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 PDF

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Publication number
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
mold
low
casting
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CN201711026557.2A
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Inventor
张希波
周永清
王京虎
杜朝阳
刘曙光
夏大卫
刘江涛
许健东
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Priority to CN201711026557.2A priority Critical patent/CN107824762A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B22CASTING; POWDER METALLURGY
    • B22DCASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D18/00Pressure casting; Vacuum casting
    • B22D18/04Low 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

One kind cooperation robot arm aluminum alloy metal-type low-pressure casting process
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.
CN201711026557.2A 2017-10-27 2017-10-27 One kind cooperation robot arm aluminum alloy metal-type low-pressure casting process Withdrawn CN107824762A (en)

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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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