CN107791274B - Robot wrist body and preparation method thereof - Google Patents
Robot wrist body and preparation method thereof Download PDFInfo
- Publication number
- CN107791274B CN107791274B CN201710754707.5A CN201710754707A CN107791274B CN 107791274 B CN107791274 B CN 107791274B CN 201710754707 A CN201710754707 A CN 201710754707A CN 107791274 B CN107791274 B CN 107791274B
- Authority
- CN
- China
- Prior art keywords
- nano
- glass fiber
- solution
- wrist body
- robot wrist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- 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
-
- 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
Landscapes
- Chemical & Material Sciences (AREA)
- 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)
- Powder Metallurgy (AREA)
Abstract
The invention relates to a robot wrist body and a preparation method thereof, and belongs to the technical field of machinery. The robot wrist body is made of aluminum alloy, wherein the aluminum alloy comprises, by mass, 0.5-1.3% of Si, 0.2-0.5% of Mn, 0.17-0.35Mg, 0.5-1.2% of Ni, 0.8-1.5% of Be, 2.5-3.5% of glass fiber and 1.5-3.0% of nano Al2O3And the balance of Al. The preparation method of the robot wrist body comprises the steps of mixing glass fiber and nano Al2O3Respectively treating the mixture with an activating solution and a modifying solution and then drying the treated mixture; heating and smelting metal raw materials into alloy solution, adding glass fiber and nano Al2O3Then casting into a green body and carrying out heat treatment. The robot wrist body manufactured by the invention is made of aluminum alloy, has light weight and high flexibility, and has higher strength, toughness and tensile strength.
Description
Technical Field
The invention belongs to the technical field of machinery, and relates to a robot wrist body and a preparation method thereof.
Background
In modern industry, along with the popularization of assembly line work, the range of robot use is wider and wider, and industrial robot is a powerful tool for realizing production process automation and improving labor productivity. Robotic hands are used in most flow lines. The wrist is a structural component connecting the arm and the hand, and plays a role of supporting the hand, and the main role of the wrist is to determine the working direction of the hand. It is therefore desirable to have a high degree of flexibility.
In order to ensure the service life and the safety in the use process, the traditional bearing parts and connecting parts basically use steel materials, and when the use conditions are met, certain secondary bearing parts and connecting parts can use aluminum alloy to replace steel to play a role in connection. In recent years, with the application of aluminum alloy in various fields, various mechanical parts with medium strength and limited movement are widely used to reduce the weight of the aluminum alloy, improve the bearing capacity and maximize the conveying capacity under the condition of certain lifting gravity. Although the service life of the wrist body of the robot made of steel is long, the weight of the steel is heavy, so that the robot is heavy, and certain defects exist in flexibility. In some assembly line work, the robot hand needs to bear heavy workload and higher working strength, the mechanical property of the wrist body is also higher, the mechanical property of common aluminum alloy is poorer, and the use requirement is difficult to achieve.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a robot wrist body which is light in weight, high in strength and good in toughness.
The purpose of the invention can be realized by the following technical scheme:
the robot wrist body is made of aluminum alloy, wherein the aluminum alloy comprises, by mass, 0.5-1.3% of Si, 0.2-0.5% of Mn, 0.17-0.35Mg, 0.5-1.2% of Ni, 0.8-1.5% of Be, 2.5-3.5% of glass fiber and 1.5-3.0% of nano Al2O3And the balance of Al.
The invention improves on the basis of ZL104 aluminum alloy, reduces the content of Si, and adds Ni element, Be element, glass fiber and nano Al2O3The strength, toughness and tensile strength of the aluminum alloy are obviously improved through reasonably matching the components of the aluminum alloy and the proportion among the components, so that the service performance of the wrist body of the robot is improved. Wherein, the added Ni and Be can form a NiBe phase, and the NiBe phase is separated out from the structure in the cooling process of the aluminum alloy to play a role in strengthening, thereby improving the hardness of the aluminum alloy. Be element can form compact protective film in air, has obvious corrosion resistance, and Be can also improve the thermal stability of aluminum alloy. However, the content of Be is too large, which easily causes brittleness of the aluminum alloy, increases the solidification width of the aluminum alloy, and is not beneficial to the molding of the aluminum alloy. The redundant Ni element and the impurity Fe form a heat-resistant phase with a dispersion strengthening effect, so that dislocation climbing at high temperature can be prevented, the tensile strength and the heat resistance of the product are improved, and the damage effect of the impurity Fe on the aluminum alloy is reduced. However, excessive Ni may reduce the corrosion resistance of the aluminum alloy. Glass fiber and nano Al2O3The particles have good heat resistance, wear resistance, corrosion resistance and heat conductivity andlow expansion coefficient, low thermal stress in heating and cooling process, and low specific gravity. Nano Al2O3The fine particle phase is uniformly distributed in the aluminum alloy phase, the glass fiber is uniformly distributed in the aluminum alloy phase in the form of long linear phase, and the glass fiber and the aluminum alloy phase play a role in strengthening the aluminum alloy from different dimensions, so that the performances of the aluminum alloy such as hardness, toughness, tensile strength and the like are effectively improved. Nano Al2O3The nano-crystalline silicon carbide is dispersed in alloy melt in the smelting process and can be used as the center of secondary nucleation to promote the formation of crystals, and the nano-size of the nano-crystalline silicon carbide is beneficial to the refinement of formed grains.
Preferably, the glass fiber has a length of 100-500 μm and a diameter of 0.1-10 μm.
Theoretically, the thinner the diameter and the longer the length of the stripping fiber are, the better the reinforcing effect is, but the too thin glass fiber has poor strength and does not increase or decrease the reinforcing effect on the aluminum alloy; the glass fiber is too long and too thick, has poor compatibility with the aluminum alloy matrix, and is easy to cause the phenomenon of fiber floating in the aluminum alloy matrix; the glass fiber is too short, so that the glass fiber is not easy to contact with each other in the aluminum alloy matrix to form a reinforcing network, and the reinforcing effect of the aluminum alloy is greatly reduced. Therefore, the present invention controls the length and diameter of the glass fiber within the above-mentioned ranges.
Preferably, the nano Al2O3The particle size of (A) is 30-80 nm.
Nano Al in the above particle size range2O3Has better size effect, ensures that the aluminum alloy has higher strength and avoids the occurrence of higher brittleness at the same time, and if the nano Al is adopted2O3The oversize is easy to cause shrinkage porosity in the casting process due to the difference of the performance of the oversize and the performance of the aluminum alloy matrix such as expansion coefficient.
The invention also aims to provide a preparation method of the wrist body of the robot hand, which comprises the following steps:
s1, preparing raw materials of the aluminum alloy according to the proportion, and mixing the glass fiber and the nano Al2O3Respectively adding into activating solution, ultrasonic stirring, drying, and drying to obtain glass fiber and nanometer Al2O3Respectively adding into the modified solution for ultrasonic stirring treatment, then drying the glass fiber by microwave blast, and adding nano Al2O3Carrying out spray drying;
s2, heating Si, Mn, Mg, Ni, Be and Al to the temperature of 750-770 ℃ to smelt into alloy solution, adding glass fiber and nano Al into the alloy solution2O3Stirring uniformly;
s3, cooling the uniformly stirred alloy solution to 715-735 ℃, preserving heat for 3-5min, casting into a green blank, and performing heat treatment on the green blank to obtain the wrist body of the robot.
The invention adds glass fiber and nano Al2O3The pretreatment is carried out, so that the glass fiber and the nano Al in the smelting and pouring process are obviously improved2O3The dispersibility in the aluminum alloy matrix avoids the agglomeration phenomenon of the aluminum alloy matrix and the aluminum alloy matrix in the alloy solution, thereby improving the overall performance of the aluminum alloy and accelerating the smelting speed of the aluminum alloy. Even after treatment, the glass fiber and the nano Al2O3The particles are adhered together, and the modifying liquid is adhered and wrapped on the surfaces of the particles, so that the particles are easily dispersed under the action of high temperature in the smelting process and are uniformly dispersed in the alloy solution. Stirring under the action of ultrasonic wave to further improve the nano glass fiber and nano Al2O3The dispersion degree in the modifying solution, and then particles with smaller particle size are formed in the next drying step.
Preferably, the activating solution in step S1 includes the following components in percentage by mass: 0.9-1.3% H2O21.5-2.0% of NaClO, 0.6-1.0% of citric acid and the balance of water.
Preferably, the modifying solution in step S1 includes the following components in percentage by mass: 12-15% of silane coupling agent acid, 15-18% of polyethylene glycol and the balance of ethanol.
Firstly, glass fiber and nano Al are mixed2O3Activation treatment in an activating solution, H2O2And NaClO can increase glass fiber and nano Al2O3Surface hydroxyl groups and oxidizing groups, etcActive group, thereby improving the silane coupling agent in the modification liquid in the glass fiber and the nano Al2O3The amount of adsorption on the surface; proper amount of citric acid can generate micro etching effect on the surface, thereby increasing the number of active groups and reducing H2O2And decomposing to improve the activation efficiency, and simultaneously, the existence of citric acid is beneficial to improving the connection stability of the polyethylene glycol and the silane coupling agent in the modification solution. One end of silane coupling agent acid in the modification liquid can be connected with glass fiber and nano Al2O3Active groups on the surface react to generate chemical bonds, and the other end can be connected with polyethylene glycol so as to form a chemical bond between the glass fiber and the nano Al2O3A film is formed on the surface, so that a stronger steric hindrance effect is generated, and the repulsion energy among particles is increased, thereby enhancing the dispersibility and stability of the system. When the glass fibers are subjected to microwave forced air drying, the glass fibers are dried more loosely in a microwave uniform drying mode, and the adhesion among the glass fibers is reduced. In the presence of nano Al2O3When the spray drying is carried out, after the volatile liquid is dried and volatilized, the silane coupling agent and the polyethylene glycol are attached to the nano Al2O3On the surface, reducing nano Al2O3The specific surface energy of the particles is kept in a low-energy stable state, aggregation, combination and growth among the particles are blocked, so that particles with smaller sizes are formed, and the silane coupling agent and the polyethylene glycol can effectively prevent the particles from being converted into hard agglomerated particles in the smelting process.
Preferably, the glass fiber in the step S1 accounts for 30-38% of the modifying solution by mass, and the nano Al accounts for2O3The mass percentage of the modified liquid is 20-25%.
Glass fiber and nano Al2O3Too much content in the modifying solution may cause stacking, affect the formation of good dispersibility, and also may be detrimental to the formation of a good dispersion after drying.
Preferably, the ultrasonic power of the ultrasonic stirring in the step S1 is 200-350w, the stirring speed is 120-150rmp, and the glass fiber and the nano Al are2O3Temperature of ultrasonic agitation treatment in activating solution30-50 ℃, glass fiber and nano Al2O3The temperature of ultrasonic stirring treatment in the modification liquid is 50-65 ℃.
The invention combines glass fiber and nano Al2O3The temperature of ultrasonic stirring treatment in the activation liquid is controlled within the range of 30-50 ℃, the activation efficiency is obviously improved, and H is easily caused by overhigh temperature2O2Decomposition of (3). Glass fiber and nano Al2O3The temperature of ultrasonic stirring treatment in the modified liquid is controlled within 50-65 ℃, which is beneficial to improving the silane coupling agent, the glass fiber and the nano Al in the modified liquid2O3The reaction of surface active groups, and the reaction of silane coupling agents with polyethylene glycol.
Preferably, the heat treatment in the step S3 includes solution treatment and aging treatment, wherein the solution treatment includes applying a shaking pressure in a range of 180-230MPa to the green body after casting, and when the temperature is reduced to 500-530 ℃, keeping the temperature for 3-5h, and then rapidly cooling to room temperature.
The invention effectively reduces the internal stress of the cast aluminum alloy and improves the properties of the aluminum alloy, such as strength, toughness and the like, through solution treatment and aging treatment. In the solid solution treatment process, proper oscillation pressure is applied to the green body, the green body is treated in a cyclic mode of repeatedly gradually increasing pressure and gradually reducing pressure in a gradually increasing pressure mode, the uniformity of the internal structure of the aluminum alloy can be effectively improved compared with the common pressurizing mode, the defects of internal shrinkage porosity and the like are reduced, and the overall performance of the aluminum alloy is improved.
Preferably, the aging treatment in the step S3 is carried out by heating the solution treatment to 250 ℃ and keeping the temperature for 4-5 h.
Compared with the prior art, the invention has the following beneficial effects: the robot wrist body prepared by adopting the aluminum alloy as the raw material has light weight and high flexibility; the components of the aluminum alloy used for casting the wrist body of the robot are reasonably matched, the content of Si is reduced on the basis of ZL104 aluminum alloy, and Ni element, Be element, glass fiber and nano Al are added2O3The reinforcing effect on the aluminum alloy is achieved;and by a specific preparation method, the glass fiber and the nano Al are subjected to2O3And (3) performing modification pretreatment, improving the dispersibility of the modified.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the present invention is not limited to these examples.
Examples 1 to 4
The robot wrist body in examples 1 to 4 was made of an aluminum alloy comprising, in mass%, 0.5 to 1.3% of Si, 0.2 to 0.5% of Mn, 0.17 to 0.35Mg, 0.5 to 1.2% of Ni, 1.0 to 1.5% of Be, 2.5 to 3.5% of glass fiber, and 1.5 to 3.0% of nano Al2O3The balance being Al; the length of the glass fiber is 100-500 μm, and the diameter is 0.1-10 μm; nano Al2O3The particle size of (A) is 30-80 nm.
The compositions and mass percentages of the aluminum alloys in examples 1-4 are shown in the following table.
Table 1: components and mass percentages of aluminum alloys in examples 1 to 4
Glass fibers and nano Al in examples 1 to 42O3The dimensions of (A) are shown in the following table.
Table 2: glass fibers and nano Al in examples 1 to 42O3Size of
Example 5
The preparation method of the wrist body of the robot hand in the embodiment comprises the following steps,
(1) preparing raw materials of the aluminum alloy according to the proportion of each component in the example 3;
(2) glass fibers and nanoparticlesAl2O3Respectively adding into the activating solution, performing ultrasonic stirring treatment at 200w ultrasonic power, stirring rate of 150rmp and temperature of 30 deg.C, drying, and mixing with glass fiber and nanometer Al2O3Respectively added into the modification liquid, the mass percent of the glass fiber in the modification liquid is 30 percent, and the nano Al2O3The mass percentage of the modified liquid is 20 percent, ultrasonic stirring treatment is carried out under 200w of ultrasonic power, 150rmp of stirring speed and 50 ℃, then microwave blast drying is carried out on the glass fiber, and nano Al is added2O3Carrying out spray drying;
the activating solution comprises the following components in percentage by mass: 0.9% H2O21.5 percent of NaClO, 0.6 percent of citric acid and the balance of water; the modified liquid comprises the following components in percentage by mass: 12% of silane coupling agent acid, 15% of polyethylene glycol and the balance of ethanol; .
(3) Adding Si, Mn, Mg, Ni, Be and Al metal raw materials into a smelting furnace, heating to 750 ℃, smelting to obtain an alloy solution, and adding glass fiber and nano Al into the alloy solution2O3Stirring uniformly;
(4) cooling the uniformly stirred alloy solution to 715 ℃, preserving the temperature for 5min, then pouring into a green body, and carrying out heat treatment on the green body to obtain the wrist body of the robot;
the heat treatment comprises solid solution treatment and aging treatment, wherein the solid solution treatment comprises the steps of applying oscillating pressure with the variation range of 180-230MPa to the green body after pouring, preserving the heat for 5 hours when the temperature is reduced to 500 ℃, and then rapidly cooling to the room temperature; the aging treatment process comprises the steps of heating to 220 ℃ after the solution treatment, and preserving heat for 5 hours.
Example 6
The preparation method of the wrist body of the robot hand in the embodiment comprises the following steps,
(1) preparing raw materials of the aluminum alloy according to the proportion of each component in the example 3;
(2) glass fiber and nano Al2O3Respectively adding into the activating solution, and performing ultrasonic stirring treatment at 250w ultrasonic power, 130rmp stirring rate and 35 deg.CDrying, and mixing the glass fiber and nano Al2O3Respectively added into the modification liquid, the mass percent of the glass fiber in the modification liquid is 33 percent, and the nano Al2O3The mass percentage of the modified liquid is 22 percent, ultrasonic stirring treatment is carried out under the conditions of 250w ultrasonic power, 130rmp stirring speed and 55 ℃, then microwave blast drying is carried out on the glass fiber, and nano Al is added2O3Carrying out spray drying;
the activating solution comprises the following components in percentage by mass: 1.0% H2O21.7 percent of NaClO, 0.8 percent of citric acid and the balance of water; the modified liquid comprises the following components in percentage by mass: 13% of silane coupling agent acid, 16% of polyethylene glycol and the balance of ethanol; .
(3) Adding Si, Mn, Mg, Ni, Be and Al metal raw materials into a smelting furnace, heating to 760 ℃ to smelt into alloy solution, adding glass fiber and nano Al into the alloy solution2O3Stirring uniformly;
(4) cooling the uniformly stirred alloy solution to 720 ℃, preserving the temperature for 4min, then pouring into a green body, and carrying out heat treatment on the green body to obtain the wrist body of the robot;
the heat treatment comprises solution treatment and aging treatment, wherein the solution treatment process comprises the steps of applying oscillating pressure with the variation range of 180-230MPa to the green body after pouring, preserving heat for 4.5 hours when the temperature is reduced to 510 ℃, and then rapidly cooling to the room temperature; the aging treatment process comprises the steps of heating the temperature to 230 ℃ after the solution treatment, and preserving the heat for 4.5 hours.
Example 7
The preparation method of the wrist body of the robot hand in the embodiment comprises the following steps,
(1) preparing raw materials of the aluminum alloy according to the proportion of each component in the example 3;
(2) glass fiber and nano Al2O3Respectively adding into activating solution, performing ultrasonic stirring treatment at 300w ultrasonic power, 130rmp stirring rate and 40 deg.C, drying, and mixing with glass fiber and nanometer Al2O3Respectively added into the modifying liquid, the mass percentage of the glass fiber in the modifying liquid36% of nano Al2O3The mass percentage of the modified solution is 23 percent, ultrasonic stirring treatment is carried out under the ultrasonic power of 300w, the stirring speed of 130rmp and the temperature of 60 ℃, then the glass fiber is dried by microwave blast, and the nano Al is added2O3Carrying out spray drying;
the activating solution comprises the following components in percentage by mass: 1.2% H2O21.8 percent of NaClO, 0.9 percent of citric acid and the balance of water; the modified liquid comprises the following components in percentage by mass: 14% of silane coupling agent acid, 17% of polyethylene glycol and the balance of ethanol; .
(3) Adding Si, Mn, Mg, Ni, Be and Al metal raw materials into a smelting furnace, heating to 765 ℃ to smelt into alloy solution, adding glass fiber and nano Al into the alloy solution2O3Stirring uniformly;
(4) cooling the uniformly stirred alloy solution to 730 ℃, preserving heat for 4min, then pouring into a green body, and carrying out heat treatment on the green body to obtain the wrist body of the robot;
the heat treatment comprises solid solution treatment and aging treatment, wherein the solid solution treatment comprises the steps of applying oscillating pressure with the variation range of 180-230MPa to the green body after pouring, preserving the heat for 3.5h when the temperature is reduced to 520 ℃, and then rapidly cooling to the room temperature; the aging treatment process comprises the steps of heating the temperature to 235 ℃ after the solution treatment, and preserving the temperature for 4.5 hours.
Example 8
The preparation method of the wrist body of the robot hand in the embodiment comprises the following steps,
(1) preparing raw materials of the aluminum alloy according to the proportion of each component in the example 3;
(2) glass fiber and nano Al2O3Respectively adding into the activating solution, performing ultrasonic stirring treatment at 350w ultrasonic power, 120rmp stirring rate and 50 deg.C, drying, and mixing with glass fiber and nanometer Al2O3Respectively added into the modifying liquid, the mass percent of the glass fiber in the modifying liquid is 38 percent, and the nano Al2O3The mass percentage in the modified liquid is 25 percent, and the ultrasonic power is 200w, the stirring speed is 150rmp and the temperature is 65 DEG CUltrasonic stirring, microwave blast drying to obtain nanometer Al2O3Carrying out spray drying;
the activating solution comprises the following components in percentage by mass: 1.3% H2O22.0% of NaClO, 1.0% of citric acid and the balance of water; the modified liquid comprises the following components in percentage by mass: 15% of silane coupling agent acid, 18% of polyethylene glycol and the balance of ethanol; .
(3) Adding Si, Mn, Mg, Ni, Be and Al metal raw materials into a smelting furnace, heating to 770 ℃ to smelt into an alloy solution, and adding glass fiber and nano Al into the alloy solution2O3Stirring uniformly;
(4) cooling the uniformly stirred alloy solution to 735 ℃, preserving heat for 3min, casting into a green body, and carrying out heat treatment on the green body to obtain the wrist body of the robot;
the heat treatment comprises solid solution treatment and aging treatment, wherein the solid solution treatment comprises the steps of applying oscillating pressure with the variation range of 180-230MPa to the green body after pouring, preserving heat for 3 hours when the temperature is reduced to 530 ℃, and then rapidly cooling to room temperature; the aging treatment process comprises the steps of heating the temperature to 250 ℃ after the solution treatment, and preserving the heat for 4 hours.
Examples 9 to 11
Raw materials of aluminum alloys were prepared in the proportions of the respective components in examples 1, 2 and 4, respectively, and the robot wrist body was prepared in the preparation method of example 7.
Comparative example 1
The aluminum alloy used for preparing the wrist body of the robot is not added with glass fiber and nano Al2O3Otherwise, the same as in example 7.
Comparative example 2
Glass fiber and nano Al added in aluminum alloy for preparing wrist body of robot2O3The same procedure as in example 7 was repeated except that the treatment with the activating solution and the modifying solution was not conducted.
Comparative example 3
The aluminum alloy was subjected to no oscillating pressure during the heat treatment, and the rest was the same as in example 7.
Comparative example 4
The robot wrist body is prepared by using ZL104 aluminum alloy as a raw material and adopting a common casting method.
The performance of the wrist bodies of the robot hands in examples 5 to 11 of the present invention and comparative examples 1 to 4 were compared, and the comparison results are shown in table 3.
Table 3: performance of wrist body of robot hand in examples 5 to 11 and comparative examples 1 to 4
In conclusion, the components and the proportion of the aluminum alloy used for casting the robot wrist body are reasonably prepared through compatibility, the robot wrist body with high tensile strength and toughness is prepared through a specific preparation method, and the prepared robot wrist body is light in weight and high in flexibility due to the fact that the aluminum alloy is used as the raw material.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (8)
1. The preparation method of the robot wrist body is characterized in that the robot wrist body is made of aluminum alloy, wherein the aluminum alloy comprises the following components, by mass, 0.5-1.3% of Si, 0.2-0.5% of Mn, 0.17-0.35Mg, 0.5-1.2% of Ni, 1.0-1.5% of Be, 2.5-3.5% of glass fiber, and 1.5-3.0% of nano Al2O3The balance being Al, the nano Al2O3The particle size of the (B) is 30-80 nm;
the preparation method of the robot wrist body comprises the following steps:
s1, preparing raw materials of the aluminum alloy according to the proportion, and mixing the glass fiber and the nano Al2O3Respectively adding into activating solution, ultrasonic stirring, drying, and drying to obtain glass fiber and nanometer Al2O3Are respectively provided withAdding into the modified liquid for ultrasonic stirring treatment, then drying the glass fiber by microwave blast, and adding nano Al2O3Carrying out spray drying;
s2, heating Si, Mn, Mg, Ni, Be and Al to the temperature of 750-770 ℃ to smelt into alloy solution, adding glass fiber and nano Al into the alloy solution2O3Stirring uniformly;
s3, cooling the uniformly stirred alloy solution to 715-735 ℃, preserving heat for 3-5min, casting into a green blank, and performing heat treatment on the green blank to obtain the wrist body of the robot.
2. The method for preparing a robot wrist body according to claim 1, wherein the glass fiber has a length of 100-500 μm and a diameter of 0.1-10 μm.
3. The method for preparing a robot wrist body according to claim 1, wherein the activating solution in the step S1 includes the following components by mass percent: 0.9-1.3% H2O21.5-2.0% of NaClO, 0.6-1.0% of citric acid and the balance of water.
4. The method for preparing a robot wrist body according to claim 1, wherein the modifying solution in the step S1 includes the following components by mass percent: 12-15% of silane coupling agent acid, 15-18% of polyethylene glycol and the balance of ethanol.
5. The method for preparing a robot wrist body according to claim 1, wherein the glass fiber in the step S1 is 30 to 38 mass% in the modifying solution, and the nano Al is2O3The mass percentage of the modified liquid is 20-25%.
6. The method for preparing a robot wrist body according to claim 1, wherein the ultrasonic power of the ultrasonic agitation in the step S1 is 200-350w, the agitation speed is 120-150rmp, and the glass fiber and the nano Al are2O3Sonication in activating solutionThe temperature of the stirring treatment is 30-50 ℃, and the glass fiber and the nano Al are2O3The temperature of ultrasonic stirring treatment in the modification liquid is 50-65 ℃.
7. The method for preparing a robot wrist body according to claim 1, wherein the heat treatment in step S3 includes solution treatment and aging treatment, the solution treatment includes applying a shaking pressure with a variation range of 180-230MPa to the green body after casting, and after the temperature is reduced to 500-530 ℃, the green body is kept warm for 3-5h and then is rapidly cooled to room temperature.
8. The method for preparing a robot wrist body according to claim 7, wherein the aging treatment in the step S3 is carried out by heating the solution treatment to a temperature of 220 ℃ and 250 ℃ and keeping the temperature for 4-5 h.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710754707.5A CN107791274B (en) | 2017-08-29 | 2017-08-29 | Robot wrist body and preparation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710754707.5A CN107791274B (en) | 2017-08-29 | 2017-08-29 | Robot wrist body and preparation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107791274A CN107791274A (en) | 2018-03-13 |
| CN107791274B true CN107791274B (en) | 2020-09-18 |
Family
ID=61531570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710754707.5A Active CN107791274B (en) | 2017-08-29 | 2017-08-29 | Robot wrist body and preparation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107791274B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115945227A (en) * | 2022-12-28 | 2023-04-11 | 中冶华天工程技术有限公司 | Activation method of carbonyl sulfide hydrolysis catalyst |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006307307A (en) * | 2005-05-02 | 2006-11-09 | Hitachi Cable Ltd | Wiring cable for moving part in robot |
| CN105154704A (en) * | 2015-08-31 | 2015-12-16 | 苏州莱特复合材料有限公司 | Preparation method of high-temperature-resistant magnesium alloy material |
| CN105256200A (en) * | 2015-11-16 | 2016-01-20 | 利辛县江淮扬天汽车有限公司 | Aluminum-based composite bearing material with high corrosion resistance |
| CN105525117A (en) * | 2016-02-01 | 2016-04-27 | 安徽乾通教育制造有限公司 | Aluminum alloy material capable of being used for manufacturing cylinder cover and preparation method for aluminum alloy material |
| CN106193958A (en) * | 2016-08-01 | 2016-12-07 | 陆坤 | A kind of preparation method of aluminum alloy sound insulation door |
| CN106917016A (en) * | 2017-03-06 | 2017-07-04 | 桂林航天工业学院 | Car body lightweight aluminum alloy plate materials and preparation method thereof |
-
2017
- 2017-08-29 CN CN201710754707.5A patent/CN107791274B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006307307A (en) * | 2005-05-02 | 2006-11-09 | Hitachi Cable Ltd | Wiring cable for moving part in robot |
| CN105154704A (en) * | 2015-08-31 | 2015-12-16 | 苏州莱特复合材料有限公司 | Preparation method of high-temperature-resistant magnesium alloy material |
| CN105256200A (en) * | 2015-11-16 | 2016-01-20 | 利辛县江淮扬天汽车有限公司 | Aluminum-based composite bearing material with high corrosion resistance |
| CN105525117A (en) * | 2016-02-01 | 2016-04-27 | 安徽乾通教育制造有限公司 | Aluminum alloy material capable of being used for manufacturing cylinder cover and preparation method for aluminum alloy material |
| CN106193958A (en) * | 2016-08-01 | 2016-12-07 | 陆坤 | A kind of preparation method of aluminum alloy sound insulation door |
| CN106917016A (en) * | 2017-03-06 | 2017-07-04 | 桂林航天工业学院 | Car body lightweight aluminum alloy plate materials and preparation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107791274A (en) | 2018-03-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108641288B (en) | A kind of nano zircite/epoxy resin composite material and preparation method thereof | |
| CN109759578B (en) | Aluminum-based composite powder for 3D printing assembled and modified by two types of ultrafine ceramic particles and preparation method and application thereof | |
| WO2020135582A1 (en) | Aerogel-reinforced metal matrix composite material, preparation method and application thereof | |
| CN109097657B (en) | Mo nanoparticle reinforced CoCrNi intermediate entropy alloy composite material and preparation method thereof | |
| US20210197277A1 (en) | MN-CU-Based Damping Alloy Powder For Use In Selective Laser Melting Process And Preparation Method Thereof | |
| WO2021232942A1 (en) | Method for preparing graphene-reinforced aluminum matrix composite material powder by means of short flow | |
| CN105061980B (en) | A kind of super abrasive nano material modified phenolic resins and preparation method thereof | |
| CN111996406B (en) | Preparation method of in-situ synthesized aluminum oxide-aluminum nitride synergistic graphene reinforced aluminum-based composite material | |
| CN109763056A (en) | A kind of Fe-Co-Ni-Mn-Cu high entropy alloy material and its preparation process | |
| CN104844178A (en) | Preparation method of self-lubricating ceramic cutting tool material comprising spherical nanometer silicon dioxide coated hexagonal boron nitride composite powder | |
| CN107791274B (en) | Robot wrist body and preparation method thereof | |
| CN109971982B (en) | Preparation method of in-situ authigenic ceramic phase reinforced titanium-based composite material and product | |
| CN109865833B (en) | Powder metallurgy preparation method of titanium or titanium alloy product, and titanium or titanium alloy product | |
| CN109112375B (en) | Preparation method of high-performance alkene magnesium alloy | |
| CN105420634A (en) | High-hardness stainless steel pump valve casting resistant to high-temperature oxidization and preparation method thereof | |
| CN113174508A (en) | In-situ Al2O3Preparation method of particle reinforced aluminum matrix composite | |
| CN110295298B (en) | Preparation method of graphene-aluminum composite material | |
| CN112453386A (en) | Graphene aluminum-based composite material and preparation method thereof | |
| CN112111666A (en) | Aluminum-based composite material and impeller made of same | |
| CN109825744B (en) | In-situ generated nano tetra-aluminum carbide reinforced aluminum-based composite material and preparation method thereof | |
| CN113264778B (en) | Boron nitride composite ceramic and preparation method and application thereof | |
| CN113462921B (en) | Method for preparing carbon nano tube reinforced Al-Zn-Mg-Cu ultrahigh-strength aluminum alloy | |
| CN115367716A (en) | Method for preparing high-purity silicon nitride powder by high-energy ultrasonic pickling assisted two-stage nitridation process | |
| CN110218958B (en) | Method for preparing silicon carbide nanowire reinforced titanium-based composite material at low temperature | |
| CN111360263B (en) | Aluminum alloy and manufacturing method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |