CN111687419A - Robot cover plate - Google Patents
Robot cover plate Download PDFInfo
- Publication number
- CN111687419A CN111687419A CN202010404884.2A CN202010404884A CN111687419A CN 111687419 A CN111687419 A CN 111687419A CN 202010404884 A CN202010404884 A CN 202010404884A CN 111687419 A CN111687419 A CN 111687419A
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- CN
- China
- Prior art keywords
- robot
- metal powder
- cover plate
- isostatic pressing
- ball milling
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F5/00—Manufacture of workpieces or articles from metallic powder characterised by the special shape of the product
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/02—Compacting only
- B22F3/04—Compacting only by applying fluid pressure, e.g. by cold isostatic pressing [CIP]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/12—Both compacting and sintering
- B22F3/14—Both compacting and sintering simultaneously
- B22F3/15—Hot isostatic pressing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/24—After-treatment of workpieces or articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F9/00—Making metallic powder or suspensions thereof
- B22F9/02—Making metallic powder or suspensions thereof using physical processes
- B22F9/04—Making metallic powder or suspensions thereof using physical processes starting from solid material, e.g. by crushing, grinding or milling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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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
- C22C21/06—Alloys based on aluminium with magnesium as the next major constituent
- C22C21/08—Alloys based on aluminium with magnesium as the next major constituent with silicon
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/24—After-treatment of workpieces or articles
- B22F2003/248—Thermal after-treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F9/00—Making metallic powder or suspensions thereof
- B22F9/02—Making metallic powder or suspensions thereof using physical processes
- B22F9/04—Making metallic powder or suspensions thereof using physical processes starting from solid material, e.g. by crushing, grinding or milling
- B22F2009/043—Making metallic powder or suspensions thereof using physical processes starting from solid material, e.g. by crushing, grinding or milling by ball milling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F2998/00—Supplementary information concerning processes or compositions relating to powder metallurgy
- B22F2998/10—Processes characterised by the sequence of their steps
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Robotics (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Powder Metallurgy (AREA)
Abstract
The invention belongs to the field of machinery, and particularly relates to a robot cover plate and a preparation method thereof. The robot cover plate is prepared from aluminum alloy, wherein the aluminum alloy is Al-Mg-Si-Be alloy. The preparation method comprises the following steps: weighing raw material metal powder in proportion, and performing ball milling and mixing; carrying out cold isostatic pressing on the metal powder subjected to ball milling and mixing; carrying out hot isostatic pressing on the cold isostatic pressed metal blank; and carrying out heat treatment after hot isostatic pressing forming, and then processing the prepared alloy into a robot cover plate. The prepared robot cover plate has higher specific strength, and the density of the material is lighter, so that the weight of the whole robot can be reduced, the energy is saved, the mechanical requirements of the robot cover plate are met, and the robot cover plate has a good application prospect.
Description
Technical Field
The invention belongs to the field of machinery, and particularly relates to a robot cover plate and a preparation method thereof.
Background
The aluminum alloy has low density, high strength, good plasticity, excellent conductivity, heat conductivity and corrosion resistance. Aluminum alloys are the most widely used non-ferrous structural materials in industry and are used in a large number of applications in the aerospace, automotive, mechanical manufacturing, marine, aluminum alloy and chemical industries. Pure aluminum has a low density of about 1/3 that is iron, a low melting point of 660 ℃, and a face-centered cubic structure, so that the pure aluminum has high plasticity and is easy to process, various sections and plates can be manufactured, the aluminum alloy has good corrosion resistance, but the pure aluminum has low strength and is not suitable for being used as a structural material, and through long-term production practices and scientific experiments, people gradually add alloy elements and apply a heat treatment method to strengthen aluminum to obtain various aluminum alloys with different properties. The alloy formed by adding certain elements can have higher strength while keeping the advantages of light weight of pure aluminum and the like, so that the specific strength is superior to that of a plurality of alloy steels, the alloy becomes an ideal structural material and is widely applied to the aspects of mechanical manufacturing, transportation machinery, power machinery, aviation industry and the like, the airframe, the skin, the air compressor and the like of an airplane are usually made of the aluminum alloy to reduce the dead weight, the aluminum alloy is adopted to replace the welding of a steel plate material, and the structural weight can be reduced by more than 50%.
The robot cover plate is a shell for protecting the robot, plays an important role, the robot is possibly impacted by external force in the working process, the core structure in the robot can be protected from being damaged by the robot cover plate, and therefore the robot cover plate needs to have strong impact resistance and other mechanical properties, the existing common aluminum alloy cannot meet the requirements of the robot cover plate, and therefore the robot cover plate with high performance needs to be manufactured through a special process.
Disclosure of Invention
In order to solve the above problems, the present invention provides a robot cover plate and a method for manufacturing the same.
The scheme provided by the invention is as follows:
a robot cover plate is prepared from an aluminum alloy, wherein the aluminum alloy is Al-Mg-Si-Be alloy.
A robot deck, the preparation of the robot deck comprising the steps of:
(1) weighing raw material metal powder in proportion, and performing ball milling and mixing;
(2) carrying out cold isostatic pressing on the metal powder subjected to ball milling and mixing;
(3) carrying out hot isostatic pressing on the cold isostatic pressed metal blank;
(4) and carrying out heat treatment after hot isostatic pressing forming, and then processing the prepared alloy into a robot cover plate.
Further, the metal powder is Be powder and Al-Mg-Si metal powder.
Furthermore, the particle size of the metal powder is 8-10 μm, if the particle size of the metal powder is too small, agglomeration phenomenon is easy to occur, mechanical mixing of the metal powder is not facilitated, and if the particle size of the metal powder is small, different metal powders cannot be effectively combined, so that the performance of the prepared material is reduced.
Further, W balls with the diameter of 6-8 mm are used in the ball milling and mixing.
Further, the ball-milling mixing ball material ratio is 5-6: 1, ball milling is carried out in a nitrogen protective atmosphere, the ball milling rotating speed is 300-400 r/min, and the ball milling time is 4-5 h. Because the metal powder has certain activity, the metal powder can be prevented from being oxidized under the protection of nitrogen, and the mechanical alloying degree between the metal powder is improved.
Further, the pressure of the cold isostatic pressing is 200-250 Mpa, and the molding time is 20-30 min.
Furthermore, the hot isostatic pressing temperature is 600-650 ℃, and the hot isostatic pressing pressure is 130-150 Mpa.
Further, the following steps: the heat treatment process comprises solid solution treatment at 520-530 ℃ for 1h and aging treatment at 170-180 ℃ for 8-10 h.
The invention has the advantages that: the prepared robot cover plate has higher specific strength, and the density of the material is lighter, so that the weight of the whole robot can be reduced, the energy is saved, the mechanical requirements of the robot cover plate are met, and the robot cover plate has a good application prospect.
Detailed Description
Example 1
A robot cover plate is prepared from an aluminum alloy, wherein the aluminum alloy is Al-Mg-Si-Be alloy.
A robot deck, the preparation of the robot deck comprising the steps of:
(1) weighing raw material metal powder according to a proportion, performing ball-milling mixing, wherein a W ball with the diameter of 6mm is used in the ball-milling mixing, the metal powder is Be powder and Al-Mg-Si metal powder, the particle size of the metal powder is 8 mu m, if the particle size of the metal powder is too small, agglomeration phenomenon can easily occur, the mechanical mixing of the metal powder is not facilitated, if the particle size of the metal powder is smaller, different metal powders cannot Be effectively combined, the material performance of the prepared metal powder can Be reduced finally, and the ball-milling mixing ball material ratio is 5: 1, ball milling is carried out in a nitrogen protective atmosphere, the ball milling rotating speed is 300r/min, and the ball milling time is 4 hours. Because the metal powder has certain activity, the metal powder can be prevented from being oxidized under the protection of nitrogen, and the mechanical alloying degree between the metal powder is improved;
(2) carrying out cold isostatic pressing on the metal powder subjected to ball milling and mixing, wherein the pressure of the cold isostatic pressing is 200Mpa, and the forming time is 20 min;
(3) carrying out hot isostatic pressing on the cold isostatic pressed metal blank, wherein the hot isostatic pressing temperature is 600 ℃, and the hot isostatic pressing pressure is 130 Mpa;
(4) and (3) carrying out heat treatment after hot isostatic pressing forming, wherein the heat treatment process comprises solution treatment at 520 ℃ for 1h and aging treatment at 170 ℃ for 8h, and then processing the prepared alloy into a robot cover plate.
Example 2
A robot cover plate is prepared from an aluminum alloy, wherein the aluminum alloy is Al-Mg-Si-Be alloy.
A robot deck, the preparation of the robot deck comprising the steps of:
(1) weighing raw material metal powder according to a proportion, performing ball-milling mixing, wherein a W ball with the diameter of 8mm is used in the ball-milling mixing, the metal powder is Be powder and Al-Mg-Si metal powder, the particle size of the metal powder is 10 mu m, if the particle size of the metal powder is too small, agglomeration phenomenon can easily occur, the mechanical mixing of the metal powder is not facilitated, if the particle size of the metal powder is smaller, different metal powders cannot Be effectively combined, the material performance of the prepared metal powder can Be reduced finally, and the ball-milling mixing ball material ratio is 6: 1, ball milling is carried out in a nitrogen protective atmosphere, the ball milling rotating speed is 400r/min, and the ball milling time is 5 hours. Because the metal powder has certain activity, the metal powder can be prevented from being oxidized under the protection of nitrogen, and the mechanical alloying degree between the metal powder is improved;
(2) carrying out cold isostatic pressing on the metal powder subjected to ball milling and mixing, wherein the pressure of the cold isostatic pressing is 250MPa, and the forming time is 30 min;
(3) carrying out hot isostatic pressing on the cold isostatic pressed metal blank, wherein the hot isostatic pressing temperature is 650 ℃, and the hot isostatic pressing pressure is 150 Mpa;
(4) and (3) carrying out heat treatment after hot isostatic pressing forming, wherein the heat treatment process comprises solution treatment at 530 ℃ for 1h and aging treatment at 180 ℃ for 10h, and then processing the prepared alloy into a robot cover plate.
Example 3
A robot cover plate is prepared from an aluminum alloy, wherein the aluminum alloy is Al-Mg-Si-Be alloy.
A robot deck, the preparation of the robot deck comprising the steps of:
(1) weighing raw material metal powder according to a proportion, carrying out ball-milling mixing, wherein a W ball with the diameter of 6-8 mm is used in the ball-milling mixing, the metal powder is Be powder and Al-Mg-Si metal powder, the particle size of the metal powder is 8-10 mu m, if the particle size of the metal powder is too small, agglomeration phenomenon can easily occur, the mechanical mixing of the metal powder is not facilitated, if the particle size of the metal powder is smaller, different metal powders cannot Be effectively combined, the material performance of the prepared material can Be reduced finally, and the ball-milling mixing ball material ratio is 5.5: 1, ball milling is carried out in a nitrogen protective atmosphere, the ball milling rotating speed is 350r/min, and the ball milling time is 4.5 h. Because the metal powder has certain activity, the metal powder can be prevented from being oxidized under the protection of nitrogen, and the mechanical alloying degree between the metal powder is improved;
(2) carrying out cold isostatic pressing on the metal powder subjected to ball milling and mixing, wherein the pressure of the cold isostatic pressing is 225Mpa, and the forming time is 25 min;
(3) carrying out hot isostatic pressing on the cold isostatic pressed metal blank, wherein the hot isostatic pressing temperature is 625 ℃, and the hot isostatic pressing pressure is 140 Mpa;
(4) and (3) carrying out heat treatment after hot isostatic pressing forming, wherein the heat treatment process comprises solution treatment at 525 ℃ for 1h and aging treatment at 175 ℃ for 9h, and then processing the prepared alloy into a robot cover plate.
Comparative example 1
The comparative example differs from example 1 in that the aluminum alloy is a normal aluminum alloy.
Comparative example 2
The comparative example differs from example 1 in that no nitrogen blanket was used during the ball milling process.
Comparative example 3
The comparative example differs from example 1 in that the particle size of the metal powder is 20 μm.
Comparative example 4
The comparative example differs from example 1 in that the particle size of the metal powder is 5 μm.
Comparative example 5
The present comparative example differs from example 1 in that no heat treatment is performed after hot isostatic pressing.
Through performance test, the robot cover plate prepared in the embodiment has lighter weight and higher strength, can effectively protect parts in the robot, and has strong beneficial effect.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (9)
1. A robot apron which characterized in that: the robot cover plate is prepared from aluminum alloy, wherein the aluminum alloy is Al-Mg-Si-Be alloy.
2. A robot apron which characterized in that: the preparation of the robot cover plate comprises the following steps:
(1) weighing raw material metal powder in proportion, and performing ball milling and mixing;
(2) carrying out cold isostatic pressing on the metal powder subjected to ball milling and mixing;
(3) carrying out hot isostatic pressing on the cold isostatic pressed metal blank;
(4) and carrying out heat treatment after hot isostatic pressing forming, and then processing the prepared alloy into a robot cover plate.
3. A robot deck according to claim 2, characterized in that: the metal powder is Be powder and Al-Mg-Si metal powder.
4. A robot deck according to claim 3, characterized in that: the particle size of the metal powder is 8-10 mu m.
5. A robot deck according to claim 2, characterized in that: w balls with the diameter of 6-8 mm are used for ball milling and mixing.
6. A robot deck according to claim 2, characterized in that: the ball-milling mixed ball material ratio is 5-6: 1, ball milling is carried out in a nitrogen protective atmosphere, the ball milling rotating speed is 300-400 r/min, and the ball milling time is 4-5 h.
7. A robot deck according to claim 2, characterized in that: the pressure of the cold isostatic pressing is 200-250 Mpa, and the forming time is 20-30 min.
8. A robot deck according to claim 2, characterized in that: the hot isostatic pressing temperature is 600-650 ℃, and the hot isostatic pressing pressure is 130-150 Mpa.
9. A robot deck according to claim 2, characterized in that: the heat treatment process comprises solid solution treatment at 520-530 ℃ for 1h and aging treatment at 170-180 ℃ for 8-10 h.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010404884.2A CN111687419A (en) | 2020-05-13 | 2020-05-13 | Robot cover plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010404884.2A CN111687419A (en) | 2020-05-13 | 2020-05-13 | Robot cover plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111687419A true CN111687419A (en) | 2020-09-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010404884.2A Pending CN111687419A (en) | 2020-05-13 | 2020-05-13 | Robot cover plate |
Country Status (1)
| Country | Link |
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| CN (1) | CN111687419A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02217666A (en) * | 1989-02-17 | 1990-08-30 | Honda Motor Co Ltd | Piston ring for internal combustion engine |
| ES2277736A1 (en) * | 2005-05-16 | 2007-07-16 | Alucoil, S.A. | Strong, light-weight, fire-resistant construction panels with sandwich structure, useful e.g. in facades, consist of external sheets of aluminum and central core of closed-cell aluminum foam |
| CN102676855A (en) * | 2011-03-11 | 2012-09-19 | 赵凯志 | Method for preparing high magnesium aluminium alloy ingot used for forging hubs |
| CN103484733A (en) * | 2013-08-12 | 2014-01-01 | 安徽环宇铝业有限公司 | Production technique of high-strength stay bar aluminum alloy section |
| CN103757502A (en) * | 2013-12-26 | 2014-04-30 | 安徽欣意电缆有限公司 | Al-Fe-Cu-Mg-Sr-Be aluminum alloy for automobile wire, and wiring harness thereof |
| CN104357716A (en) * | 2014-11-26 | 2015-02-18 | 农彩丽 | Heat-resistant and anti-creep aluminium-magnesium alloy and preparation process thereof |
| CN104651684A (en) * | 2013-11-25 | 2015-05-27 | 中国兵器工业第五二研究所 | Aluminum alloy structure material and preparation thereof |
| CN107699758A (en) * | 2017-08-22 | 2018-02-16 | 宁波华源精特金属制品有限公司 | A kind of robot firm banking |
| CN109136681A (en) * | 2018-09-07 | 2019-01-04 | 安徽耀强精轮机械有限公司 | 6061 aluminium casting rod material formulas of one kind and its casting technique |
| CN111020251A (en) * | 2019-12-20 | 2020-04-17 | 营口忠旺铝业有限公司 | Production process of high-strength 6-series aluminum alloy section |
-
2020
- 2020-05-13 CN CN202010404884.2A patent/CN111687419A/en active Pending
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|---|---|---|---|---|
| JPH02217666A (en) * | 1989-02-17 | 1990-08-30 | Honda Motor Co Ltd | Piston ring for internal combustion engine |
| ES2277736A1 (en) * | 2005-05-16 | 2007-07-16 | Alucoil, S.A. | Strong, light-weight, fire-resistant construction panels with sandwich structure, useful e.g. in facades, consist of external sheets of aluminum and central core of closed-cell aluminum foam |
| CN102676855A (en) * | 2011-03-11 | 2012-09-19 | 赵凯志 | Method for preparing high magnesium aluminium alloy ingot used for forging hubs |
| CN103484733A (en) * | 2013-08-12 | 2014-01-01 | 安徽环宇铝业有限公司 | Production technique of high-strength stay bar aluminum alloy section |
| CN104651684A (en) * | 2013-11-25 | 2015-05-27 | 中国兵器工业第五二研究所 | Aluminum alloy structure material and preparation thereof |
| CN103757502A (en) * | 2013-12-26 | 2014-04-30 | 安徽欣意电缆有限公司 | Al-Fe-Cu-Mg-Sr-Be aluminum alloy for automobile wire, and wiring harness thereof |
| CN104357716A (en) * | 2014-11-26 | 2015-02-18 | 农彩丽 | Heat-resistant and anti-creep aluminium-magnesium alloy and preparation process thereof |
| CN107699758A (en) * | 2017-08-22 | 2018-02-16 | 宁波华源精特金属制品有限公司 | A kind of robot firm banking |
| CN109136681A (en) * | 2018-09-07 | 2019-01-04 | 安徽耀强精轮机械有限公司 | 6061 aluminium casting rod material formulas of one kind and its casting technique |
| CN111020251A (en) * | 2019-12-20 | 2020-04-17 | 营口忠旺铝业有限公司 | Production process of high-strength 6-series aluminum alloy section |
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| Title |
|---|
| 中国有色金属工业协会专家委员会: "《中国铍业》", 30 April 2015, 冶金工业出版社 * |
| 刘向东: "铍铝合金设计、粉末冶金制备及力学性能研究", 《中国优秀博硕士学位论文全文数据库(博士)（工程科技Ⅱ辑）》 * |
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Application publication date: 20200922 |