CN105983814B - A kind of manufacture craft of mechanical hand loading arm - Google Patents
A kind of manufacture craft of mechanical hand loading arm Download PDFInfo
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- CN105983814B CN105983814B CN201410788616.XA CN201410788616A CN105983814B CN 105983814 B CN105983814 B CN 105983814B CN 201410788616 A CN201410788616 A CN 201410788616A CN 105983814 B CN105983814 B CN 105983814B
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- connecting portion
- loading arm
- low
- carbon alloy
- top ends
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Abstract
The invention discloses a kind of manufacture craft of mechanical hand loading arm, loading arm is divided into four parts and independently cast, is then assembled by the way of dual be connected, in finally carrying out at glow discharge nitriding.The present invention can solve the problem that the deficiencies in the prior art, enhance the tolerance level of loading arm, improve its service life.
Description
Technical field
The present invention relates to robotic arm manufacture technology field, especially a kind of manufacture craft of mechanical hand loading arm.
Background technology
The loading arm of mechanical hand in use, it is necessary to bear stronger pressure, twisting resistance and impulsive force for a long time.Such as
The tolerance level of what enhancing loading arm simultaneously improves its service life, becomes the important channel of reduction mechanical hand use cost.It is existing
In technology, for the making of loading arm, typically completed from ripe steel by simple casting and welding, not to such as
What comprehensive product quality for improving loading arm is effectively improved.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of manufacture craft of mechanical hand loading arm, existing skill can solve the problem that
The deficiency of art, enhances the tolerance level of loading arm, improves its service life.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of manufacture craft of mechanical hand loading arm, it is characterised in that step is as follows：
A, whole loading arm is divided into base portion, first connecting portion, four parts of second connecting portion and top ends, using low
Carbon alloy steel is cast respectively,
The low-carbon alloy steel of base portion includes the composition of following percetage by weight：0.13%~0.25% C, 2.1%~
2.5% Mn's, 0.08%~0.1% S, 0.1%~0.2% Hf, 0.55%~0.75% Cr, 0.3%~0.5%
Ni, surplus is Fe,
The low-carbon alloy steel of first connecting portion includes the composition of following percetage by weight：0.15%~0.2% C, 1.2%
~1.8% Mn's, 0.4%~0.6% B, 0.25%~0.4% Si, 1.5%~1.9% Sb, 2.3%~3.5%
Cu, 4.5%~5% Ti, 0.7%~1.2% Ru, surplus is Fe,
The low-carbon alloy steel of second connecting portion includes the composition of following percetage by weight：0.15%~0.2% C, 1%~
1.3% Mo, 1.5%~2.3% Te, 0.7%~1.4% V, 1.5%~2% Cu, 0.3%~0.8% Mg, it is remaining
Measure as Fe,
The low-carbon alloy steel of top ends includes the composition of following percetage by weight：0.35%~0.5% C, 0.65%~
0.9% Cd, 0.45%~0.75% W, 0.5%~1% Ge, 1.2%~1.5% In, surplus is Fe,
Base portion and top ends are linear, and first connecting portion and second connecting portion are arc；
B, the joint face punching in base portion, first connecting portion, second connecting portion and top ends, and carried out using connecting rod
Connection, passes through adhesives between connecting rod and hole；
C, using fixture to the base portion connected, first connecting portion, second connecting portion and top ends carry out pressurization clamping,
Then contact surface is welded；
D, weld seam is polished；
E, the loading arm surface progress glow discharge nitriding processing to welding aftershaping.
As a preferred technical solution of the present invention, in step A, in the low-carbon alloy composition of steel of base portion, C and Cr's
The ratio between content is 1:3.
As a preferred technical solution of the present invention, in step A, in the low-carbon alloy composition of steel of first connecting portion, B and
The ratio between the content of Si total content no more than 0.85%, Mn and Ti is 1:4.
As a preferred technical solution of the present invention, in step A, in the low-carbon alloy composition of steel of second connecting portion, Cu
And Mg total content is maintained between 2%~2.5%, the ratio between C and Te content is 1:10.
As a preferred technical solution of the present invention, in step A, in the low-carbon alloy composition of steel of top ends, C content
The ratio between content for 0.4%~0.42%, C and W is 2:3.
As a preferred technical solution of the present invention, in step B, adhesive uses epoxyn.
As a preferred technical solution of the present invention, in step E, thicknesses of layers after glow discharge nitriding processing for 35 μm~
100μm。
The beneficial effect brought using above-mentioned technical proposal is：The present invention by whole loading arm be divided into four it is different
Part carries out independent casting, and the difference according to diverse location for consistency and elasticity is required, is held with pointedly improving
The material component of weighing arm so that each independent part forms the alloy grain structure of different structure.The material component of base portion
Middle addition Cr, can effectively improve the rigidity of base portion, and the ratio for keeping C and Cr is 1:3, Cr atoms can be made in C atoms
Stable triangle crystal structure is formed, the bulk characteristics of C atoms is reduced, stronger company can be formed between Hf atoms and Cr atoms
Relay, so as to improve the firmness of whole crystal connection.First connecting portion adds Cu to keep certain elasticity and toughness
And Ti, Ti can form the crystal grain of compact structure with Mn, limiting B and Si total content can ensure that it is good that whole casting has
Intensity simultaneously, reduce Ti-Mn crystal grain between micro-pore crack.The Cu and Mg of second connecting portion are used for ensureing the second connection
The elasticity in portion, but from unlike first connecting portion, C, Te and V can be internally formed in second connecting portion connection complexing body,
So as to keep overall flexibility of the second connecting portion when being under pressure.The C and Ge of top ends can keep the rigidity of top ends,
Add after Cd and W, Cd can be filled between C atoms and Ge atoms, improve the abrasion resistance of whole top ends, W can be carried
The ratio between high Cd and other atom crystal grain attachment force, C and W content is 2:3, it is possible to reduce W atoms are integrally firm for top ends
The influence of property.It is connected twice with what is welded by connecting rod, four parts of loading arm can be made to form one closely
Association.Carburization Treatment is eventually passed, the abrasion resistance on loading arm surface can be improved.
Brief description of the drawings
Fig. 1 is the external structure of the specific embodiment of the present invention
Fig. 2 be the present invention a specific embodiment in the structure chart that is connected of connecting rod and loading arm inside.
In figure：1st, base portion；2nd, first connecting portion；3rd, second connecting portion；4th, top ends；5th, connecting rod；6th, alignment pin；7、
Groove；8th, through hole；9th, reinforcement.
Embodiment
A kind of manufacture craft of mechanical hand loading arm, it is characterised in that step is as follows：
A, whole loading arm is divided into base portion 1, first connecting portion 2,4 four parts of second connecting portion 3 and top ends, adopted
Cast respectively with low-carbon alloy steel,
The low-carbon alloy steel of base portion 1 includes the composition of following percetage by weight：0.15% C, 2.2% Mn,
0.08% S, 0.14% Hf, 0.45% Cr, 0.46% Ni, surplus is Fe,
The low-carbon alloy steel of first connecting portion 2 includes the composition of following percetage by weight：0.17% C, 1.22% Mn,
0.47% B, 0.27% Si, 1.8% Sb, 2.3% Cu, 4.88% Ti, 1.1% Ru, surplus is Fe,
The low-carbon alloy steel of second connecting portion 3 includes the composition of following percetage by weight：0.19% C, 1.13% Mo,
1.9% Te, 1.25% V, 1.9% Cu, 0.4% Mg, surplus is Fe,
The low-carbon alloy steel of top ends 4 includes the composition of following percetage by weight：0.41% C, 0.78% Cd,
0.615% W, 0.95% Ge, 1.34% In, surplus is Fe,
Base portion 1 and top ends 4 are linear, and first connecting portion 2 and second connecting portion 3 are arc；Base portion 1, first
The ratio between straight length of connecting portion 2, second connecting portion 3 and top ends 4 is 2:6:5:3.The radian of first connecting portion 2 is
0.12rad, the radian of second connecting portion 3 is 0.09rad.
B, the joint face punching in base portion 1, first connecting portion 2, second connecting portion 3 and top ends 4, and use connecting rod
5 are attached, by adhesives between connecting rod 5 and hole, and steady pin 6 is provided with hole, and the top of connecting rod 5 is set
The groove 7 being engaged with steady pin 6 is equipped with, first connecting portion 2 and second connecting portion 3 are provided at both ends with the through hole communicated with hole
8, reinforcement 9 even is provided between a through hole 8, reinforcement 9 is interference fitted with through hole 8, reinforcement 9 is with connecting rod 5 according to application
The different of pressure produce extruding contact；Binding agent includes the composition of following percentage by weight：6%~10% phenol, 5%~
7% methyl-silicone oil, 1.5%~2% 2- difluoro-methoxy bromobenzenes, 3.2%~3.5% 5- bromine valeric acid ethyl esters, surplus is
Polyvinyl acetate；
C, using fixture the base portion 1 connected, first connecting portion 2, second connecting portion 3 and top ends 4 are pressurizeed
Clamping, is then welded to contact surface；First connecting portion 2 and second connecting portion 3 are welded first, and the pressure of clamping is 8bar,
Welding current is 85mA, then welds second connecting portion 3 and top ends 4, the pressure of clamping is 12bar, and welding current is 70mA,
First connecting portion 2 and base portion 1 are finally welded, the pressure of clamping is 6bar, and welding current is 105mA；
D, weld seam is polished；
E, the loading arm surface to welding aftershaping carry out glow discharge nitriding processing, and the thicknesses of layers after glow discharge nitriding processing is
35 μm~100 μm.
Finally, application processing is carried out to the outer surface of loading arm：Sandblasting is carried out to the loading arm after Nitrizing Treatment first to beat
Mill, makes its surface form rough roughness, then carries out surface spraying using spray liniment.Spray liniment includes following weight
The composition of percentage：4%~6% silica, 1.5%~3% sodium metasilicate, 5%~6% diphenyl carbonate,
1.3%~2.5% mercaptan of 1,9- nonyls two, the 1 of 7.5%~10%, 2,4- trimethylbenzenes, surplus is water-soluble film-forming resin.
In addition, after the completion of being cast in base portion 1, first connecting portion 2,4 four parts of second connecting portion 3 and top ends, point
It is not heat-treated accordingly：
Base portion 1 is heated to 800 DEG C, is then placed in 25 DEG C of water and cools down rapidly, it is 3 times repeatedly, finally heated to 300
DEG C, normal temperature is down in air at room temperature.
First connecting portion 2 is heated to 600 DEG C, is then placed in 25 DEG C of water and is cooled to 300 DEG C, then take out and be placed on room
Normal temperature is down in warm air.
Second connecting portion 3 is heated to 900 DEG C, 30min is incubated, is then placed within air at room temperature and is down to normal temperature.
Top ends 4 are heated to 800 DEG C, is then placed in air at room temperature and is cooled to 500 DEG C, in the water for being finally putting into 25 DEG C
It is down to normal temperature.
The maximum capacity load of loading arm can be improved 20% by the present invention, and reduce the metal fatigue during use
Degree, increases the service life 2~3 times.
Foregoing description only proposes as enforceable technical scheme of the invention, not as to its technical scheme single in itself
Restrictive condition.
Claims (6)
1. a kind of manufacture craft of mechanical hand loading arm, it is characterised in that step is as follows：
A, whole loading arm is divided into base portion (1), first connecting portion (2), (4) four portions of second connecting portion (3) and top ends
Point, cast respectively using low-carbon alloy steel,
The low-carbon alloy steel of base portion (1) includes the composition of following percetage by weight：0.13%~0.25% C, 2.1%~
2.5% Mn's, 0.08%~0.1% S, 0.1%~0.2% Hf, 0.55%~0.75% Cr, 0.3%~0.5%
Ni, surplus is Fe,
The low-carbon alloy steel of first connecting portion (2) includes the composition of following percetage by weight：0.15%~0.2% C, 1.2%
~1.8% Mn's, 0.4%~0.6% B, 0.25%~0.4% Si, 1.5%~1.9% Sb, 2.3%~3.5%
Cu, 4.5%~5% Ti, 0.7%~1.2% Ru, surplus is Fe,
The low-carbon alloy steel of second connecting portion (3) includes the composition of following percetage by weight：0.15%~0.2% C, 1%~
1.3% Mo, 1.5%~2.3% Te, 0.7%~1.4% V, 1.5%~2% Cu, 0.3%~0.8% Mg, it is remaining
Measure as Fe,
The low-carbon alloy steel of top ends (4) includes the composition of following percetage by weight：0.35%~0.5% C, 0.65%~
0.9% Cd, 0.45%~0.75% W, 0.5%~1% Ge, 1.2%~1.5% In, surplus is Fe,
Base portion (1) and top ends (4) are linear, and first connecting portion (2) and second connecting portion (3) are arc；
B, the joint face punching in base portion (1), first connecting portion (2), second connecting portion (3) and top ends (4), and use company
Extension bar (5) is attached, and connecting rod (5) passes through adhesives between hole；
C, using fixture to the base portion (1) connected, first connecting portion (2), second connecting portion (3) and top ends (4) carry out
Pressurization clamping, is then welded to contact surface；
D, weld seam is polished；
E, the loading arm surface progress glow discharge nitriding processing to welding aftershaping.
2. the manufacture craft of mechanical hand loading arm according to claim 1, it is characterised in that：In step A, base portion (1)
Low-carbon alloy composition of steel in, the ratio between C and Cr content be 1:3.
3. the manufacture craft of mechanical hand loading arm according to claim 1, it is characterised in that：In step A, first connecting portion
(2) in low-carbon alloy composition of steel, the ratio between B and the Si content of total content no more than 0.85%, Mn and Ti is 1:4.
4. the manufacture craft of mechanical hand loading arm according to claim 1, it is characterised in that：In step A, second connecting portion
(3) in low-carbon alloy composition of steel, Cu and Mg total content are maintained between 2%~2.5%, and the ratio between C and Te content is 1:
10。
5. the manufacture craft of mechanical hand loading arm according to claim 1, it is characterised in that：In step A, top ends (4)
Low-carbon alloy composition of steel in, C content is that the ratio between 0.4%~0.42%, C and W content is 2:3.
6. the manufacture craft of mechanical hand loading arm according to claim 1, it is characterised in that：In step E, at glow discharge nitriding
Thicknesses of layers after reason is 35 μm~100 μm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410788616.XA CN105983814B (en) | 2015-03-05 | 2015-03-05 | A kind of manufacture craft of mechanical hand loading arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410788616.XA CN105983814B (en) | 2015-03-05 | 2015-03-05 | A kind of manufacture craft of mechanical hand loading arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105983814A CN105983814A (en) | 2016-10-05 |
| CN105983814B true CN105983814B (en) | 2017-11-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410788616.XA Active CN105983814B (en) | 2015-03-05 | 2015-03-05 | A kind of manufacture craft of mechanical hand loading arm |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5205466A (en) * | 1992-07-15 | 1993-04-27 | Chieh-Chang Tzeng | Manufacturing method of austenitic stainless steel self-tapping and self-drilling screw |
| EP2057396A4 (en) * | 2006-08-30 | 2010-10-13 | Fluor Tech Corp | Compositions and methods for dissimilar material welding |
| EP2310544B1 (en) * | 2008-07-11 | 2018-10-17 | Aktiebolaget SKF | A method for manufacturing a bearing component |
| CN102000952B (en) * | 2010-11-11 | 2012-08-01 | 重庆跃进机械厂有限公司 | Processing method of sealing surface of exhaust valve of low-speed diesel engine |
| CN102357778B (en) * | 2011-09-22 | 2013-12-18 | 宁波中超机器有限公司 | Manufacturing method of pulling straightening roller |
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Address after: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee after: Ningxia giant robot Limited by Share Ltd Address before: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee before: Ningxia Juneng Robot System Co., Ltd. |