CN107791274A - A kind of Robot wrist and preparation method thereof - Google Patents
A kind of Robot wrist and preparation method thereof Download PDFInfo
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- CN107791274A CN107791274A CN201710754707.5A CN201710754707A CN107791274A CN 107791274 A CN107791274 A CN 107791274A CN 201710754707 A CN201710754707 A CN 201710754707A CN 107791274 A CN107791274 A CN 107791274A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C47/00—Making alloys containing metallic or non-metallic fibres or filaments
- C22C47/08—Making alloys containing metallic or non-metallic fibres or filaments by contacting the fibres or filaments with molten metal, e.g. by infiltrating the fibres or filaments placed in a mould
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- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C49/00—Alloys containing metallic or non-metallic fibres or filaments
- C22C49/02—Alloys containing metallic or non-metallic fibres or filaments characterised by the matrix material
- C22C49/04—Light metals
- C22C49/06—Aluminium
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- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C49/00—Alloys containing metallic or non-metallic fibres or filaments
- C22C49/14—Alloys containing metallic or non-metallic fibres or filaments characterised by the fibres or filaments
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22F—CHANGING THE PHYSICAL STRUCTURE OF NON-FERROUS METALS AND NON-FERROUS ALLOYS
- C22F1/00—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working
- C22F1/04—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working of aluminium or alloys based thereon
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Crystallography & Structural Chemistry (AREA)
- Manufacture Of Alloys Or Alloy Compounds (AREA)
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Abstract
The present invention relates to a kind of Robot wrist and preparation method thereof, belong to field of mechanical technique.The Robot wrist of the present invention is made up of aluminium alloy, and aluminium alloy includes the component of following mass percent, 0.5 1.3%Si, 0.2 0.5%Mn, 0.17 0.35Mg, 0.5 1.2%Ni, 0.8 1.5%Be, 2.5 3.5% glass fibres, 1.5 3.0% nanometers of Al2O3, surplus Al.The preparation method of the Robot wrist of the present invention is, by glass fibre and nanometer Al2O3Dried respectively after activating solution and modification liquid processing；It is alloy solution by raw metal heating melting, adds glass fibre and nanometer Al2O3After pour into green compact, be heat-treated.Robot wrist produced by the present invention is prepared using aluminium alloy, light weight, and flexibility ratio is high, and has higher intensity, toughness and tensile strength.
Description
Technical field
The invention belongs to field of mechanical technique, is related to a kind of Robot wrist and preparation method thereof.
Background technology
In modern industry, with the popularization of pipelining, the scope that robot uses is more and more wider, industrial robot
It is to realize Automation of Manufacturing Process, a kind of powerful raised labour productivity.Machinery is used in most of streamlines
Human hand.Wrist is to connect the structure member of arm and hand, plays a part of to support hand, its main function is to determine the work of hand
Industry direction.Therefore it needs have higher flexibility ratio.
To ensure the security during service life and use, traditional bearing member and connector use steel material substantially
Material, when meeting use condition, some secondary bearing members and connector can undertake connection function using aluminium alloy instead of steel.
In recent years, it is various to bear moderate strength and finite motion mechanical part widely uses aluminium with application of the aluminium alloy in each field
Alloy mitigates own wt, improves bearing capacity, the maximization of transporting power is realized in the case of lifting gravity is certain.Use steel
Although the Robot wrist service life of iron work is longer, steel weight is larger, causes robot heavier, in spirit
Certain defect in activity be present.In some pipelinings, robot needs to bear hard work amount and larger work
Make intensity, also there is higher requirement to the mechanical property of wrist body, common Mechanical Properties of Aluminum Alloys is poor, it is difficult to which reaching makes
With requiring.
The content of the invention
The purpose of the present invention is in view of the above-mentioned problems existing in the prior art, it is proposed that a kind of lightweight, intensity are high and tough
The good Robot wrist of property.
The purpose of the present invention can be realized by following technical proposal：
A kind of Robot wrist, the Robot wrist are made up of aluminium alloy, and the aluminium alloy includes following quality
The component of percentage, 0.5-1.3%Si, 0.2-0.5%Mn, 0.17-0.35Mg, 0.5-1.2%Ni, 0.8-1.5%Be, 2.5-
3.5% glass fibre, 1.5-3.0% nanometers Al2O3, surplus Al.
The present invention is improved on the basis of ZL104 aluminium alloys, is reduced Si content, be with the addition of Ni elements, Be
Element, and glass fibre and nanometer Al2O3, by the proportioning between the component and each component of reasonable compatibility aluminium alloy, significantly carry
The high intensity of aluminium alloy, toughness and tensile strength, so as to improve the performance of Robot wrist.Wherein, addition
Ni and Be can form NiBe phases, and NiBe phases separate out in aluminium alloy cooling procedure from tissue, invigoration effect be played, so as to improve
The hardness of aluminium alloy.Be elements can form the diaphragm of densification in atmosphere, have obvious corrosion resistance, Be can also improve aluminium
The heat endurance of alloy.But Be contents are excessive, the fragility of aluminium alloy is easily caused, and the solidification width of aluminium alloy can be increased,
It is unfavorable for the shaping of aluminium alloy.Unnecessary Ni elements also form the heat-resisting phase with dispersion-strengthened action with impurity F e, can prevent
Dislocation climb under high temperature, the tensile strength and heat resistance of product are improved, reduce destructions of the impurity F e to aluminium alloy.But
It is the corrosion resistance that excessive Ni can reduce aluminium alloy.Glass fibre and nanometer Al2O3Particle have it is heat-resisting, wear-resisting, corrosion-resistant, lead
The features such as good in thermal property and low-expansion coefficient, in the thermal stress very little for heating with being subject in cooling procedure, and it is respectively provided with relatively low
Proportion.Nanometer Al2O3Mutually it is uniformly distributed in aluminium alloy phase with fine grained, glass fibre is mutually evenly distributed on aluminium with long wire
In alloy phase, the two invigoration effect from different dimensions is to aluminium alloy, the hardness, toughness and tension for effectively improving aluminium alloy is strong
The performances such as degree.Nanometer Al2O3It can promote in fusion process as Dispersed precipitate in alloy molten solution as the center of secondary nucleation
The formation of crystallization, its nano-scale help to form the refinement of crystal grain.
Preferably, the length of the glass fibre is 100-500 μm, a diameter of 0.1-10 μm.
The diameter of stripping fiber is thinner in theory, and length is longer, and enhancing effect is better, but glass fibre is meticulous, and it is certainly
Body intensity is deteriorated, and does not increase counter subtract to the enhancing effect of aluminium alloy；Glass fibre is long excessively thick, the compatibility with alloy matrix aluminum
Difference, easily cause to float the phenomenon of fibre in alloy matrix aluminum；Glass fibre is too short, is not easy the shape that contacted with each other in alloy matrix aluminum
Into enhancing network, the enhancing effect of aluminium alloy can be had a greatly reduced quality.Therefore, the length and diameter control of the invention by glass fibre
Within the above range.
Preferably, the nanometer Al2O3Particle diameter be 30-80nm.
The nanometer Al of above-mentioned particle size range2O3With preferable dimensional effect, kept away while enabling aluminum alloy to higher-strength
Exempt from higher brittle generation, and if nanometer Al2O3It is oversized, because its with alloy matrix aluminum in the difference of the performances such as the coefficient of expansion
Away from easily causing the generation of shrinkage porosite in casting process.
Another object of the present invention is to provide a kind of preparation method of Robot wrist, the preparation method include with
Lower step：
S1, the raw material for preparing aluminium alloy in proportion, by glass fibre and nanometer Al2O3It is added separately in activating solution, surpasses
Dried after sound stir process, dried glass fibre and nanometer Al2O3It is added separately to carry out at ultrasonic agitation in modification liquid
Reason, glass fibre is then subjected to microwave forced air drying, by nanometer Al2O3It is spray-dried；
S2, Si, Mn, Mg, Ni, Be and Al are heated into 750-770 DEG C of melting is alloy solution, is added in alloy solution
Glass fibre and nanometer Al2O3, stir；
S3, the alloy solution after stirring is cooled to 715-735 DEG C, green compact is poured into after being incubated 3-5min, to life
Base produces Robot wrist after being heat-treated.
Glass fibre and nanometer Al of the present invention to addition2O3Pre-processed, significantly improved in melting and casting process
Glass fibre and nanometer Al2O3Dispersiveness in alloy matrix aluminum, the two agglomeration in alloy solution is avoided,
So as to improve the overall performance of aluminium alloy, and accelerate the speed of melting of aluminium alloy.Even if glass fibre after treated and receiving
Rice Al2O3There is the situation that multiple particles are bonded together, because its surface adhesion is enclosed with modification liquid, the height in fusion process
Also easily it scatter, is dispersed in alloy solution under temperature effect.Stirred under ul-trasonic irradiation, further increase Na Bo
Glass fiber and nanometer Al2O3Decentralization in modification liquid, so in the drying of next step formed smaller particle size particle.
Preferably, the activating solution in the step S1 includes the component of following mass percent：0.9-1.3%H2O2,
1.5-2.0%NaClO, 0.6-1.0% citric acid, surplus are water.
Preferably, the modification liquid in the step S1 includes the component of following mass percent：12-15% is silane coupled
Agent acid, 15-18% polyethylene glycol, surplus is ethanol.
The present invention is first by glass fibre and nanometer Al2O3Activation process, H are carried out in activating solution2O2Can with NaClO
Increase glass fibre and nanometer Al2O3The hydroxyl and reactive species isoreactivity group on surface, it is even so as to improve silane in modification liquid
Join agent in glass fibre and nanometer Al2O3The adsorbance on surface；Appropriate citric acid can produce micro etching on surface and make
With so as to increase active group quantity, and reducing H2O2Decompose, so as to improve activation efficiency, while the presence of citric acid helps
In improving the connective stability of polyethylene glycol and silane coupler in modification liquid.Silane coupler acid one end can be with modification liquid
Glass fibre and nanometer Al2O3The active group on surface react generation chemical bond, the other end can connect polyethylene glycol so as to
In glass fibre and nanometer Al2O3Surface forms a tunic, produces stronger steric hindrance effect, increases the repulsion between particle
Can, so as to strengthen the dispersiveness of system and stability.When glass fibre carries out microwave forced air drying, the uniform drying side of microwave
Formula forms more loose dry glass fiber, reduces adhesive between glass fibre.To nanometer Al2O3It is dry to carry out spraying
When dry, after volatile liquid drying and volatilizing, silane coupler and polyethylene glycol are attached to a nanometer Al2O3On surface, nanometer is reduced
Al2O3Specific grain surface energy, low energy stable state is at, obstructs the aggregation between particle, merge, grow up, so as to form chi
Very little less particle, due to the barrier of silane coupler and polyethylene glycol in fusion process, it can be effectively prevented to hard group
Poly- particle conversion.
Preferably, mass percent of the glass fibre in the step S1 in modification liquid is 30-38%, nanometer
Al2O3Mass percent in modification liquid is 20-25%.
Glass fibre and nanometer Al2O3Content in modification liquid is excessive, can cause to pile up, influence the shape of good dispersion
Into, be also unfavorable for dry after fine dispersion body formation.
Preferably, the ultrasonic power being stirred by ultrasonic in the step S1 is 200-350w, stir speed (S.S.) 120-
150rmp, glass fibre and nanometer Al2O3The temperature that processing is stirred by ultrasonic in activating solution is 30-50 DEG C, glass fibre and nanometer
Al2O3The temperature that processing is stirred by ultrasonic in modification liquid is 50-65 DEG C.
The present invention is by glass fibre and nanometer Al2O3The temperature control of processing is stirred by ultrasonic in activating solution in 30-50 DEG C of model
Activation efficiency is significantly improved in enclosing, temperature is too high to easily cause H2O2Decomposition.Glass fibre and nanometer Al2O3In modification liquid
The temperature control of ultrasonic agitation processing is favorably improved silane coupler and glass fibre and nanometer in modification liquid in 50-65 DEG C
Al2O3The reaction of surface active groups, and the reaction of silane coupler and polyethylene glycol.
Preferably, the heat treatment in the step S3 includes solution treatment and Ageing Treatment, the mistake of the solution treatment
Cheng Wei, after cast green compact are applied with the concussion pressure that excursion is 180-230MPa, when temperature is down to 500-530 DEG C, protected
Warm 3-5h, is then quickly cooled to room temperature.
The present invention effectively reduces the internal stress of cast aluminium alloy gold, improves aluminium by solution treatment and Ageing Treatment
The performances such as the intensity of alloy, toughness.The present invention applies appropriate concussion pressure, concussion pressure during solution treatment to green compact
Power is so that gradually gradually decompression is handled green compact in the endless form being gradually pressurized again for supercharging repeatedly, more common pressuring method
The uniformity consistency of aluminium alloy internal structure can be more effectively improved, the defects of reducing internal porosity, so as to improve aluminium alloy
Overall performance.
Preferably, the process of the Ageing Treatment in the step S3 is that temperature is heated into 220-250 after solution treatment
DEG C, it is incubated 4-5h.
Compared with prior art, the invention has the advantages that：The present invention uses the machine that aluminium alloy is prepared for raw material
Device human wrist weight is lighter, and flexibility ratio is higher；By the component of aluminium alloy used in reasonable compatibility casting machine human wrist body,
Si content is reduced on the basis of ZL104 aluminium alloys, with the addition of Ni elements, Be elements, and glass fibre and nanometer Al2O3,
Enhancing invigoration effect is played to aluminium alloy；And by specific preparation method, to glass fibre and nanometer Al2O3It is modified pre-
Processing, its dispersiveness in the alloy is improved, optimization melting, the process and parameter of pouring technology are higher anti-so as to obtain having
The Robot wrist of tensile strength and toughness.
Embodiment
It is the specific embodiment of the present invention below, technical scheme is further described, but the present invention is simultaneously
It is not limited to these embodiments.
Embodiment 1-4
Robot wrist in embodiment 1-4 is made up of aluminium alloy, and aluminium alloy includes the component of following mass percent,
0.5-1.3%Si, 0.2-0.5%Mn, 0.17-0.35Mg, 0.5-1.2%Ni, 1.0-1.5%Be, 2.5-3.5% glass fibers
Dimension, 1.5-3.0% nanometers Al2O3, surplus Al；The length of glass fibre is 100-500 μm, a diameter of 0.1-10 μm；Nanometer
Al2O3Particle diameter be 30-80nm.
The component of aluminium alloy and its mass percent are as shown in the table in embodiment 1-4.
Table 1：The component and its mass percent of aluminium alloy in embodiment 1-4
Glass fibre and nanometer Al in embodiment 1-42O3Size it is as shown in the table.
Table 2：Glass fibre and nanometer Al in embodiment 1-42O3Size
Embodiment 5
The preparation method of Robot wrist comprises the following steps in the present embodiment,
(1), the raw material of aluminium alloy are prepared in the ratio of each component in embodiment 3；
(2), by glass fibre and nanometer Al2O3It is added separately in activating solution, is stirred in 200w ultrasonic powers, 150rmp
Ultrasonic wave stir process is carried out at a temperature of speed and 30 DEG C, by glass fibre and nanometer Al after drying2O3It is added separately to modification liquid
In, mass percent of the glass fibre in modification liquid is 30%, nanometer Al2O3Mass percent in modification liquid is 20%,
Ultrasonic agitation processing is carried out at a temperature of 200w ultrasonic powers, 150rmp stir speed (S.S.)s and 50 DEG C, then carries out glass fibre
Microwave forced air drying, by nanometer Al2O3It is spray-dried；
Wherein, activating solution includes the component of following mass percent：0.9%H2O2, 1.5%NaClO, 0.6% citric acid,
Surplus is water；Modification liquid includes the component of following mass percent：12% silane coupler acid, 15% polyethylene glycol, surplus are
Ethanol；.
(3), Si, Mn, Mg, Ni, Be and Al raw metal are added in smelting furnace, it is alloy to be heated to 750 DEG C of meltings
Solution, glass fibre and nanometer Al are added in alloy solution2O3, stir；
(4) alloy solution after stirring, is cooled to 715 DEG C, green compact are poured into after being incubated 5min, green compact are carried out
Robot wrist is produced after heat treatment；
Heat treatment includes solution treatment and Ageing Treatment, and the process of solution treatment is that after cast green compact are applied with change model
The concussion pressure for 180-230MPa is enclosed, when temperature is down to 500 DEG C, 5h is incubated, is then quickly cooled to room temperature；Ageing Treatment
Process be that temperature is heated to 220 DEG C after solution treatment, be incubated 5h.
Embodiment 6
The preparation method of Robot wrist comprises the following steps in the present embodiment,
(1), the raw material of aluminium alloy are prepared in the ratio of each component in embodiment 3；
(2), by glass fibre and nanometer Al2O3It is added separately in activating solution, is stirred in 250w ultrasonic powers, 130rmp
Ultrasonic wave stir process is carried out at a temperature of speed and 35 DEG C, by glass fibre and nanometer Al after drying2O3It is added separately to modification liquid
In, mass percent of the glass fibre in modification liquid is 33%, nanometer Al2O3Mass percent in modification liquid is 22%,
Ultrasonic agitation processing is carried out at a temperature of 250w ultrasonic powers, 130rmp stir speed (S.S.)s and 55 DEG C, then carries out glass fibre
Microwave forced air drying, by nanometer Al2O3It is spray-dried；
Wherein, activating solution includes the component of following mass percent：1.0%H2O2, 1.7%NaClO, 0.8% citric acid,
Surplus is water；Modification liquid includes the component of following mass percent：13% silane coupler acid, 16% polyethylene glycol, surplus are
Ethanol；.
(3), Si, Mn, Mg, Ni, Be and Al raw metal are added in smelting furnace, it is alloy to be heated to 760 DEG C of meltings
Solution, glass fibre and nanometer Al are added in alloy solution2O3, stir；
(4) alloy solution after stirring, is cooled to 720 DEG C, green compact are poured into after being incubated 4min, green compact are carried out
Robot wrist is produced after heat treatment；
Heat treatment includes solution treatment and Ageing Treatment, and the process of solution treatment is that after cast green compact are applied with change model
The concussion pressure for 180-230MPa is enclosed, when temperature is down to 510 DEG C, 4.5h is incubated, is then quickly cooled to room temperature；At timeliness
The process of reason is that temperature is heated into 230 DEG C after solution treatment, is incubated 4.5h.
Embodiment 7
The preparation method of Robot wrist comprises the following steps in the present embodiment,
(1), the raw material of aluminium alloy are prepared in the ratio of each component in embodiment 3；
(2), by glass fibre and nanometer Al2O3It is added separately in activating solution, is stirred in 300w ultrasonic powers, 130rmp
Ultrasonic wave stir process is carried out at a temperature of speed and 40 DEG C, by glass fibre and nanometer Al after drying2O3It is added separately to modification liquid
In, mass percent of the glass fibre in modification liquid is 36%, nanometer Al2O3Mass percent in modification liquid is 23%,
Ultrasonic agitation processing is carried out at a temperature of 300w ultrasonic powers, 130rmp stir speed (S.S.)s and 60 DEG C, then carries out glass fibre
Microwave forced air drying, by nanometer Al2O3It is spray-dried；
Wherein, activating solution includes the component of following mass percent：1.2%H2O2, 1.8%NaClO, 0.9% citric acid,
Surplus is water；Modification liquid includes the component of following mass percent：14% silane coupler acid, 17% polyethylene glycol, surplus are
Ethanol；.
(3), Si, Mn, Mg, Ni, Be and Al raw metal are added in smelting furnace, it is alloy to be heated to 765 DEG C of meltings
Solution, glass fibre and nanometer Al are added in alloy solution2O3, stir；
(4) alloy solution after stirring, is cooled to 730 DEG C, green compact are poured into after being incubated 4min, green compact are carried out
Robot wrist is produced after heat treatment；
Heat treatment includes solution treatment and Ageing Treatment, and the process of solution treatment is that after cast green compact are applied with change model
The concussion pressure for 180-230MPa is enclosed, when temperature is down to 520 DEG C, 3.5h is incubated, is then quickly cooled to room temperature；At timeliness
The process of reason is that temperature is heated into 235 DEG C after solution treatment, is incubated 4.5h.
Embodiment 8
The preparation method of Robot wrist comprises the following steps in the present embodiment,
(1), the raw material of aluminium alloy are prepared in the ratio of each component in embodiment 3；
(2), by glass fibre and nanometer Al2O3It is added separately in activating solution, is stirred in 350w ultrasonic powers, 120rmp
Ultrasonic wave stir process is carried out at a temperature of speed and 50 DEG C, by glass fibre and nanometer Al after drying2O3It is added separately to modification liquid
In, mass percent of the glass fibre in modification liquid is 38%, nanometer Al2O3Mass percent in modification liquid is 25%,
Ultrasonic agitation processing is carried out at a temperature of 200w ultrasonic powers, 150rmp stir speed (S.S.)s and 65 DEG C, then carries out glass fibre
Microwave forced air drying, by nanometer Al2O3It is spray-dried；
Wherein, activating solution includes the component of following mass percent：1.3%H2O2, 2.0%NaClO, 1.0% citric acid,
Surplus is water；Modification liquid includes the component of following mass percent：15% silane coupler acid, 18% polyethylene glycol, surplus are
Ethanol；.
(3), Si, Mn, Mg, Ni, Be and Al raw metal are added in smelting furnace, it is alloy to be heated to 770 DEG C of meltings
Solution, glass fibre and nanometer Al are added in alloy solution2O3, stir；
(4) alloy solution after stirring, is cooled to 735 DEG C, green compact are poured into after being incubated 3min, green compact are carried out
Robot wrist is produced after heat treatment；
Heat treatment includes solution treatment and Ageing Treatment, and the process of solution treatment is that after cast green compact are applied with change model
The concussion pressure for 180-230MPa is enclosed, when temperature is down to 530 DEG C, 3h is incubated, is then quickly cooled to room temperature；Ageing Treatment
Process be that temperature is heated to 250 DEG C after solution treatment, be incubated 4h.
Embodiment 9-11
Prepare the raw material of aluminium alloy in the ratio of each component in embodiment 1,2 and 4 respectively, by the preparation side of embodiment 7
Method preparation machine human wrist body.
Comparative example 1
Glass fibre and nanometer Al are not added with aluminium alloy used in preparation machine human wrist body2O3, other and embodiment 7
It is identical.
Comparative example 2
The glass fibre and nanometer Al added in aluminium alloy used in preparation machine human wrist body2O3Without activating solution and
Modification liquid processing, it is other same as Example 7.
Comparative example 3
Aluminium alloy does not apply concussion pressure in heat treatment process, other same as Example 7.
Comparative example 4
Using ZL104 aluminium alloys as raw material, using the Robot wrist of conventional cast method preparation.
The performance of Robot wrist in 5-11 of the embodiment of the present invention, comparative example 1-4 is compared, comparative result such as table
Shown in 3.
Table 3：The performance of Robot wrist in embodiment 5-11, comparative example 1-4
In summary, the present invention prepares the component of aluminium alloy used in casting machine human wrist body by reasonable compatibility and its matched somebody with somebody
Than, and the Robot wrist with high-tensile and toughness is made by specific preparation method, due to using aluminium alloy
For raw material, therefore the Robot wrist lighter weight prepared, flexibility ratio are higher.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (10)
- A kind of 1. Robot wrist, it is characterised in that the robot arm is made up of aluminium alloy, the aluminium alloy include with The component of lower mass percent, 0.5-1.3%Si, 0.2-0.5%Mn, 0.17-0.35Mg, 0.5-1.2%Ni, 1.0-1.5% Be, 2.5-3.5% glass fibre, 1.5-3.0% nanometers Al2O3, surplus Al.
- 2. Robot wrist according to claim 1, it is characterised in that the length of the glass fibre is 100-500 μ M, a diameter of 0.1-10 μm.
- 3. Robot wrist according to claim 1, it is characterised in that the nanometer Al2O3Particle diameter be 30-80nm.
- A kind of 4. preparation method of Robot wrist as described in claim 1-3 any claims, it is characterised in that institute Preparation method is stated to comprise the following steps：S1, the raw material for preparing aluminium alloy in proportion, by glass fibre and nanometer Al2O3It is added separately in activating solution, ultrasound is stirred Dried after mixing processing, dried glass fibre and nanometer Al2O3It is added separately to carry out ultrasonic agitation processing in modification liquid, so Glass fibre is subjected to microwave forced air drying afterwards, by nanometer Al2O3It is spray-dried；S2, Si, Mn, Mg, Ni, Be and Al are heated into 750-770 DEG C of melting is alloy solution, and glass is added in alloy solution Fiber and nanometer Al2O3, stir；S3, the alloy solution after stirring is cooled to 715-735 DEG C, pours into green compact after being incubated 3-5min, green compact are entered Robot wrist is produced after row heat treatment.
- 5. preparation method according to claim 4, it is characterised in that the activating solution in the step S1 includes following quality The component of percentage：0.9-1.3%H2O2, 1.5-2.0%NaClO, 0.6-1.0% citric acids, surplus is water.
- 6. preparation method according to claim 4, it is characterised in that the modification liquid in the step S1 includes following quality The component of percentage：12-15% silane couplers acid, 15-18% polyethylene glycol, surplus is ethanol.
- 7. preparation method according to claim 4, it is characterised in that the glass fibre in the step S1 is in modification liquid Mass percent be 30-38%, nanometer Al2O3Mass percent in modification liquid is 20-25%.
- 8. preparation method according to claim 4, it is characterised in that the ultrasonic power being stirred by ultrasonic in the step S1 is 200-350w, stir speed (S.S.) 120-150rmp, glass fibre and nanometer Al2O3The temperature of processing is stirred by ultrasonic in activating solution For 30-50 DEG C, glass fibre and nanometer Al2O3The temperature that processing is stirred by ultrasonic in modification liquid is 50-65 DEG C.
- 9. preparation method according to claim 4, it is characterised in that the heat treatment in the step S3 includes solution treatment And Ageing Treatment, the process of the solution treatment are, after cast green compact are applied with the concussion pressure that excursion is 180-230MPa Power, when temperature is down to 500-530 DEG C, 3-5h is incubated, is then quickly cooled to room temperature.
- 10. preparation method according to claim 9, it is characterised in that the process of the Ageing Treatment in the step S3 is, Temperature is heated to 220-250 DEG C after solution treatment, is incubated 4-5h.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710754707.5A CN107791274B (en) | 2017-08-29 | 2017-08-29 | Robot wrist body and preparation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710754707.5A CN107791274B (en) | 2017-08-29 | 2017-08-29 | Robot wrist body and preparation method thereof |
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| CN107791274A true CN107791274A (en) | 2018-03-13 |
| CN107791274B CN107791274B (en) | 2020-09-18 |
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| CN201710754707.5A Active CN107791274B (en) | 2017-08-29 | 2017-08-29 | Robot wrist body and preparation method thereof |
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