CN111844090A - Aluminum alloy mechanical gripper and processing method thereof - Google Patents
Aluminum alloy mechanical gripper and processing method thereof Download PDFInfo
- Publication number
- CN111844090A CN111844090A CN202010659967.6A CN202010659967A CN111844090A CN 111844090 A CN111844090 A CN 111844090A CN 202010659967 A CN202010659967 A CN 202010659967A CN 111844090 A CN111844090 A CN 111844090A
- Authority
- CN
- China
- Prior art keywords
- thumb
- paw
- finger
- fingertip
- rotatably connected
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D18/00—Pressure casting; Vacuum casting
- B22D18/04—Low pressure casting, i.e. making use of pressures up to a few bars to fill the mould
-
- 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
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D11/00—Electrolytic coating by surface reaction, i.e. forming conversion layers
- C25D11/02—Anodisation
- C25D11/04—Anodisation of aluminium or alloys based thereon
- C25D11/06—Anodisation of aluminium or alloys based thereon characterised by the electrolytes used
- C25D11/10—Anodisation of aluminium or alloys based thereon characterised by the electrolytes used containing organic acids
-
- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D11/00—Electrolytic coating by surface reaction, i.e. forming conversion layers
- C25D11/02—Anodisation
- C25D11/04—Anodisation of aluminium or alloys based thereon
- C25D11/18—After-treatment, e.g. pore-sealing
- C25D11/24—Chemical after-treatment
- C25D11/246—Chemical after-treatment for sealing layers
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Pistons, Piston Rings, And Cylinders (AREA)
- Other Surface Treatments For Metallic Materials (AREA)
Abstract
The invention discloses an aluminum alloy mechanical paw and a processing method thereof, and relates to the technical field of mechanical arms. The hybrid membrane is formed on the surface of the aluminum alloy mechanical paw, the surface of the hybrid membrane is complete, compact and uniform, the hardness, impact resistance, corrosion resistance and surface smoothness of the mechanical paw can be effectively improved, the corrosion and abrasion to the aluminum alloy mechanical paw are reduced, and the service life of the aluminum alloy mechanical paw is prolonged.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to an aluminum alloy mechanical gripper and a processing method thereof.
Background
The times are advanced, and the science and technology are developed. Nowadays, people do not satisfy the previous full-warm life, and now pursue the way of health preservation, and massage is the most important one in health preservation, so the electric massage armchair is widely applied to railway stations, high-speed railway stations, markets, movie halls and other places. However, the automatic massage chair cannot be adjusted according to the needs, for example, it can only be adjusted to a certain extent mechanically during massage, and for some patients, it cannot massage at will because the condition of illness is easily aggravated. The automatic massage chair has the defects of large volume, large mass and the like, and is not suitable for household use. The manipulations of massage are divided into: many manipulations such as pressing, rubbing, pushing, holding, kneading, pinching, and beating are difficult to perform on a single massage chair. As a result, a number of anthropomorphic massage manipulators have been vigorously developed.
The massage manipulator needs to realize personification to the maximum extent, and the selection of materials of the massage manipulator needs to meet certain rigidity and strength, and meanwhile, the weight is reduced. The aluminum alloy has low density, high strength, good processability, compact structure and mature process, and is very suitable to be used as a main material of a massage manipulator. However, in the working process of the massage manipulator, the mechanical claw of the massage manipulator needs to be in direct contact with a human body, the abrasion of the surface of the massage manipulator is serious after long-term use, and in addition, sweat of the human body has serious corrosiveness on aluminum alloy, and the mechanical claw can be damaged prematurely after long-term use.
Disclosure of Invention
In view of the above, the present invention provides an aluminum alloy mechanical gripper and a processing method thereof, so as to form a hybrid film on the surface of the aluminum alloy mechanical gripper, wherein the hybrid film has a complete, compact and uniform surface, thereby improving the hardness, impact resistance, corrosion resistance and surface smoothness of the mechanical gripper, reducing the corrosion and wear of sweat on the aluminum alloy mechanical gripper, and prolonging the service life of the mechanical gripper.
The invention solves the technical problems by the following technical means:
an aluminum alloy mechanical paw comprises a wrist, a palm, four fingers and a thumb which is rotatably connected to the side face of the palm, the rear end of the palm is rotatably connected to the wrist, the four fingers are arranged at the front end of the palm side by side and all comprise a tail bone, a finger connecting block and a fingertip, two ends of the finger connecting block are respectively rotatably connected with one end of the tail bone and the fingertip, the other end of the tail bone is rotatably connected to the front end of the palm, a back connecting plate is arranged at the back of the palm, finger cylinders are arranged on the back face and the palm face of the four fingers, a cylinder barrel of the finger cylinder on the back face is rotatably connected to the back connecting plate, a cylinder shaft is rotatably connected with one end of the tail bone, far away from the finger connecting block, of the finger cylinder barrel of the palm face, is rotatably connected with one end of the tail bone, close to the finger connecting block, and is rotatably connected with one end of, the thumb is composed of a thumb tail bone, a thumb connecting block, a thumb tip and a thumb rotating block, two ends of the thumb connecting block are respectively and rotatably connected with one end of the thumb tail bone and the end of the thumb tip, one end of the thumb rotating block is connected with one end of the thumb tail bone far away from the thumb connecting block, the other end of the thumb rotating block is rotatably connected with the side surface of the palm, a finger cylinder is arranged on the palm surface of the thumb, a cylinder barrel of the finger cylinder is rotatably connected with one end of the thumb tail bone close to the thumb connecting block, a cylinder shaft is rotatably connected with one end of the thumb tip close to the thumb connecting block, and a stepping motor for controlling the thumb to rotate towards the palm surface is arranged at the joint of the thumb rotating;
Fingertip and thumb fingertip structure size are the same, the fingertip includes fingertip anterior segment and fingertip back end, the rear end welding of fingertip anterior segment has the insertion tongue, the front end of fingertip back end is equipped with and inserts tongue assorted slot, insert the tongue and slide and insert and locate in the slot, the insertion tongue comprises the pterygoid lamina that sets up in cylindricality midbody both sides by cylindricality midbody and two symmetries, be equipped with the parallel elastic button of direction of motion and pterygoid lamina wide face on the cylindricality midbody, elastic button is located the one end that the fingertip anterior segment was kept away from to the cylindricality midbody, be provided with a plurality ofly on the fingertip back end side by side can with.
In addition, the invention also provides a processing method of the aluminum alloy mechanical gripper, which comprises the following steps:
s1, melting the aluminum alloy raw material into metal liquid, and respectively and orderly flowing the metal liquid into the cavities of the wrist, the palm, the finger tail bone, the finger connecting block, the thumb tail bone, the thumb connecting block, the front finger section, the rear finger section, the thumb rotating block and the hand back connecting plate for low-pressure casting molding to obtain the paw base piece.
S2, polishing the surface of the paw base piece by using fine sand paper, washing off impurities on the surface of the paw base piece by using deionized water after polishing, and then soaking the polished paw base piece into NaOH and Na 3PO4After soaking, the paw substrate is washed by deionized water for 3-5min and then by ethanol solution for 5-10 min.
S3, assembling and molding the gripper base material processed by the S2 to obtain the gripper framework.
S4, oxidizing the paw framework as an anode, the carbon rod as a cathode and 0.7mol/L oxalic acid as electrolyte in a 40-45V pulsed electric field at normal temperature to form a layer of regular and ordered porous anodic aluminum oxide (PAA) film on the surface of the paw framework.
S5, mixing ethyl orthosilicate and deionized water to prepare a solution with the weight of 3-5%, then immersing the paw skeleton forming the PAA film into the solution, stirring for 10-20min by using ultrasonic waves, stopping stirring, immersing and standing for 1-2h at the constant temperature of 40 ℃, and drying for 20-30min in an oven at the temperature of 120 ℃. The tetraethoxysilane is hydrolyzed in the deionized water, unsaturated residual bonds and hydroxyl groups in different bonding states exist on the surface of the PAA film, so that the tetraethoxysilane can be bonded with groups in the hydrolysis product of the tetraethoxysilane and can be uniformly adsorbed on the alumina PAA film, and the modification of the porous anodic alumina on the surface of the base material is realized.
S6, immersing the paw skeleton with the modified PAA film on the surface into a reaction container with ethanol, adding a catalyst of glacial acetic acid, adjusting the pH value to 4.0-4.5, and adding 2-3 wt% of ethanol of nano TiO 2Granulating, slowly adding gamma-aminopropyl triethoxysilane with molar mass of ethanol 1/4-1/3, and making use of the ultra-high-speedStirring with sound wave for 3-5h to make hydrolysis and condensation of ethyl orthosilicate hydrolysate adsorbed on the alumina PAA film and gamma-aminopropyl triethoxysilane under the action of catalyst such as acetic acid to form a spatial network cross-linked hybrid film, stopping stirring, pulling upwards at a constant speed of 5mm/s to take out the paw skeleton, heating and drying, and naturally cooling.
And S7, respectively assembling the finger cylinder and the stepping motor on the paw framework obtained in the step S6.
Further, the casting conditions in S1 are: the pouring temperature is 660 ℃, and the filling speed is 20 cm/s. In the process from the beginning of casting mold filling to the end of final solidification, the temperature in the cavity is continuously changed, because the cooling speed is different at each part of the cavity, equiaxial fine grains are formed at the parts close to the cooling pipeline with good cooling conditions, the temperature gradient is reduced along with the solidification of crystals, the cooling conditions are worsened, the grains formed at the parts can become coarse, and meanwhile, gas in the metal liquid cannot be discharged from the cooling pipeline, so that shrinkage porosity or shrinkage cavity is formed, and the quality of castings is influenced. In addition, when the speed is high, the injection phenomenon can be generated at the inner pouring gate part, when the speed is low, the metal liquid can be solidified when the mold filling is not finished, and even the metal liquid can block the thin part of the cavity wall, so that the mold filling can not be finished at the rear part, and the whole casting manufacturing fails.
Further, in S4, the pulse electric field adopts periodic pulses to provide the voltage required for anodic oxidation, and the pulse electric field adopts multi-segment pulse electric field, oxidation is performed in three periods (T), and the power supply parameters are: in the first of the time intervals T,
the amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside is not electrified; in the second one of the time intervals T,
the amplitude of the inner is 45V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,
the inside is not electrified; in the third period of time T, the first,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
no power is applied to the inside. The time of each period (T) is 1-2 h.
The voltage required by anodic oxidation is provided by periodic pulse, the length of PAA nano-pore canal, and the size of pores and pore spacing can be adjusted by changing the fire intensity and duration of pulse voltage without changing electrolyte. In each T, Al can be enabled by alternately electrifying and not electrifying3+Al reduction by dissolution of oxide layer/electrolyte interface (OE interface) in electrolyte3+Leaving behind a thickness that forms a dense aluminum oxide barrier at the OE interface. Meanwhile, the ionization of oxalic acid is ensured, on one hand, electrolyte ions which need to be consumed in the anodic oxidation reaction are continuously provided, and the diffusion rate of H + is improved, so that the supply rate of the electrolyte ions in the electrolyte can meet the rate consumed in the anodic oxidation reaction, on the other hand, the concentration of the H + ions reaching the bottom of the hole can be ensured along with the continuous growth of the PAA pore channel, the corrosion efficiency of the barrier layer can be continuously improved, the corrosion rate of the PAA film barrier layer can keep up with the growth rate of the PAA film, and the growth rate of the PAA film is improved. In the whole oxidation process, the PAA growth rate from the film is increased along with the increase of the voltage, and the ionization of oxalic acid molecules in the concentrated solution can be accelerated to generate more H +The corrosion effect on the PAA film barrier layer is always stronger, so that the electric field becomes stronger along with the increase of voltage, and the formed PAA film is more regular and ordered.
Further, the time of each period T is 1-2 h.
Further, the ultrasonic frequency for stirring in S5 and S6 was 12kHz, and the power was 60W.
Further, the heating and drying method in S6 includes: placing the paw framework in a 100 ℃ oven, heating to 300 ℃ at a heating rate of 10 ℃/min, and then preserving heat for 30 min. The paw framework and the coating can be heated synchronously by slowly raising the temperature, so that the increase of the internal stress of the coating caused by the difference of the heating expansion rates of the coating and the paw framework is prevented, and the coating is finally cracked and peeled.
The invention has the beneficial effects that:
1. the fingertip length of the invention can be adjusted, the adjustment operation is simple, the stability after adjustment is strong, and the fingertip length adjusting device can be better suitable for groups with different shapes such as children and adults;
2. according to the invention, the hybrid film can be formed on the surface of the aluminum alloy mechanical paw, the surface of the hybrid film is complete, compact and uniform, the hardness, impact resistance, corrosion resistance and surface smoothness of the mechanical paw can be effectively improved, the corrosion and abrasion to the aluminum alloy mechanical paw are reduced, and the service life of the aluminum alloy mechanical paw is prolonged;
3. The invention adds nano TiO into the hybrid membrane2The particles can play a role in continuous sterilization, and the cleanness of the surface of the mechanical paw is ensured.
Drawings
FIG. 1 is an exploded view of a gripper according to the present invention;
FIG. 2 is a perspective view of a gripper according to the present invention;
FIG. 3 is a block diagram of a fingertip of the present invention;
FIG. 4 is a partial cross-sectional view of a fingertip of the present invention;
FIG. 5 is a side view of the front section of a fingertip of the present invention;
the wrist comprises a wrist 1, a palm 2, fingers 3, a finger coccyx 31, a finger connecting block 32, a fingertip 33, a fingertip front section 331, a fingertip rear section 332, a thumb 4, a thumb coccyx 41, a thumb connecting block 42, a thumb fingertip 43, a thumb rotating block 44, a hand back connecting plate 5, a finger air cylinder 6, a stepping motor 7, a tongue 8, a cylindrical intermediate 81, a wing plate 82, a slot 9, an elastic button 10 and a locking hole 11.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
as shown in figures 1-5, an aluminum alloy mechanical gripper comprises a wrist 1, a palm 2, four fingers 3 and a thumb 4 rotatably connected to the side surface of the palm 3, the rear end of the palm 2 is rotatably connected to the wrist 1, the four fingers 3 are arranged at the front end of the palm 2 side by side, each of the four fingers 3 is composed of a finger tail bone 31, a finger connecting block 32 and a finger tip 33, two ends of the finger connecting block 32 are respectively rotatably connected with one end of the finger tail bone 31 and one end of the finger tip 33, the other end of the finger tail bone 31 is rotatably connected to the front end of the palm 2, a hand back connecting plate 5 is arranged at the back of the palm 2, finger cylinders 6 are arranged on the back surface and the palm center surface of each of the four fingers 3, cylinder cylinders 6 on the back surface of the hand are rotatably connected to the hand connecting plate back 5, cylinder shafts are rotatably connected with one end of the finger tail bone 31 far away from the finger connecting block 32, cylinder cylinders of the finger cylinders 6 on the palm center surface are rotatably connected, The cylinder shaft is rotatably connected with one end of the finger tip 33 close to the finger connecting block 32, the thumb 4 is composed of a thumb tail bone 41, a thumb connecting block 42, a thumb finger tip 43 and a thumb rotating block 44, two ends of the thumb connecting block 42 are respectively rotatably connected with one end of the thumb tail bone 41 and the thumb finger tip 43, one end of the thumb rotating block 44 is connected with one end of the thumb tail bone 41 far away from the thumb connecting block 42, the other end of the thumb rotating block 44 is rotatably connected with the side surface of the palm 2, the palm surface of the thumb 4 is provided with a finger cylinder 6, the cylinder barrel of the finger cylinder 6 is rotatably connected with one end of the thumb tail bone 41 close to the thumb connecting block 42, the cylinder shaft is rotatably connected with one end of the thumb finger tip 43 close to the thumb connecting block 42, and the joint of the thumb rotating block 44 and the palm 2 is provided with a stepping motor 7 for.
The structure sizes of the fingertips 33 and the fingertips 43 are the same, the fingertips 33 comprise a fingertip front section 331 and a fingertip rear section 332, an insertion tongue 8 is welded at the rear end of the fingertip front section 331, a slot 9 matched with the insertion tongue 8 is formed in the front end of the fingertip rear section 332, the insertion tongue 8 is slidably inserted into the slot 9, the insertion tongue 8 is composed of a cylindrical intermediate 81 and two wing plates 82 symmetrically arranged on two sides of the cylindrical intermediate 81, an elastic button 10 with the motion direction parallel to the wide surface of each wing plate 82 is arranged on the cylindrical intermediate 81, the elastic button 10 is located at one end, far away from the fingertip front section 331, of the cylindrical intermediate 81, and a plurality of locking holes 11 capable of being matched with the elastic button.
First embodiment of aluminum alloy mechanical gripper
Melting aluminum alloy raw materials into metal liquid, and respectively and orderly flowing the metal liquid into a wrist, a palm, a finger tail bone, a finger connecting block, a thumb tail bone, a thumb connecting block, a fingertip front section, a fingertip rear section,Performing low-pressure casting molding in a cavity of the thumb rotating block and the hand back connecting plate to obtain a paw base piece; polishing the surface of the base material of the paw by using fine sand paper, washing away impurities on the surface of the base material of the paw by using deionized water after polishing, and then immersing the polished base material of the paw into NaOH and Na 3PO4After soaking, the paw substrate is washed by deionized water for 3-5min, and then washed by ethanol solution for 5 min; assembling and molding the processed paw base piece to obtain a paw framework; the gripper framework is used as an anode, the carbon rod is used as a cathode, 0.7mol/L oxalic acid is used as electrolyte, oxidation is carried out in a multi-section pulse electric field with periodic pulse voltage increasing at normal temperature, the oxidation is carried out in three periods T, the time of each period T is 1h, and power supply parameters are as follows: in the first of the time intervals T,
the amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside is not electrified; in the second one of the time intervals T,
the amplitude of the inner is 45V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,
the inside is not electrified; in the third period of time T, the first,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
electrifying the inside, and oxidizing to obtain a paw framework with a porous anodic alumina film formed on the surface; mixing ethyl orthosilicate and deionized water to prepare a 3 wt% solution, then immersing a paw framework with a porous anodic alumina membrane formed on the surface into the solution, stirring for 10min by using ultrasonic waves with the frequency of 12kHz and the power of 60W, stopping stirring, immersing and standing for 1h at the constant temperature of 40 ℃, and drying for 20-30min in an oven at the temperature of 120 ℃; immersing the paw framework modified by the surface porous anodic aluminum oxide film into a reaction container added with ethanol, adding a catalyst of glacial acetic acid, adjusting the pH value to 4.0, and then adding 2 wt% of nano TiO of ethanol 2Granulating, slowly adding 1/4 mol mass of gamma-aminopropyl triethoxysilaneStirring for 3h by using ultrasonic waves, stopping stirring, lifting upwards at a constant speed of 5mm/s to take out the paw framework, putting the paw framework in a 100 ℃ oven, heating to 300 ℃ at a heating rate of 10 ℃/min, then preserving heat for 30min, and then naturally cooling; and respectively assembling the finger cylinder and the stepping motor on the paw framework obtained in the step S6.
Second embodiment of aluminum alloy mechanical gripper
Melting an aluminum alloy raw material into molten metal, and respectively and orderly flowing the molten metal into cavities of a wrist, a palm, a finger tail bone, a finger connecting block, a thumb tail bone, a thumb connecting block, a fingertip front section, a fingertip rear section, a thumb rotating block and a hand back connecting plate for low-pressure casting molding to obtain a paw base part; polishing the surface of the base material of the paw by using fine sand paper, washing away impurities on the surface of the base material of the paw by using deionized water after polishing, and then immersing the polished base material of the paw into NaOH and Na3PO4After soaking, the paw substrate is washed by deionized water for 3-5min, and then washed by ethanol solution for 7 min; assembling and molding the processed paw base piece to obtain a paw framework; the paw framework is used as an anode, the carbon rod is used as a cathode, 0.7mol/L oxalic acid is used as electrolyte, oxidation is carried out in a multi-section pulse electric field with periodic pulse voltage increasing at normal temperature, the oxidation is carried out in three periods T, the time of each period T is 1.5h, and power supply parameters are as follows: in the first of the time intervals T, 
The amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside is not electrified; in the second one of the time intervals T,
the amplitude of the inner is 45V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,
the inside is not electrified; in the third period of time T, the first,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
the inside is not electrified, and a porous anode with a surface formed after oxidation is obtainedA paw framework of an alumina film; mixing ethyl orthosilicate and deionized water to prepare a 4 wt% solution, then immersing a paw framework with a porous anodic alumina membrane formed on the surface into the solution, stirring for 15min by using ultrasonic waves with the frequency of 12kHz and the power of 60W, stopping stirring, immersing and standing for 1.5h under the constant temperature condition of 40 ℃, and drying for 25min in a 120 ℃ oven; immersing the paw framework modified by the surface porous anodic aluminum oxide film into a reaction container with ethanol, adding a catalyst of glacial acetic acid, adjusting the pH value to 4.3, and adding 2.5 wt% of nano TiO of ethanol2Slowly adding gamma-aminopropyltriethoxysilane with the molar mass of 1/4 ethanol into the granules, stirring for 4 hours by using ultrasonic waves, stopping stirring, lifting upwards at a constant speed of 5mm/s, taking out the paw framework, putting the paw framework into a 100 ℃ oven, heating to 300 ℃ at a heating rate of 10 ℃/min, keeping the temperature for 30 minutes, and naturally cooling to obtain the compound preparation; and respectively assembling the finger cylinder and the stepping motor on the paw framework obtained in the step S6.
Third processing example of aluminum alloy gripper
Melting an aluminum alloy raw material into molten metal, and respectively and orderly flowing the molten metal into cavities of a wrist, a palm, a finger tail bone, a finger connecting block, a thumb tail bone, a thumb connecting block, a fingertip front section, a fingertip rear section, a thumb rotating block and a hand back connecting plate for low-pressure casting molding to obtain a paw base part; polishing the surface of the base material of the paw by using fine sand paper, washing away impurities on the surface of the base material of the paw by using deionized water after polishing, and then immersing the polished base material of the paw into NaOH and Na3PO4After soaking, the paw substrate is washed by deionized water for 5min, and then washed by ethanol solution for 10 min; assembling and molding the processed paw base piece to obtain a paw framework; use the hand claw skeleton as the positive pole, the carbon-point is the negative pole, and 0.7 mol/L's oxalic acid is electrolyte, carries out the oxidation under the normal atmospheric temperature, in the multistage pulse electric field of periodic pulse lifting voltage, and the oxidation divides three cycle T to go on, and every cycle T's time is 2h, and the power parameter is: in the first of the time intervals T,
the amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside is not electrified; in the second one of the time intervals T, 
The amplitude of the inner is 45V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,
the inside is not electrified; in the third period of time T, the first,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
electrifying the inside, and oxidizing to obtain a paw framework with a porous anodic alumina film formed on the surface; mixing ethyl orthosilicate and deionized water to prepare a 5 wt% solution, then immersing a paw framework with a porous anodic alumina membrane formed on the surface into the solution, stirring for 120min by using ultrasonic waves with the frequency of 12kHz and the power of 60W, stopping stirring, soaking and standing for 2h under the constant temperature condition of 40 ℃, and drying for 30min in a 120 ℃ oven; immersing the paw framework modified by the surface porous anodic aluminum oxide film into a reaction container with ethanol, adding a catalyst of glacial acetic acid, adjusting the pH value to 4.5, and adding nano TiO 3 wt% of ethanol2Slowly adding gamma-aminopropyltriethoxysilane with the molar mass of 1/3 ethanol into the granules, stirring for 3-5h by using ultrasonic waves, stopping stirring, lifting upwards at a constant speed of 5mm/s to take out a paw framework, putting the paw framework into a 100 ℃ oven, heating to 300 ℃ at a heating rate of 10 ℃/min, preserving heat for 30min, and naturally cooling; and respectively assembling the finger cylinder and the stepping motor on the paw framework obtained in the step S6.
Machining example four of aluminum alloy gripper
Melting an aluminum alloy raw material into molten metal, and respectively and orderly flowing the molten metal into cavities of a wrist, a palm, a finger tail bone, a finger connecting block, a thumb tail bone, a thumb connecting block, a fingertip front section, a fingertip rear section, a thumb rotating block and a hand back connecting plate for low-pressure casting molding to obtain a paw base part; polishing the surface of the base material of the paw by using fine sand paper, washing away impurities on the surface of the base material of the paw by using deionized water after polishing, and then immersing the polished base material of the paw into NaOH and Na3PO4After soaking, the paw substrate is washed by deionized water for 5min, and then washed by ethanol solution for 10 min; and assembling and molding the processed paw base piece to obtain the paw framework.
The paw skeletons with hybrid film layers obtained by the first to fourth examples were tested for film Hardness (HV), abrasion loss per unit time (mg/min), friction coefficient and surface corrosion weight (wt%) in 24h salt spray corrosion test, and the results are shown in table 1:
TABLE 1
As can be seen from Table 1, after the paw framework forms the space network cross-linked hybrid membrane layer, the hardness of the membrane layer of the paw framework is greatly improved, the abrasion loss in unit time is reduced to be less than 0.02mg/min, the friction coefficient is reduced to be more than 2 times of that of the common paw framework, the surface corrosive substance weight in the 24h salt spray corrosion test is reduced to be 0.5 wt%, and the common paw framework is increased to be 8 wt%.
Selecting 3 pieces of the paw frameworks obtained by processing in the first to third embodiments at random, marking as 1 to 9, cutting into aluminum alloy sheets with the size of 1cm × 1cm, performing antibacterial performance detection by adopting the Japanese JISZ2801:2010 standard, testing each paw framework in parallel for three times, taking the absolute value of each paw framework according to the standard, and when the antibacterial value is greater than or equal to 2, indicating that the antibacterial rate is greater than 99%, wherein the detection results are shown in Table 2:
TABLE 2
As can be seen from Table 2, the surfaces of the paw frameworks processed in the first to third examples form a space-network cross-linked hybrid membrane layer containing TiO2 nanorods, and the antibacterial value of any three paw frameworks on Escherichia coli, Staphylococcus aureus and gram-negative bacteria is higher than 99%.
The invention can be formed on the surface of the aluminum alloy mechanical pawThe surface of the hybrid membrane is complete, compact and uniform, the hardness, impact resistance, corrosion resistance and surface smoothness of the mechanical paw can be effectively improved, the corrosion and abrasion to the aluminum alloy mechanical paw are reduced, and the service life of the hybrid membrane is prolonged; by adding nano TiO into the hybrid membrane2The particles can play a role in continuous sterilization, and the cleanness of the surface of the mechanical paw is ensured.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims. The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (7)
1. The aluminum alloy mechanical paw is characterized by comprising a wrist, a palm, four fingers and a thumb which is rotatably connected to the side face of the palm, wherein the rear end of the palm is rotatably connected to the wrist, the four fingers are arranged at the front end of the palm side by side, each finger consists of a tail bone, a finger connecting block and a fingertip, two ends of each finger connecting block are rotatably connected with one end of the tail bone and the fingertip respectively, the other end of each tail bone is rotatably connected to the front end of the palm, a back connecting plate is arranged at the back of the palm, finger cylinders are arranged on the back face and the center face of each finger, a cylinder barrel of each finger cylinder on the back face is rotatably connected to the corresponding back connecting plate, a cylinder shaft is rotatably connected with one end, far away from the finger connecting block, of the tail bone, of each finger cylinder barrel of each finger cylinder on the center face is rotatably connected with one end, close to the finger connecting block, of the, The cylinder shaft is rotatably connected with one end, close to the finger connecting block, of the finger tip, the thumb is composed of a thumb tail bone, a thumb connecting block, a thumb finger tip and a thumb rotating block, two ends of the thumb connecting block are rotatably connected with one end portion of the thumb tail bone and the end portion of the thumb finger tip respectively, one end of the thumb rotating block is connected with one end, far away from the thumb connecting block, of the thumb tail bone, the other end of the thumb rotating block is rotatably connected to the side face of the palm, a finger cylinder is arranged on the center face of the thumb, a cylinder barrel of the finger cylinder is rotatably connected with one end, close to the thumb connecting block, of the thumb tail bone, the cylinder shaft is rotatably connected with one end, close to the thumb connecting block, of the thumb finger tip, and a stepping motor used for controlling the rotation;
The fingertip and thumb fingertip structure size is the same, the fingertip includes fingertip anterior segment and fingertip rear segment, the rear end welding of fingertip anterior segment has the insertion tongue, the front end of fingertip rear segment is equipped with and inserts tongue assorted slot, the insertion tongue slides and inserts and locates in the slot, the insertion tongue comprises cylindricality midbody and two pterygoid laminas that the symmetry set up in cylindricality midbody both sides, be equipped with the elastic button that direction of motion and pterygoid lamina broadside are parallel on the cylindricality midbody, the elastic button is located the one end that the fingertip anterior segment was kept away from to the cylindricality midbody, be provided with a plurality of locking holes that can cooperate with the elastic button side by side on the fingertip rear segment.
2. The method for processing the aluminum alloy mechanical gripper as recited in claim 1, comprising the following steps:
s1, melting the aluminum alloy raw material into metal liquid, and respectively and orderly flowing the metal liquid into the cavities of the wrist, the palm, the finger tail bone, the finger connecting block, the thumb tail bone, the thumb connecting block, the front finger section, the rear finger section, the thumb rotating block and the hand back connecting plate for low-pressure casting molding to obtain the paw base piece;
s2, polishing the surface of the paw base piece by using fine sand paper, washing off impurities on the surface of the paw base piece by using deionized water after polishing, and then soaking the polished paw base piece into NaOH and Na 3PO4After soaking, the paw substrate is washed by deionized water for 3-5min, and then washed by ethanol solution for 5-10 min;
s3, assembling and molding the gripper base material processed by the S2 to obtain a gripper framework;
s4, oxidizing the paw framework serving as an anode, the carbon rod serving as a cathode and 0.7mol/L oxalic acid serving as electrolyte in a 40-45V pulse electric field at normal temperature to obtain the paw framework with the surface formed with the porous anodic aluminum oxide film;
s5, mixing ethyl orthosilicate and deionized water to prepare a solution with the weight of 3-5%, then immersing a paw framework with a porous anodic alumina membrane formed on the surface into the solution, stirring for 10-20min by using ultrasonic waves, stopping stirring, immersing and standing for 1-2h at the constant temperature of 40 ℃, and drying for 20-30min in an oven at the temperature of 120 ℃;
s6, immersing the paw framework modified by the surface porous anodic aluminum oxide film into a reaction container added with ethanol, adding a catalyst of glacial acetic acid, adjusting the pH value to 4.0-4.5, and then adding 2-3 wt% of ethanol of nano TiO2Slowly adding gamma-aminopropyltriethoxysilane with the molar mass of 1/4-1/3 of ethanol into the granules, stirring for 3-5 hours by using ultrasonic waves, stopping stirring, pulling upwards at a constant speed of 5mm/s to take out the paw framework, heating and drying, and naturally cooling;
And S7, respectively assembling the finger cylinder and the stepping motor on the paw framework obtained in the step S6.
3. The method for processing the aluminum alloy gripper according to claim 2, wherein the casting conditions in S1 are as follows: the pouring temperature is 660 ℃, and the filling speed is 20 cm/s.
4. The processing method of the aluminum alloy mechanical gripper as claimed in claim 3, wherein the pulse electric field in S4 adopts periodic pulses to provide the voltage required for anodic oxidation, and the pulse electric field adopts multi-stage pulse electric field, oxidation is performed in three periods T, and the power supply parameters are as follows: in the first of the time intervals T,
the amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 40V,
the inside is not electrified; in the second one of the time intervals T,
the amplitude of the inner is 45V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 45V,
the inside is not electrified; in the third period of time T, the first,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
the inside of the electric kettle is not electrified,
the amplitude of the inner is 50V,
no power is applied to the inside.
5. The method for processing the aluminum alloy mechanical gripper according to claim 4, wherein the time of each period T is 1-2 h.
6. The method as claimed in claim 5, wherein the ultrasonic frequency for stirring in S5 and S6 is 12kHz and the power is 60W.
7. The method for processing the aluminum alloy mechanical gripper according to any one of claims 2 to 6, wherein the heating and drying method in S6 is as follows: placing the paw framework in a 100 ℃ oven, heating to 300 ℃ at a heating rate of 10 ℃/min, and then preserving heat for 30 min.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010659967.6A CN111844090B (en) | 2020-07-10 | 2020-07-10 | Aluminum alloy mechanical gripper and processing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010659967.6A CN111844090B (en) | 2020-07-10 | 2020-07-10 | Aluminum alloy mechanical gripper and processing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111844090A true CN111844090A (en) | 2020-10-30 |
| CN111844090B CN111844090B (en) | 2022-02-15 |
Family
ID=73152706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010659967.6A Active CN111844090B (en) | 2020-07-10 | 2020-07-10 | Aluminum alloy mechanical gripper and processing method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111844090B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112659167A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Palm folding structure of simulation manipulator |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2264517Y (en) * | 1996-03-22 | 1997-10-15 | 周正赞 | Structure for fixing telescopic draw rod of trunk |
| CN103215630A (en) * | 2013-04-23 | 2013-07-24 | 沈阳理工大学 | Method for sealing aluminum alloy anode oxide film pore by adopting organic-inorganic composite silica sol |
| CN104559336A (en) * | 2014-12-29 | 2015-04-29 | 上海新安纳电子科技有限公司 | Modified silica sol and preparation method thereof |
| CN104741134A (en) * | 2014-10-04 | 2015-07-01 | 青岛科技大学 | Preparation method of TiO2/ZnS two-layer composite nanotube array |
| CN106113069A (en) * | 2016-07-19 | 2016-11-16 | 彭爽 | A kind of bionic mechanical hand |
| CN107457771A (en) * | 2017-08-17 | 2017-12-12 | 临沂大学 | A kind of streamline processes heavy-duty machinery arm device |
| US20190091040A1 (en) * | 2016-09-02 | 2019-03-28 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
| CN209737630U (en) * | 2018-12-11 | 2019-12-06 | 海宁哈工联新投资合伙企业(有限合伙) | Manipulator module and robot applying same |
| CN110640773A (en) * | 2019-10-22 | 2020-01-03 | 深圳市中安动力科技有限公司 | Electric-hydraulic driven robot dexterous hand |
| CN111152245A (en) * | 2020-01-02 | 2020-05-15 | 金陵科技学院 | Robotized intelligent tool system |
| CN210591976U (en) * | 2019-05-30 | 2020-05-22 | 芜湖卷烟材料厂 | Carrier vehicle |
-
2020
- 2020-07-10 CN CN202010659967.6A patent/CN111844090B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2264517Y (en) * | 1996-03-22 | 1997-10-15 | 周正赞 | Structure for fixing telescopic draw rod of trunk |
| CN103215630A (en) * | 2013-04-23 | 2013-07-24 | 沈阳理工大学 | Method for sealing aluminum alloy anode oxide film pore by adopting organic-inorganic composite silica sol |
| CN104741134A (en) * | 2014-10-04 | 2015-07-01 | 青岛科技大学 | Preparation method of TiO2/ZnS two-layer composite nanotube array |
| CN104559336A (en) * | 2014-12-29 | 2015-04-29 | 上海新安纳电子科技有限公司 | Modified silica sol and preparation method thereof |
| CN106113069A (en) * | 2016-07-19 | 2016-11-16 | 彭爽 | A kind of bionic mechanical hand |
| US20190091040A1 (en) * | 2016-09-02 | 2019-03-28 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
| CN107457771A (en) * | 2017-08-17 | 2017-12-12 | 临沂大学 | A kind of streamline processes heavy-duty machinery arm device |
| CN209737630U (en) * | 2018-12-11 | 2019-12-06 | 海宁哈工联新投资合伙企业(有限合伙) | Manipulator module and robot applying same |
| CN210591976U (en) * | 2019-05-30 | 2020-05-22 | 芜湖卷烟材料厂 | Carrier vehicle |
| CN110640773A (en) * | 2019-10-22 | 2020-01-03 | 深圳市中安动力科技有限公司 | Electric-hydraulic driven robot dexterous hand |
| CN111152245A (en) * | 2020-01-02 | 2020-05-15 | 金陵科技学院 | Robotized intelligent tool system |
Non-Patent Citations (2)
| Title |
|---|
| WJSW: "气缸机械手模型", 《HTTPS://WWW.MFCAD.COM/TUZHI/803/554819.HTML沐风网》 * |
| 广西壮族自治区文化厅等: "《左江花山岩画研究报告集（下册）》", 31 December 2015 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112659167A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Palm folding structure of simulation manipulator |
| CN112659167B (en) * | 2021-01-26 | 2022-11-04 | 韩靖 | Palm folding structure of simulation manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111844090B (en) | 2022-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111844090B (en) | Aluminum alloy mechanical gripper and processing method thereof | |
| Tajima et al. | Electropolishing of CP titanium and its alloys in an alcoholic solution-based electrolyte | |
| CN104674321B (en) | A kind of preparation method and application of titanium or titanium alloy surface copper-bearing antibacterial bioceramic film | |
| CN107952962B (en) | A kind of functionally gradient biomimetic features titanium alloy artificial implant and its manufacturing process | |
| CN102271721B (en) | Method for producing an anti-infective coating on implants | |
| CN102758202A (en) | Method for preparing biomedical titanium and titanium alloy surface antibacterial coatings | |
| CN110421172A (en) | A method of medical porous tantalum part is prepared based on selective laser melting process | |
| CN107140841A (en) | A kind of preparation method of radiation hardness safety glass | |
| CN111482600B (en) | Method for constructing micro/nano structure on surface of pure titanium or titanium alloy based on additive manufacturing technology and application | |
| CN109881154A (en) | A kind of product for the technique and preparation forming metal composite layer on fiber or fabric | |
| CN108690967A (en) | Nitinol medical instrument with face coat and coating production | |
| CN109731135A (en) | A kind of hydrophilic treatment process of implant surface | |
| CN112764238A (en) | Forming method of biological beta titanium alloy personalized spectacle frame | |
| CN109881235A (en) | A kind of antibacterial surface processing method of aluminium alloy | |
| CN106492293B (en) | A kind of preparation method of the miniature tubing of biological support titanium | |
| CN111449777A (en) | 3D printing dental implant and preparation method and application thereof | |
| CN111991622B (en) | Preparation method of intravascular stent with modified surface coating | |
| CN113122780B (en) | Material and manufacturing process of dental appliance and dental appliance | |
| CN112239848B (en) | Antibacterial dental implant and preparation method thereof | |
| Chen et al. | Fabricating Honeycomb Titanium by Freeze Casting and Anodizing for Biomedical Applications | |
| CN109504925B (en) | zirconium-based bulk amorphous alloy and preparation method and application thereof | |
| US20090186313A1 (en) | Metallic dental devices with tooth colors and their preparation methods | |
| JPS5925985A (en) | Low overvoltage cathode having high durability and its production | |
| US20050214709A1 (en) | Metallic archwires and dental crowns of various colors and their preparation methods | |
| CN108977688A (en) | A kind of baking-ceramic tooth antibacterial titanium composite material |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |