CN105983814A - Robot hand bearing arm manufacturing technique - Google Patents
Robot hand bearing arm manufacturing technique Download PDFInfo
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- CN105983814A CN105983814A CN201410788616.XA CN201410788616A CN105983814A CN 105983814 A CN105983814 A CN 105983814A CN 201410788616 A CN201410788616 A CN 201410788616A CN 105983814 A CN105983814 A CN 105983814A
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- connecting portion
- low
- carbon alloy
- loading arm
- top ends
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- Shafts, Cranks, Connecting Bars, And Related Bearings (AREA)
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Abstract
The invention discloses a robot hand bearing arm manufacturing technique. The bearing arm is divided into four parts which are casted independently; the four parts are assembled through a dual-connection fixation manner; and ion nitriding treatment is performed. The robot hand bearing arm manufacturing technique can avoid the defects of the prior art, can enhance the tolerance level of the bearing arm, and can prolong the service life of the bearing arm.
Description
Technical field
The present invention relates to robotic arm manufacture technology field, the system of a kind of robot arm loading arm
Make technique.
Background technology
The loading arm of robot arm in use, needs to bear for a long time stronger pressure, torsion
Turn power and impulsive force.How to strengthen the tolerance level of loading arm and improve its service life, becoming
Reduce the important channel of robot arm use cost.In prior art, for the making of loading arm,
It is typically to select ripe steel to complete, not to the most comprehensive through simple casting and welding
The product quality improving loading arm is effectively improved.
Summary of the invention
The technical problem to be solved in the present invention is to provide the processing technology of a kind of robot arm loading arm,
Can solve the problem that the deficiencies in the prior art, enhance the tolerance level of loading arm, improve it and use the longevity
Life.
For solving above-mentioned technical problem, the technical solution used in the present invention is as follows.
The processing technology of a kind of robot arm loading arm, it is characterised in that step is as follows:
A, whole loading arm is divided into base portion, the first connecting portion, the second connecting portion and top
Four, portion part, uses low-carbon alloy steel to cast respectively,
The low-carbon alloy steel of base portion includes the composition of following percetage by weight: 0.13%～0.25%
C, the Mn of 2.1%～2.5%, the S of 0.08%～0.1%, the Hf of 0.1%～0.2%, 0.55%～
The Cr of 0.75%, the Ni of 0.3%～0.5%, surplus is Fe,
The low-carbon alloy steel of the first connecting portion includes the composition of following percetage by weight: 0.15%～
The C of 0.2%, the Mn of 1.2%～1.8%, the B of 0.4%～0.6%, the Si of 0.25%～0.4%, 1.5%～
The Sb of 1.9%, the Cu of 2.3%～3.5%, the Ti of 4.5%～5%, the Ru of 0.7%～1.2%, remaining
Amount is Fe,
The low-carbon alloy steel of the second connecting portion includes the composition of following percetage by weight: 0.15%～
The C of 0.2%, the Mo of 1%～1.3%, the Te of 1.5%～2.3%, the V of 0.7%～1.4%, 1.5%～
The Cu of 2%, the Mg of 0.3%～0.8%, surplus is Fe,
The low-carbon alloy steel of top ends includes the composition of following percetage by weight: 0.35%～0.5%
C, the Cd of 0.65%～0.9%, the W of 0.45%～0.75%, the Ge of 0.5%～1%, 1.2%～
The In of 1.5%, surplus is Fe,
Base portion and top ends are linear, and the first connecting portion and the second connecting portion are arc；
B, base portion, the first connecting portion, the second connecting portion and top ends joint face punch,
And use connecting rod to be attached, pass through adhesives between connecting rod and hole；
C, use fixture base portion, the first connecting portion, the second connecting portion and top to connecting
End carries out pressurization clamping, then welds contact surface；
D, butt welded seam are polished；
E, to welding aftershaping loading arm surface carry out glow discharge nitriding process.
As a preferred technical solution of the present invention, in step A, the low-carbon alloy of base portion
In composition of steel, the ratio of the content of C with Cr is 1:3.
As a preferred technical solution of the present invention, in step A, the low-carbon (LC) of the first connecting portion
In alloy composition, the total content of B and Si is less than 0.85%, the ratio of the content of Mn with Ti
For 1:4.
As a preferred technical solution of the present invention, in step A, the low-carbon (LC) of the second connecting portion
In alloy composition, the total content of Cu and Mg is maintained between 2%～2.5%, C's Yu Te
The ratio of content is 1:10.
As a preferred technical solution of the present invention, in step A, the low-carbon alloy of top ends
In composition of steel, the content of C is 0.4%～0.42%, and the ratio of the content of C with W is 2:3.
As a preferred technical solution of the present invention, in step B, binding agent uses asphalt mixtures modified by epoxy resin
Fat adhesive.
As a preferred technical solution of the present invention, in step E, after glow discharge nitriding processes
Thicknesses of layers is 35 μm～100 μm.
What employing technique scheme was brought has the beneficial effects that: the present invention is by whole loading arm
It is divided into four different parts and carries out independent casting, according to diverse location for consistency and elasticity
Different requirements, there is the material component improving loading arm pointedly so that each independence
Part formed different structure alloy grain structure.The material component of base portion adds Cr,
Can be effectively improved the rigidity of base portion, the ratio keeping C Yu Cr is 1:3, can make
Cr atom forms stable triangle crystal structure at C atom, reduces the loose spy of C atom
Property, stronger attachment force can be formed between Hf atom and Cr atom, thus improve whole crystal
The firmness connected.First connecting portion, in order to keep certain elasticity and toughness, adds Cu
And Ti, Ti can with Mn formed compact structure crystal grain, limit B and Si total content can
To ensure that whole foundry goods has good intensity simultaneously, that reduces between Ti-Mn crystal grain is small
Hole crack.Cu and Mg of the second connecting portion is used for ensureing the elasticity of the second connecting portion, but
Unlike the first connecting portion, C, Te and V can be internally formed connection at the second connecting portion
Complexation body, thus keep second connecting portion overall flexibility when being under pressure.The C of top ends
With the rigidity that Ge can keep top ends, after adding Cd and W, Cd can be at C atom
And be filled with between Ge atom, improving the abrasion resistance of whole top ends, W can improve Cd
With the attachment force of other atom crystal grain, the ratio of the content of C with W is 2:3, it is possible to reduce W is former
Son is for the impact of top ends integral rigidity.Fixed with being connected for twice of welding by connecting rod,
Four parts that can make loading arm form a close association.Eventually pass at carburizing
Reason, can improve the abrasion resistance on loading arm surface.
Accompanying drawing explanation
Fig. 1 is the external structure of a specific embodiment of the present invention
Fig. 2 be the present invention a specific embodiment in connecting rod and loading arm are internal is connected
Structure chart.
In figure: 1, base portion；2, the first connecting portion；3, the second connecting portion；4, top ends；
5, connecting rod；6, alignment pin；7, groove；8, through hole；9, reinforcement.
Detailed description of the invention
The processing technology of a kind of robot arm loading arm, it is characterised in that step is as follows:
A, whole loading arm is divided into base portion the 1, first connecting portion the 2, second connecting portion 3 and
4 four parts of top ends, use low-carbon alloy steel to cast respectively,
The low-carbon alloy steel of base portion 1 includes the composition of following percetage by weight: the C of 0.15%,
The Mn of 2.2%, the S of 0.08%, the Hf of 0.14%, the Cr of 0.45%, the Ni of 0.46%, surplus
For Fe,
The low-carbon alloy steel of the first connecting portion 2 includes the composition of following percetage by weight: 0.17%
C, the Mn of 1.22%, the B of 0.47%, the Si of 0.27%, the Sb of 1.8%, the Cu of 2.3%, 4.88%
Ti, the Ru of 1.1%, surplus is Fe,
The low-carbon alloy steel of the second connecting portion 3 includes the composition of following percetage by weight: 0.19%
C, the Mo of 1.13%, the Te of 1.9%, the V of 1.25%, the Cu of 1.9%, the Mg of 0.4%,
Surplus is Fe,
The low-carbon alloy steel of top ends 4 includes the composition of following percetage by weight: the C of 0.41%,
The Cd of 0.78%, the W of 0.615%, the Ge of 0.95%, the In of 1.34%, surplus is Fe,
Base portion 1 and top ends 4 are linear, and the first connecting portion 2 and the second connecting portion 3 are
Arc；Base portion the 1, first connecting portion the 2, second connecting portion 3 and the length of top ends 4
The ratio of degree is 2:6:5:3.The radian of the first connecting portion 2 is 0.12rad, the second connecting portion 3
Radian is 0.09rad.
B, in base portion the 1, first connecting portion the 2, second connecting portion 3 and the connection of top ends 4
Punching in face, and uses connecting rod 5 to be attached, and passes through binding agent between connecting rod 5 and hole
Bonding, is provided with steady pin 6 in hole, the top of connecting rod 5 is provided with and steady pin 6 phase
The groove 7 coordinated, the first connecting portion 2 and the second connecting portion 3 two ends are provided with and communicate with hole
Through hole 8, be even provided with reinforcement 9, reinforcement 9 and through hole 8 interference between a through hole 8
Coordinating, reinforcement 9 contacts according to executing stressed different generation extruding with connecting rod 5；Bonding
Agent includes the composition of following percentage by weight: the phenol of 6%～10%, the methyl-silicone oil of 5%～7%,
The 2-difluoro-methoxy bromobenzene of 1.5%～2%, the 5-bromine ethyl valerate of 3.2%～3.5%, surplus
For polyvinyl acetate；
C, use fixture base portion the 1, first connecting portion the 2, second connecting portion 3 to connecting
Carry out pressurization clamping with top ends 4, then contact surface is welded；First welding first is even
Connecing portion 2 and the second connecting portion 3, the pressure of clamping is 8bar, and welding current is 85mA, so
Rear welding the second connecting portion 3 and top ends 4, the pressure of clamping is 12bar, and welding current is
70mA, finally welds the first connecting portion 2 and base portion 1, and the pressure of clamping is 6bar, welding
Electric current is 105mA；
D, butt welded seam are polished；
E, to welding aftershaping loading arm surface carry out glow discharge nitriding process, at glow discharge nitriding
Thicknesses of layers after reason is 35 μm～100 μm.
Finally, the outer surface to loading arm carries out application process: first to holding after Nitrizing Treatment
Weighing arm carries out sandblasting polishing so that it is surface forms rough roughness, then uses spraying
Agent carries out surface spraying.Spray liniment comprises the composition of following percentage by weight: the dioxy of 4%～6%
SiClx, the sodium metasilicate of 1.5%～3%, the diphenyl carbonate of 5%～6%, the 1,9-of 1.3%～2.5%
Nonyl two mercaptan, the 1，2，4-trimethylbenzene of 7.5%～10%, surplus is water-soluble film-forming resin.
It addition, in base portion the 1, first connecting portion the 2, second connecting portion 3 and top ends 4 four
After individual part has cast, carry out corresponding heat treatment respectively:
Base portion 1 is heated to 800 DEG C, is then placed in 25 DEG C of water cooling down rapidly, repeatedly 3
Secondary, finally heated to 300 DEG C, air at room temperature is down to room temperature.
First connecting portion 2 is heated to 600 DEG C, is then placed in 25 DEG C of water being cooled to 300 DEG C,
Then take out in being placed on air at room temperature and be down to room temperature.
Second connecting portion 3 is heated to 900 DEG C, is incubated 30min, be then placed within room temperature empty
Gas is down to room temperature.
Top ends 4 is heated to 800 DEG C, is then placed in air at room temperature being cooled to 500 DEG C,
It is finally putting in the water of 25 DEG C and is down to room temperature.
The maximum capacity load of loading arm can be improved 20% by the present invention, and reduces use process
In metal fatigue degree, increase the service life 2～3 times.
Foregoing description is only used as the enforceable technical scheme of the present invention and proposes, not as to its technology
The single restrictive condition of scheme itself.
Claims (7)
1. the processing technology of a robot arm loading arm, it is characterised in that step is as follows:
A, whole loading arm is divided into base portion (1), the first connecting portion (2), second connect
Portion (3) and (4) four parts of top ends, use low-carbon alloy steel to cast respectively,
The low-carbon alloy steel of base portion (1) includes the composition of following percetage by weight: 0.13%～
The C of 0.25%, the Mn of 2.1%～2.5%, the S of 0.08%～0.1%, the Hf of 0.1%～0.2%,
The Cr of 0.55%～0.75%, the Ni of 0.3%～0.5%, surplus is Fe,
The low-carbon alloy steel of the first connecting portion (2) includes the composition of following percetage by weight:
The C of 0.15%～0.2%, the Mn of 1.2%～1.8%, the B of 0.4%～0.6%, 0.25%～0.4%
Si, the Sb of 1.5%～1.9%, the Cu of 2.3%～3.5%, the Ti of 4.5%～5%, 0.7%～
The Ru of 1.2%, surplus is Fe,
The low-carbon alloy steel of the second connecting portion (3) includes the composition of following percetage by weight:
The C's of 0.15%～0.2%, the Mo of 1%～1.3%, the Te of 1.5%～2.3%, 0.7%～1.4%
V, the Cu of 1.5%～2%, the Mg of 0.3%～0.8%, surplus is Fe,
The low-carbon alloy steel of top ends (4) includes the composition of following percetage by weight: 0.35%～
The C of 0.5%, the Cd of 0.65%～0.9%, the W of 0.45%～0.75%, the Ge of 0.5%～1%, 1.2%～
The In of 1.5%, surplus is Fe,
Base portion (1) and top ends (4) are linear, the first connecting portion (2) and second
Connecting portion (3) is arc；
B, in base portion (1), the first connecting portion (2), the second connecting portion (3) and top ends
(4) joint face punching, and uses connecting rod (5) to be attached, connecting rod (5) with
Adhesives is passed through between hole；
C, use the fixture base portion (1) to connecting, the first connecting portion (2), second even
Meet portion (3) and top ends (4) carries out pressurization clamping, then contact surface is welded；
D, butt welded seam are polished；
E, to welding aftershaping loading arm surface carry out glow discharge nitriding process.
The processing technology of robot arm loading arm the most according to claim 1, its feature exists
In: in step A, in the low-carbon alloy composition of steel of base portion (1), the content of C Yu Cr it
Ratio is 1:3.
The processing technology of robot arm loading arm the most according to claim 1, its feature exists
In: in step A, in the low-carbon alloy composition of steel of the first connecting portion (2), B's and Si is total
Content is less than 0.85%, and the ratio of the content of Mn with Ti is 1:4.
The processing technology of robot arm loading arm the most according to claim 1, its feature exists
In: in step A, in the low-carbon alloy composition of steel of the second connecting portion (3), Cu's and Mg
Total content is maintained between 2%～2.5%, and the ratio of the content of C with Te is 1:10.
The processing technology of robot arm loading arm the most according to claim 1, its feature exists
In: in step A, in the low-carbon alloy composition of steel of top ends (4), the content of C be 0.4%～
0.42%, C are 2:3 with the ratio of the content of W.
The processing technology of robot arm loading arm the most according to claim 1, its feature exists
In: in step B, binding agent uses epoxyn.
The processing technology of robot arm loading arm the most according to claim 1, its feature exists
In: in step E, the thicknesses of layers after glow discharge nitriding processes is 35 μm～100 μm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410788616.XA CN105983814B (en) | 2015-03-05 | 2015-03-05 | A kind of manufacture craft of mechanical hand loading arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410788616.XA CN105983814B (en) | 2015-03-05 | 2015-03-05 | A kind of manufacture craft of mechanical hand loading arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105983814A true CN105983814A (en) | 2016-10-05 |
| CN105983814B CN105983814B (en) | 2017-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410788616.XA Active CN105983814B (en) | 2015-03-05 | 2015-03-05 | A kind of manufacture craft of mechanical hand loading arm |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5205466A (en) * | 1992-07-15 | 1993-04-27 | Chieh-Chang Tzeng | Manufacturing method of austenitic stainless steel self-tapping and self-drilling screw |
| CN101506566A (en) * | 2006-08-30 | 2009-08-12 | 氟石科技公司 | Compositions and methods for dissimilar material welding |
| CN102000952A (en) * | 2010-11-11 | 2011-04-06 | 重庆跃进机械厂有限公司 | Processing method of sealing surface of exhaust valve of low-speed diesel engine |
| CN102357778A (en) * | 2011-09-22 | 2012-02-22 | 宁波中超机器有限公司 | Manufacturing method of pulling straightening roller |
| CN104911325A (en) * | 2008-07-11 | 2015-09-16 | Skf公司 | A method for manufacturing a steel component, a weld seam, a welded steel component, and a bearing component |
-
2015
- 2015-03-05 CN CN201410788616.XA patent/CN105983814B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5205466A (en) * | 1992-07-15 | 1993-04-27 | Chieh-Chang Tzeng | Manufacturing method of austenitic stainless steel self-tapping and self-drilling screw |
| CN101506566A (en) * | 2006-08-30 | 2009-08-12 | 氟石科技公司 | Compositions and methods for dissimilar material welding |
| CN104911325A (en) * | 2008-07-11 | 2015-09-16 | Skf公司 | A method for manufacturing a steel component, a weld seam, a welded steel component, and a bearing component |
| CN102000952A (en) * | 2010-11-11 | 2011-04-06 | 重庆跃进机械厂有限公司 | Processing method of sealing surface of exhaust valve of low-speed diesel engine |
| CN102357778A (en) * | 2011-09-22 | 2012-02-22 | 宁波中超机器有限公司 | Manufacturing method of pulling straightening roller |
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| Publication number | Publication date |
|---|---|
| CN105983814B (en) | 2017-11-07 |
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Address after: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee after: Ningxia giant robot Limited by Share Ltd Address before: 750021 the Ningxia Hui Autonomous Region concentric Yinchuan City Development Zone, No. 296 South Street Patentee before: Ningxia Juneng Robot System Co., Ltd. |
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