CN113001104A - Special construction method for robot body - Google Patents
Special construction method for robot body Download PDFInfo
- Publication number
- CN113001104A CN113001104A CN201911332334.8A CN201911332334A CN113001104A CN 113001104 A CN113001104 A CN 113001104A CN 201911332334 A CN201911332334 A CN 201911332334A CN 113001104 A CN113001104 A CN 113001104A
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- robot body
- special structure
- semi
- finished product
- configuring
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- 238000010276 construction Methods 0.000 title claims abstract description 11
- 239000011265 semifinished product Substances 0.000 claims abstract description 53
- 238000005096 rolling process Methods 0.000 claims abstract description 42
- 238000004140 cleaning Methods 0.000 claims abstract description 32
- 238000005520 cutting process Methods 0.000 claims abstract description 27
- 238000005238 degreasing Methods 0.000 claims abstract description 21
- 238000004519 manufacturing process Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 15
- 239000004519 grease Substances 0.000 claims abstract description 6
- 238000005554 pickling Methods 0.000 claims description 15
- 238000001035 drying Methods 0.000 claims description 10
- 238000005498 polishing Methods 0.000 claims description 10
- 238000005507 spraying Methods 0.000 claims description 10
- 230000003746 surface roughness Effects 0.000 claims description 10
- 238000004381 surface treatment Methods 0.000 claims description 10
- 230000004075 alteration Effects 0.000 claims description 6
- GRYLNZFGIOXLOG-UHFFFAOYSA-N Nitric acid Chemical compound O[N+]([O-])=O GRYLNZFGIOXLOG-UHFFFAOYSA-N 0.000 claims description 5
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 5
- 238000000137 annealing Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 229910017604 nitric acid Inorganic materials 0.000 claims description 5
- 230000003647 oxidation Effects 0.000 claims description 5
- 238000007254 oxidation reaction Methods 0.000 claims description 5
- 229910052719 titanium Inorganic materials 0.000 claims description 5
- 239000010936 titanium Substances 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 6
- 238000010923 batch production Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 3
- 241000282472 Canis lupus familiaris Species 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- B25J19/007—Means or methods for designing or fabricating manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Metal Rolling (AREA)
- Cleaning And De-Greasing Of Metallic Materials By Chemical Methods (AREA)
Abstract
The invention discloses a special construction method of a robot body, which relates to the technical field of robots and comprises the following specific steps: firstly, selecting a blank for manufacturing a robot body; cutting the blank by a cutting device to realize blanking; rolling the blanks cut in the step S2 by a rolling mill to enable the blanks to be rolled into semi-finished products with special structures; then cleaning the semi-finished product special structure prepared in the step S3 by a continuous degreasing cleaning machine set to remove grease on the surface of the semi-finished product special structure; the method provided by the invention has simple process, can realize batch production of the special structure of the robot body, effectively improves the effective rate of the special structure of the robot body, can effectively shorten the production period of the special structure of the robot body, is more time-saving and labor-saving, is beneficial to reducing the production cost of the special structure of the robot body and is beneficial to increasing the production benefit.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a special construction method for a robot body.
Background
Robots are the common name for automatic control machines, which include all machines (e.g., machine dogs, machine cats, etc.) that simulate human behavior or thought and other creatures. The robot generally comprises an actuating mechanism, a driving device, a detecting device, a control system, a complex machine and the like, wherein the actuating mechanism is a robot body, an arm part generally adopts a spatial open-chain connecting rod mechanism, a kinematic pair (a revolute pair or a revolute pair) is often called as a joint, and the number of the joints is generally the degree of freedom of the robot. The robot actuator may be classified into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type, and the like according to the joint configuration type and the motion coordinate type.
However, the robot body special construction method in the current market is complex, consumes time and labor, increases production cost, has low production efficiency, is inconvenient for batch production, has low comprehensive performance and poor quality, cannot meet market requirements, and influences the service performance of the robot.
Disclosure of Invention
The invention aims to provide a special construction method of a robot body, which is used for solving the problems in the background technology, is time-saving and labor-saving and realizes efficient and high-quality production of the robot body.
In order to achieve the purpose, the invention provides the following technical scheme: a special construction method of a robot body comprises the following specific steps:
s1, selecting and manufacturing a robot body blank;
s2, cutting the blank through a cutting device to realize blanking;
s3, rolling the cut blank in the S2 through a rolling mill to enable the blank to be rolled into a semi-finished product special structure;
s4, cleaning the special structure of the semi-finished product prepared in the S3 by a continuous degreasing cleaning machine set, and removing grease on the surface of the special structure of the semi-finished product;
s5, carrying out vacuum annealing treatment on the cleaned semi-finished product special structure in the S4 by using a vacuum furnace, so that the surface of the semi-finished product special structure is free of oxidation spots, chromatic aberration, peeling and focal spots;
s6, polishing the surface of the semi-finished product special structure annealed in the step S5 through a polishing machine to enable the surface of the semi-finished product special structure to be smoother;
s7, spraying the surface of the polished semi-finished product with the special structure in the S6 by a spraying machine to achieve the purpose of surface treatment;
s8, drying the semi-finished product special structure subjected to surface treatment in the S7 through a drying box to obtain a special structure of the robot body;
and S9, finally, checking the special structure of the robot body manufactured in the S7 through a detection device.
Preferably, the material cutting device in S2 adopts a cutting machine, and the rotating speed of a motor of the cutting machine is 1500 r/min.
Preferably, the rolling force of the rolling mill in the S3 is 100KN-300KN, the rolling tension is 5KN-8KN, and the rolling speed of the rolling mill is 20-50 m/min.
Preferably, the cleaning temperature of the continuous degreasing cleaning unit in the step S4 is 50-80 ℃, and the conveying speed of the continuous degreasing cleaning unit is 5-10 m/min.
Preferably, the temperature of the vacuum furnace in S5 is 650-800 ℃, the vacuum degree is 0.005-0.1pa, and the time is 40-150 minutes.
The surface roughness of the roller of the rolling mill in the S3 is 0.15-0.25 μm.
And in the S4, the continuous degreasing and cleaning unit is used for pickling the semi-finished titanium strip by adopting a pickling solution, wherein the pickling solution consists of 30-40% of HNO3, 5-7% of HF and the balance of water.
The motor speed of the sander in the S6 is 1500-2000r/min, and the sanding time is 30-70 min.
The surface roughness of the polished semi-finished product in the S6 is 0.15-0.25 μm, and the roughness is less than or equal to 1.0 mm/m.
Compared with the prior art, the invention has the beneficial effects that:
(1) the method provided by the invention has simple process, can realize batch production of the special structure of the robot body, and effectively improves the effective rate of the special structure of the robot body.
(2) The method provided by the invention can effectively shorten the production period of the special structure of the robot body, is more time-saving and labor-saving, is beneficial to reducing the production cost of the special structure of the robot body, and is beneficial to increasing the production benefit.
(3) The method provided by the invention can effectively improve the quality of the special structure of the robot body, greatly improve the comprehensive performance of the special structure of the robot body, and is beneficial to prolonging the service life of the special structure of the robot body, meeting the market demand and improving the service performance of the robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1: a special construction method of a robot body comprises the following specific steps:
s1, selecting and manufacturing a robot body blank;
s2, cutting the blank through a cutting device to realize blanking;
s3, rolling the cut blank in the S2 through a rolling mill to enable the blank to be rolled into a semi-finished product special structure;
s4, cleaning the special structure of the semi-finished product prepared in the S3 by a continuous degreasing cleaning machine set, and removing grease on the surface of the special structure of the semi-finished product;
s5, carrying out vacuum annealing treatment on the cleaned semi-finished product special structure in the S4 by using a vacuum furnace, so that the surface of the semi-finished product special structure is free of oxidation spots, chromatic aberration, peeling and focal spots;
s6, polishing the surface of the semi-finished product special structure annealed in the step S5 through a polishing machine to enable the surface of the semi-finished product special structure to be smoother;
s7, spraying the surface of the polished semi-finished product with the special structure in the S6 by a spraying machine to achieve the purpose of surface treatment;
s8, drying the semi-finished product special structure subjected to surface treatment in the S7 through a drying box to obtain a special structure of the robot body;
and S9, finally, checking the special structure of the robot body manufactured in the S7 through a detection device.
Further, a cutting machine is adopted as the material cutting device in the S2, and the rotating speed of a motor of the cutting machine is 1500 r/min.
Specifically, the rolling force of the rolling mill in S3 was 100KN, the rolling tension was 5KN, and the rolling speed of the rolling mill was 20 m/min.
It is noted that the cleaning temperature of the continuous degreasing cleaning unit in S4 is 50 degrees celsius, and the conveying speed of the continuous degreasing cleaning unit is 5 m/min.
Further, the temperature of the vacuum furnace in S5 was 650 degrees celsius, and the degree of vacuum thereof was 0.005pa for 40 minutes.
Specifically, the surface roughness of the roll of the rolling mill in S3 was 0.15 μm.
It is worth mentioning that the continuous degreasing cleaning unit in S4 performs pickling on the semi-finished titanium strip by using a pickling solution, and the pickling solution is composed of 30% of HNO3, 5% of HF and the balance of water.
Further, the motor speed of the sander in S6 is 1500r/min, and the sanding time is 30 min.
Specifically, the surface roughness of the polished semi-finished product in S6 is 0.15 μm, and the roughness is 1.0mm/m or less.
Example 2: a special construction method of a robot body comprises the following specific steps:
s1, selecting and manufacturing a robot body blank;
s2, cutting the blank through a cutting device to realize blanking;
s3, rolling the cut blank in the S2 through a rolling mill to enable the blank to be rolled into a semi-finished product special structure;
s4, cleaning the special structure of the semi-finished product prepared in the S3 by a continuous degreasing cleaning machine set, and removing grease on the surface of the special structure of the semi-finished product;
s5, carrying out vacuum annealing treatment on the cleaned semi-finished product special structure in the S4 by using a vacuum furnace, so that the surface of the semi-finished product special structure is free of oxidation spots, chromatic aberration, peeling and focal spots;
s6, polishing the surface of the semi-finished product special structure annealed in the step S5 through a polishing machine to enable the surface of the semi-finished product special structure to be smoother;
s7, spraying the surface of the polished semi-finished product with the special structure in the S6 by a spraying machine to achieve the purpose of surface treatment;
s8, drying the semi-finished product special structure subjected to surface treatment in the S7 through a drying box to obtain a special structure of the robot body;
and S9, finally, checking the special structure of the robot body manufactured in the S7 through a detection device.
Further, a cutting machine is adopted as the material cutting device in the S2, and the rotating speed of a motor of the cutting machine is 1500 r/min.
Specifically, the rolling force of the rolling mill in S3 was 200KN, the rolling tension was 6KN, and the rolling speed of the rolling mill was 35 m/min.
It is noted that the cleaning temperature of the continuous degreasing cleaning unit in S4 is 65 degrees celsius, and the conveying speed of the continuous degreasing cleaning unit is 7 m/min.
Further, the temperature of the vacuum furnace in S5 was 700 degrees celsius, and the degree of vacuum thereof was 0.01pa for 80 minutes.
Specifically, the surface roughness of the roll of the rolling mill in S3 was 0.20 μm.
It is worth mentioning that the continuous degreasing cleaning unit in S4 performs pickling on the semi-finished titanium strip by using a pickling solution, and the pickling solution is composed of 35% of HNO3, 6% of HF, and the balance of water.
Further, the motor speed of the sander in S6 is 1800r/min, and the sanding time is 50 min.
Specifically, the surface roughness of the polished semi-finished product in S6 is 0.20 μm, and the roughness is 1.0mm/m or less.
Example 3: a special construction method of a robot body comprises the following specific steps:
s1, selecting and manufacturing a robot body blank;
s2, cutting the blank through a cutting device to realize blanking;
s3, rolling the cut blank in the S2 through a rolling mill to enable the blank to be rolled into a semi-finished product special structure;
s4, cleaning the special structure of the semi-finished product prepared in the S3 by a continuous degreasing cleaning machine set, and removing grease on the surface of the special structure of the semi-finished product;
s5, carrying out vacuum annealing treatment on the cleaned semi-finished product special structure in the S4 by using a vacuum furnace, so that the surface of the semi-finished product special structure is free of oxidation spots, chromatic aberration, peeling and focal spots;
s6, polishing the surface of the semi-finished product special structure annealed in the step S5 through a polishing machine to enable the surface of the semi-finished product special structure to be smoother;
s7, spraying the surface of the polished semi-finished product with the special structure in the S6 by a spraying machine to achieve the purpose of surface treatment;
s8, drying the semi-finished product special structure subjected to surface treatment in the S7 through a drying box to obtain a special structure of the robot body;
and S9, finally, checking the special structure of the robot body manufactured in the S7 through a detection device.
Further, a cutting machine is adopted as the material cutting device in the S2, and the rotating speed of a motor of the cutting machine is 1500 r/min.
Specifically, the rolling force of the rolling mill in S3 was 300KN, the rolling tension was 8KN, and the rolling speed of the rolling mill was 50 m/min.
It is noted that the cleaning temperature of the continuous degreasing cleaning unit in S4 is 80 degrees celsius, and the conveying speed of the continuous degreasing cleaning unit is 10 meters/minute.
Further, the temperature of the vacuum furnace in S5 was 800 degrees celsius, and the degree of vacuum thereof was 0.1pa for 150 minutes.
Specifically, the surface roughness of the roll of the rolling mill in S3 was 0.25 μm.
It is worth mentioning that the continuous degreasing cleaning unit in S4 performs pickling on the semi-finished titanium strip by using a pickling solution, and the pickling solution is composed of 40% of HNO3, 7% of HF, and the balance of water.
Further, the motor speed of the sander in S6 is 2000r/min, and the sanding time is 70 min.
Specifically, the surface roughness of the polished semi-finished product in S6 is 0.25 μm, and the roughness is 1.0mm/m or less.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A special construction method of a robot body is characterized in that: the method comprises the following specific steps:
s1, selecting and manufacturing a robot body blank;
s2, cutting the blank through a cutting device to realize blanking;
s3, rolling the cut blank in the S2 through a rolling mill to enable the blank to be rolled into a semi-finished product special structure;
s4, cleaning the special structure of the semi-finished product prepared in the S3 by a continuous degreasing cleaning machine set, and removing grease on the surface of the special structure of the semi-finished product;
s5, carrying out vacuum annealing treatment on the cleaned semi-finished product special structure in the S4 by using a vacuum furnace, so that the surface of the semi-finished product special structure is free of oxidation spots, chromatic aberration, peeling and focal spots;
s6, polishing the surface of the semi-finished product special structure annealed in the step S5 through a polishing machine to enable the surface of the semi-finished product special structure to be smoother;
s7, spraying the surface of the polished semi-finished product with the special structure in the S6 by a spraying machine to achieve the purpose of surface treatment;
s8, drying the semi-finished product special structure subjected to surface treatment in the S7 through a drying box to obtain a special structure of the robot body;
and S9, finally, checking the special structure of the robot body manufactured in the S7 through a detection device.
2. A method for configuring a robot body according to claim 1, characterized in that: and the material cutting device in the S2 adopts a cutting machine, and the rotating speed of a motor of the cutting machine is 1500 r/min.
3. A method for configuring a robot body according to claim 1, characterized in that: the rolling force of the rolling mill in the S3 is 100KN-300KN, the rolling tension is 5KN-8KN, and the rolling speed of the rolling mill is 20-50 m/min.
4. A method for configuring a robot body according to claim 1, characterized in that: and the cleaning temperature of the continuous degreasing cleaning unit in the S4 is 50-80 ℃, and the conveying speed of the continuous degreasing cleaning unit is 5-10 m/min.
5. A method for configuring a robot body according to claim 1, characterized in that: the temperature of the vacuum furnace in the S5 is 650-800 ℃, the vacuum degree is 0.005-0.1pa, and the time is 40-150 minutes.
6. A method for configuring a robot body according to claim 1, characterized in that: the surface roughness of the roller of the rolling mill in the S3 is 0.15-0.25 μm.
7. A method for configuring a robot body according to claim 1, characterized in that: and in the S4, the continuous degreasing and cleaning unit is used for pickling the semi-finished titanium strip by adopting a pickling solution, wherein the pickling solution consists of 30-40% of HNO3, 5-7% of HF and the balance of water.
8. A method for configuring a robot body according to claim 1, characterized in that: the motor speed of the sander in the S6 is 1500-2000r/min, and the sanding time is 30-70 min.
9. A method for configuring a robot body according to claim 1, characterized in that: the surface roughness of the polished semi-finished product in the S6 is 0.15-0.25 μm, and the roughness is less than or equal to 1.0 mm/m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911332334.8A CN113001104A (en) | 2019-12-22 | 2019-12-22 | Special construction method for robot body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911332334.8A CN113001104A (en) | 2019-12-22 | 2019-12-22 | Special construction method for robot body |
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| Publication Number | Publication Date |
|---|---|
| CN113001104A true CN113001104A (en) | 2021-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201911332334.8A Pending CN113001104A (en) | 2019-12-22 | 2019-12-22 | Special construction method for robot body |
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Application publication date: 20210622 |