CN107904449A - A kind of robot connector and its preparation process - Google Patents
A kind of robot connector and its preparation process Download PDFInfo
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- CN107904449A CN107904449A CN201710886525.3A CN201710886525A CN107904449A CN 107904449 A CN107904449 A CN 107904449A CN 201710886525 A CN201710886525 A CN 201710886525A CN 107904449 A CN107904449 A CN 107904449A
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- aluminium alloy
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- ion beam
- robot connector
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- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C21/00—Alloys based on aluminium
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C1/00—Making non-ferrous alloys
- C22C1/02—Making non-ferrous alloys by melting
- C22C1/026—Alloys based on aluminium
-
- 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
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C24/00—Coating starting from inorganic powder
- C23C24/08—Coating starting from inorganic powder by application of heat or pressure and heat
- C23C24/10—Coating starting from inorganic powder by application of heat or pressure and heat with intermediate formation of a liquid phase in the layer
- C23C24/103—Coating with metallic material, i.e. metals or metal alloys, optionally comprising hard particles, e.g. oxides, carbides or nitrides
- C23C24/106—Coating with metal alloys or metal elements only
Abstract
The invention discloses a kind of robot connector and its preparation process, belong to metal material field.Robot connector component and percentage composition are：Hg：2 4%, Ge：3 7%, Zn：2 4%, Sn：1 2%, Mn：1 3%, surplus is Al and impurity.Intensity when germanium can improve tensile strength, hardness, machinability and the higher temperature of aluminium alloy in the raw material proportioning, reduce the elongation percentage of product, mercury can form zinc amalgam binary compound with zinc, the performance of reinforced aluminium alloy, improve the intensity and hardness of aluminium alloy, sodium carries out crystal grain refinement in semisolid as a kind of aluminum alloy modifier.By covering magnesium powder in aluminum alloy surface, then helium ion beam high velocity bombardment is carried out, the atom for enabling aluminum alloy to the various elements on surface is mutually fused with magnesium atom, forms new surface alloy phases, that is, forms alloy protecting film, greatly strengthen the corrosion resistance of aluminium alloy.
Description
Technical field
The present invention relates to a kind of robot connector and its preparation process, belong to metal material field.
Background technology
Robot can work in many fields as the product under new science and technology technology and even substitute people labour.So
In a large amount of productions of robot, the material of manufacture machine person is then our top-priority factors.Aluminium alloy is high with it
Intensity, low-density, corrosion resistance are good and are widely used.
Aluminium alloy refers to based on aluminium, adds the elements such as a certain amount of magnesium, silicon, molybdenum, chromium, manganese and controls impurity element to contain
The alloy system of amount and composition.Aluminium alloy has high intensity, high rigidity, light-weight and good ductility, particularly suitable for making
Structural material, therefore be widely used in national defense industry and civilian industry, especially in automobile, motorcycle, firearms and household electrical appliances row
Occupy critical role in industry.
Traditional Al-alloy products generally use pressure processing, makes processed aluminium (base, ingot etc.) produce plastic deformation, so
It is divided to two kinds of cold working and hot-working according to aluminium product temperature difference afterwards.The main machining method of aluminium has：Rolling, forging, squeeze
Pressure etc..General alloy material and processing method can meet the use under conventional environment, but in the performance of lifting aluminium alloy
Upper (such as intensity, hardness) still needs to further investigate.
For the shortcomings of conventional aluminum alloy crack is more, elongation percentage is poor, publication number 106048379A disclose it is a kind of by
Toughness, elongation percentage that the member such as rare earth, strontium usually improves product are added in aluminium alloy.However, only lift the toughness of aluminium alloy, prolong
Reply complex environment can not be enabled aluminum alloy to by stretching the performances such as rate.
The content of the invention
For above-mentioned problem, the present invention provides a kind of high intensity, high rigidity, anti-corrosion and low impurity element machine
Device people's connector.
To achieve these goals, the present invention uses following technical scheme：
A kind of robot connector, the robot connector are made of aluminium alloy, the component and its quality of aluminium alloy
Percentage forms：Hg：2-4%, Ge：3-7%, Zn：2-4%, Sn：1-2%, Mn：1-3%, surplus are Al and impurity.
Germanium in raw material is the main ingredient for improving aluminium alloy mobile performance, and aluminium alloy can be obtained from eutectic to hypereutectic
Best mobility.In addition, intensity when germanium can improve tensile strength, hardness, machinability and the higher temperature of aluminium alloy, drop
The elongation percentage of low product.Under normal conditions, mercury is seldom added in alloy as a kind of addition type element, but the aluminium of the present invention closes
Jin Zhong, mercury with zinc formation zinc amalgam binary compound, the performance of reinforced aluminium alloy, can improve the intensity and hardness of aluminium alloy.
Preferably, in the al alloy component, the impurity includes H ＜ 0.007%, O ＜ 0.017%.Aluminium alloy
In H to be easy to cause material hydrogen broken, in preparation process, should pay attention to being mixed into for air constantly.
The present invention additionally provides another technical solution while reasonable selection material mixture ratio：
A kind of preparation process of robot connector, the method include the following steps：
(1) melting：Raw material is weighed by the component and its mass percent of above-mentioned aluminium alloy, raw material is smelted into aluminum alloy melt
And pour into aluminium alloy plate；
(2) it is heat-treated：Aluminium alloy plate is heated to 150-450 DEG C, in its surface layer overlay Na powder, keeps 30-
50min, then makes annealing treatment；
(3) it is molded：Aluminium alloy plate after heat treatment is cut, machines Hou get robots connector semi-finished product；
(4) it is surface-treated：In robot one layer of magnesium powder of connector surface of semi-finished uniform fold, surface ion is then carried out
Beam bombardment processing, obtains robot connector finished product.
High tenacity is had concurrently with high intensity, the aluminium alloy of low brittle transition temperature is comparatively ideal structural material, and crystal grain
Refinement is most direct effective approach.Crystal grain thinning can be completed by deformation technique or phase transformation technique, and sodium is as a kind of
Aluminum alloy modifier, penetrates under aluminium alloy semi-solid, and the sodium-calorize high and tiny with aluminium generation molten point is closed in aluminium alloy
Thing, have with germanium similar in lattice structure and lattice constant, thus heterogeneous nuclei when becoming germanium crystal, produce out-phase life core
Effect, it be nucleus to promote germanium crystalline substance base in liquation and atom fast-growth, greatly increases nucleus quantity, so as to fulfill refinement crystalline substance
The purpose of grain.
Finally, the present invention then carries out helium ion beam high velocity bombardment, enables aluminum alloy to table by covering magnesium powder in aluminum alloy surface
The atom of the various elements in face is mutually fused with magnesium atom, forms new surface alloy phases, that is, is formed alloy protecting film, increased
The strong corrosion resistance of aluminium alloy.
Preferably, in the preparation process of robot support plate, the Na powder, Mg powder are 250-450 mesh powders.Control
Prepared material powder diameter can make material be more easy to incorporate in aluminium alloy, reduce the gap of storeroom, reduce product crackle and produce generally
Rate.
Preferably, in step (2), annealing temperature is 300-700 DEG C in the heat treatment, keeps temperature 2-4h,
Cooling velocity is 15-25 DEG C/min, is cooled to room temperature.Annealing can improve product cutting processability, eliminate residual stress, stablize ruler
It is very little, reduce deformation and crackle tendency, while crystal grain thinning, homogeneous material tissue and improvement material property.
Preferably, in step (4), the surface treatment intermediate ion beam is helium ion beam, and ion beam bombardment speed is
150-250m/s, bombardment number are 3-5 times.Bombarded using high speed helium ion beam, bring huge energy, can be extremely short
So that the various atoms of aluminum alloy surface blend in time, so as to form new surface alloy phases, properties of product are lifted.
Compared with prior art, the invention has the advantages that：
(1) germanium in raw material be improve aluminium alloy mobile performance main ingredient, aluminium alloy from eutectic to it is hypereutectic can
Obtain best mobility.
(2) mercury in raw material can form zinc amalgam binary compound with zinc, and the performance of reinforced aluminium alloy, improves aluminium alloy
Intensity and hardness.
(4) sodium generates sodium-aluminium compound with aluminium, becomes heterogeneous nuclei during germanium crystal as a kind of aluminum alloy modifier,
It is nucleus to promote germanium crystalline substance base in liquation and atom fast-growth, greatly increases nucleus quantity, realizes crystal grain refinement.
(5) high velocity bombardment of helium ion beam, can promote as quick as thought the various atoms of aluminum alloy surface merge to be formed it is new
Surface alloy phases.
Embodiment
It is the specific embodiment of the present invention below, technical scheme is further described, but the present invention is simultaneously
It is not limited to these embodiments.
Embodiment 1
Dispensing：Raw material, including Hg are weighed by the component and its mass percent of above-mentioned aluminium alloy：3%th, Ge：5%th, Zn：
3%th, Sn：1.5%th, Mn：2%th, surplus is Al and impurity, and wherein impurity includes H ＜ 0.007%, O ＜ 0.017%.
Melting：Raw material is put into intermediate frequency furnace, set temperature, aluminium conjunction is poured into after raw material is melt into aluminum alloy melt
Golden plate；
Heat treatment：First by raw material melting, pour into aluminium alloy plate, then aluminium alloy plate is heated to 300 DEG C, treats aluminium alloy plate
After semisolid, last layer sodium powder is spread on its surface, keeps 40min.Then aluminium alloy plate is heated to 500 DEG C, keeps 3h, then
Managed by exterior air blast etc., be cooled to room temperature with the cooling velocity of 20 DEG C/min.
Shaping：Aluminium alloy plate after heat treatment is cut, machines Hou get robots connector semi-finished product.
Surface treatment：In robot one layer of magnesium powder of support plate surface of semi-finished uniform fold, it is placed in vacuum environment, then
Surface helium ion beam bombardment processing is carried out, it is 200m/s to set helium ion beam to bombard speed, and constantly adjustment bombardment angle, bombardment
4 Ci Hou get robots support board finished product.
Embodiment 2
Dispensing：Raw material, including Hg are weighed by the component and its mass percent of above-mentioned aluminium alloy：2%th, Ge：3%th, Zn：
2%th, Sn：1%th, Mn：1%th, surplus is Al and impurity, and wherein impurity includes H ＜ 0.007%, O ＜ 0.017%.
Melting：Raw material is put into intermediate frequency furnace, set temperature, aluminium conjunction is poured into after raw material is melt into aluminum alloy melt
Golden plate；
Heat treatment：First by raw material melting, pour into aluminium alloy plate, then aluminium alloy plate is heated to 300 DEG C, treats aluminium alloy plate
After semisolid, last layer sodium powder is spread on its surface, keeps 40min.Then aluminium alloy plate is heated to 500 DEG C, keeps 3h, then
Managed by exterior air blast etc., be cooled to room temperature with the cooling velocity of 20 DEG C/min.
Shaping：Aluminium alloy plate after heat treatment is cut, machines Hou get robots connector semi-finished product.
Surface treatment：In robot one layer of magnesium powder of support plate surface of semi-finished uniform fold, it is placed in vacuum environment, then
Surface helium ion beam bombardment processing is carried out, it is 200m/s to set helium ion beam to bombard speed, and constantly adjustment bombardment angle, bombardment
4 Ci Hou get robots support board finished product.
Embodiment 3
Dispensing：Raw material, including Hg are weighed by the component and its mass percent of above-mentioned aluminium alloy：4%th, Ge：7%th, Zn：
4%th, Sn：2%th, Mn：3%th, surplus is Al and impurity, and wherein impurity includes H ＜ 0.007%, O ＜ 0.017%.
Melting：Raw material is put into intermediate frequency furnace, set temperature, aluminium conjunction is poured into after raw material is melt into aluminum alloy melt
Golden plate；
Heat treatment：First by raw material melting, pour into aluminium alloy plate, then aluminium alloy plate is heated to 300 DEG C, treats aluminium alloy plate
After semisolid, last layer sodium powder is spread on its surface, keeps 40min.Then aluminium alloy plate is heated to 500 DEG C, keeps 3h, then
Managed by exterior air blast etc., be cooled to room temperature with the cooling velocity of 20 DEG C/min.
Shaping：Aluminium alloy plate after heat treatment is cut, machines Hou get robots connector semi-finished product.
Surface treatment：In robot one layer of magnesium powder of support plate surface of semi-finished uniform fold, it is placed in vacuum environment, then
Surface helium ion beam bombardment processing is carried out, it is 200m/s to set helium ion beam to bombard speed, and constantly adjustment bombardment angle, bombardment
4 Ci Hou get robots support board finished product.
Embodiment 4
Dispensing：Raw material, including Hg are weighed by the component and its mass percent of above-mentioned aluminium alloy：3%th, Ge：5%th, Zn：
3%th, Sn：1.5%th, Mn：2%th, surplus is Al and impurity, and wherein impurity includes H ＜ 0.007%, O ＜ 0.017%.
Melting：Raw material is put into intermediate frequency furnace, set temperature, aluminium conjunction is poured into after raw material is melt into aluminum alloy melt
Golden plate；
Heat treatment：First by raw material melting, pour into aluminium alloy plate, then aluminium alloy plate is heated to 150 DEG C, treats aluminium alloy plate
After semisolid, last layer sodium powder is spread on its surface, keeps 30min.Then aluminium alloy plate is heated to 300 DEG C, keeps 2h, then
Managed by exterior air blast etc., be cooled to room temperature with the cooling velocity of 15 DEG C/min.
Shaping：Aluminium alloy plate after heat treatment is cut, machines Hou get robots connector semi-finished product.
Surface treatment：In robot one layer of magnesium powder of support plate surface of semi-finished uniform fold, it is placed in vacuum environment, then
Surface helium ion beam bombardment processing is carried out, it is 200m/s to set helium ion beam to bombard speed, and constantly adjustment bombardment angle, bombardment
4 Ci Hou get robots support board finished product.
Embodiment 5
Dispensing：Raw material, including Hg are weighed by the component and its mass percent of above-mentioned aluminium alloy：3%th, Ge：5%th, Zn：
3%th, Sn：1.5%th, Mn：2%th, surplus is Al and impurity, and wherein impurity includes H ＜ 0.007%, O ＜ 0.017%.
Melting：Raw material is put into intermediate frequency furnace, set temperature, aluminium conjunction is poured into after raw material is melt into aluminum alloy melt
Golden plate；
Heat treatment：First by raw material melting, pour into aluminium alloy plate, then aluminium alloy plate is heated to 450 DEG C, treats aluminium alloy plate
After semisolid, last layer sodium powder is spread on its surface, keeps 50min.Then aluminium alloy plate is heated to 700 DEG C, keeps 4h, then
Managed by exterior air blast etc., be cooled to room temperature with the cooling velocity of 25 DEG C/min.
Shaping：Aluminium alloy plate after heat treatment is cut, machines Hou get robots connector semi-finished product.
Surface treatment：In robot one layer of magnesium powder of support plate surface of semi-finished uniform fold, it is placed in vacuum environment, then
Surface helium ion beam bombardment processing is carried out, it is 200m/s to set helium ion beam to bombard speed, and constantly adjustment bombardment angle, bombardment
4 Ci Hou get robots support board finished product.
Embodiment 6
Dispensing：Raw material, including Hg are weighed by the component and its mass percent of above-mentioned aluminium alloy：3%th, Ge：5%th, Zn：
3%th, Sn：1.5%th, Mn：2%th, surplus is Al and impurity, and wherein impurity includes H ＜ 0.007%, O ＜ 0.017%.
Melting：Raw material is put into intermediate frequency furnace, set temperature, aluminium conjunction is poured into after raw material is melt into aluminum alloy melt
Golden plate；
Heat treatment：First by raw material melting, pour into aluminium alloy plate, then aluminium alloy plate is heated to 300 DEG C, treats aluminium alloy plate
After semisolid, last layer sodium powder is spread on its surface, keeps 40min.Then aluminium alloy plate is heated to 500 DEG C, keeps 3h, then
Managed by exterior air blast etc., be cooled to room temperature with the cooling velocity of 20 DEG C/min.
Shaping：Aluminium alloy plate after heat treatment is cut, machines Hou get robots connector semi-finished product.
Surface treatment：In robot one layer of magnesium powder of support plate surface of semi-finished uniform fold, it is placed in vacuum environment, then
Surface helium ion beam bombardment processing is carried out, it is 150m/s to set helium ion beam to bombard speed, and constantly adjustment bombardment angle, bombardment
3 Ci Hou get robots support board finished product.
Embodiment 7
Dispensing：Raw material, including Hg are weighed by the component and its mass percent of above-mentioned aluminium alloy：3%th, Ge：5%th, Zn：
3%th, Sn：1.5%th, Mn：2%th, surplus is Al and impurity, and wherein impurity includes H ＜ 0.007%, O ＜ 0.017%.
Melting：Raw material is put into intermediate frequency furnace, set temperature, aluminium conjunction is poured into after raw material is melt into aluminum alloy melt
Golden plate；
Heat treatment：First by raw material melting, pour into aluminium alloy plate, then aluminium alloy plate is heated to 300 DEG C, treats aluminium alloy plate
After semisolid, last layer sodium powder is spread on its surface, keeps 40min.Then aluminium alloy plate is heated to 500 DEG C, keeps 3h, then
Managed by exterior air blast etc., be cooled to room temperature with the cooling velocity of 20 DEG C/min.
Shaping：Aluminium alloy plate after heat treatment is cut, machines Hou get robots connector semi-finished product.
Surface treatment：In robot one layer of magnesium powder of support plate surface of semi-finished uniform fold, it is placed in vacuum environment, then
Surface helium ion beam bombardment processing is carried out, it is 250m/s to set helium ion beam to bombard speed, and constantly adjustment bombardment angle, bombardment
5 Ci Hou get robots support board finished product.
Comparative example 1
With differing only in for embodiment 1, raw material is free of Ge in comparative example 1.
Comparative example 2
With differing only in for embodiment 1, raw material is free of Hg in comparative example 2.
Comparative example 3
With differing only in for embodiment 1, the Na powder during comparative example 3 is heat-treated is not added in aluminium alloy plate semisolid,
But directly melted with raw material.
Comparative example 4
With differing only in for embodiment 1, comparative example 4 is surface-treated to be handled without surface alloying, directly to product
Carry out spray painting processing.
Product in embodiment 1-7 and comparative example 1-4 is tested, tests its intensity, corrosion resistance and hardness, as a result
As shown in table 1：
Table 1：The performance of product in embodiment 1-7 and comparative example 1-4
As can be seen from the table, if being the absence of the elements such as Ge, Hg in raw material, zinc amalgam can not be formed inside aluminium alloy
Two-phase system, can not strengthen the intensity and hardness of product, significantly reduce the comprehensive performance of product.Meanwhile it is surface-treated shape
Into surface alloy phases, significantly enhance the corrosion resistance of product, be suitable for the use environment of complexity.Wherein, corrosion resistance
Data start the time corroded occur for product surface.
It is skilled to this area although having been made a detailed description to the present invention and being cited some specific embodiments
For technical staff, as long as it is obvious that can make various changes or correct without departing from the spirit and scope of the present invention.
Claims (6)
1. a kind of robot connector, it is characterised in that the robot connector is made of aluminium alloy, the component of aluminium alloy
And its mass percentage composition is：Hg：2-4%, Ge：3-7%, Zn：2-4%, Sn：1-2%, Mn：1-3%, surplus for Al and
Impurity.
2. a kind of robot connector according to claim 1, it is characterised in that the impurity includes H ＜ 0.007%, O
＜ 0.017%.
3. a kind of preparation process of robot connector, it is characterised in that the method includes the following steps：
(1) melting：Raw material is weighed by the component and its mass percent of aluminium alloy in claim 1, raw material is smelted into aluminium closes
Golden liquid simultaneously pours into aluminium alloy plate；
(2) it is heat-treated：Aluminium alloy plate is heated to 150-450 DEG C, in its surface layer overlay Na powder, keeps 30-50min, so
After annealing processing；
(3) it is molded：Aluminium alloy plate after heat treatment is cut, machines Hou get robots connector semi-finished product；
(4) it is surface-treated：In robot one layer of magnesium powder of connector surface of semi-finished uniform fold, then carry out surface ion beam and bang
Processing is hit, obtains robot connector finished product.
4. the preparation process of a kind of robot connector according to claim 3, it is characterised in that the Na powder, Mg powder
For 250-450 mesh powders.
5. the preparation process of a kind of robot connector according to claim 3, it is characterised in that moved back in the heat treatment
Fiery temperature is 300-700 DEG C, and holding temperature-time is 2-4h, and cooling velocity is 15-25 DEG C/min, is cooled to room temperature.
6. the preparation process of a kind of robot connector according to claim 3, it is characterised in that in the surface treatment
Ion beam is helium ion beam, and ion beam bombardment speed is 150-250m/s, and bombardment number is 3-5 times.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710886525.3A CN107904449A (en) | 2017-09-27 | 2017-09-27 | A kind of robot connector and its preparation process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710886525.3A CN107904449A (en) | 2017-09-27 | 2017-09-27 | A kind of robot connector and its preparation process |
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ID=61841047
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020061854A1 (en) * | 2018-09-26 | 2020-04-02 | 西门子（中国）有限公司 | Joint of collaborative robot, and housing therefor |
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|---|---|---|---|---|
| US6547896B2 (en) * | 1999-07-28 | 2003-04-15 | Ruag Munition | Process for the production of a material made of a metal alloy |
| CN101569926A (en) * | 2009-05-27 | 2009-11-04 | 中国兵器工业第五二研究所 | Method for casting aluminum piston with insert ring and cooling coil pipe |
| CN102943192A (en) * | 2012-10-29 | 2013-02-27 | 中国兵器工业第五二研究所 | Aluminum piston manufacturing method |
-
2017
- 2017-09-27 CN CN201710886525.3A patent/CN107904449A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6547896B2 (en) * | 1999-07-28 | 2003-04-15 | Ruag Munition | Process for the production of a material made of a metal alloy |
| EP1230409B1 (en) * | 1999-07-28 | 2004-01-21 | RUAG Components | Method for producing a metal-alloy material |
| CN101569926A (en) * | 2009-05-27 | 2009-11-04 | 中国兵器工业第五二研究所 | Method for casting aluminum piston with insert ring and cooling coil pipe |
| CN102943192A (en) * | 2012-10-29 | 2013-02-27 | 中国兵器工业第五二研究所 | Aluminum piston manufacturing method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020061854A1 (en) * | 2018-09-26 | 2020-04-02 | 西门子（中国）有限公司 | Joint of collaborative robot, and housing therefor |
| US11584027B2 (en) | 2018-09-26 | 2023-02-21 | Rethink Robotics Gmbh | Joint of collaborative robot, and housing therefor |
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Application publication date: 20180413 |