CN112828291B

CN112828291B - Manufacturing method of high-temperature operation robot

Info

Publication number: CN112828291B
Application number: CN202011620222.5A
Authority: CN
Inventors: 乐瑜; 侯乔木; 于弋; 卢肖锋; 王小开; 徐金明; 干波涛; 林增祥; 何栋梁; 张郁轩
Original assignee: Ningbo Tongdao Electronics Co ltd
Current assignee: Ningbo Tongdao Electronics Co ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2023-03-31
Anticipated expiration: 2040-12-31
Also published as: CN112828291A

Abstract

The invention discloses a method for manufacturing a high-temperature operation robot, which comprises the following steps of 1: obtaining a raw material; step 2: dispersing the raw materials; and step 3: drying the emulsified suspension in a vacuum drying oven for later use; and 4, step 4: pressing the powder dispersed in the step 3 into a pliers shape through a die, and sintering; and 5: carrying out chemical etching pore-forming on the surface of the hand vice material obtained in the step 4 to enable the surface of the material to have a microporous structure, soaking the hand vice material with the microporous structure in a mixed solution of graphite powder and epoxy resin to form a carbon coating on the surface of the hand vice material, and then heating the hand vice material with the carbon coating on the surface to obtain the hand vice made of the titanium-aluminum composite alloy material with the carbon coating; the invention aims to solve the problems of short service life and the like caused by substandard corrosivity and poor high-temperature resistance of a base material in the prior art.

Description

Manufacturing method of high-temperature operation robot

Technical Field

The invention relates to the technical field of special material preparation, including high-temperature working pliers, a working arm special material and acid and alkali resistance thereof, in particular to a method for manufacturing a high-temperature working manipulator.

Background

A manipulator is an artificial intelligence embodying automatic operating means for grasping, carrying an object or operating a tool according to a fixed procedure. The robot has the characteristics that various expected operations can be completed through programming, the advantages of both a human and a manipulator machine are achieved in structure and performance, the labor cost is increased along with the development of the industry, the manipulator is required to have some special functions in some specific working environments, the working danger of the human is solved, and the like.

The mechanical arm is an important tool in the current industrial production process, particularly works in some special environments, and in order to enable the mechanical arm to be suitable for harsh working environments such as high temperature, acid and alkali, the mechanical arm material is required to be resistant to high temperature without generating creep deformation and structural deformation, and meanwhile, the mechanical arm does not generate structural damage caused by corrosion when working in the strong acid environment, so that the material with special performance needs to be developed.

In the current manipulator materials, steel materials are mainly selected, the corrosion resistance of the materials is poor, the density is high, the high-temperature performance needs to be improved, and the technical problems of short service life of a special working environment, high expansion coefficient and the like exist in the service process.

Disclosure of Invention

An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.

The invention aims to provide a method for manufacturing a high-temperature operation manipulator, in particular to a method for preparing a high-temperature operation material, and aims to solve the problems of short service life and the like caused by substandard corrosivity and poor high-temperature resistance of a base material in the prior art.

To achieve these objects and other advantages and in accordance with the purpose of the invention, a method for manufacturing a hot work robot includes:

step 1: obtaining raw materials: taking 30-60% of aluminum powder by mass, adding 0.5-3% of copper powder by mass and 0.5-3% of paraffin as adhesives, and taking the balance of titanium powder;

and 2, step: dispersing the above raw materials with alcohol as medium at 5000-8000rpm;

and step 3: drying the emulsified suspension in a vacuum drying oven for later use;

and 4, step 4: pressing the powder dispersed in the step 3 into a pliers shape through a die, and sintering;

and 5: carrying out chemical etching pore-forming on the surface of the hand vice material obtained in the step 4 to enable the surface of the material to have a microporous structure, soaking the hand vice material with the microporous structure in a mixed solution of graphite powder and epoxy resin to form a carbon coating on the surface of the hand vice material, and then heating the hand vice material with the carbon coating on the surface to obtain the hand vice made of the titanium-aluminum composite alloy material with the carbon coating;

step 6: and (3) selecting a TA1 titanium plate as a main body, spreading a layer of aluminum-silicon mixed material between two layers of TA1 titanium plates, compounding the interlayer material, heating and molding to obtain the arm part of the manipulator.

Preferably, the method for press forming in step 4 is as follows:

cold press molding, heating at 500 ℃, pressing in a mold into a hand vice type after heating, wherein the pressing force is 300MPa, then hot pressing in the mold, the hot pressing temperature is 450-600 ℃, forming a material blank, curing the obtained material blank at 500 ℃ to remove paraffin, then further raising the temperature to 600 ℃, keeping the temperature for 2-6h, then raising the temperature of a furnace to 1350 ℃, and sintering for 12h.

Preferably, in the step 5, the method for heating the pliers comprises: heating to 800-1000 ℃ in the protection of nitrogen or argon atmosphere, and keeping the temperature for 50-150 min.

Preferably, the preparation method of the aluminum-silicon mixed material in the step 6 comprises the following steps:

the preparation method comprises the steps of selecting 99.9% aluminum powder, 99.9% silicon powder, 20% Al-Mg intermediate alloy powder, 20% Al-Ce intermediate alloy powder, zr powder and 99.9% copper powder, carrying out component proportion on the powders according to the proportion of Si-3.5%, mg-4.3%, cu-2.5%, ce-1%, zr-0.5% and the balance of Al, and uniformly mixing the powders in an argon atmosphere by using a rotary powder mixer for at least 10 hours, wherein the selected percentage is mass fraction.

Preferably, in the step 6, a TA1 titanium plate with a thickness of 0.5mm is selected, the TA1 titanium plate is subjected to microporosity by an etching process, the size of the micropores is below 0.1mm, the etching solution is a mixed solution of nitric acid and ammonium bifluoride, the concentration of the nitric acid is 20%, the concentration of the ammonium bifluoride is 10%, the etching temperature is 29-32 ℃, and the etching time is 1min.

Preferably, in step 6, the compounding and heating method of the interlayer material comprises:

compounding the interlayer material by adopting a rolling process, heating the interlayer material to 500 ℃ for hot rolling, and heating before each rolling, wherein the rolling thickness is 0.8mm;

carrying out solid solution homogenization treatment on the obtained material at 500 ℃ for 12h, and then preserving the temperature of the material at 180 ℃ for 10h.

Preferably, in the step 4 of chemically etching the surface of the pliers material to form a hole, a FeCl3 etching solution with a concentration of 0.3-1 mol/L is selected, 0.1-0.3 mol/L ammonium bifluoride is added to be used as corrosion titanium, the temperature of the etching process is 35 ℃, the etching time is 40min, and the depth is 0.15mm.

Preferably, in the step 1, titanium powder with a purity of 99.9% and aluminum powder with a purity of 99.9% are obtained, the content of active aluminum in the aluminum powder is at least 95%, and the particle size distribution of the powder is 20-50 μm.

Preferably, in the step 5, the mixed solution comprises the following components: 12 to 15 percent of expanded graphite powder, 2 to 5 percent of epoxy resin and acetone as a solvent.

Compared with the prior art, the invention has the following beneficial effects:

1. the service life of the manipulator part in a strong acid and strong alkali working environment is prolonged;

2. the weight of the robot hand and the weight of the robot arm are reduced, the light weight effect is achieved, and in the moving process of the robot hand, the probability of occurrence of stress corrosion is reduced due to the reduction of quality.

3. Through titanium-aluminum compounding and carbon coating, the problems that a mechanical hand is clamped on a high-temperature part and cannot deform and the like are effectively solved.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

FIG. 1 is a schematic flow diagram of the process of the present invention.

Detailed Description

The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description.

The invention provides a manufacturing method of a high-temperature operation robot hand, which is mainly divided into two key materials, including a pair of pliers and an arm material: the pliers, the material to be removed has the high temperature resistance, the corrosion resistance, the better intensity and the wear resistance, as shown in figure 1, the manufacturing method comprises the following steps:

step 1: obtaining titanium powder with the purity of 99.9 percent and aluminum powder with the purity of 99.9 percent, wherein the content of active aluminum in the aluminum powder is controlled to be more than 95 percent, and the particle size of the powder is controlled to be 30 mu m: taking 50% aluminum powder by mass, adding 1% copper powder by mass and 2% paraffin wax by mass as adhesives, and taking the balance of titanium powder;

step 2: dispersing the raw materials, wherein the medium is alcohol, and the rotating speed during dispersion is 6000rpm;

and step 3: drying the emulsified suspension in a vacuum drying oven for later use; the powder should avoid direct contact with air.

And 4, step 4: and (3) pressing and molding the dispersed powder in the step (3) through a mold: cold press molding, heating at 500 deg.C, pressing in mold to form pliers with pressing force of 300MPa, and pre-molding. Hot pressing in a mould at 500 deg.c to form blank, and this makes the Al-Ti alloy obtain certain deformation and the powder to be welded to raise the strength of the blank. And (3) solidifying the obtained blank at 500 ℃ to remove paraffin, further raising the temperature to 600 ℃, and keeping the temperature for 2-6h, wherein the aim is to diffuse the Cu element to achieve the effect of bonding aluminum powder. The sintering time was 12h when the temperature of the furnace was increased to 1350 ℃. At the moment, the aluminum and the titanium are reacted to obtain the titanium-aluminum alloy, and the titanium-aluminum alloy has the advantages of high strength, good corrosion resistance, low thermal expansion coefficient and the like.

And 5: and 4, carrying out chemical etching pore-forming on the surface of the hand vice material obtained in the step 4 to enable the surface of the material to have a microporous structure, soaking the hand vice material with the microporous structure in a mixed solution of graphite powder and epoxy resin to form a carbon coating on the surface of the hand vice material, and then heating the hand vice material with the carbon coating on the surface to obtain the hand vice made of the titanium-aluminum composite alloy material with the carbon coating.

The method for heating the pliers comprises the following steps: heating to 900 ℃ in the protection of nitrogen or argon atmosphere, and keeping the temperature for 150min to obtain the titanium-aluminum composite alloy material with the carbon coating. The carbon coating is obtained by a sol-gel method, and simultaneously, because micropores are obtained on the surface of the alloy in advance, the direct riveting of carbon and metal can be realized, so that the binding force between the coating and the substrate is improved.

In the technical scheme, in the step 4, during the chemical etching and pore-forming of the surface of the hand vice material, feCl3 etching solution with the concentration of 0.5mol/L is selected, 0.2mol/L ammonium bifluoride is added to be used for corroding titanium, the temperature of the etching process is 35 ℃, the etching time is 40min, and the depth is 0.15mm. The aim is to obtain the microporous pliers which are used for soaking a carbon coating, and the carbon coating and a titanium-aluminum material form mechanical riveting to improve the bonding performance. In the step 5, the mixed solution comprises the following components: 15 percent of expanded graphite powder, 3 percent of epoxy resin and acetone as a solvent.

Compared with a hand vice, the high-temperature resistance of the mechanical arm is lower in requirement, but the mechanical arm is required to have the performances of corrosion resistance, stress corrosion resistance and the like, and meanwhile, the mechanical arm is light in material and energy-saving, and is manufactured by the following steps:

and 6: and (3) selecting a TA1 titanium plate as a main body, spreading a layer of aluminum-silicon mixed material between two layers of TA1 titanium plates, compounding the interlayer material, heating and molding to obtain the arm part of the manipulator. Specifically, aluminum powder with the purity of 99.9 percent and silicon powder with the purity of 99.9 percent, al-20 percent of Mg intermediate alloy powder, al-10 percent of Ce intermediate alloy powder and Zr powder and copper powder with the purity of 99.9 percent are selected, the components of the powders are proportioned according to the weight percentage of Si-3.5 percent, mg-4.3 percent, cu-2.5 percent, ce-1 percent, zr-0.5 percent and the balance of Al, the powders are uniformly mixed under the argon atmosphere by a rotary powder mixer for 12 hours, and the selected percentages are mass fractions.

In the step 6, a TA1 titanium plate with the thickness of 0.5mm is selected, the TA1 titanium plate is subjected to microporosity by adopting an etching process, the size of each micropore is below 0.1mm, an etching solution is a mixed solution of nitric acid and ammonium bifluoride, the concentration of the nitric acid is 20%, the concentration of the ammonium bifluoride is 10%, the etching temperature is 30 ℃, and the etching time is 1min.

In the step 6, the compounding and heating method of the interlayer material comprises the following steps:

compounding the interlayer material by adopting a rolling process, heating the interlayer material to 500 ℃ for hot rolling, and heating before each rolling, wherein the rolling thickness is 0.8mm; the rolling process is that the gap is reduced by 0.05mm each time, and a final sample is obtained by adopting a multi-pass rolling process.

And carrying out solid solution homogenization treatment on the obtained material at 500 ℃ for 12h, and then preserving the heat of the material at 180 ℃ for 10h. The main purpose of this is to make the alloying elements of the aluminum alloy solid-soluble and to further improve the properties by aging.

And (3) comparative analysis:

sample 1: the surface treatment of the pliers sample is carried out in the step 5;

sample 2: the hand vice sample prepared without surface treatment in the step 5;

sample 3: step 6, carrying out solid solution homogenization treatment at 500 ℃ for 12 hours, and then preserving the temperature of the material at 180 ℃ for 10 hours to obtain an arm sample;

sample 4: and 6, performing solid solution homogenization treatment at 500 ℃ for 12 hours, and preserving the materials at 180 ℃ for 10 hours to obtain the arm sample.

The material obtained was subjected to a stress corrosion test on a slow strain machine with the test medium being 3.5% NaCl, and a silicone oil inert medium, obtaining the material stress corrosion factor I. 0.5MH2SO4 was prepared and the tafel curve of the material was tested at 70 ℃.

The stress corrosion detection method comprises the following steps: the corrosion medium is 3.5 percent NaCl solution at room temperature of 25 ℃, or the inert medium is 25 ℃ silicon oil, the strain rate is 10-6s < -1 >, the detection results are shown in the following table, the inert medium is 25 ℃ silicon oil, the corrosion medium is 3.5 percent NaCl solution at 25 ℃, the stress corrosion factor I is calculated according to the national standard after the corresponding test is completed, and the larger the value of I is, the higher the probability of the material generating stress corrosion is.

Watch 1

Through the sample obtained in the step 5, the sample 1 has corrosion resistance, the potential of generated corrosion moves in the positive direction, the corrosion factor of the sample after heat treatment is also reduced, the performance of the material can be greatly improved, and the corrosion resistance of the sample 2 is reduced due to the fact that the protective performance of a carbon coating is not generated.

Watch two

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The corrosion resistance of samples 3 and 4 is obtained mainly by titanium TA1 on the surface, so the corrosion resistance of the two is not much different, but because sample 3 is subjected to solution aging treatment, the aluminum alloy material is subjected to solution aging strengthening, and the tensile strength is improved to 443MPa, while sample 4 which is not subjected to heat treatment is subjected to solution treatment of alloy elements, and the strength is inferior to that of sample 3.

Therefore, the mechanical hand manufactured by the method improves the service life of the mechanical hand part in a strong acid and strong alkali working environment; meanwhile, the weight of the robot hand and the weight of the robot arm are reduced, the light weight effect is achieved, in the moving process of the robot hand, the probability of occurrence of stress corrosion is reduced due to reduction of quality, and on the other hand, the problems that the robot hand is not deformed when clamping high-temperature parts and the like are effectively guaranteed through titanium-aluminum compounding and carbon coating.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable to various fields of endeavor for which the invention may be embodied with additional modifications as would be readily apparent to those skilled in the art, and the invention is therefore not limited to the details shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims

1. A method for manufacturing a high-temperature operation robot is characterized by comprising the following steps:

step 6: selecting a TA1 titanium plate as a main body, laying a layer of aluminum-silicon mixed material between two layers of TA1 titanium plates, compounding, heating and molding the interlayer material to obtain the arm part of the manipulator;

in the step 4, in the process of chemically etching and pore-forming the surface of the hand vice material, feCl3 etching solution with the concentration of 0.3-1 mol/L is selected, 0.1-0.3 mol/L ammonium bifluoride is added to be used as corrosion titanium, the temperature of the etching process is 35 ℃, the etching time is 40min, and the depth is 0.15mm.

2. The method for manufacturing a high temperature work robot according to claim 1, wherein the step 4 comprises the steps of:

cold press molding is carried out firstly, heating is carried out at 500 ℃, then, pressing is carried out in a mold to form a pliers type, the pressing force is 300MPa, then, hot pressing is carried out in the mold, the hot pressing temperature is 450-600 ℃, a material blank is formed, the obtained material blank is solidified at 500 ℃ to remove paraffin, then, the temperature is further raised to 600 ℃, the heat preservation time is 2-6h, the temperature of a furnace is raised to 1350 ℃, and the sintering time is 12h.

3. The method for manufacturing a hot-working robot as claimed in claim 2, wherein the pliers are heat-treated in step 5 by: heating to 800-1000 ℃ in the protection of nitrogen or argon atmosphere, and keeping the temperature for 50-150 min.

4. The method for manufacturing a high temperature work robot according to claim 3, wherein the method for manufacturing the al-si mixed material in the step 6 comprises:

5. The method according to claim 4, wherein in the step 6, a TA1 titanium plate with a thickness of 0.5mm is selected, the TA1 titanium plate is subjected to microporosity by an etching process, the size of micropores is less than 0.1mm, the etching solution is a mixed solution of nitric acid and ammonium bifluoride, the concentration of nitric acid is 20%, the concentration of ammonium bifluoride is 10%, the etching temperature is 29-32 ℃, and the etching time is 1min.

6. The method for manufacturing a hot-working robot according to claim 5, wherein the step 6 comprises the steps of:

compounding the sandwich material by adopting a rolling process, heating the sandwich material to 500 ℃ for hot rolling, and heating before each rolling, wherein the rolling thickness is 0.8mm;

and carrying out solid solution homogenization treatment on the obtained material at 500 ℃ for 12h, and then preserving the heat of the material at 180 ℃ for 10h.

7. The method according to claim 1, wherein in step 1, the titanium powder having a purity of 99.9% and the aluminum powder having a purity of 99.9% are obtained, the aluminum powder has an active aluminum content of at least 95%, and the powder has a particle size distribution of 20 to 50 μm.

8. The method of manufacturing a high temperature work robot according to claim 1, wherein in the step 5, the mixed solution comprises: 12-15% of expanded graphite powder, 2-5% of epoxy resin and acetone as a solvent.