Method for preparing amorphous nanocrystalline alloy and application thereof in industrial robot

Abstract

The present application relates to the technical field of alloy preparation, in particular to a preparation method of amorphous nanocrystalline alloy and application thereof in industrial robots, the preparation method adopts an alloy component system of iron, cobalt, silicon, boron, copper and niobium plus rare earth, a master alloy is prepared through a step-by-step melting process, a transverse constant magnetic field is applied in a single-roll rapid quenching process, a gradient heat treatment process of segmented temperature rising and slow cooling is adopted and is supplemented by longitudinal magnetic field regulation, and finally surface nanocrystallization modification is carried out through ultrasonic shot peening. The present application can ensure that the amorphous nanocrystalline alloy composition is accurate and uniform, the performance is stable and consistent, the magnetic performance, mechanical performance and surface performance of the amorphous nanocrystalline alloy are synergistically improved, and the service life of the core components of the industrial robot prepared from the amorphous nanocrystalline alloy is greatly prolonged.

Description

Technical Field

[0001] This invention relates to the field of alloy preparation technology, specifically to a method for preparing amorphous and nanocrystalline alloys and their application in industrial robots. Background Technology

[0002] Industrial robots are rapidly evolving towards higher precision, higher speed, higher load capacity, lower energy consumption, and longer lifespan. Their core components, such as servo motor cores, harmonic reducer flexsplines, joint sensor cores, and power module inductor cores, are facing increasingly stringent requirements regarding the magnetic properties, mechanical properties, wear resistance, and fatigue resistance of materials. Amorphous and nanocrystalline alloys, as a novel high-performance metallic material combining the long-range disorder of amorphous structures with the short-range order of nanocrystalline structures, possess excellent comprehensive properties such as high magnetic permeability, low iron loss, high strength, high toughness, and corrosion resistance. They have been widely applied in various high-tech fields, including power electronics, aerospace, automotive manufacturing, and industrial robots.

[0003] In existing technologies, traditional Fe-based amorphous and nanocrystalline alloys, represented by Finemet, are the most widely used amorphous and nanocrystalline alloys in the field of industrial robots. However, there are still many technical bottlenecks that are difficult to overcome, mainly reflected in: In terms of composition design, although traditional alloys meet the magnetic properties, their strength and toughness are insufficient, which cannot meet the mechanical load requirements of structural components such as the flexible wheel of the harmonic reducer. If too many alloying elements are added to improve mechanical properties, the amorphous forming ability will be significantly reduced, which will make it easy for harmful crystalline phases to precipitate during the rapid quenching process, making it difficult to prepare high-quality amorphous ribbons.

[0004] In terms of smelting process, the traditional one-step smelting method puts all raw materials into the furnace at the same time. Low-melting-point Cu, B and easily oxidized rare earth elements are severely burned, which not only causes the composition to deviate from the design value, but also leads to poor composition uniformity and large performance fluctuations between batches.

[0005] In terms of rapid quenching processes, the traditional single-roll rapid quenching method produces strips with high surface roughness, uneven internal stress distribution, and low amorphous phase purity. These problems are particularly prominent when preparing wide strips, which seriously affect subsequent processing performance.

[0006] In terms of heat treatment processes, the traditional one-step heating method is prone to causing uneven nanocrystal grain size, with some grains growing excessively, which significantly deteriorates the overall performance of the alloy.

[0007] In addition, existing amorphous and nanocrystalline alloys have insufficient surface hardness and wear resistance, making them prone to wear and fatigue failure during long-term high-speed and heavy-load operation of industrial robots, which significantly reduces equipment reliability and service life.

[0008] Therefore, developing a preparation method that can synergistically improve the magnetic, mechanical, and surface properties of amorphous and nanocrystalline alloys is of great significance for promoting the upgrading of industrial robot technology. Summary of the Invention

[0009] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a method for preparing amorphous nanocrystalline alloys and their application in industrial robots.

[0010] (II) Technical Solution A method for preparing an amorphous nanocrystalline alloy, The amorphous nanocrystalline alloy has the composition FeaCobSicBdCueNbxMy, where M is one of the rare earth elements Y, La, or Ce, a is 70-82, b is 3-12, c is 8-16, d is 5-12, e is 0.8-1.5, x is 1.2-3.0, y is 0.1-0.8, and a+b+c+d+e+x+y=100. The preparation method includes the following steps: S1: The Fe, Co, and Nb raw materials constituting the alloy are placed in a vacuum induction melting furnace, and the melting is carried out at an absolute pressure of 1×10⁻⁶. -3 -5×10 -3 Melt for 15-25 minutes at a temperature of 1550-1650℃ to obtain the first master alloy liquid; S2: After mixing the Si and B raw materials that constitute the alloy, add them to the first master alloy liquid and continue to melt for 10-15 minutes under argon protection to obtain the second master alloy liquid; S3: Mix Cu and rare earth element M that constitute the alloy and add them to the second master alloy liquid. Melt under argon protection for 5-10 minutes, and then hold at 1500-1580℃ for 5-8 minutes to obtain the final master alloy liquid. S4: Transfer the final master alloy liquid to a quartz crucible with a nozzle. Under an argon pressure of 0.02-0.08 MPa, spray the final master alloy liquid onto a high-speed rotating copper roller with a surface linear velocity of 25-40 m / s. Simultaneously, apply a constant transverse magnetic field with a magnetic induction intensity of 0.1-0.5 T on both sides of the copper roller. The cooling rate is controlled at 1×10⁻⁶. 6 -5×10 6 Amorphous alloy strips with thicknesses of 15-30 μm and widths of 5-100 mm were prepared using K / s. S5: The amorphous alloy strip is wound into an iron core or cut into the required shape and placed in a vacuum heat treatment furnace for heat treatment: first, the temperature is raised to 350-400℃ at a rate of 5-10℃ / min and held for 10-20 minutes, then the temperature is raised to 480-530℃ at a rate of 2-5℃ / min and held for 30-90 minutes, and finally cooled to room temperature at a rate of 1-3℃ / min to obtain an amorphous nanocrystalline alloy with a nanocrystal size of 8-15nm. S6: Ultrasonic shot peening technology is used to perform surface nano-sizing treatment on heat-treated amorphous and nanocrystalline alloys. The shot peening medium is stainless steel shot with a diameter of 0.1-0.5 mm, the shot peening pressure is 0.2-0.6 MPa, the shot peening time is 5-20 minutes, and a nanocrystalline layer with a thickness of 5-20 μm is formed on the alloy surface.

[0011] Preferably, in step S1, the power of the vacuum induction melting furnace is 50-200kW, and electromagnetic stirring is used during the melting process with a stirring frequency of 50-200Hz.

[0012] Preferably, in steps S2 and S3, the pressure of the argon gas protection is 0.05-0.15 MPa.

[0013] Preferably, in step S4, the nozzle width of the quartz crucible is 0.3-0.8 mm, the distance between the nozzle and the surface of the copper roller is 0.1-0.5 mm, and the diameter of the copper roller is 300-600 mm.

[0014] Preferably, in step S4, the transverse constant magnetic field is generated by two symmetrically arranged permanent magnets, the direction of the magnetic field is perpendicular to the rotation direction of the copper roller, and the uniformity of the magnetic field is within ±5%.

[0015] Preferably, in step S5, the absolute pressure of the vacuum heat treatment furnace is 1×10⁻⁶. -2 -5×10 -2 Pa, during the heat treatment process, a longitudinal magnetic field with a magnetic induction intensity of 0.05-0.2T is simultaneously applied.

[0016] Preferably, in step S6, the ultrasonic frequency of ultrasonic peening is 20-40kHz, the peening angle is 30-60 degrees, and argon is used as a protective gas during the process.

[0017] Preferably, the amorphous nanocrystalline alloy has the composition of Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

[0018] An amorphous nanocrystalline alloy, wherein the amorphous nanocrystalline alloy is prepared by the above-described preparation method.

[0019] The above-mentioned amorphous nanocrystalline alloy is used in the manufacture of industrial robots. The application is that the amorphous nanocrystalline alloy is used to manufacture servo motor cores, harmonic reducer flex wheels, joint sensor cores, power module inductor cores and / or electromagnetic shielding components for industrial robots.

[0020] (iii) Beneficial technical effects Compared with the prior art, the beneficial effects of the present invention are: By precisely optimizing the alloy composition system, and rationally combining Co and rare earth elements on the basis of traditional Fe-based alloys, and scientifically controlling the atomic percentage of each element, the amorphous forming ability of the alloy is greatly improved, and the synergistic optimization of magnetic and mechanical properties is achieved. This enables the prepared alloy to simultaneously meet the differentiated performance requirements of different core components of industrial robots.

[0021] The innovative process of step-by-step melting is adopted, and the raw materials are fed into the furnace in batches according to their melting points and oxidation activities. This effectively reduces element loss and oxidation, significantly improves the accuracy and uniformity of the alloy composition, and ensures the stability and batch consistency of the alloy performance from the source.

[0022] Introducing a transverse constant magnetic field to assist in the single-roll rapid quenching process improves the spreading state and cooling uniformity of the molten metal on the copper roll surface, reduces the surface roughness of the strip, reduces internal residual stress, and improves the purity of the amorphous phase. At the same time, it breaks through the technical limitations of traditional processes in preparing high-quality wide strips, making it suitable for the large-scale production needs of industrial robots.

[0023] By employing a gradient heat treatment process of segmented heating and slow cooling, supplemented by longitudinal magnetic field control, the nucleation and growth process of nanocrystals can be precisely controlled, resulting in uniform and fine nanocrystal grain size. This avoids performance degradation caused by excessive grain growth and further improves the overall performance of the alloy.

[0024] By using ultrasonic shot peening technology to perform surface nano-modification on the alloy, a dense gradient nanocrystalline layer is formed on the surface, which significantly improves the surface hardness, wear resistance and fatigue resistance of the alloy, and greatly extends the service life of the core components of industrial robots. Attached Figure Description

[0025] Figure 1 This is a flowchart of a method for preparing an amorphous nanocrystalline alloy disclosed in this invention; Figure 2 This is a line graph comparing the iron loss of the embodiment and the comparative example; Figure 3 This is a bar chart comparing the Vickers hardness and tensile strength of the examples and comparative examples; Figure 4 This is a line graph comparing the corrosion resistance of the examples and the comparative examples. Detailed Implementation

[0026] according to Figures 1 to 4 The specific embodiments of the present invention are as follows: The purity of the raw materials used in this invention is not less than 99.9%, and all the equipment used is industry-standard equipment. The vacuum induction melting furnace is a 50kg-class medium-frequency vacuum induction melting furnace, the single-roll rapid quenching equipment is a vacuum rapid quenching machine with adjustable copper roller diameter, the vacuum heat treatment furnace is a tubular vacuum furnace with a magnetic field application device, and the ultrasonic shot peening equipment is a CNC ultrasonic shot peening machine with adjustable power.

[0027] Detailed explanation of the general preparation process: S1: Accurately weigh each raw material according to the designed atomic percentage, and place the high-melting-point Fe, Co, and Nb lumpy raw materials sequentially into the alumina crucible of the vacuum induction melting furnace. After closing the furnace door, first evacuate to 5×10⁻⁶. -3 Below Pa, the furnace is then purged twice with 99.999% pure argon gas, and then evacuated again to 1×10⁻⁶ Pa. -3 ~5×10 -3 Pa, turn on the power and heat to 1550-1650℃, while simultaneously turning on the electromagnetic stirrer at a frequency of 50-200Hz, and melt for 15-25 minutes until the raw materials are completely melted and the composition is initially uniform, thus obtaining the first master alloy liquid.

[0028] S2: Place Si powder and B powder into a ball mill and dry ball mill for 10 minutes to mix them evenly. After the temperature of the first master alloy liquid stabilizes, add it in batches under argon protection at 0.05-0.15 MPa. The amount added in each batch shall not exceed 20% of the total mass, and the interval between each batch shall be 2-3 minutes. After all the addition is completed, continue to melt for 10-15 minutes to obtain the second master alloy liquid.

[0029] S3: Mix Cu particles and rare earth element M evenly in proportion, and add them to the second master alloy liquid in batches under the same argon protection, with an interval of 1 to 2 minutes between each batch. After all the additions are completed, continue melting for 5 to 10 minutes. Then, adjust the temperature to 1500 to 1580℃ and hold for 5 to 8 minutes to homogenize the composition and obtain the final master alloy liquid.

[0030] S4: Transfer the final master alloy liquid to a preheated quartz crucible with a nozzle, heated to 800–1000°C. The nozzle width is 0.3–0.8 mm, and the distance between the nozzle and the copper roller surface is adjusted to 0.1–0.5 mm. The copper roller diameter is 300–600 mm, and the inside is cooled by circulating cooling water at 20–25°C. The molten liquid is sprayed onto the surface of the high-speed rotating copper roller under an argon pressure of 0.02–0.08 MPa. The linear velocity of the copper roller surface is controlled at 25–40 m / s. Simultaneously, permanent magnets are symmetrically arranged on both sides of the copper roller, applying a constant transverse magnetic field with a magnetic induction intensity of 0.1–0.5 T, perpendicular to the rotation direction of the copper roller. The magnetic field uniformity is controlled within ±5%, and the cooling rate is maintained at 1 × 10⁻⁶.6 ~5×10 6 K / s was used to prepare continuous amorphous alloy strips with a thickness of 15–30 μm and a width of 5–100 mm.

[0031] S5: The prepared amorphous alloy strip is wound into a ring-shaped iron core with an inner diameter of 20 mm and an outer diameter of 50 mm, or cut into square samples of 100 mm × 100 mm, and placed in a vacuum heat treatment furnace, where a vacuum of 1 × 10⁻⁶ is applied. -2 ~5×10 -2 Pa is first heated to 350–400°C at a rate of 5–10°C / min and held for 10–20 minutes to remove residual stress; then the temperature is slowly increased to 480–530°C at a rate of 2–5°C / min, while a longitudinal magnetic field with a magnetic induction intensity of 0.05–0.2T is applied and held for 30–90 minutes to perform nanocrystallization treatment; finally, the temperature is cooled to room temperature in the furnace at a rate of 1–3°C / min to obtain an amorphous nanocrystalline alloy with a nanocrystal size of 8–15 nm.

[0032] S6: Fix the heat-treated alloy sample on the worktable of the ultrasonic shot peening equipment. Use stainless steel shot with a diameter of 0.1-0.5 mm and a hardness of HRC40-45 as the shot peening medium. Adjust the shot peening pressure to 0.2-0.6 MPa, the ultrasonic frequency to 20-40 kHz, the shot peening angle to 30-60 degrees, and the shot peening distance to 100-200 mm. Treat under argon protection for 5-20 minutes to form a dense gradient nanocrystalline layer with a thickness of 5-20 μm on the alloy surface. After treatment, clean the sample surface with anhydrous ethanol and dry it.

[0033] Example 1

[0034] The alloy composition used in this embodiment is Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

[0035] In step S1, the absolute pressure is controlled at 3 × 10⁻⁶. -3 Pa, melting temperature 1600℃, melting time 20 minutes, melting power 100kW, electromagnetic stirring frequency 100Hz.

[0036] In step S2, the argon gas is added in 5 batches at a pressure of 0.10 MPa, with an interval of 2.5 minutes between each batch, and the melting process continues for 12 minutes.

[0037] In step S3, add the ingredients in three batches, with a 1.5-minute interval between each batch, continue melting for 8 minutes, and hold at 1540℃ for 6 minutes.

[0038] In step S4, the quartz crucible nozzle width is 0.5 mm, the distance between the nozzle and the copper roller is 0.3 mm, the copper roller diameter is 400 mm, the argon injection pressure is 0.05 MPa, the surface linear velocity of the copper roller is 32 m / s, the transverse constant magnetic field magnetic induction intensity is 0.3 T, the magnetic field uniformity is ±3%, and the cooling rate is 3 × 10⁻⁶. 6 Amorphous alloy strips with a thickness of 22 μm and a width of 50 mm were prepared by K / s.

[0039] In step S5, the absolute pressure of the vacuum heat treatment furnace is 3×10⁻⁶. -2 Pa, first heat up to 380℃ at 7℃ / min and hold for 15 minutes, then heat up to 510℃ at 3℃ / min while applying a 0.1T longitudinal magnetic field and hold for 60 minutes, and finally cool to room temperature at 2℃ / min.

[0040] In step S6, the stainless steel shot diameter is 0.3 mm, the shot peening pressure is 0.4 MPa, the ultrasonic frequency is 30 kHz, the shot peening angle is 45 degrees, the shot peening distance is 150 mm, and the treatment time is 12 minutes, forming a nanocrystalline layer with a thickness of 12 μm on the surface. The alloy prepared in this embodiment has accurate and uniform composition, a smooth and flat strip surface, low internal residual stress, uniform and fine nanocrystalline grain size, and a dense and defect-free surface nanocrystalline layer.

[0041] Example 2

[0042] The alloy composition used in this embodiment is Fe. 75.8 Co4Si 12 B5Cu 1.2 Nb 1.8 La 0.2 .

[0043] In step S1, the absolute pressure is controlled at 2 × 10⁻⁶. -3 Pa, melting temperature 1620℃, melting time 18 minutes, melting power 150kW, electromagnetic stirring frequency 150Hz.

[0044] In step S2, the argon gas is added in 6 batches at a pressure of 0.08 MPa, with a 2-minute interval between each batch, and the melting process continues for 10 minutes.

[0045] In step S3, add the ingredients in two batches, with a 1-minute interval between each batch, continue melting for 6 minutes, and hold at 1560℃ for 5 minutes.

[0046] In step S4, the quartz crucible nozzle width is 0.4 mm, the distance between the nozzle and the copper roller is 0.25 mm, the copper roller diameter is 350 mm, the argon injection pressure is 0.04 MPa, the surface linear velocity of the copper roller is 35 m / s, the transverse constant magnetic field magnetic induction intensity is 0.2 T, the magnetic field uniformity is ±4%, and the cooling rate is 3.5 × 10⁻⁶. 6Amorphous alloy strips with a thickness of 20 μm and a width of 60 mm were prepared by K / s.

[0047] In step S5, the absolute pressure of the vacuum heat treatment furnace is 2×10⁻⁶. -2 Pa, first heat to 370℃ at 8℃ / min and hold for 12 minutes, then heat to 500℃ at 4℃ / min while applying a longitudinal magnetic field of 0.08T and hold for 75 minutes, and finally cool to room temperature at 1.5℃ / min.

[0048] In step S6, the stainless steel shot diameter is 0.25 mm, the shot peening pressure is 0.35 MPa, the ultrasonic frequency is 35 kHz, the shot peening angle is 40 degrees, the shot peening distance is 120 mm, and the treatment time is 10 minutes, forming a 10 μm thick nanocrystalline layer on the surface. The alloy prepared in this embodiment has excellent amorphous forming ability, the strip is continuous without breakage, the degree of nanocrystallization is high, and the surface properties are good.

[0049] Example 3 The alloy composition used in this embodiment is Fe. 77 Co4Si9B7Cu 0.9 Nb 1.6 Ce 0.5 .

[0050] In step S1, the absolute pressure is controlled at 4 × 10⁻⁶. -3 Pa, melting temperature 1580℃, melting time 22 minutes, melting power 80kW, electromagnetic stirring frequency 80Hz.

[0051] In step S2, the argon gas is added in 4 batches at a pressure of 0.12 MPa, with a 3-minute interval between each batch, and the melting process continues for 14 minutes.

[0052] In step S3, the copper foil thickness is 0.07mm. The raw materials are added in 4 batches, with an interval of 2 minutes between each batch. Melting continues for 9 minutes, and the temperature is maintained at 1520℃ for 7 minutes.

[0053] In step S4, the quartz crucible nozzle width is 0.6 mm, the distance between the nozzle and the copper roller is 0.35 mm, the copper roller diameter is 450 mm, the argon injection pressure is 0.06 MPa, the linear velocity on the copper roller surface is 28 m / s, the transverse constant magnetic field magnetic induction intensity is 0.4 T, the magnetic field uniformity is ±2%, and the cooling rate is 2.5 × 10⁻⁶. 6 Amorphous alloy strips with a thickness of 25 μm and a width of 40 mm were prepared by K / s.

[0054] In step S5, the absolute pressure of the vacuum heat treatment furnace is 4×10⁻⁶. -2Pa, first heat up to 390℃ at 6℃ / min and hold for 18 minutes, then heat up to 520℃ at 2.5℃ / min while applying a 0.12T longitudinal magnetic field and hold for 45 minutes, and finally cool to room temperature at 2.5℃ / min.

[0055] In step S6, the stainless steel shot diameter is 0.35 mm, the shot peening pressure is 0.45 MPa, the ultrasonic frequency is 25 kHz, the shot peening angle is 50 degrees, the shot peening distance is 180 mm, and the treatment time is 15 minutes, forming a 15 μm thick nanocrystalline layer on the surface. The alloy prepared in this embodiment exhibits excellent mechanical properties while maintaining good magnetic properties and outstanding surface wear resistance.

[0056] Comparative Example 1 The alloy composition used in this comparative example is the same as that in Example 1, which is Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

[0057] All raw materials Fe, Co, Si, B, Cu, Nb, and Y are simultaneously placed into a vacuum induction melting furnace for melting.

[0058] The subsequent processing method is the same as steps S4 to S6 in Example 1.

[0059] In the alloy prepared in this comparative example, the low-melting-point Cu and easily oxidized Y elements were severely burned off, the actual composition deviated significantly from the designed composition, and the composition uniformity was poor. The element content in different parts fluctuated significantly, resulting in poor alloy performance stability.

[0060] Comparative Example 2 The alloy composition used in this comparative example is the same as that in Example 1, which is Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

[0061] Steps S1-S3 and S5-S6 are the same as in Example 1; in step S4 (rapid quenching), no transverse constant magnetic field is applied, and the rest are the same as in Example 1.

[0062] The amorphous alloy strip prepared in this comparative example has a high surface roughness, obvious flow marks and pits, uneven distribution of internal residual stress, low purity of amorphous phase, and precipitation of harmful crystalline phases in local areas. The processing performance and subsequent heat treatment effect of the strip are significantly affected.

[0063] Comparative Example 3 The alloy composition used in this comparative example is the same as that in Example 1, which is Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y0.5 .

[0064] Steps S1-S4 and S6 are the same as in Example 1; in step S5 (heat treatment), the temperature is directly raised to 510°C at a rate of 5°C / min and held for 60 minutes without applying a longitudinal magnetic field, or performing segmented heating and slow cooling, and the rest is the same as in Example 1.

[0065] The alloy nanocrystals prepared in this comparative example have uneven grain size distribution, with some grains growing excessively, resulting in a significant deterioration in the overall performance of the alloy.

[0066] Comparative Example 4 The alloy composition used in this comparative example is the same as that in Example 1, which is Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

[0067] Steps S1-S5 are the same as in Example 1, except that the ultrasonic shot peening surface nano-treatment in step S6 is not performed.

[0068] The alloy prepared in this comparative example has lower surface hardness and wear resistance. In the wear test simulating long-term operation of an industrial robot, the surface wear amount is significantly greater than that in Example 1, and the fatigue resistance is also poor.

[0069] Comparative Example 5 The alloy composition used in this comparative example is the same as that in Example 1, which is Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

[0070] Steps S1-S3 are the same as in Example 1; in step S4 (rapid quenching), no transverse constant magnetic field is applied; in step S5 (heat treatment), the temperature is directly raised to 510°C at a rate of 5°C / min and held for 60 minutes without applying a longitudinal magnetic field, or performing segmented heating and slow cooling; otherwise, it is the same as in Example 1; the ultrasonic shot peening surface nano-treatment in step S6 is not performed.

[0071] Comparative Example 6 The alloy composition used in this comparative example is the same as that in Example 1, which is Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

[0072] Steps S1-S3 are the same as in Example 1; in step S4 (rapid quenching), no transverse constant magnetic field is applied, and the rest is the same as in Example 1; step S5 is the same as in Example 1; ultrasonic shot peening surface nano-treatment in step S6 is not performed.

[0073] Comparative Example 7 The alloy composition used in this comparative example is the same as that in Example 1, which is Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

[0074] Steps S1-S3 are the same as in Example 1; in step S4 (rapid quenching), no transverse constant magnetic field is applied, and the rest is the same as in Example 1; in step S5, no longitudinal magnetic field is applied, and the rest is the same as in Example 1; in step S6, the steps are the same as in Example 1.

[0075] Comparative Example 8 The alloy composition used in this comparative example is the same as that in Example 1, which is Fe. 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

[0076] Steps S1-S3 are the same as in Example 1; in step S4 (rapid quenching), no transverse constant magnetic field is applied, and the rest is the same as in Example 1; in step S5, no longitudinal magnetic field is applied, and the rest is the same as in Example 1; the ultrasonic shot peening surface nano-treatment in step S6 is not performed.

[0077] The core magnetic properties of the embodiments and comparative examples are compared in Table 1 below: Table 1

[0078] The mechanical and surface properties of the examples and comparative examples are compared in Table 2 below: Table 2

[0079] Based on the core magnetic properties in Table 1 and the mechanical and surface properties in Table 2, it can be seen that the amorphous and nanocrystalline alloys prepared in Examples 1-3 are significantly superior to all comparative examples in terms of key performance indicators such as initial magnetic permeability, saturation magnetic induction, Vickers hardness, tensile strength, and corrosion resistance. Comparative Examples 1-4 respectively demonstrate the deteriorating effect of the absence of any single process—stepwise melting, magnetic field-assisted rapid quenching, gradient heat treatment, and ultrasonic shot peening—on performance. The performance differences between Comparative Examples 5-7 and the examples further prove that the three core processes—transverse magnetic field rapid quenching, longitudinal magnetic field coupled gradient heat treatment, and ultrasonic shot peening surface modification—have a significant synergistic effect, and are not simply the sum of the effects of a single technology. Comparative Example 8 has the worst performance, highlighting the necessity of the core process combination of this invention. Therefore, the alloy prepared by this invention has excellent comprehensive performance and can meet the requirements of core components for industrial robots.

[0080] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for preparing an amorphous nanocrystalline alloy, characterized in that, The amorphous nanocrystalline alloy has the following composition: Fe a Co b Si c B d Cu e Nb x M y Where M is one of the rare earth elements Y, La, or Ce, a is 70-82, b is 3-12, c is 8-16, d is 5-12, e is 0.8-1.5, x is 1.2-3.0, y is 0.1-0.8, and a+b+c+d+e+x+y=100. The preparation method includes the following steps: S1: The Fe, Co, and Nb raw materials constituting the alloy are placed in a vacuum induction melting furnace, and the melting is carried out at an absolute pressure of 1×10⁻⁶. -3 -5×10 - 3 Melt for 15-25 minutes at a temperature of 1550-1650℃ to obtain the first master alloy liquid; S2: After mixing the Si and B raw materials that constitute the alloy, add them to the first master alloy liquid and continue to melt for 10-15 minutes under argon protection to obtain the second master alloy liquid; S3: Mix Cu and rare earth element M that constitute the alloy and add them to the second master alloy liquid. Melt under argon protection for 5-10 minutes, and then hold at 1500-1580℃ for 5-8 minutes to obtain the final master alloy liquid. S4: Transfer the final master alloy liquid to a quartz crucible with a nozzle. Under an argon pressure of 0.02-0.08 MPa, spray the final master alloy liquid onto a high-speed rotating copper roller with a surface linear velocity of 25-40 m / s. Simultaneously, apply a constant transverse magnetic field with a magnetic induction intensity of 0.1-0.5 T on both sides of the copper roller. The cooling rate is controlled at 1×10⁻⁶. 6 -5×10 6 Amorphous alloy strips with thicknesses of 15-30 μm and widths of 5-100 mm were prepared using K / s. In step S4, the transverse constant magnetic field is generated by two symmetrically arranged permanent magnets. The direction of the magnetic field is perpendicular to the rotation direction of the copper roller, and the uniformity of the magnetic field is within ±5%. S5: The amorphous alloy strip is wound into an iron core or cut into the required shape and placed in a vacuum heat treatment furnace for heat treatment: first, the temperature is raised to 350-400℃ at a rate of 5-10℃ / min and held for 10-20 minutes, then the temperature is raised to 480-530℃ at a rate of 2-5℃ / min and held for 30-90 minutes, and finally cooled to room temperature at a rate of 1-3℃ / min to obtain an amorphous nanocrystalline alloy with a nanocrystal size of 8-15nm. In step S5, the absolute pressure of the vacuum heat treatment furnace is 1×10⁻⁶. -2 -5×10 -2 Pa, a longitudinal magnetic field with a magnetic induction intensity of 0.05-0.2T is simultaneously applied during the heat treatment process; S6: Ultrasonic shot peening technology is used to perform surface nano-sizing treatment on heat-treated amorphous and nanocrystalline alloys. The shot peening medium is stainless steel shot with a diameter of 0.1-0.5 mm, the shot peening pressure is 0.2-0.6 MPa, the shot peening time is 5-20 minutes, and a nanocrystalline layer with a thickness of 5-20 μm is formed on the alloy surface.

2. The method for preparing amorphous nanocrystalline alloy according to claim 1, characterized in that, In step S1, the power of the vacuum induction melting furnace is 50-200kW, and electromagnetic stirring is used during the melting process with a stirring frequency of 50-200Hz.

3. The method for preparing amorphous nanocrystalline alloy according to claim 1, characterized in that, In steps S2 and S3, the pressure of the argon gas protection is 0.05-0.15 MPa.

4. The method for preparing amorphous nanocrystalline alloy according to claim 1, characterized in that, In step S4, the nozzle width of the quartz crucible is 0.3-0.8 mm, the distance between the nozzle and the surface of the copper roller is 0.1-0.5 mm, and the diameter of the copper roller is 300-600 mm.

5. The method for preparing amorphous nanocrystalline alloy according to claim 1, characterized in that, In step S6, the ultrasonic frequency of ultrasonic peening is 20-40kHz, the peening angle is 30-60 degrees, and argon is used as a protective gas during the process.

6. The method for preparing amorphous nanocrystalline alloy according to claim 1, characterized in that, The amorphous nanocrystalline alloy has the following composition: Fe 75 Co6Si 10 B6Cu1Nb 1.5 Y 0.5 .

7. An amorphous nanocrystalline alloy, characterized in that, The amorphous nanocrystalline alloy is prepared by the preparation method according to any one of claims 1-6.

8. The application of the amorphous nanocrystalline alloy according to claim 7 in the manufacture of industrial robots, characterized in that, The application is that the amorphous nanocrystalline alloy is used to prepare servo motor cores, harmonic reducer flex wheels, joint sensor cores, power module inductor cores and / or electromagnetic shielding components for industrial robots.

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