CN106112206B - A kind of multi-shaft interlocked formula metal 3D printer and Method of printing based on arc-welding method - Google Patents
A kind of multi-shaft interlocked formula metal 3D printer and Method of printing based on arc-welding method Download PDFInfo
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- CN106112206B CN106112206B CN201610587173.7A CN201610587173A CN106112206B CN 106112206 B CN106112206 B CN 106112206B CN 201610587173 A CN201610587173 A CN 201610587173A CN 106112206 B CN106112206 B CN 106112206B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
- B23K9/044—Built-up welding on three-dimensional surfaces
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Abstract
The invention discloses a kind of multi-shaft interlocked formula metal 3D printer and Method of printing based on arc-welding method, including closed case, six shaft mechanical arms, conjugate substrate assembly, welding assembly, temperature probe and CCD monitor, the closed case includes molding room, control room and gas cylinder room, the displacement substrate includes level-one positioner and second level positioner, the level-one positioner includes level-one displacement driving side and level-one displacement support-side, the second level positioner includes second level rotation positioner and printing substrate, the both ends of the second level rotation positioner are located on the level-one displacement driving side and level-one displacement support-side of level-one positioner and can spin upside down movement under the drive of level-one displacement driving side, the six shaft mechanicals arm is located above printing substrate, the printing substrate is additionally provided with heater and cooler device.The present invention solves the problems, such as that traditional 3D printing method consumptive material preparation difficulty is big and utilization rate is low, realizes the printing of large scale functionally graded metal material parts.
Description
Technical field
The invention belongs to 3D printing technique fields, more particularly to the multi-shaft interlocked formula metal 3D printing skill based on arc-welding method
Art.
Background technique
Well known metal 3D printing technique be using laser or electron beam as heat source to metal powder or silk material into
Row fused deposition is molding in turn.The part of well known laser 3D printing not easily molded large scale and functionally graded material, molding
Low efficiency, and the preparation difficulty of high-quality powder supplies is big.Well known electron beam fuse 3D printing can only be along can prop up because of it
It is accumulated the molded part held, it is difficult to the more complex part of molding structure；And electron beam dusts and powdering 3D printing method
There is a problem of that consumptive material preparation difficulty is big and consumptive material utilization rate is relatively low.These high equipment costs, structure is complicated, and maintenance cost is high,
It is unfavorable for promoting and applying on a large scale.
Summary of the invention
Goal of the invention: being directed to above-mentioned existing problem and shortage, and the object of the present invention is to provide one kind to be based on arc-welding
The multi-shaft interlocked formula metal 3D printer and Method of printing of method solve electron beam and dust to exist with the 3D printing method of powdering and consume
Material prepares that difficulty is big and the low problem of utilization rate, has inexpensive consumptive material and realizes beating for large scale functionally graded metal material parts
Print solves the problems, such as fuse 3D printing difficulty molding complex parts and poor efficiency.
Technical solution: in order to solve the above-mentioned technical problem, the invention adopts the following technical scheme: a kind of based on arc-welding method
Multi-shaft interlocked formula metal 3D printer, including closed case, six shaft mechanical arms, displacement substrate assembly, welding assembly, temperature probe
With CCD monitor, the closed case includes molding room, control room and gas cylinder room, and the displacement substrate assembly is located at molding room
Interior and including level-one positioner and second level positioner, the level-one positioner includes level-one displacement driving side and level-one displacement support
Side, the second level positioner include the printing substrate that second level rotates positioner and is located on second level rotation positioner, the second level
The both ends of rotation positioner are located on the level-one displacement driving side and level-one displacement support-side of level-one positioner and conjugate in level-one
Movement can be spun upside down under the drive of driving side, the six shaft mechanicals arm is located above printing substrate, and the temperature probe is set
On six shaft mechanical arms；The welding assembly includes being located at the indoor source of welding current of control and wire-feed motor, is located at the storage of gas cylinder room
Gas cylinder and the welding gun for being located at six shaft mechanical arm front ends, the storage cylinder are connect by high-pressure pneumatic hose with welding gun, the wire feed
Machine is connect by wire leading pipe with welding gun；The CCD monitor is located in molding room, and the printing substrate is additionally provided with heating and cooling
Device.
Preferably, being additionally provided with control panel on the outside of the control room of the closed case.
Preferably, the six shaft mechanicals arm includes being sequentially connected pedestal, lower arm, upper arm and wrist from bottom to up, it is described
Pedestal is that 340 ° of freedom degree rotatings are flexibly connected, and the lower arm is 245 ° of connections that freely swing, and the upper arm is that 215 ° of swings connect
It connects, and the angle of the swinging track of upper arm and lower arm swinging track is 30 °~90 °；The wrist is to swing and rotate connection.Institute
It states between six each components of shaft mechanical arm as turning joint, is able to achieve the multi-direction multimode flexible motion of welding gun, thus
Realize the printing of various shape component.
The present invention also provides a kind of multi-shaft interlocked formula metal 3D printing method of arc-welding method based on above-mentioned printer,
Under the protection of inert gas, using metal aluminum filament as shaping raw material, metal aluminum filament and substrate is connected to two poles and are powered, gold
Belong to aluminium wire and simultaneously wire feed moved according to regulation path on substrate by mechanical arm, forms electric arc with substrate while moving wire feed,
Metal aluminum filament melts and is formed on substrate molten bath under the action of arc heat, is successively successively piled into again after molten bath is cooling predetermined
Shape completes the molding of metal component.
The above method is in specific step is as follows:
(1) firstly, to printing basal plate preheating make the temperature of printing substrate relative to welding wire fusing point -5~3 DEG C of ranges it
It is interior；
(2) after the temperature of printing substrate reaches preset temperature range, the six shaft mechanicals arm is according to preset print path
Diameter starts successively to print movement, and the level-one positioner and second level positioner driving printing substrate do and rotate and deflect at the same time
Movement；Every layer of printing is equipped with arcing point and blow-out point, and the arcing point and blow-out point are each provided at except printing ontology；
(3) in print procedure, the source of welding current and wire-feed motor are real-time according to the acceleration change and molding situation of printing movement
Adjust voltage, electric current and wire feed rate；Every printing completes one layer, need to control molded portion by the cooling device on printing substrate
The temperature for dividing upper surface restarts the printing for carrying out lower layer, successively after the temperature of molded portion of upper surface reaches preset value
Wang Zheng entire model is promised repeatedly.
Further, the metal aluminum filament carries out Real-time Feedback, institute to electrical current and voltage in energization melting process
Current control is stated in 20~300A, voltage is controlled in 5~40V.
Further, the walking movement speed of the metal aluminum filament is 4~10mm/s, while the wire feed of the metal aluminum filament
Speed is 5~8m/min.
Further, the interlayer interval waiting time that the metal aluminum filament successively melts is 30~180s.
Further, for the metal aluminum filament before entering lower layer molten bath, the temperature in molten bath need to be cooled to 400 DEG C or less.
Further, the six shaft mechanicals arm is additionally provided with the interface for mounting machining power head；The second level becomes
The deflection angle of position machine with respect to the horizontal plane is -45 °~45 °.
The utility model has the advantages that compared with prior art, the invention has the following advantages that the 1. metal 3D printer costs significantly
Lower than the cost of laser and electron beam molding equipment；2. the metal 3D printer is using silk material as molding consumptive material, preparation is difficult
Degree and cost are below powder supplies；3. compared to the comparable five-axis machine tool fitness machine system of complexity, the six shaft mechanicals arm tool
Have that motion range is big, fireballing feature；4. the six shaft mechanicals arm is also to mount machining power head to have reserved interface, can
Realize the comprehensive function of printing shaping and machining；5. the dual-axis rotation position that the displacement substrate assembly can realize printing substrate
Transformation is set, the printing shaping of complex space model and functionally graded material is easy to implement；6. the temperature probe and CCD monitor
Stable automatic control can be carried out to printing technical process；7. can make to form every different function room in the closed case
Journey by environmental disturbances and does not guarantee the reliable and stable work of each component.
Detailed description of the invention
Fig. 1 is the appearance diagram of the multi-shaft interlocked formula metal 3D printer of the present invention based on arc-welding method；
Fig. 2 is the schematic diagram of internal structure of the multi-shaft interlocked formula metal 3D printer of the present invention based on arc-welding method；
Fig. 3 is the schematic layout pattern of the multi-shaft interlocked formula metal 3D printer of the present invention based on arc-welding method.
Wherein, closed case 1, six shaft mechanical arms 2 conjugate substrate assembly 3, and level-one conjugates driving side 31, level-one displacement branch
Hold side 32, second level positioner 33, printing substrate 34, welding assembly 4, the source of welding current 41, wire-feed motor 42, welding gun 43, storage cylinder 44,
Temperature probe 5, CCD monitor 6, control panel 7.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate
It the present invention rather than limits the scope of the invention, after the present invention has been read, those skilled in the art are to of the invention each
The modification of kind equivalent form falls within the application range as defined in the appended claims.
Shown in Fig. 1~3, the multi-shaft interlocked formula metal 3D printer of the invention based on arc-welding method, equipment includes closing machine
The components such as case, six shaft mechanical arms, displacement substrate assembly, welding assembly, temperature probe, CCD monitor, control panel；Conjugate base
Plate assembly includes the components such as level-one displacement driving side, level-one displacement support side, second level positioner, printing substrate；Welding assembly packet
Include the components such as the source of welding current, wire-feed motor, welding gun, gas cylinder.
The six shaft mechanicals arm, displacement substrate assembly, welding assembly are connected and are connected on the bottom plate of closed case；The temperature control
Probe is fixedly connected on the end of six shaft mechanical arms；The CCD monitor is fixedly connected on the molding room side of closed case；Institute
State the front side that control panel is flush-mounted in closed case；The both ends of the second level rotation positioner are respectively fixedly connected with to be conjugated in level-one
Driving side and level-one displacement support side (the both-end fixed structure is more firm when printing large-size components compared to cantilever design)；
The printing substrate is fixedly connected on second level positioner；The wire-feed motor be fixedly connected on the source of welding current in control room it
On；The welding gun is fixedly connected on the end of six shaft mechanical arms；The gas cylinder is fixedly installed in the gas cylinder room of closed case；Institute
Wire-feed motor is stated to connect by wire leading pipe with welding gun；The gas cylinder is connect by high-pressure pneumatic hose with welding gun.
Entire molding machine system is isolated from the outside by the closed case, provides stable environment for forming process.Closed case
Inside is separated out molding room, control room and gas cylinder room, keeps each functional module relatively independent and convenient for safeguarding；The six shaft mechanicals arm
The movement of print procedure is completed according to pre-set forming path；The displacement substrate assembly realizes the double of molded part
It is converted to rotation position, to carry out the printing shaping of subsequent region (because electric arc melting accumulation mode is in printing by gravity shadow
It ringing, molten bath must effectively be attached to molded surface, so the gradient of printing can only in a certain range (generally and vertically
Angle is not more than 45 degree), the bidirectional rotation displacement scheme, which makes up irrotationality transition bit printing substrate, can not print complex model
It is insufficient)；The welding assembly realizes the stabilization arc-welding accumulation of silk material；Upper surface temperature of the temperature probe to molded part
It is detected and is fed back and carry out printing rhythm control in control panel；The CCD monitor carries out molding room's print state
The detection of visual monitoring, especially forming process, with on-line tuning technological parameter and processing abnormal conditions；The control panel collection
It is middle display each portion of equipment working condition and carry out output operational order；Level-one in the displacement substrate assembly conjugates driving side
Level-one positioner is formed with level-one displacement support side, level-one positioner realizes the level-one rotation position transformation of printing substrate, level-one
Displacement driving side provides rotary driving force for level-one positioner, and level-one conjugates support side and provides distal end bearing for level-one positioner；
The second level positioner realizes the second level rotation position transformation of printing substrate；The printing substrate has pressure cooling and actively adds
The function of heat (when printing starts, for the temperature difference for reducing molten drop and substrate, enhances the degrees of fusion of molten drop and substrate, needs to base
Plate is preheated；Print to a given layer it is high when (general 10 layers or so) made due to the layer-by-layer cumulative effect of molded partial heat
It is too high to timely cooling at the temperature of printable surface layer, and then molten drop trickling occurs, needs to wait printable surface layer at this time
Temperature be down to suitable temperature and could continue to print, and the interlayer waiting time can be reduced by the forced cooling function of substrate, mentioned
High shaping efficiency), molding basis is provided for print procedure；The source of welding current in the welding assembly realizes the weldering in print procedure
Connect electric current, voltage parameter is adjusted in real time；The wire-feed motor provides stable silk material conveying for print procedure；The welding gun is as silk
The output port of material, protective gas and circuit cable；The gas cylinder provides pressure protection gas for printing shaping process, i.e., high
Pure argon or CO2Protect gas.
Specific implementation process: pre-set model printing path is input in control panel, executes printing, six axis
Mechanical arm carries out successively printing movement according to preset path.Due to the molding starting point (starting the arc) and terminal of arc-welding method 3D printing process
(blow-out) molding effect is difficult to control, and there are randomnesss for compact dimensions, if required printing note is arranged in the starting the arc and blow-out point
In vivo, then internal flaw is easily formed, thus the setting of printing path is different from well known electron beam or the path of laser powdering is set
Fixed, concrete scheme is: the arcing point and blow-out point that every layer is printed are arranged except required printing ontology, to guarantee required part
Quality.In print procedure, the source of welding current and wire-feed motor are real according to the acceleration and deceleration variation of printing movement and molding interrupted situation
When adjustment voltage, electric current, the parameters such as wire feed stem elongation.After one layer of completion to be printed, temperature probe detects table on molded part
The temperature in face is simultaneously fed back in control panel, and control panel will test temperature parameter and beat compared with preset temperature to control next layer
The initial time of print.In print procedure, CCD monitor is scanned capture, control panel root to the upper surface of molded part
Judge whether to compensate the high defect of printable layer according to the image of capture.In print procedure, printing substrate is right according to the technological requirements
Molded part carries out forcing cooling or actively heat.After the model of a band of position to be printed, displacement substrate assembly according to
Preset model printing path is shifted one's position, to carry out the printing shaping of subsequent region.Above procedure, which is repeated, can be completed
The printing of entire part model.
Welding gun is mounted on six-joint robot in the figure, and vision monitoring instrument is connect with camera by data cable, temperature
Monitor is connect with temperature sensor by data cable, and welding machine electric power is connect with inert gas bottle by hose, welding gun and weldering
Electromechanical source is connected by client cables, and substrate is bolted on rotation positioner.
Before print job starts, the operating path set is first inputted into six-joint robot, then pre- hot substrate to 200
DEG C, it then begins to print.Six-joint robot drives welding gun to move along the path of setting with the speed of 6mm/s, and welding machine electric power is set
Determine welding current 150A, voltage 20V, wire feed rate 6m/min, control welding gun is successively stacked on substrate after melting welding wire.Temperature
Spend monitor and vision monitoring instrument synchronization monitoring printable layer interlayer temperature and pattern, with adjust in real time electric current in print procedure,
The various print parameters such as voltage, wire feed rate, the speed of travel.
It being compared with traditional pressure casting method, this method is not necessarily to make die casting in advance, a large amount of cost and working hour are saved,
Although subsequent needs increase the manufacture of machining, its cost and working hour well below die casting.With tradition machinery plus
The comparison of work method, this method without preparing large-sized sheet metal in advance, it is only necessary to using the wire rod of model of the same race, save significantly
Material time has been saved, while having improved stock utilization.
Claims (6)
1. a kind of Method of printing of the multi-shaft interlocked formula metal 3D printer based on arc-welding method, it is characterised in that: described to be based on arc
The multi-shaft interlocked formula metal 3D printer of welding method includes closed case, six shaft mechanical arms, displacement substrate assembly, welding assembly, temperature
Control probe and CCD monitor, the closed case includes molding room, control room and gas cylinder room, and the displacement substrate assembly is located at
In molding room and including level-one positioner and second level positioner, the level-one positioner includes that level-one displacement driving side and level-one become
Position support-side, the second level positioner include the printing substrate that second level rotates positioner and is located on second level rotation positioner, institute
The both ends for stating second level rotation positioner are located on the level-one displacement driving side and level-one displacement support-side of level-one positioner and one
Movement can be spun upside down under the drive of grade displacement driving side, the six shaft mechanicals arm is located above printing substrate, the temperature control
Probe is located on six shaft mechanical arms；The welding assembly includes being located at the indoor source of welding current of control and wire-feed motor, is located at gas cylinder
The storage cylinder of room and the welding gun for being located at six shaft mechanical arm front ends, the storage cylinder are connect by high-pressure pneumatic hose with welding gun, institute
Wire-feed motor is stated to connect by wire leading pipe with welding gun；The CCD monitor is located in molding room, and the printing substrate is additionally provided with heating
And cooling device；
In the method, under the protection of inert gas, using metal aluminum filament as shaping raw material, metal aluminum filament is connect with substrate
It is powered to two poles, metal aluminum filament moves simultaneously wire feed according to regulation path on substrate by mechanical arm, moves the same of wire feed
When with substrate form electric arc, metal aluminum filament melts and forms molten bath on substrate under the action of arc heat, after molten bath is cooling according to
It is secondary to be successively piled into predetermined shape again, complete the molding of metal component；
Specific step is as follows:
(1) firstly, making the temperature of printing substrate relative to welding wire fusing point within the scope of -5~3 DEG C printing basal plate preheating；
(2) after the temperature of printing substrate reaches preset temperature range, the six shaft mechanicals arm is opened according to preset printing path
Begin successively to print movement, the level-one positioner and second level positioner driving printing substrate do rotation and deflection fortune at the same time
It is dynamic；Every layer of printing is equipped with arcing point and blow-out point, and the arcing point and blow-out point are each provided at except printing ontology；
(3) in print procedure, the source of welding current and wire-feed motor are adjusted in real time according to the acceleration change and molding situation of printing movement
Voltage, electric current and wire feed rate；Every printing completes one layer, need to be controlled on molded part by the cooling device on printing substrate
The temperature on surface restarts the printing for carrying out lower layer, successively repeatedly after the temperature of molded portion of upper surface reaches preset value
Complete the printing of entire model；
The six shaft mechanicals arm includes sequentially connected pedestal, lower arm, upper arm and wrist from bottom to up, the pedestal be 340 ° from
It is connected by degree rotary moveable, the lower arm is 245 ° of connections that freely swing, and the upper arm connects for 215 ° of swings, and the pendulum of upper arm
The angle of dynamic rail mark and lower arm swinging track is 30 °~90 °；The wrist is to swing and rotate connection.
2. the Method of printing of the multi-shaft interlocked formula metal 3D printer based on arc-welding method, feature exist as described in claim 1
In the metal aluminum filament carries out Real-time Feedback in energization melting process, to electrical current and voltage, and the current control is 20
~300A, voltage are controlled in 5~40V.
3. the Method of printing of the multi-shaft interlocked formula metal 3D printer based on arc-welding method, feature exist as described in claim 1
In the walking movement speed of the metal aluminum filament is 4~10mm/s, while the wire feed rate of the metal aluminum filament is 5~8m/
min。
4. the Method of printing of the multi-shaft interlocked formula metal 3D printer based on arc-welding method, feature exist as described in claim 1
In the interlayer interval waiting time that the metal aluminum filament successively melts is 30~180s.
5. the Method of printing of the multi-shaft interlocked formula metal 3D printer based on arc-welding method, feature exist as described in claim 1
In for the metal aluminum filament before entering lower layer molten bath, the temperature in molten bath need to be cooled to 400 DEG C or less.
6. the Method of printing of the multi-shaft interlocked formula metal 3D printer based on arc-welding method, feature exist as described in claim 1
In the six shaft mechanicals arm is additionally provided with the interface for mounting machining power head；The second level positioner is relative to level
The deflection angle in face is -45 °~45 °.
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| CN205869665U (en) * | 2016-07-22 | 2017-01-11 | 南京航天高科光电技术有限公司 | Multiaxis coordinated type metal 3D printer based on arc welding method |
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