜΆΑ 33 200539996 實施例4係以與實施例2相同的材料以及尺寸， 21 係空構造的方开>管，但是去除下方側的範圍則如下所示。^且中空構造方形管的-端作為前端侧，然後將從此前端側算= 醒的範圍内，去除下方側。此時，在前端側部的構件高声麵，而在去除了下方側的範圍内的機器人手腕部構件工了以愈朝向前端側就呈直線減少的型態，裁斷側面板。门又根據上述的生產程序，可得到從近端側端部延起，到1500咖為止的範圍，皆係具備高度為35mm，且J 口面的中空構造，從此前端側起的麵刪的範圍面摄才^ 是呈將中空構造的下方侧的要素去除後之〔字狀的開^面面構= 到在别端侧端部的構件高度為21 mm的機器人手腕部構件。件 fe較例3 比較例3係以與實施例2相同的材料但是如下所述，將整個長二⑼ 前端=二構形管r端作為前端側時，於其 A nr 午的同度為21 raDl，而在近端側端部的構件高声目件的减，係朝向前端側直線減少。止，都3立產私序，可得從近端側端部到前端側端部為二都疋剖面構造呈將中空構造~ — _______Uu mm_ The width dimension of the master and square S is an inscribed core material with a width of 75 legs + a plate thickness of 2.5 mm X 2 pieces, so the total width is 80 legs. tMM1 and Example 3 are made of the same material and size as in Example 2, and have a medium shape, so that a square tube is formed. The range of the lower side is removed as shown below. The negative end of the square tube with a hollow structure was used as the front end side, and then from the front end side, Yoshi Satoshi's fan was removed, and the lower side was removed. At this time, the height of the member on the front side is about 21 cm, and the height of the robot wrist member in the range except for the lower side is cut in a straight line as it goes toward the front side, and the side panel is cut. According to the above-mentioned production procedure, the range from the proximal side end to the long side, and the range up to 100 ^ mm, are all made with a height of 35 mm and a hollow section with a closed section. From the front end Within a range of 1500 min from the side, the cross-sectional structure is a zigzag-shaped opening surface after removing the elements on the lower side of the empty structure; and the height of the side end is a 21-leg robot wrist component. Meanwhile, λΜΆΑ 33 200539996 Example 4 uses the same material and dimensions as in Example 2 and 21 square hollow structure of the tube, but the range except the lower side is shown below. ^ And the-end of the square tube with a hollow structure is taken as the front end side, and then the lower end is excluded from the range of this front end = awake. At this time, the member on the front side has a high acoustic surface, and the robot wrist member in the range from which the lower side has been removed has been cut to cut the side panel in a linearly decreasing shape toward the front side. According to the above-mentioned production procedure, the door can be extended from the proximal end to the range of 1500 coffees. All of them have a hollow structure with a height of 35mm and a J-shaped surface. The area from the front side is deleted. The face-to-face ^ is a [w-shaped open-faced surface structure with a height of 21 mm at the other end side of the robot wrist component after removing the elements below the hollow structure.] Comparative Example 3 Comparative Example 3 uses the same material as in Example 2 but as described below, when the entire length of the front end = the front end of the two-shaped tube is used as the front end side, the same degree of A nr at noon is 21 RaDl, while the reduction of the tweeter at the proximal end, decreases linearly toward the distal end. Only 3 sections are produced in private order, and it can be obtained from the proximal end to the front end that the section structure of Erduyu is a hollow structure

稱件同度為21 _機ϋ人手腕部構件。 ^ P 構件進行』斷材料以及尺寸，但是並不對腕部用構件係於整個長邊方向:工 34 200539996 比較例5 比車乂例5係準備一塊厚度3〇晒；寬度75腿，具有矩形剖面，且長度為2500腿的鋁製板材作為芯材。使用聚酯膠片B1，作為強化纖維與機器人手腕部構件的長邊方向相互平行的碳纖維聚醋膠 ^。另外，則使用前述之聚酯膠片，作為強化纖維與機器人手腕部構件的長邊方向呈90。方向配置的碳、纖維聚酯膠片。除此之外，就捲繞機器人手腕部構件的最外部之交叉聚酯而言，則使用前述之交叉聚酯膠片C。使用此等之聚酯膠片，並且依照下列的順序使具備機器人手 =部構件用的中空構造之方形管成形。表6係關於比較例5的機气人手腕部構件的疊層構成。首先，在銘製雜的外侧捲繞聚酯 ^片B1 ’此時，聚酯膠片β1的強化纖維之丁刊防碳纖維，係與機器人手腕部構件的長邊方向呈大致⑽。配置；也就是說，碳纖^的配置方向呈90。。另外，聚酷膠片BH系以捲繞銘製芯材2圈的型態疊層。其次，在該90。方向的聚酯膠片B1的外側，捲繞聚酯膠片 }。在此聚酯膠片B1’中，其強化纖維T700S碳纖維，係與機為人手腕部構件的長邊方向相互平行，也就是呈G。的方向配置。而強化纖維呈〇。的方向配置的聚醋膠片β1，係以在最初捲繞9〇。方向的聚轉片B1的外侧，捲繞7圈的型態疊廣而成的。最後’，聚酯膠片扮’的外側，捲繞交叉聚酯膠片c作為最夕層。作為父叉聚酯膠片c的強化纖維之T3〇〇碳纖維，係與機器人手腕部構件的長邊方向平行(0。方向）以及與此呈直角方^(90。) 配置另夕並在聚酯膠片’的外側疊層交叉聚酯膠片c 一圈。，用壓力鋼細遺置，將根據上述的步驟所得到的聚醋疊層 =硬化。紐分別以長度2圖咖、寬度8()腿、厚度1〇丽的 ^板材按壓聚g旨疊層體的上側及下側；再以長度25⑼隨、寬度 =厚度1〇 mm的鋁製板材按壓聚酯疊層體的左側及右側，然後再將其放人真空㈣。使袋子真空化，織藉由壓力娜其加壓 35 200539996 ^•^MP^kgf/αη ) ’ _以13()t使其進行2小時的硬化過私。=”，、後拔除芯材，然後即可得到一長度2_咖、寬度80 画、厚度35 mffi、板厚度2. 5 mm，具備中空構造的方形管I又使用基於比較例5的中空方形管，並且藉由的尺，，將，加工為推拔形狀。也就是說， ^-，作L側，織在從前端侧端部辆麵咖為止的 ΐ古3下方側。此時’在前端側端部的構件高度為21腿去除圍中，手腕部構件的高度，係以愈朝向前端侧就呈直線減少的型態，裁斷側面板。根據上述的生產程序，從近端側端部延著長 1500 mm為止的範圍，皆係具備高度為35麵，且為封閉剖^的中空構造’從此前端側起的1000 ram的範圍内，其剖面 $ ，造的下方，要素去除後之〔字狀的開口面；而得^在: 側鈿部的構件兩度為21 mm的機器人手腕部構件。但％較例5的機器人手腕部構件，係使用PAN系碳纖維^; 伸彈性係數23OGPa )，作為使強化纖維的方向與構件 ^ 相互平行的碳纖維。、透万㈣ [表 6]__ 厚度（mm/ 片）疊層張數 (片） ' 化纖維聚酯種類合計厚度 (mm) 的配置方向（。）交叉聚酯膠片聚酯膠片ΒΓWeighing piece with the same degree is 21 _ jirenren wrist components. ^ The P component is made of broken materials and dimensions, but it is not tied to the entire long side of the wrist component: Worker 34 200539996 Comparative Example 5 A car with a thickness of 30 is prepared than the 5th example of the car; width 75 legs, with a rectangular section The aluminum plate with a length of 2500 legs is used as the core material. Polyester film B1 was used as the carbon fiber polyacetate of the reinforcing fiber and the longitudinal direction of the robot wrist member parallel to each other. In addition, the aforementioned polyester film was used as the reinforcing fiber and the longitudinal direction of the wrist member of the robot was 90. Oriented carbon and fiber polyester film. In addition, for the outermost cross polyester of the wrist member of the winding robot, the aforementioned cross polyester film C is used. Using these polyester films, a rectangular tube having a hollow structure for a robot hand and a member is formed in the following procedure. Table 6 shows the laminated constitution of the mechanical wrist member of Comparative Example 5. First, the polyester sheet B1 is wound around the outer side of the inscription. At this time, the reinforcing carbon fiber of the polyester film β1 is made of carbon fiber, which is roughly aligned with the longitudinal direction of the wrist member of the robot. Configuration; that is, the configuration direction of carbon fiber ^ is 90. . In addition, the film BH is laminated by winding the core material twice. Second, at the 90. Orientation outside the polyester film B1, winding the polyester film}. In this polyester film B1 ', the reinforcing fiber T700S carbon fiber is parallel to the longitudinal direction of the wrist member of the machine, which is G. The configuration of the direction. The reinforcing fibers showed zero. The polyacetate film β1 is arranged in the direction of 90 ° in the initial winding. The outer side of the poly turning piece B1 in the direction is formed by winding 7 turns in a wide pattern. Finally, the outer side of the "polyester film" is wound, and the intersecting polyester film c is wound as the evening layer. The T300 carbon fiber, which is the reinforcing fiber of the parent fork polyester film c, is parallel to the longitudinal direction of the wrist member of the robot (0. direction) and at a right angle ^ (90.). The outer side of the film 'crosses the polyester film c in one turn. The steel sheet was left in fine steel, and the polyester laminate obtained according to the above steps was laminated and hardened. The button presses the upper and lower sides of the laminated body with a ^ sheet with a length of 2 cm, a width of 8 () legs, and a thickness of 10 li; and an aluminum sheet with a length of 25 mm and a width of 10 mm Press the left and right sides of the polyester laminate, and then put it into a vacuum. Vacuumize the bag and weave it under pressure by applying pressure 35 200539996 ^ • ^ MP ^ kgf / αη) __ It is hardened at 13 () t for 2 hours. = ”, Then pull out the core material, and then you can get a length 2_ca, width 80 paintings, thickness 35 mffi, board thickness 2.5 mm, a square tube with a hollow structure I and a hollow square based on Comparative Example 5 The tube is processed into a push shape by a ruler. That is, ^-is made to be the L side, and is woven on the lower side of the ancient 3 from the front end to the noodles. At this time, '在The height of the component at the front end is 21 legs, and the height of the wrist component is reduced in a straight line toward the front end. The side panel is cut according to the above-mentioned production procedure. The range extending up to 1500 mm is a hollow structure with a height of 35 planes and a closed section. Within the range of 1,000 ram from the front end side, the section $, the lower part of the construction, the elements are removed. The shape of the opening surface; and ^ in: the side of the cymbal part of the robot wrist component of 21 mm twice. But% of the robot wrist component of Example 5, using PAN carbon fiber ^; elongation coefficient of 23OGPa) As the carbon that makes the direction of the reinforcing fiber and the member ^ parallel to each other Dimension., Wan through (iv) [Table 6] __ number of laminated sheets of a thickness (mm / tablet) (tablets) 'type polyester fiber Total thickness (mm) arranged direction (.) Cross prepreg prepreg ΒΓ

方形管的高度 35 min 36 200539996 註：方形管的寬度方向的尺寸，係以寬度75麵的鋁製芯材+板厚 2· 5 mm X2片，因此總寬度係80 mm。 "" 關於在實施例2〜4、比較例3〜5所得到的機器人手腕部構件，使用該第⑴式，根據下列的順序，評估其彎曲震動衰減特性。以固定用夾具，從上下兩側包夾住從機器人手腕部構件的近，側端部起200腿的範圍，以單邊支持樑的狀態保持在水平。但是因為在比較例3之中，係將整個下方側都予以切除，因此在上方丄於近端侧200 mm的範圍内塗抹環氧系列的黏著劑，然後再用 ^定用失具黏貼此部份。在從此固定部起沿著長邊方^〇咖的地雁猶J就Ϊ從機器人手腕部的近端侧端部起25°_位置，黏貼欠计。在比較例3之中，僅在機器人手腕部構件應㈣。而在機！!人手腕部構件的，振動侧的前端部，藉由垂吊下質量5kgf的重物疋自 ίΐί=ί:的纜線切斷的方式，使機器人手腕部振動，量下方_的== 曲，可藉由ΐίϋ,，部構t負荷重量的時候所產生的撓益人手腕部構件的前端侧算起，分別在1Gm、二；、、、後從機以及_咖等四個地方，垂吊四個2細、1410咖、的在前端侧ί部的並測量此時機器人手腕部構^ 表7你龜士盆士人^ a ,. 量 19 37 200539996 [表6] 1· 質量（kgf) 撓曲（mm) 靖曲振動衰減特性:因此這是因為藉由將1有件的振動，並提昇作業效率。件的#旛Γ有回弹性係數的碳纖維配置在機器人手腕部構 :=二而：支==前面端側，構件的高度就愈小件，可使在負擔;二;:下腕部構曲剛性，其用途適=:=質=，【圖式簡單說明】概略示本發明的第1實施型態中機器人手腕部卜例之 10 發明的第1實施型態中中空機器人手腕部構件 1〇=係顯示本發日㈣第1實施型態中衫機器人手為^槿株二列之圖’其中，（a)為立體圖；⑹為俯視圖；⑹為牛例之==本發明的第2實施型態中機器人手腕部構件Γ 圖5係顯示本發明的第2實施型態中機器人 ^之圖’財，⑷為_ ;⑹為前賴a__a， (〇為近端側B-B，線的剖面圖。關相圖， 38 200539996 他例==本=的第2實施型態中機器顺^ 方）所看的圖；（c)a為忒)圖係從工作件支持面的相反側（構件下明本發明的第2實施型態中機器人手腕部構件10, 的其明的第2實施型態中機器人手腕部構件10’ 圖。圖9似明在振動衰減雜的評估中自由振絲減的波形之手腕娜轉鞭巾咖人部構。帽得刺制之㈣㈣器人手腕部構。巾所得刺㈣之巾和機器人手腕衰減在第1實施鶴、_u及比較例2中之對數部^鶴情制的本㈣之齡人手腕部構鶴情制的本發明讀狀手腕部構Ξ 賴情制的本發狀機狀手腕衰減=7ΛΙΜ^味例3巾簡狀機狀手腕賴件的振動衰減圖顯示在比較例4中所得到之機器'人手腕部構件的振動衰減ιπί示在味例5巾崎狀機狀輪觸件的振動 39 200539996 【主要元件符號說明】 1、Γ〜機器人手腕部 2〜工作件 3〜安裝孔 4〜安裝部 10, 10’〜機器人手腕部構件 10，a〜開口 101〜聚酯膠片 102〜芯材 103〜中空CFRP管 104〜機器人手腕部構件 201〜聚酯膠片 202〜芯材 203〜輔助構件 204a、204b〜專用外模 G1〜近端側剖面重心 G2〜前端側剖面重心 H1〜近端側端部的寬度 H2〜前端側端部的寬度 hi〜近端側端部構件的高度 h2〜前端侧端部的構件的高度 0〜開口部開始點 T〜推拔形狀開始點 T1〜近端側端部的高度 T2〜前端部的高度 X〇〜初期振動振幅強度 Χη〜振動振幅強度The height of the square tube 35 min 36 200539996 Note: The dimensions of the width of the square tube are aluminum core material with a width of 75 sides + a plate thickness of 2.5 mm x 2 pieces, so the total width is 80 mm. " " The robot wrist components obtained in Examples 2 to 4 and Comparative Examples 3 to 5 were evaluated for flexural vibration attenuation characteristics according to the following procedure using this formula. The fixture is used to clamp the vicinity of the robot wrist member from the upper and lower sides, and the range of 200 legs from the side end is maintained at a level with a single-sided support beam. However, in Comparative Example 3, the entire lower side was cut off. Therefore, apply an epoxy-based adhesive in a range of 200 mm from the upper side to the proximal side, and then apply this part with a fixing tool. Serving. From this fixed part, the ground along the long side ^ 〇Ca Yan JJ from the proximal end of the robot wrist position 25 ° _ position, stick undercount. In Comparative Example 3, only the wrist member of the robot should be pressed. And on the machine! The front end of the component of the human wrist, on the vibration side, is suspended by hanging a heavy weight of 5kgf, and the cable is cut to make the robot's wrist vibrate. It can be calculated from the front end side of the wrist member of the leaning person that is generated when the weight of the component t is loaded, which is respectively 1Gm, two, four, four, and four slaves. Hang four 2 s, 1410 coffee, on the front side, and measure the robot wrist structure at this time ^ Table 7 Your turtle man and potter ^ a,. Quantity 19 37 200539996 [Table 6] 1 · Mass (kgf ) Deflection (mm) Vibration attenuation characteristics: Therefore, this is because the vibration of one piece is improved, and the operation efficiency is improved. # 幡 Γ Carbon fiber with rebound coefficient is placed on the wrist structure of the robot: = 二而: 支 == front end side, the smaller the height of the component, the more burden can be placed; Rigidity, suitable for use =: = quality =, [Schematic description] Schematic illustration of the robot wrist part 10 in the first embodiment of the present invention Hollow robot wrist member 1 in the first embodiment of the present invention = This is a diagram showing the first embodiment of the present day ’s Japanese shirt robot hand as two rows of hibiscus strains, where (a) is a perspective view; ⑹ is a top view; ⑹ is an example of a cow == the second implementation of the present invention Wrist member of the robot in the form Γ FIG. 5 is a diagram showing the robot ^ in the second embodiment of the present invention, where ⑷ is _; ⑹ is the frontal a__a, (0 is the proximal side BB, a cross-sectional view of the line Related phase diagram, 38 200539996 The diagram seen in the second embodiment of the machine in the second embodiment == 本 =) (c) a is 忒) The diagram is from the opposite side of the support surface of the work piece (under the component A robot wrist member 10 in a second embodiment of the present invention is shown, and a robot wrist member 10 'in a second embodiment of the present invention is shown. Fig. 9 In the assessment of vibration attenuation, Ming ’s free-wave-reduced wave-shaped wrist was turned into a whip scarf. The structure of the wrist was made by a cap. Implementation of the logarithmic part of the crane, _u, and Comparative Example 2 ^ The old man's wrist structure of the crane system of the present invention The structure of the reading wrist of the present invention, the structure of the wrist of the present invention, the attenuation of the machine-shaped wrist of the hair system = 7ΛΙΜ ^ Vibration attenuation diagram of a simple machine-like wrist piece in a towel of Example 3 shows the vibration attenuation of the machine's wrist member obtained in Comparative Example 4 shown in Vibration of a towel-shaped machine-shaped wheel contact in Example 5 39 200539996 [Description of main component symbols] 1. Γ ~ Robot wrist 2 ~ Work piece 3 ~ Mounting hole 4 ~ Mounting part 10, 10 '~ Robot wrist part 10, a ~ Opening 101 ~ Polyester film 102 ~ Core material 103 ~ Hollow CFRP tube 104 ~ Robot wrist member 201 ~ Polyester film 202 ~ Core material 203 ~ Auxiliary members 204a, 204b ~ Special outer mold G1 ~ Gross center of proximal section G2 ~ Gross center of distal section H1 ~ Proximal end Width H2 ~ width hi ~ The height h2 of the end-side end member ~ The height of the end-side end member 0 ~ Opening start point T ~ Pushing shape start point T1 ~ Proximity end end height T2 ~ Front end height X〇 ~ Initial vibration Amplitude intensity Xη ~ Vibration amplitude intensity

Nt〜時間 η〜振幅次數Nt ~ time η ~ number of amplitudes

Claims

200539996 十、申請專利範圍：產構^特=碳纖維強化複合材料所製造的缝腕部構件為一中空構造’使用體積比率_以上之間的高彈性碳纖維= 2 :;ί=Ξί?方向之外周，愈朝向前端部就愈小。 t月專利乾圍弟1項之機器人手腕，山的外周為：巧構件的固定端側外周的1/3〜^ 器人手腕部;件之機器人手腕部構件，其中該機變得愈窄的==嫩，繼編_部，其寬度 4主如中請專利範圍第丨或2項之機器人手腕部構件， ϊΐΐΞίΤ?將含有聚酯膠片的疊層構造熱硬化之後而ί 了且、ir係數介於_〜95GGpa之間的高彈性碳纖單-;ιίίί。將八朝向與機器人手腕部構件的長邊方向呈°±5。的手二St，，4項之機器人手腕部構件’其中該機器人彈性俜教夫苫iqnr逢曰構造予以熱硬化而得，該疊層構造係於拉伸 ΙΛ 丄θ再豎層以將拉伸彈性係數介於490〜950GPa之間的高弓翬柯著與«人手腕部構件的長邊方向呈㈣形r於最外層將含有強化纖維咖^ 產‘；sj:構:特:炭纖維強化複合材料所製造的構件使用體積比率以上的拉伸彈性係數介於棚〜 =La間之f彈性碳纖維作為其碳纖維，而安裝到機器人手腕部的 “之近端側係具備封關面之巾空構造，而與該構件的長邊方 41 200539996 的具人手腕部構件，其中該近端側器人手腕部構件全==端部起，佔機從該前端侧端部起，=人手部構件的高度係二剖面之該前端部分，機器人手腕手腕部構件，其中該機器人構件近端側端部構件高度器人1手0it專ilfPf第617項之機器人手腕部構件，其中該機中允方^ #子閉剖面之該近端側部分係為剖面形狀呈矩形之，且開放剖面的前端側之剖面形狀係呈〔字形。嬙哭人主^ 5月專利範圍第6或7項之機器人手腕部構件，其中，該含^拉伸將—疊層構造予以熱硬化而得’該疊層構造包纖維，將5 於490〜950GPa之間的高彈性碳纖維作為其碳此纖維朝向與機器人手腕部構件的長邊方向呈0±5。之單万向配置而成的聚酯膠片。人手二二人手腕部，^ 將4層構造予以熱硬化而得，該疊層構造係於拉片二ΐ數未滿490Gpa的碳纖維朝90±5。的單一方向配置之聚醋膠 m S疊層以將拉伸彈性係數介於490〜95〇GPa之間的高彈著與機器人手腕部構件的長邊方向呈0±5。的單-方向聚轉片’進而於最外層將含有強化纖維所構成的交又聚酉曰膠片捲繞覆蓋而形成。 13.種機器人手腕部構件之製造方法，該機器人手腕部構件 42 200539996 圍第6至12項中任-項之機器人手婉部構件，該範圍的中空構造趙之特定 ==利賴第6至1謝任-項之機器人手腕部構= 讀=在特定溫度以τ具備抗加熱變形性的材料，在呈转—卷卜周，疊層以碳纖維強化樹脂聚酯膠片，並ϊ予二加熱，=是加熱並加壓，以使該聚酯谬片硬化的步^;尤且予以加樹脂的中空構造ΙόΓίϊ的3物將心材抽出’而得到碳纖維強化專利·第1〜12項中任—項之機器人手腕 Η•—、圖式： 43200539996 X. Scope of patent application: Production structure ^ special = carbon fiber reinforced composite material is a hollow structure of the wrist structure is a hollow structure 'use the volume ratio _ above the high elastic carbon fiber = 2:; ί = Ξ Ξ direction outer periphery , The smaller it is toward the front end. In January, the robot wrist of item 1 of the siege brother, the outer circumference of the mountain is: 1/3 of the outer circumference of the fixed end side of the clever member; the wrist of the robot; the wrist member of the robot, where the machine becomes narrower = = Tender, following the _ Department, its width 4 is the main component of the robot wrist as described in the patent scope item 丨 or 2. The heat-hardened laminated structure containing polyester film and the ir coefficient Highly elastic carbon fiber single between _ ~ 95GGpa-; ιίί. Orient the eight directions to ± 5 from the long side of the wrist component of the robot. The second hand St, 4th item of the robot wrist component, where the robot elasticity teacher 苫 iqnr is obtained by thermal hardening of the structure, the laminated structure is stretched Λ 丄 θ and then vertical layers to stretch elasticity A high bow with a coefficient between 490 ~ 950GPa and «the long side direction of the human wrist component is ㈣-shaped. The outermost layer will contain reinforced fiber coffee ^ product '; sj: structure: special: carbon fiber reinforced composite The members made of materials use f-elastic carbon fibers with tensile elastic coefficients greater than the volume ratio between shed and = La as their carbon fibers, and the "near end side" of the robot's wrist is equipped with an airtight structure with a sealing surface. , And the long side of the component 41 200539996 with a human wrist component, wherein the proximal device wrist component is all == from the end, the occupation from the front side end, = the human hand component The height is the front end part of the second section, the robot wrist and wrist components, of which the robot component proximal end end component height robot 1 hand 0it special ilfPf item 617 of the robot wrist component, where the machine in the square ^ # Subsection The proximal side portion is rectangular in cross-sectional shape, and the cross-sectional shape of the front end side of the open cross-section is [character shape. Wailing man master ^ May 6th or 7th scope of the robot wrist component, where, The stretch-containing structure is heat-hardened to obtain the laminated structure. The laminated structure is made of 5 to 490 to 950 GPa of highly elastic carbon fiber. The fiber is oriented toward the long side of the robot wrist component. It is 0 ± 5. It is a uni-directional universally-configured polyester film. Two hands and two wrists, obtained by thermally hardening a 4-layer structure. The laminated structure is based on a pull-tab structure whose number is less than 490Gpa. The carbon fiber mS laminated with a single direction of 90 ± 5. Is laminated so that the high elasticity of the tensile elasticity coefficient between 490 ~ 95 ° GPa and the longitudinal direction of the wrist member of the robot are 0 ± 5. The single-direction polymer turning sheet is further formed by winding and covering a cross-linked film containing reinforcing fibers at the outermost layer. 13. A method for manufacturing a robot wrist member, the robot wrist member 42 200539996 Wai 6-12 Hollow structure of the robot hand, the hollow structure of this range. Zhao Zhideng == The robotic wrist structure of the 6th to 1th Xie Ren-terms of Lilai = read = a material with resistance to heat deformation at a certain temperature at τ. —Curly Bu Zhou, laminated with carbon fiber reinforced resin polyester film, and pre-heated, = is the step of heating and pressing to harden the polyester film ^; especially the hollow structure with resin ΙόΓίϊ Carbon fiber reinforced patent was obtained by extracting the heartwood from 3 objects. • Robot wrist of any one of items 1 to 12 手 •, scheme: 43