CN110724849A - Robot alloy skeleton - Google Patents
Robot alloy skeleton Download PDFInfo
- Publication number
- CN110724849A CN110724849A CN201910983139.5A CN201910983139A CN110724849A CN 110724849 A CN110724849 A CN 110724849A CN 201910983139 A CN201910983139 A CN 201910983139A CN 110724849 A CN110724849 A CN 110724849A
- Authority
- CN
- China
- Prior art keywords
- copper
- weight
- following components
- based alloy
- percentage
- 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.)
- Pending
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Classifications
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- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C9/00—Alloys based on copper
- C22C9/01—Alloys based on copper with aluminium as the next major constituent
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
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- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C38/00—Ferrous alloys, e.g. steel alloys
- C22C38/12—Ferrous alloys, e.g. steel alloys containing tungsten, tantalum, molybdenum, vanadium, or niobium
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- 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
- C23C4/00—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge
- C23C4/04—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge characterised by the coating material
- C23C4/06—Metallic material
- C23C4/08—Metallic material containing only metal elements
Abstract
The invention discloses a robot alloy skeleton, which comprises a copper-based alloy material and a thermal spraying alloy layer, wherein the copper-based alloy material comprises the following components in percentage by weight: 0.2-0.4% of Mn, 0.1-0.4% of Fe, 0.1-0.5% of Ni, 9.3-12.5% of Al, 0.1-0.2% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 20-30% of vanadium and 70-80% of iron, the fatigue resistance and the casting performance of the skeleton are improved by using a copper-based alloy material as a base material, and the wear resistance, the friction force and the corrosion resistance of the hot spraying alloy layer can be enhanced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot alloy skeleton.
Background
The robot generally comprises an actuating mechanism, a driving device, a detection device, a control system, a complex machine and the like. The actuator is a robot body, and the arm part of the actuator generally adopts a spatial open-chain link mechanism, wherein a kinematic pair (a revolute pair or a revolute pair) is often called a joint. For the sake of anthropomorphic reasons, the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (gripper or end effector), a walking part (for a mobile robot), and the like, respectively. The robot alloy skeleton has the following technical defects: when the robot moves, bones are rubbed with each other, so that the movement flexibility and the service life of the bones are influenced.
Moreover, most of the existing metal skeletons can not well adapt to the high-strength work of robots, and have the defects of poor fatigue resistance, poor casting performance and poor wear-resisting effect.
Disclosure of Invention
In order to comprehensively solve the problems, particularly the defects in the prior art, the invention provides a robot alloy skeleton which can comprehensively solve the problems.
In order to achieve the purpose, the invention adopts the following technical means:
a robot alloy skeleton comprises a copper-based alloy material and a thermal spraying alloy layer, wherein the copper-based alloy material comprises the following components in percentage by weight: 0.2-0.4% of Mn, 0.1-0.4% of Fe, 0.1-0.5% of Ni, 9.3-12.5% of Al, 0.1-0.2% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 20-30% of vanadium and 70-80% of iron.
Further, the copper-based alloy material comprises a copper-based alloy material and a thermal spraying alloy layer, wherein the copper-based alloy material comprises the following components in percentage by weight: 0.2% of Mn, 0.1% of Fe, 0.1% of Ni, 9.3% of Al, 0.1% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 30% of vanadium and 70% of iron.
Further, the copper-based alloy material comprises a copper-based alloy material and a thermal spraying alloy layer, wherein the copper-based alloy material comprises the following components in percentage by weight: 0.4% of Mn, 0.4% of Fe, 0.5% of Ni, 12.5% of Al, 0.2% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 20% of vanadium and 80% of iron.
Further, the copper-based alloy material comprises a copper-based alloy material and a thermal spraying alloy layer, wherein the copper-based alloy material comprises the following components in percentage by weight: 0.3% of Mn, 0.2% of Fe, 0.4% of Ni, 10% of Al, 0.15% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 25% of vanadium and 75% of iron.
The invention has the beneficial effects that: according to the invention, the copper-based alloy material is used as the base material, the fatigue resistance and the casting performance of the skeleton are improved, and the hot spraying alloy layer can enhance the wear resistance, the friction force and the corrosion resistance.
Detailed Description
Example 1: the embodiment provides a robot alloy skeleton, which comprises a copper-based alloy material and a thermal spraying alloy layer, wherein the copper-based alloy material comprises the following components in percentage by weight: 0.2% of Mn, 0.1% of Fe, 0.1% of Ni, 9.3% of Al, 0.1% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 30% of vanadium and 70% of iron.
The copper-based alloy material is used as a base material, so that the fatigue resistance and the casting performance of the skeleton are improved, and the wear resistance, the friction force and the corrosion resistance of the hot spraying alloy layer can be enhanced.
Example 2: the embodiment provides a robot alloy skeleton, which comprises a copper-based alloy material and a thermal spraying alloy layer, wherein the copper-based alloy material comprises the following components in percentage by weight: 0.4% of Mn, 0.4% of Fe, 0.5% of Ni, 12.5% of Al, 0.2% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 20% of vanadium and 80% of iron.
The copper-based alloy material is used as a base material, so that the fatigue resistance and the casting performance of the skeleton are improved, and the wear resistance, the friction force and the corrosion resistance of the hot spraying alloy layer can be enhanced.
Example 3: the embodiment provides a robot alloy skeleton, which comprises a copper-based alloy material and a thermal spraying alloy layer, wherein the copper-based alloy material comprises the following components in percentage by weight: 0.3% of Mn, 0.2% of Fe, 0.4% of Ni, 10% of Al, 0.15% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 25% of vanadium and 75% of iron.
The copper-based alloy material is used as a base material, so that the fatigue resistance and the casting performance of the skeleton are improved, and the wear resistance, the friction force and the corrosion resistance of the hot spraying alloy layer can be enhanced.
The foregoing detailed description is given for clarity of illustration only, and is not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other variations and modifications may be made in the foregoing disclosure without departing from the spirit or essential characteristics of the invention, and it is not desired to exhaustively enumerate all embodiments, but rather those obvious variations and modifications are to be included within the scope of the invention.
Claims (4)
1. A robot alloy skeleton is characterized by comprising a copper-based alloy material and a thermal spraying alloy layer, wherein the copper-based alloy material comprises the following components in percentage by weight: 0.2-0.4% of Mn, 0.1-0.4% of Fe, 0.1-0.5% of Ni, 9.3-12.5% of Al, 0.1-0.2% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 20-30% of vanadium and 70-80% of iron.
2. A robot alloy skeleton according to claim 1, comprising a copper-based alloy material and a thermally sprayed alloy layer, wherein the copper-based alloy material comprises the following components in parts by weight: 0.2% of Mn, 0.1% of Fe, 0.1% of Ni, 9.3% of Al, 0.1% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 30% of vanadium and 70% of iron.
3. A robot alloy skeleton according to claim 1, comprising a copper-based alloy material and a thermally sprayed alloy layer, wherein the copper-based alloy material comprises the following components in parts by weight: 0.4% of Mn, 0.4% of Fe, 0.5% of Ni, 12.5% of Al, 0.2% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 20% of vanadium and 80% of iron.
4. A robotic alloy skeleton according to claim 1, comprising a copper-based alloy material and a thermally sprayed alloy layer, said copper-based alloy material comprising the following components in parts by weight: 0.3% of Mn, 0.2% of Fe, 0.4% of Ni, 10% of Al, 0.15% of Gr and the balance of Cu, wherein the thermal spraying alloy layer comprises the following components in percentage by weight: 25% of vanadium and 75% of iron.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910983139.5A CN110724849A (en) | 2019-10-16 | 2019-10-16 | Robot alloy skeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910983139.5A CN110724849A (en) | 2019-10-16 | 2019-10-16 | Robot alloy skeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110724849A true CN110724849A (en) | 2020-01-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910983139.5A Pending CN110724849A (en) | 2019-10-16 | 2019-10-16 | Robot alloy skeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110724849A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101435032A (en) * | 2008-11-19 | 2009-05-20 | 苏州有色金属研究院有限公司 | Corrosion resistant multi-aluminum bronze material for pipe |
| CN105132851A (en) * | 2015-09-06 | 2015-12-09 | 南京理工技术转移中心有限公司 | Alloy skeleton of robot |
| CN108179306A (en) * | 2018-02-11 | 2018-06-19 | 陕西斯瑞新材料股份有限公司 | A kind of robot welds arm acid bronze alloy |
| CN109913692A (en) * | 2019-04-26 | 2019-06-21 | 山东科技大学 | A kind of preparation method of high fatigue performance as cast condition nickel aluminum bronze |
-
2019
- 2019-10-16 CN CN201910983139.5A patent/CN110724849A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101435032A (en) * | 2008-11-19 | 2009-05-20 | 苏州有色金属研究院有限公司 | Corrosion resistant multi-aluminum bronze material for pipe |
| CN105132851A (en) * | 2015-09-06 | 2015-12-09 | 南京理工技术转移中心有限公司 | Alloy skeleton of robot |
| CN108179306A (en) * | 2018-02-11 | 2018-06-19 | 陕西斯瑞新材料股份有限公司 | A kind of robot welds arm acid bronze alloy |
| CN109913692A (en) * | 2019-04-26 | 2019-06-21 | 山东科技大学 | A kind of preparation method of high fatigue performance as cast condition nickel aluminum bronze |
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Application publication date: 20200124 |