CN107824762A - One kind cooperation robot arm aluminum alloy metal-type low-pressure casting process - Google Patents
One kind cooperation robot arm aluminum alloy metal-type low-pressure casting process Download PDFInfo
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- CN107824762A CN107824762A CN201711026557.2A CN201711026557A CN107824762A CN 107824762 A CN107824762 A CN 107824762A CN 201711026557 A CN201711026557 A CN 201711026557A CN 107824762 A CN107824762 A CN 107824762A
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- metal
- pressure casting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D18/00—Pressure casting; Vacuum casting
- B22D18/04—Low pressure casting, i.e. making use of pressures up to a few bars to fill the mould
Abstract
The invention discloses one kind cooperation robot arm aluminum alloy metal-type low-pressure casting process, comprise the following steps:S01, arm three-dimensional modeling;S02, casting process scheme design;S03, mold flow analysis;S04, metal-mold low-pressure casting mold design, the design of arm inner chamber hot core box mould;S05, metal-mold low-pressure casting Making mold, the manufacture of arm inner chamber hot core box mould;S06, the manufacture of arm inner chamber film covered sand core, surface spraying;S07, the sandblasting of metal-mold low-pressure casting mould, spray paint;S08, metal-mold low-pressure casting alloy melting, charging;S09, metal-mold low-pressure casting installation core;S10, metal-mold low-pressure casting casting pouring;S11, metal-mold low-pressure casting heat treating castings.The cooperation robot arm manufactured by the present invention, there is the advantages of lightweight, high rigidity, inner chamber precision is high, outer surface is attractive in appearance exquisite.
Description
Technical field
The invention belongs to aluminium alloy casting technology field, specifically, is related to a kind of cooperation robot arm aluminium alloy gold
Genotype low-pressure casting process method.
Background technology
Nearly 2 years, cooperation robot was quickly grown, because the application for the robot that cooperates can reduce production cost, raising work effect
Rate and production system overall flexibility, progressively it is applied to many accurate industry fields such as automobile, 3C, IT electronics industry, especially
The assembling application of small parts.
Cooperation robot arm can not produce during high speed motion to be rocked, and is to realize high speed and smooth action
Performance-critical, at the same the robot arm that cooperates is very slender but bearing load is very big, so even if being installed in narrow space
Used, while robot arm can be allowed to be controlled with the possibility that surrounding devices collide in bottom line.With intelligence
Energyization and man-machine coordination work, sensor cable, additional shaft cable, magnetic valve, air conduit and for controlling the I/O of instrument electric
Cable is all built in narrow and small arm.So lightweight, high rigidity, inner chamber high accuracy, outer surface exquisite arm attractive in appearance be association
Make the key of robot future core competitive power.
Conventional industrial robot's arm is typically produced using sand mold or gravitational casting mode, but sand casting process
This advanced high accuracy cooperation robot arm high-volume is govern always with the shortcomings that gravity foundry technology itself to manufacture.In order to
Produce performance and preferably cooperate that to study a kind of new aluminum alloy casting technique method particularly important for robot arm.
In view of this it is special to propose the present invention.
The content of the invention
The technical problem to be solved in the present invention is overcome the deficiencies in the prior art, there is provided one kind cooperation robot arm aluminium
Alloying metal type low-pressure casting process method, the cooperation robot arm manufactured, there is lightweight, high rigidity, inner chamber essence
The advantages of degree is high, outer surface is attractive in appearance exquisite.
In order to solve the above technical problems, the present invention is using the basic conception of technical scheme:
One kind cooperation robot arm aluminum alloy metal-type low-pressure casting process, comprises the following steps:
S01, arm three-dimensional modeling, the cooperation robot arm cast with three-dimensional software to needs are entered by drawing technical requirements
Row three-dimensional modeling;
S02, casting process scheme design, alloy material is determined according to product structure combination metal-mold low-pressure casting process
Expect chemical composition, running gate system, allowance, die joint;
S03, mold flow analysis, cast blank three-dimensional is drawn according to casting process scheme, is transported then in conjunction with casting technological parameter
Mold flow analysis is done with mould stream software, it is determined that final casting process scheme;
S04, metal-mold low-pressure casting mold design, the design of arm inner chamber hot core box mould, according to final casting technique side
Case combination metal-mold low-pressure casting die feature, device parameter, design mould;
S05, metal-mold low-pressure casting Making mold, the manufacture of arm inner chamber hot core box mould, according to designed die drawing
Paper, manufacture metal mold low pressure mould and inner chamber film-covering sand hot corebox mould;
S06, the manufacture of arm inner chamber film covered sand core, surface spraying, suppressed with the inner chamber film-covering sand hot corebox mould manufactured
Precoated sand cooperation robot arm inner chamber core, then paints special water-based graphite core coating, baking is standby on core surface
With;
S07, the sandblasting of metal-mold low-pressure casting mould, spray paint, the metal-mold low-pressure casting mould sandblasting to complete,
It is installed on low pressure casting board, then preheats and be molded position spray paint to whole mould;
S08, metal-mold low-pressure casting alloy melting, charging, the qualified aluminium Tonga of melting is entered according to casting technique requirement
Low pressure casting machine holding furnace;
S09, metal-mold low-pressure casting installation core, installs inner chamber core;
S10, metal-mold low-pressure casting casting pouring, according to the designed technological parameter of low pressure casting, pour into a mould product;
S11, metal-mold low-pressure casting heat treating castings, it is heat-treated according to the characteristic of cast alloy materials.
Further, when carrying out the step S09, screen pack is installed in the submarine gate.
Further, in addition to step S12, metal-mold low-pressure casting castings examination, after heat treatment has been carried out, to cast
Metal-mold low-pressure casting casting out is according to casting techniques requirement to casting dimension, surface fluorescence flaw detection, significant points X ray
Flaw detection.
Further, in addition to step S13, metal-mold low-pressure casting cast(ing) surface processing, after castings examination has been carried out,
Hard edges is cleared up, ball blast is carried out to cast(ing) surface.
Further, when carrying out the step S06, core must be through 120 degree of 3 hours of baking of IR oven simultaneously
Come out of the stove before cast use.
Further, when carrying out the step S07, when mould preheating is with spray paint, it should according to casting technique subregion
Domain is heated to metal mold low pressure mould, 400 DEG C -420 DEG C of inlet temperature, is then gradually reduced from top to bottom, ensures that top exists
350 DEG C -380 DEG C, build the temperature field of consecutive solidification, coating wants spraying uniformly to come off, thickness control in 0.3-0.2mm,
And spray paint thickness and heat insulating ability according to order from top to bottom from thickness to it is thin, from by force to weak.
Further, when carrying out the step S08, the absolute density of the aluminium soup reach 2.62 grams it is per cubic centimeter when
Charging.
Further, when carrying out the step S10, the aluminium soup pouring temperature control fills type pressure at 740 DEG C -760 DEG C
Power 0.035MP, filling time 15-20s, dwell pressure 0.05MP, dwell time 5-6min.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art:
Compared with domestic and international industrial machine human arm is using sand mold or gravity foundry technology method, cast using metal mold low pressure
Make, liquid acts in pressure when making full use of low pressure casting continues feeding from bottom to up, and casting is in whole casting process
All it is to crystallize under stress from top to bottom, particularly casting mould is Metal mould casting, is to have resistance to shrink in process of setting, institute
So that the cast structure that metal-mold low-pressure casting comes out is fine and close, clear-cut, surfaces externally and internally is bright and clean, stable mechanical performance, in arm
Chamber shaping becomes apparent from, and dimensionally stable uniformity is good, and blank allowance in light weight is few, and casting yield rate is high, and labor intensity is low,
Working condition is good, reduces the dosage saving energy of sand mold and reduces environmental pollution, particularly x-ray inspection, fluorescent penetrating inspection, gas
Close property and finished surface pinhole rate grade cast high than core.
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
A part of the accompanying drawing as the application, for providing further understanding of the invention, of the invention is schematic
Embodiment and its illustrate to be used to explain the present invention, but do not form inappropriate limitation of the present invention.Obviously, drawings in the following description
Only some embodiments, to those skilled in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.In the accompanying drawings:
Fig. 1 is present invention process schematic flow sheet;
Fig. 2 is a kind of preferred embodiment schematic diagram of the present invention;
Fig. 3 is another preferred embodiment schematic diagram of the invention;
It should be noted that these accompanying drawings and word description are not intended as the design model limiting the invention in any way
Enclose, but be that those skilled in the art illustrate idea of the invention by reference to specific embodiment.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in embodiment is clearly and completely described, following examples be used for illustrate the present invention, but
It is not limited to the scope of the present invention.
It is term " on ", " under ", "front", "rear", "left", "right", " perpendicular in the description of the invention, it is necessary to explanation
Directly ", the orientation of the instruction such as " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected;Can
To be mechanical connection or electrical connection;Can be joined directly together, can also be indirectly connected by intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
A kind of as shown in figure 1, cooperation robot arm aluminum alloy metal-type low-pressure casting technique side described in the present embodiment
Method, comprise the following steps:
S01, arm three-dimensional modeling, the cooperation robot arm cast with three-dimensional software to needs are entered by drawing technical requirements
Row three-dimensional modeling;
S02, casting process scheme design, alloy material is determined according to product structure combination metal-mold low-pressure casting process
Expect chemical composition, running gate system, allowance, die joint;
S03, mold flow analysis, cast blank three-dimensional is drawn according to casting process scheme, is transported then in conjunction with casting technological parameter
Mold flow analysis is done with mould stream software, continues to optimize and determines that final casting process scheme and final casting blank are three-dimensional;
S04, metal-mold low-pressure casting mold design, the design of arm inner chamber hot core box mould, according to final casting technique side
Case combination metal-mold low-pressure casting die feature, device parameter, design mould;
S05, metal-mold low-pressure casting Making mold, the manufacture of arm inner chamber hot core box mould, according to designed die drawing
Paper, manufacture metal mold low pressure mould and inner chamber film-covering sand hot corebox mould;
S06, the manufacture of arm inner chamber film covered sand core, surface spraying, suppressed with the inner chamber film-covering sand hot corebox mould manufactured
Precoated sand cooperation robot arm inner chamber core, then paints special water-based graphite core coating, baking is standby on core surface
With;
S07, the sandblasting of metal-mold low-pressure casting mould, spray paint, the metal-mold low-pressure casting mould sandblasting to complete,
It is installed on low pressure casting board, then preheats and be molded position spray paint to whole mould;
S08, metal-mold low-pressure casting alloy melting, charging, the qualified aluminium Tonga of melting is entered according to casting technique requirement
Low pressure casting machine holding furnace;
S09, metal-mold low-pressure casting installation core, installs inner chamber core;
S10, metal-mold low-pressure casting casting pouring, according to the designed technological parameter of low pressure casting, pour into a mould product;
S11, metal-mold low-pressure casting heat treating castings, it is heat-treated according to the characteristic of cast alloy materials.
The cooperation robot arm cast first with three-dimensional software to needs carries out three-dimensional modeling by drawing technical requirements.Three
Alloy is determined according to cooperation robot arm product requirement combination metal-mold low-pressure casting process after dimension moulding confirmation is errorless
Material chemical composition, running gate system, allowance, die joint complete spray three-dimensional.Then it is three-dimensional according to spray, knot
Close casting technological parameter and do mold flow analysis with mould stream software, continue to optimize and determine final casting process scheme and final casting
Part blank is three-dimensional.Metal-mold low-pressure casting die feature and device parameter design completion mould are combined according to final casting blank is three-dimensional
Have graphics and mould processing X-Y scheme.According to designed mould graphics and X-Y scheme, metal mold low pressure mould is manufactured
With film-covering sand hot corebox mould.Metal mold low pressure die module must combine foundry method features, according to the shape at shaping position
Make the temperature field wall thickness for being adapted to gradually change.Overlay film placer arm inner chamber core is suppressed with the hot core box mould manufactured, then
Special water-based graphite core coating is painted on core surface.The metal mold low pressure mould sandblasting to complete, it is installed to low
On pressure casting machine platform, then whole mould is preheated to being molded position spray paint.According to the good alloy material of casting Technology Design
Melted qualified aluminium Tonga is entered low pressure casting machine holding furnace.During alloy melting, alloy melting must be according to alloy material used
Expect smelting technology carry out melting, after the completion of melting spectrum analysis meet GB T 1173-2013 standards regulation ZL101A chemistry into
Point, while cast sample block fracture must be examined and measure the absolute density of materials of aluminum water sample.Install particular filter net and
Inner chamber core, according to designed low-pressure casting process parameter, carry out low-pressure casting.In actual production process, rise hydraulic coupling, fill
Type pressure, dwell pressure, boost pressure, the parameter of cool time need to be entered according to cooperation robot arm casting structure product weight
Row design and adjustment.According to cooperation robot arm technical requirements the selection of material GB T 1173-2013's after casting removal cast gate
ZL101A-T6, heat treating castings carry out T6 heat treatments according to GB/T25745-2010 standards.Qualified cooperation machine will be heat-treated
Human arm carries out each surface and does 100% fluoroscopic examination, and the significant points for the robot arm that cooperates carry out X by ASTM E94-2004
Radiographic inspection, burr is cleared up after castings examination is qualified, qualified cooperation robot arm casting is can obtain after ball blast.
Its principle is specifically described below.
Using metal-mold low-pressure casting, liquid is persistently mended from bottom to up in pressure effect when making full use of low pressure casting
Contracting, it is all to crystallize under stress from top to bottom that casting is in whole casting process, and particularly casting mould is Metal mould casting,
It is to have resistance to shrink in process of setting, so the cast structure that metal-mold low-pressure casting comes out is fine and close, clear-cut, surfaces externally and internally
Bright and clean, stable mechanical performance, the shaping of arm inner chamber become apparent from, and dimensionally stable uniformity is good, and blank allowance in light weight is few,
It is high to cast yield rate.
Further, as shown in Fig. 2 when carrying out the step S09, screen pack is installed in the submarine gate, so can mistake
The impurity in aluminium soup is filtered, the defects of avoiding pouring into a mould product formation bubble out.
As shown in figure 3, further, in addition to step S12, metal-mold low-pressure casting castings examination, carrying out at heat
After reason, the metal-mold low-pressure casting casting of cast out is detected a flaw, again according to casting techniques requirement to casting dimension, surface fluorescence
Want position x-ray inspection.Further, in addition to step S13, metal-mold low-pressure casting cast(ing) surface are handled, carried out
After castings examination, hard edges is cleared up, ball blast is carried out to cast(ing) surface.
Further, when carrying out the step S06, core must be through 120 degree of 3 hours of baking of IR oven simultaneously
Come out of the stove before cast use.
Further, when carrying out the step S07, when mould preheating is with spray paint, it should according to casting technique subregion
Domain is heated to metal mold low pressure mould, 400 DEG C -420 DEG C of inlet temperature, is then gradually reduced from top to bottom, ensures that top exists
350 DEG C -380 DEG C, build the temperature field of consecutive solidification, coating wants spraying uniformly to come off, thickness control in 0.3-0.2mm,
And spray paint thickness and heat insulating ability according to order from top to bottom from thickness to it is thin, from by force to weak.
Further, when carrying out the step S08, the absolute density of the aluminium soup reach 2.62 grams it is per cubic centimeter when
Charging.
Further, when carrying out the step S10, the aluminium soup pouring temperature control fills type pressure at 740 DEG C -760 DEG C
Power 0.035MP, filling time 15-20s, dwell pressure 0.05MP, dwell time 5-6min.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art:
Compared with domestic and international industrial machine human arm is using sand mold or gravity foundry technology method, cast using metal mold low pressure
Make, liquid acts in pressure when making full use of low pressure casting continues feeding from bottom to up, and casting is in whole casting process
All it is to crystallize under stress from top to bottom, particularly casting mould is Metal mould casting, is to have resistance to shrink in process of setting, institute
So that the cast structure that metal-mold low-pressure casting comes out is fine and close, clear-cut, surfaces externally and internally is bright and clean, stable mechanical performance, in arm
Chamber shaping becomes apparent from, and dimensionally stable uniformity is good, and blank allowance in light weight is few, and casting yield rate is high, and labor intensity is low,
Working condition is good, reduces the dosage saving energy of sand mold and reduces environmental pollution, particularly x-ray inspection, fluorescent penetrating inspection, gas
Close property and finished surface pinhole rate grade cast high than core.
Described above is only presently preferred embodiments of the present invention, not makees any formal limitation to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any technology people for being familiar with this patent
Member without departing from the scope of the present invention, when the technology contents using above-mentioned prompting make it is a little change or be modified to
The equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modification, equivalent change and modification that above example is made, in the range of still falling within the present invention program.
Claims (8)
1. one kind cooperation robot arm aluminum alloy metal-type low-pressure casting process, it is characterised in that comprise the following steps:
S01, arm three-dimensional modeling, the cooperation robot arm cast with three-dimensional software to needs carry out three by drawing technical requirements
Tie up moulding;
S02, casting process scheme design, alloy material is determined according to product structure combination metal-mold low-pressure casting process
Study point, running gate system, allowance, die joint;
S03, mold flow analysis, cast blank three-dimensional is drawn according to casting process scheme, mould is used then in conjunction with casting technological parameter
Stream software does mold flow analysis, it is determined that final casting process scheme;
S04, metal-mold low-pressure casting mold design, the design of arm inner chamber hot core box mould, according to final casting process scheme knot
Alloy genotype low pressure casting die feature, device parameter, design mould;
S05, metal-mold low-pressure casting Making mold, the manufacture of arm inner chamber hot core box mould, according to designed mould drawing, system
Make metal mold low pressure mould and inner chamber film-covering sand hot corebox mould;
S06, the manufacture of arm inner chamber film covered sand core, surface spraying, with the inner chamber film-covering sand hot corebox mould compacting overlay film manufactured
Sand cooperation robot arm inner chamber core, then paints special water-based graphite core coating, baking is standby on core surface;
S07, the sandblasting of metal-mold low-pressure casting mould, spray paint, the metal-mold low-pressure casting mould sandblasting to complete, installation
Onto low pressure casting board, position spray paint is then preheated and is molded to whole mould;
S08, metal-mold low-pressure casting alloy melting, charging, the qualified aluminium Tonga of melting is entered low pressure according to casting technique requirement
Casting machine holding furnace;
S09, metal-mold low-pressure casting installation core, installs inner chamber core;
S10, metal-mold low-pressure casting casting pouring, according to the designed technological parameter of low pressure casting, pour into a mould product;
S11, metal-mold low-pressure casting heat treating castings, it is heat-treated according to the characteristic of cast alloy materials.
2. a kind of cooperation robot arm aluminum alloy metal-type low-pressure casting process according to claim 1, it is special
Sign is, when carrying out the step S09, screen pack is installed in the submarine gate.
3. a kind of cooperation robot arm aluminum alloy metal-type low-pressure casting process according to claim 1, it is special
Sign is, in addition to step S12, metal-mold low-pressure casting castings examination, after heat treatment has been carried out, to the metal of cast out
Type low pressure casting casting is according to casting techniques requirement to casting dimension, surface fluorescence flaw detection, significant points x-ray inspection.
4. a kind of cooperation robot arm aluminum alloy metal-type low-pressure casting process according to claim 3, it is special
Sign is, in addition to step S13, the processing of metal-mold low-pressure casting cast(ing) surface, clears up hard edges, cast(ing) surface is thrown
Ball.
5. a kind of cooperation robot arm aluminum alloy metal-type low-pressure casting process according to claim 1, it is special
Sign is, when carrying out the step S06, core must go out through 120 degree of IR oven, 3 hours of baking and before cast
Stove uses.
6. a kind of cooperation robot arm aluminum alloy metal-type low-pressure casting process according to claim 1, it is special
Sign is, when carrying out the step S07, when mould preheating is with spray paint, it should according to casting technique subregion to metal mold
Low pressure mould heats, and 400 DEG C -420 DEG C of inlet temperature, is then gradually reduced from top to bottom, ensures top at 350 DEG C -380
DEG C, the temperature field of consecutive solidification is built, coating wants spraying uniformly to come off, and thickness control is in 0.3-0.2mm, and spray paint is thick
Degree and heat insulating ability according to from top to bottom order from thickness to it is thin, from by force to weak.
7. a kind of cooperation robot arm aluminum alloy metal-type low-pressure casting process according to claim 1, it is special
Sign is, when carrying out the step S08, the absolute density of the aluminium soup reach 2.62 grams it is per cubic centimeter when feed.
8. a kind of cooperation robot arm aluminum alloy metal-type low-pressure casting process according to claim 1, it is special
Sign is, when carrying out the step S10, the aluminium soup pouring temperature is controlled at 740 DEG C -760 DEG C, mold filling pressure 0.035MP,
Filling time 15-20s, dwell pressure 0.05MP, dwell time 5-6min.
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109332650A (en) * | 2018-12-20 | 2019-02-15 | 上海爱仕达汽车零部件有限公司 | A kind of low-pressure casting method of large machines human arm casting |
CN109773160A (en) * | 2019-03-29 | 2019-05-21 | 山东鸿源新材料有限公司 | The low-pressure casting process of aluminum alloy impeller |
CN109877839A (en) * | 2019-03-25 | 2019-06-14 | 济南翼菲自动化科技有限公司 | A kind of robot pick-and-place flexible path algorithm |
CN110496952A (en) * | 2019-09-06 | 2019-11-26 | 江苏新安驰铝业有限公司 | A kind of type core sand removal method of the turbocharger shell of low pressure casting |
CN110586902A (en) * | 2019-10-25 | 2019-12-20 | 山东泰来铸铝科技有限公司 | Low-pressure casting die for ultra-long aluminum alloy beam and casting method thereof |
CN112775414A (en) * | 2021-01-11 | 2021-05-11 | 山东一立动力科技股份有限公司 | Low-pressure casting method of aluminum alloy fan blade |
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2017
- 2017-10-27 CN CN201711026557.2A patent/CN107824762A/en not_active Withdrawn
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109332650A (en) * | 2018-12-20 | 2019-02-15 | 上海爱仕达汽车零部件有限公司 | A kind of low-pressure casting method of large machines human arm casting |
CN109877839A (en) * | 2019-03-25 | 2019-06-14 | 济南翼菲自动化科技有限公司 | A kind of robot pick-and-place flexible path algorithm |
CN109773160A (en) * | 2019-03-29 | 2019-05-21 | 山东鸿源新材料有限公司 | The low-pressure casting process of aluminum alloy impeller |
CN110496952A (en) * | 2019-09-06 | 2019-11-26 | 江苏新安驰铝业有限公司 | A kind of type core sand removal method of the turbocharger shell of low pressure casting |
CN110586902A (en) * | 2019-10-25 | 2019-12-20 | 山东泰来铸铝科技有限公司 | Low-pressure casting die for ultra-long aluminum alloy beam and casting method thereof |
CN110586902B (en) * | 2019-10-25 | 2021-07-20 | 山东泰来铸铝科技有限公司 | Low-pressure casting die for ultra-long aluminum alloy beam and casting method thereof |
CN112775414A (en) * | 2021-01-11 | 2021-05-11 | 山东一立动力科技股份有限公司 | Low-pressure casting method of aluminum alloy fan blade |
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Application publication date: 20180323 |