CN112588827B - Preparation device and method of micro-flow tube for intelligent robot motor - Google Patents

Abstract

The invention discloses a device and a method for preparing a micro-flow tube for an intelligent robot motor. The device has high automation degree, and can realize full-thread and multi-process highly integrated automatic production from wire feeding to final products; three micro-flow tube forming ports are arranged, so that the production efficiency is high; the non-crystallization degree is high through sectional heating and liquid nitrogen cooling; the produced micro-flow tube has unlimited length and diameter, the producible thickness is 10-500 um, for the tube with the thickness of 500um, the maximum error is 10um, and the amorphous rate is not lower than 95%; the problem of production efficiency and precision are low when current amorphous tube shaping is solved.

Description

Preparation device and method of micro-flow tube for intelligent robot motor

Technical Field

The invention belongs to the field of micro-forming of amorphous pipes, and particularly relates to a device and a method for preparing a micro-flow pipe for an intelligent robot motor.

Background

The intelligent robot technology is a new technology which is disputed and developed in various countries at present, and can play an important application value in the next decades. One important application is intelligent transportation, such as self-service walking outdoors after loading a quadruped robot, carrying a box indoors by a biped service robot, and the like. A heavily loaded robot requires a high torque, fast response motor support. Such a motor has a large power, a large power consumption, and a large amount of generated heat. If the heat can not be dissipated in time, the ambient temperature of the motor is too high, and the motor, the driver, the encoder and other components are damaged.

At present, the general heat dissipation technology is an air cooling technology, namely, an electric fan is arranged at the end part of a motor, and heat of a motor body is taken away through wind current. The robot has the advantages of relatively simple installation, low maintenance cost and high noise, and has the defects of low heat dissipation efficiency and easy generation of vibration of the robot body. In a large motor, the water cooling technology can more quickly absorb the heat of the motor, and meanwhile, the water flows statically and quickly without noise, so that the vibration of the robot body is avoided. Therefore, water cooling technology is now beginning to be applied to large and complex electric robots.

One of the difficulties of the water cooling technology is how to prepare the heat exchange tube with high dimensional accuracy, small wall thickness and large cooling effect. The amorphous material has large elastic modulus and high strength, and is suitable for manufacturing thin-walled tubes with high rigidity. Good isotropy, suitability for batch production and high dimensional precision. In addition, the amorphous tube has good corrosion resistance, so the service life of the amorphous tube is long. In summary, amorphous is an ideal material for manufacturing heat exchange tubes in water cooling technology. At present, amorphous microflow tubes have multiple production processes and long thread, and the patent provides an automatic production device and method with high yield and short flow.

Disclosure of Invention

The invention aims to provide a device and a method for preparing a micro-flow tube for an intelligent robot motor, aiming at the defects of the prior art.

The purpose of the invention is realized by the following technical scheme: a device for preparing a micro-flow tube for an intelligent robot motor comprises a roller, a heating cylinder, a cooling cylinder, a porous connecting block and a crimping machine; the heating cylinder is internally provided with a heating cylinder inlet end cover, a spiral coil, the inner wall surface of the heating cylinder inlet end, a heating core cylinder, a separation frame, an isolation ceramic rod and a forming core rod. A liquid nitrogen inlet and a liquid nitrogen outlet are arranged on the cooling cylinder; the cooling cylinder is internally provided with a flow deflector, a cooling pipe and a cooling cylinder outlet end cover. The porous connecting block is provided with a through groove, and the side of the heating cylinder is also provided with a spherical bulge. The heating cylinder inlet end cover is provided with a through hole which is communicated with a cavity formed by the inner wall surface of the inlet end of the heating cylinder; the spiral coil is wound on the inner wall surface of the inlet end of the heating cylinder; the heating core cylinder is arranged on the separating frame. The separating frame is connected with the heating cylinder. The isolating ceramic rod is arranged between the heating core cylinder and the forming core rod. The forming core rod is inserted into the through groove. The end cover of the outlet of the cooling cylinder is provided with a forming opening; the left end of the cooling pipe is communicated with the through groove, and the right end of the cooling pipe penetrates through the forming opening. The inner diameters of the cooling pipe and the through groove are both larger than the outer diameter of the forming core rod. A heating resistance wire is arranged in the heating core barrel. An electric wire passage is arranged in the separation frame and used for electrifying the heating resistance wire. The flow deflector is formed by two side leaves symmetrically and is V-shaped; the side page is in a right trapezoid shape, and the longer end of the side page faces the heating cylinder; the joint of the two side leaves is provided with a bottom groove of the guide vane, and the side leaves are provided with side leaf grooves of the guide vane.

Further, the device also comprises a roller support frame, a heating cylinder support frame, a cooling cylinder support frame and a crimping machine integrated frame; the roller support frame, the heating cylinder support frame and the cooling cylinder support frame respectively support the roller, the heating cylinder and the cooling cylinder; the crimping machine is arranged on the crimping machine integrated frame.

Furthermore, the through hole on the inlet end cover of the heating cylinder is a kidney-shaped hole; the inner wall surface of the inlet end of the heating cylinder is a three-section cavity surface, and the three-section cavity surface sequentially comprises a first section with a waist shape as a section and transited from small to large, a second section with a section transited from a waist shape to circular, and a third section with a circular shape as a section and transited from small to large.

Furthermore, the heating cylinder is also provided with a slide sheet and a slide rail, the separation frame is connected with the heating cylinder through the slide sheet and the slide rail, and the slide sheet is also internally provided with an electric wire passage for electrifying the heating resistance wire.

Furthermore, the included angle between the slide sheet and the axis of the heating core barrel is 3-5 degrees.

Furthermore, the heating cylinder side of the porous connecting block is also provided with a depression, and the through groove and the spherical bulge are both arranged in the depression.

Further, a heating core barrel tip is arranged at the left end of the heating core barrel.

Further, the separating frame comprises circular rings and connecting pieces, and the circular rings are connected through the connecting pieces. The circular ring and the connecting sheet are provided with electric wire passages for electrifying the heating resistance wires.

Further, the diameter of the crimper is at least 25 times of that of the amorphous microflow tube. The diameter of the forming mandrel is 2/3-3/4 of the diameter of the cooling pipe; the length of the forming core rod is 5 times of the diameter of the forming core rod. The length of the guide vane side hinge groove is 2/3 of the guide vane bottom groove.

A method for preparing the micro-fluidic tube for the intelligent robot motor comprises the following steps:

step one, placing a heating resistance wire in a heating core barrel, and enabling an electric wire to reach an inner cavity of the heating core barrel through a separation frame to be connected with the heating resistance wire.

And step two, mounting the heating core barrel on the heating barrel.

And step three, installing the flow deflector on the cooling cylinder.

And step four, mounting the isolation ceramic rod between the heating core cylinder and the forming core rod.

And fifthly, mounting the heating cylinder on a heating cylinder support frame, and mounting the cooling cylinder on a cooling cylinder support frame.

And step six, mounting the roller support frame and the roller.

And seventhly, rotating the roller, gripping the metal wire, electrifying and heating the spiral coil and the heating resistance wire in the heating cylinder, and pouring liquid nitrogen into the cooling cylinder.

And step eight, heating and melting the copper wire, rapidly cooling to form amorphous, and coiling the amorphous micro-fluidic tube produced by the forming port into coils by using a coiling machine to obtain the coiled material of the amorphous micro-fluidic tube.

The invention has the beneficial effects that: the device has high automation degree, and can realize full-thread and multi-process highly integrated automatic production from wire feeding to final products; three micro-flow tube forming ports are arranged, so that the production efficiency is high; the non-crystallization degree is high through sectional heating and liquid nitrogen cooling; the produced micro-flow tube has unlimited length and diameter, the producible thickness is 10-500 um, for the tube with the thickness of 500um, the maximum error is 10um, and the amorphous rate is not lower than 95%; the problem of production efficiency and precision are low when current amorphous tube shaping is solved.

Drawings

FIG. 1 is a schematic view of the entire apparatus;

FIG. 2 is a schematic view of the apparatus with the housing and stand removed;

FIG. 3 is a schematic diagram of the central portions of the heating cylinder and the cooling cylinder;

fig. 4 is a schematic view of a structure of a guide vane;

FIG. 5 is a schematic view of a crimper integration frame;

FIG. 6 is a schematic view of the heating cylinder cavity and the heating coil;

FIG. 7 is a schematic view of a heating cartridge and a separating frame;

FIG. 8 is a schematic view of a porous junction plate;

FIG. 9 is a perspective view of a heating cartridge;

in the figure, a roll 1; the heating device comprises a heating cylinder 2, a heating cylinder inlet end cover 21, a spiral coil 22, a heating cylinder inlet end inner wall surface 23 and a slide sheet 24; cooling cylinder 3, cooling pipe 31; the separating frame 4, the circular ring 42 and the connecting sheet 43; an isolating ceramic rod 5; heating the cartridge 6, heating the cartridge tip 61; heating resistance wires 7 and a forming core rod 8; a porous connecting block 9, a through groove 91, a spherical bulge 92 and a recess 93; the guide vane structure comprises a guide vane 10, a guide vane side leaf groove 101 and a guide vane bottom groove 102; crimper 11, crimper shaft 111; the device comprises a roller support frame 12, a heating cylinder support frame 13, a cooling cylinder support frame 14, a crimping machine integrated frame 15 and an amorphous micro-flow tube 16.

Detailed Description

As shown in fig. 1, the device for preparing a micro flow tube for an intelligent robot motor of the present invention comprises a roller 1, a heating cylinder 2, a cooling cylinder 3, a porous connecting block 9, three crimping machines 11, a roller support frame 12, a heating cylinder support frame 13, a cooling cylinder support frame 14, and a crimping machine integrated frame 15. The heating cylinder 2 and the cooling cylinder 3 are connected through a porous connecting block 9; the cooling cylinder 3 is cooled by liquid nitrogen, the cooling cylinder 3 is provided with three liquid nitrogen inlets and outlets, two liquid nitrogen inlets are arranged above the cooling cylinder, and a liquid nitrogen outlet is arranged below the cooling cylinder; the roller support frame 12, the heating cylinder support frame 13 and the cooling cylinder support frame 14 support the roller 1, the heating cylinder 2 and the cooling cylinder 3 respectively; crimper 11 is mounted on crimper integration frame 15. The wire is bitten into the heating cylinder 2 by the nip roller 1. The reduction of the roller 1 is 1/4 of the wire diameter. The distance from the center of the roller 1 to the inlet end cover 21 of the heating cylinder is 3-6 times of the initial diameter of the wire rod (the diameter of the metal wire).

As shown in fig. 2, a heating cylinder inlet end cover 21, a spiral coil 22, an inner wall surface 23 of the heating cylinder inlet end, two separation frames 4, a heating core cylinder 6, an isolation ceramic rod 5 and a forming core rod 8 are arranged in the heating cylinder 2. The cooling cylinder 3 is internally provided with a flow deflector 10, a cooling pipe 31 and a cooling cylinder outlet end cover. The left end of the inner wall surface 23 of the inlet end of the heating cylinder is connected to the right side of the inlet end cover 21 of the heating cylinder, and the inlet end cover 21 of the heating cylinder is provided with a waist-shaped hole which is communicated with a cavity formed by the inner wall surface 23 of the inlet end of the heating cylinder; the spiral coil 22 is coiled on the outer side surface of the inner wall surface 23 at the inlet end of the heating cylinder; 3 heating core barrels 6 are fixed on the separation frame 4; an insulating ceramic rod 5 is disposed between the heating core barrel 6 and the forming core rod 8. The left end of the flow deflector 10 is connected with the right side of the porous connecting block 9, and the right end of the flow deflector 10 is connected with an outlet end cover of the cooling cylinder; the outlet end cover of the cooling cylinder is provided with three forming ports; the left end of the cooling pipe 31 is connected with the porous connecting block 9, and the right end of the cooling pipe passes through the forming port. The ratio of the diameter of the heating cylinder 2 to the length of the long axis of the waist-shaped hole of the heating cylinder inlet end cover 21 is 3: 1. the diameter of the forming mandrel 8 is 2/3-3/4 of the diameter of the cooling pipe 31; the forming core rod 8 is made of ceramic; the length of the forming mandrel 8 is 5 times its diameter.

As shown in fig. 3, the heating cartridge 6 is provided at the left end thereof with a heating cartridge tip 61, and the heating cartridge tip 61 has a sectional shape consisting of two symmetrical arcs and a line segment for separating molten metal in the heating cartridge 2 to prevent dead zones. The ratio of the maximum radius of curvature to the minimum radius of curvature of the arc is 1.5. Each separator 4 comprises four rings 42, one ring 42 in the central position and three other rings 42 distributed around its circumference at an angular difference of 120 degrees and connected by connecting pieces 43. As shown in fig. 9, a heating resistance wire 7 is provided in the heating cartridge 6. The connecting piece 43 and the ring 42 are provided with a wire passage for laying an electric wire connected to the heating wire 7.

As shown in fig. 4, the guide vanes 10 in the cooling cylinder 3 are symmetrically arranged from two side leaves, and the included angle is 120 degrees, and the guide vanes are V-shaped; since the width of the side leaf from left to right becomes smaller and is in a right trapezoid shape, the section of the flow deflector 10 is in a V shape from large to small, and the width and the depth of the V shape are both reduced; a guide vane bottom groove 102 (a connecting section of two side vanes) is arranged at the V-shaped bottom, and guide vane side vane grooves 101 are arranged on the two side vanes; the length of the guide vane side pocket 101 is 2/3 of the guide vane bottom pocket 102.

As shown in fig. 5, the crimper 11 is provided with a crimper shaft 111, and three crimpers 11 are positioned corresponding to the amorphous microflow tubes 16 extruded from the three forming ports, and the crimpers 11 are rotated around the crimper shaft 111. The crimper 11 has a diameter at least 25 times larger than the amorphous microchannel 16.

As shown in fig. 6, the inner wall surface 23 at the inlet end of the heating cylinder is a three-section cavity surface, and from left to right, the first section takes a waist shape as a section and transits from small to large, the second section takes a waist shape as a section and transits from a waist shape to a circle shape, and the third section takes a circle shape as a section and transits from small to large.

As shown in fig. 7, the heating cylinder 2 is further provided with a sliding sheet 24 and a sliding rail, the separation frame 4 is connected with the sliding sheet 24 through a connecting sheet 43, and the sliding sheet 24 is connected with the heating cylinder 2 through the sliding rail. The included angle between the sliding sheet 24 and the axis of the heating core barrel 6 is 3 degrees to 5 degrees, the included angle has the function similar to a wedge, and when the sliding sheet 24 slides into the sliding rail, the sliding sheet can be automatically limited through the included angle. Channels for laying the electrical wires are also provided in the slide 24.

As shown in fig. 8, the porous connecting block 9 is provided with a recess 93 and three through grooves 91, and a spherical protrusion 92 is further provided at the center of one side facing the heating cylinder 2, so as to facilitate the flow of liquid; the three through grooves 91 are evenly distributed along the tangential circumference. The left end of the cooling pipe 31 communicates with the through groove 91, and the molding core rod 8 is inserted into the through groove 91. The molten metal liquid in the heating cylinder 2 enters the cooling tube 3 through the gap between the forming core rod 8 and the through groove 91.

A preparation method of a micro-flow tube for an intelligent robot motor comprises the following steps:

step one, the heating resistance wire 7 is placed in the heating core barrel 6, the electric wire sequentially passes through the slide sheet 24, the connecting sheet 43 and the separating frame 4, and reaches the inner cavity of the heating core barrel 6 to be connected with the heating resistance wire 7.

And step two, mounting the heating core cylinder 6 on the heating cylinder 2.

And step three, installing the flow deflector 10 on the cooling cylinder 3.

And step four, installing the isolation ceramic rod 5 between the heating core cylinder 6 and the forming core rod 8.

And step five, mounting the heating cylinder 2 on the heating cylinder support frame 13, and mounting the cooling cylinder 3 on the cooling cylinder support frame 14.

And step six, mounting the roller support frame 12 and the roller 1.

And seventhly, rotating the roller 1, biting a copper wire, electrifying and heating the spiral coil 22 and the heating resistance wire 7 on the heating cylinder 2, and pouring liquid nitrogen into the cooling cylinder 3.

And step eight, heating and melting the copper wire, rapidly cooling the copper wire to form amorphous, and coiling the amorphous micro-fluidic tube 16 produced by the forming port into a coil by using a coiling machine 11 to obtain the coiled material of the amorphous micro-fluidic tube 16.

The working principle of the invention is specifically as follows: the amorphous tube is required to be rapidly heated and quenched during preparation, namely, the heating speed is high in the metal melting stage. If the heating speed is slow, the metal wire is not completely melted, the viscosity of the metal liquid is high, and original crystal nuclei exist, so that the temperature needs to be raised rapidly. Meanwhile, in the cooling stage, if the cooling rate is low, amorphization is not complete, and the product has a low amorphization rate, so that rapid cooling is required. The design of the device of the invention considers the 'sharp heat and rapid cooling' required by the amorphous tube preparation, the metal is rapidly heated in the heating cylinder in a three-section heating and core cylinder heating mode, and the formed tube is rapidly and uniformly cooled in the cooling cylinder by utilizing liquid nitrogen and configuring the flow deflector.

The invention is characterized in that: the multiple processes are integrated and automated, and high production efficiency is achieved while 'rapid heating and rapid cooling' is ensured. At the inlet end of the device, the wire is fed into the heating cylinder by means of a roller bite, the bite force ensuring that the small diameter wire can be stably fed. At the output, three forming outlets and corresponding three crimpers are provided. The three forming outlets simultaneously form the pipes, so that the high-efficiency and automatic production of the amorphous pipes is supported.

Claims (10)

1. A device for preparing a micro-flow tube for an intelligent robot motor is characterized by comprising a roller, a heating cylinder, a cooling cylinder, a porous connecting block and a crimping machine; the heating cylinder is internally provided with a heating cylinder inlet end cover, a spiral coil, the inner wall surface of the heating cylinder inlet end, a heating core cylinder, a separation frame, an isolation ceramic rod and a forming core rod; a liquid nitrogen inlet and a liquid nitrogen outlet are arranged on the cooling cylinder; a flow deflector, a cooling pipe and a cooling cylinder outlet end cover are arranged in the cooling cylinder; the porous connecting block is provided with a through groove, and the side of the heating cylinder is also provided with a spherical bulge; the heating cylinder inlet end cover is provided with a through hole which is communicated with a cavity formed by the inner wall surface of the inlet end of the heating cylinder; the spiral coil is wound on the inner wall surface of the inlet end of the heating cylinder; the heating core barrel is arranged on the separating frame; the separating frame is connected with the heating cylinder; the isolation ceramic rod is arranged between the heating core cylinder and the forming core rod; the forming core rod is inserted into the through groove; the end cover of the outlet of the cooling cylinder is provided with a forming opening; the left end of the cooling pipe is communicated with the through groove, and the right end of the cooling pipe penetrates through the forming opening; the inner diameters of the cooling pipe and the through groove are both larger than the outer diameter of the forming core rod; a heating resistance wire is arranged in the heating core barrel; an electric wire passage is arranged in the separation frame and used for electrifying the heating resistance wire; the guide vane is formed by two side leaves symmetrically, and the section of the guide vane is V-shaped; the side page is in a right trapezoid shape, and the longer end of the side page faces the heating cylinder; the joint of the two side leaves is provided with a bottom groove of the guide vane, and the side leaves are provided with side leaf grooves of the guide vane.

2. The device for preparing a micro fluidic tube for an intelligent robot motor according to claim 1, further comprising a roll holder, a heater cartridge holder, a cooler cartridge holder, and a crimper integration holder; the roller support frame, the heating cylinder support frame and the cooling cylinder support frame respectively support the roller, the heating cylinder and the cooling cylinder; the crimping machine is arranged on the crimping machine integrated frame.

3. The micro flow tube manufacturing apparatus as claimed in claim 1, wherein the through hole of the inlet end cap of the cartridge heater is a kidney-shaped hole; the inner wall surface of the inlet end of the heating cylinder is a three-section cavity surface, and the three-section cavity surface sequentially comprises a first section with a waist shape as a section and transited from small to large, a second section with a section transited from a waist shape to circular, and a third section with a circular shape as a section and transited from small to large.

4. The device for preparing a micro flow tube for an intelligent robot motor as claimed in claim 1, wherein the cartridge heater further comprises a slide and a slide rail, the separation frame is connected to the cartridge heater through the slide and the slide rail, and the slide is provided with an electrical wire passage for energizing the resistance heater.

5. The device for preparing a microflow channel as claimed in claim 4, wherein the angle between the slide and the axis of the heating cartridge is 3 ^o -5 ^o 。

6. The device for preparing a micro flow tube for an intelligent robot motor according to claim 1, wherein the heating cylinder side of the porous connection block is further provided with a recess, and the through groove and the spherical projection are provided in the recess.

7. The micro flow channel forming apparatus for an intelligent robot motor as claimed in claim 1, wherein the heating cartridge tip is provided at a left end of the heating cartridge.

8. The device for preparing a micro flow channel for an intelligent robot motor as claimed in claim 1, wherein the separation frame comprises rings and connecting pieces, the rings being connected by the connecting pieces; the circular ring and the connecting sheet are provided with electric wire passages for electrifying the heating resistance wires.

9. The device for preparing a micro flow channel for an intelligent robot motor according to claim 1, wherein the crimper has a diameter at least 25 times that of the amorphous micro flow channel; the diameter of the forming mandrel is 2/3-3/4 of the diameter of the cooling pipe; the length of the forming core rod is 5 times of the diameter of the forming core rod; the length of the guide vane side hinge groove is 2/3 of the guide vane bottom groove.

10. A method for preparing a micro flow channel for an intelligent robot motor according to claim 2, comprising the steps of:

the method comprises the following steps that firstly, a heating resistance wire is placed in a heating core barrel, and an electric wire reaches an inner cavity of the heating core barrel through a separating frame and is connected with the heating resistance wire;

step two, mounting the heating core barrel on the heating barrel;

thirdly, installing the flow deflectors on the cooling cylinder;

step four, mounting an isolation ceramic rod between the heating core cylinder and the forming core rod;

fifthly, mounting the heating cylinder on a heating cylinder support frame, and mounting the cooling cylinder on a cooling cylinder support frame;

step six, mounting a roller support frame and a roller;

step seven, rotating the roller, gripping the metal wire, electrifying and heating the spiral coil and the heating resistance wire in the heating cylinder, and pouring liquid nitrogen into the cooling cylinder;

and step eight, heating and melting the copper wire, rapidly cooling to form amorphous, and coiling the amorphous micro-fluidic tube produced by the forming port into coils by using a coiling machine to obtain the coiled material of the amorphous micro-fluidic tube.

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