One kind of quenched Cr12 steel dies for impacting stainless steel wire rope （SSWR） was treated by low temperature liquid sulfurization catalyzed with rare earths, in order to extend their service life for assuring ...One kind of quenched Cr12 steel dies for impacting stainless steel wire rope （SSWR） was treated by low temperature liquid sulfurization catalyzed with rare earths, in order to extend their service life for assuring the continuity of production line, and simultaneously improve the surface quality of SSWR obtained. After immerged into the melting sulphur containing 4 % （mass fraction） of LaF3 and 1% of CeCl3 at 463 K for 4 h, the sulfurized dies were very smooth and black, with little distortion and hardness loss. They exhibited a certain extent of corrosion-resistance in air due to the coexisting rare earths in the sulfurized layer. Optical observations showed that the sulfurized layer was uniform and had scale-like structure. The trail of machined SSWR indicated that the production capacity of sulfurized dies had been doubled and the replacing period on line was postponed. SEM morphology also proved that the wear extent of cavities on sulfurized dies decreased greatly and the surface quality of SSWR obtained was improved markedly.展开更多
In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided...In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.展开更多
基金Project supported by the Natural Science Fund of Jiangsu Province (BK2002062)Startup Fund of Hohai University(2084/40501107)
文摘One kind of quenched Cr12 steel dies for impacting stainless steel wire rope （SSWR） was treated by low temperature liquid sulfurization catalyzed with rare earths, in order to extend their service life for assuring the continuity of production line, and simultaneously improve the surface quality of SSWR obtained. After immerged into the melting sulphur containing 4 % （mass fraction） of LaF3 and 1% of CeCl3 at 463 K for 4 h, the sulfurized dies were very smooth and black, with little distortion and hardness loss. They exhibited a certain extent of corrosion-resistance in air due to the coexisting rare earths in the sulfurized layer. Optical observations showed that the sulfurized layer was uniform and had scale-like structure. The trail of machined SSWR indicated that the production capacity of sulfurized dies had been doubled and the replacing period on line was postponed. SEM morphology also proved that the wear extent of cavities on sulfurized dies decreased greatly and the surface quality of SSWR obtained was improved markedly.
基金Project(2006AA04Z201,2012AA041601)supported by the National High-Tech Research and Development Program of China
文摘In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.
