The Fundamental Research On Implementing Automctic Sheet-making Of Paper-based Friction Material Reinforced By Carbon Fibers Based On Pneumatic Robotic Manipulator

Wet friction materials have been applied in a lot fields as a key material to transfer torque or braking, and have a good application prospect. The sheet-making technology producing the preform of paper-based friction material reinforced by carbon fibers borrowed ideas from the paper-making technology, which plays an important role in making the dispersion uniformly of the carbon fibers and other additives in the perform. However, there are still many difficulties in mass production of qualified preform of paper-based friction material using manual sheet-making apparatus. So a semiautomatic sheet-making apparatus was designed to make an improvement. Then, a pneumatic robotic manipulator and its control system were designed to realize this semiautomatic sheet-making apparatus automatic. In addition, assistant equipments, including decentralizing equipment and stepping drying equipment were proposed and integrating the all automatic sheet-making apparatus by control system.First of all, a semiautomatic sheet-making apparatus was designed and used in production. The whole design schemes and mechanical structures of the automatic sheet-making technology based on the technical requirements of the pneumatic robotic manipulator according to the operation experience were put forward. Then the main body of the pneumatic robotic manipulator was set up though the calculation and selection of cylinders. The pneumatic robotic manipulator has three degrees of freedom and consists of five cylinders. Thus it can accomplish all the actions called by the sheet-making apparatus including gripping and handling both the metal net and dewater roller. In order to resolve the difficulties with multipoint positioning, the position controllers SPC-100 and proportional directional control valve were applied, And a new method was used to make a high efficiency and open control system on basis of Actuator-Sensor interface and (AS_i) Bus. The working parameters of the cylinders such as the DGPL and SLT were simulated and optimized by ProPneu 3.0.1.0. Furthermore, the assistant equipments were integrated by the control system, making a foundation for the realizing of sheet-making technology automatically. Finally, the effects of perform-preparing parameters on the friction and wear properties were probed based on the friction testing-machine with auto-load device. It can be proved that there is a great improvement in friction properties when using semiautomatic sheet-making apparatus, and it also proved that it is necessary to realize sheet-making technology automatically.In this paper, the idea of automatic sheet-making technology was realized by a automatic sheet-making apparatus refit by pneumatic robotic manipulators. And some problems were...