CN109926695A - A kind of robot single machine is the same as the double non-melt pole electrical arc increasing material manufacturing method and apparatus that fill silk of mouth - Google Patents
A kind of robot single machine is the same as the double non-melt pole electrical arc increasing material manufacturing method and apparatus that fill silk of mouth Download PDFInfo
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- CN109926695A CN109926695A CN201711349518.6A CN201711349518A CN109926695A CN 109926695 A CN109926695 A CN 109926695A CN 201711349518 A CN201711349518 A CN 201711349518A CN 109926695 A CN109926695 A CN 109926695A
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Abstract
The invention discloses a kind of robot single machines with the double non-melt pole electrical arc increasing material manufacturing method and apparatus that fill silk of mouth, which is made of the non-melt pole source of welding current, welding gun, robot, wire feeder etc..Specifically: single machine is double to send wire feeder to be fixed on robots arm, and two silk materials are sent into the same ignition tip, and robot control cabinet controls wire feed by wire feed communication module；Robot controls the source of welding current, while adjusting process parameter, and ignite electric arc, to realize the synchronized Coordinative Control that mariages fills silk with mouth with arc ignition.The single machine that the present invention uses is double to send wire feeder light-weight, small in size, can easily realize the long-range wire feed of robot；Mariages shares ignition tip, and compared with two discrete ignition tips, fixture volume reduces, and adjusts nargin and is significantly increased.When carrying out the mariages increasing material manufacturing of robot electric arc using the present invention, spatial accessibility is stronger, the non-melt pole electrical arc silk material increasing material manufacturing of Yi Shixian complex structural member, has the advantages that more efficiently quick.
Description
Technical field
The invention belongs to electric arc increases material manufacturing technology fields, and it is non-molten with the double silk fillings of mouth to relate generally to a kind of robot single machine
Change pole electrical arc increasing material manufacturing method and apparatus.
Background technique
Electric arc increases material manufacturing technology is one of the advanced manufacturing technology that new development is got up.The technology applies principle using layer, adopts
It uses electric arc as heat source, the metal wire material of addition is melted, under program control, according to the forming path of setting on substrate
It carries out heap to apply, gradually forms metal parts.Have the advantages that stock utilization is high, at low cost, part size limit it is small, be it is low at
The important research direction of this direct metal fabricating.
In non-melt pole electrical arc monofilament increasing material manufacturing, arc stability is easily operated, automation easy to accomplish；By right
Welding parameter is adjusted, and can obtain the good metal or alloy component of forming shape.But restrict this method development
Principal element is that its production efficiency is low.To solve this efficiency, a kind of fast and efficiently non-melt pole electrical arc is needed to increase material
The double increasing material manufacturing methods that fill silk of manufacturing method, i.e. non-melt pole electrical arc.Compared with monofilament increasing material manufacturing, mariages increasing material manufacturing is in phase
Under the conditions of same heat input, two silk materials of arc-melting, fusion penetration and rate of dilution are smaller, and production efficiency is higher.
A kind of Double Wire Welding nozzle mechanism that number of patent application is 201610793797.4 discloses a kind of Double Wire Welding nozzle mechanism, should
It is fixed with two welding wires disposed in parallel in tip, is mainly used for the high efficiency welding of twin-wire melting pole gas shielded welding, and body
Product is larger, is not suitable for the electric arc increasing material manufacturing of non-melt pole.Single source of welding current that number of patent application is 201120361177.6 is double
Wire feeder discloses a kind of double wire feeders of single source of welding current, which has two wire-feed motors, two welding guns, can not achieve same
When weld, structure is complex, flexibility is poor, and is only used for MIG/MAG welding method, and it is double not to be able to satisfy robot electric arc
Silk increasing material manufacturing.
Summary of the invention
The purpose of the present invention is to provide a kind of robot single machines with the double non-melt pole electrical arc increasing material manufacturing sides that fill silk of mouth
Method and device are able to solve the problems such as non-melt pole electrical arc increasing material manufacturing production efficiency is low, shaping speed is slow, are suitable for material of the same race
The double increasing material manufacturings that fill silk of the robot non-melt pole electrical arc of material or dissimilar material.
Realize the technical solution of the present invention is as follows:
A kind of robot single machine is provided with the double non-melt pole electrical arc increasing material manufacturing devices that fill silk of mouth, is specifically included: machine
People's control cabinet, the non-melt pole source of welding current, welding gun, robot, wire feeder；Wherein, welding gun is fixed on robot by fixture
On；
Wire feeder includes that the shared ignition tip of mariages, the single machine pair set gradually send wire feeder, wire feeding disc I and wire feeding disc
II and wire feed communication module, specifically:
Mariages shares ignition tip, and to be fixed on the ignition tip on welding gun, two thread eyes are in same ignition tip；
Single machine is double to send wire feeder, is fixed on robots arm, including control circuit, two sets of wire feeders and corresponding
Motor and wire pressing device.
Its control method is that robot control cabinet controls single machine pair by wire feed communication module and wire feeder is sent to reach control
The purpose of wire feed, two silk materials are sent into the same ignition tip；Robot control cabinet controls the non-melt pole source of welding current simultaneously, adjustment
Technological parameter, ignite electric arc, realizes the synchronized Coordinative Control that mariages fills silk with mouth with arc ignition.Device is controlled by robot
The difference of wire feed signal realizes double non-melt pole electrical arc increasing material manufacturings that fill silk；By changing the type and material of silk material, realize same
Double silk filling non-melt pole electrical arc increasing material manufacturings of kind silk material and xenogenesis silk material.
It is preferred that the wire feed angle α that mariages shares wire feeding mouth is 0 ° -20 °；
It is preferred that the center in two wire feed holes of the shared wire feeding mouth of mariages is 3-15mm away from d；
Wire feeder is sent to be sent by silk material of the control circuit to two sets of wire feeders it is preferred that single machine is double
Speed is controlled；
The manufacturing method carried out with single machine with the double non-melt pole electrical arc increasing material manufacturing devices that fill silk of mouth using above-mentioned robot,
Specific step is as follows:
(1) according to the silk material of selected materials, diameter, determine the center in wire feed angle and two wire feed holes away from selecting mariages
Ignition tip is shared, and adjusts its position between welding gun；
(2) power on, wait the communication signal of whole system in place, preset heap and apply electric current, heap deposited speed, wire feed rate
Etc. welding parameters；
(3) welding procedure is arranged according to the geometric parameter that heap applies component, robot control cabinet is sent according to preset program to be believed
Number give the source of welding current；
(4) robot carrying welding gun has reached welding position and has set, and robot control cabinet sends a signal to source of welding current control heap and applies
Electric current reaches preset value, reaches preset value by the wire feed rate that wire feed communication module controls two silk materials；
(5) robot control cabinet sends a signal to the source of welding current according to preset program, and ignite electric arc, and then robot controls
Cabinet sends a signal to mariages communication module, and single machine is double to send wire feeder to start wire feed, two silk materials synchronizations or asynchronous feeding one
A ignition tip starts heap according to pre-set program and applies；
(6) at the end of heap applies, robot control cabinet sends a signal to mariages communication module, and single machine is double to send wire feeder to stop
Wire feed, then, robot control cabinet send a signal to the source of welding current according to preset program, extinguish electric arc.
(7) step 4-6 is repeated, until the heap for completing default geometric parameter component applies.
It is preferred that the mariages share the silk material diameter that ignition tip is sent out be 0.8mm, 0.9mm, 1.0mm,
1.2mm,1.6mm,2.0mm；
It is preferred that the silk material type that mariages shares ignition tip submitting is identical or different
Send the silk material feed rate of wire feeder identical or different it is preferred that single machine is double；
Compared with prior art, remarkable advantage of the invention is: 1. carry out robot using device provided by the present invention
Tungsten Inert electric arc increasing material manufacturing test, mariages share an ignition tip, and compared with two discrete ignition tips, fixture volume subtracts
It is small, it adjusts nargin and is significantly increased；Send wire feeder structure compact 2. the single machine of the device is double, it is small in size, it is light-weight, it can be easily real
The long-range wire feed of existing robot；3. carry out the mariages increasing material manufacturing of robot electric arc using the present invention, spatial accessibility is stronger,
The non-melt pole electrical arc silk material increasing material manufacturing for more easily realizing complex structural member has the advantages that more efficiently quick.
Detailed description of the invention
Fig. 1 is robot single machine with the double non-melt pole electrical arc increasing material manufacturing system schematics that fill silk of mouth；
Fig. 2 is double wire feeder structural schematic diagrams；
Fig. 3 is that mariages shares ignition tip schematic diagram；
Fig. 4, which is that single machine is double, send machine in-house structure chart；
Fig. 5 is the double Tungsten Inert electric arc increasing material manufacturing component outside drawings that fill silk of silk material single machine of the same race；
Fig. 6 is the double Tungsten Inert electric arc increasing material manufacturing outside drawings that fill silk of xenogenesis silk material single machine.
Wherein, 1 is robot control cabinet, and 2 be positioner, and 3 be workpiece, and 4 share ignition tip for mariages, and 5 be welding gun, and 6 are
Plasma power supply, 7 be wire feed communication module, and 8 be wire feeder, and 9 send wire feeder for single machine is double, and 10 be robot, and 11 be to send
Wire tray I, 12 be wire feeding disc II.
Specific embodiment
It is non-molten with the double silk fillings of mouth to a kind of robot single machine of the present invention in the following with reference to the drawings and specific embodiments
Change pole electrical arc increasing material manufacturing method and apparatus to be described further.
A kind of robot is specifically included with single machine with the double non-melt pole electrical arc increasing material manufacturing devices that fill silk of mouth: non-melt pole welds
Connect power supply 6, welding gun 5, robot 10, wire feeder 8 and positioner 2.Wherein, welding gun 5 is fixed in robot 10；Mariages is total
It is fixed on welding gun 5 with ignition tip 4 by fixture；Single machine is double to send wire feeder 9 to be fixed on robots arm.Mariages shares conduction
Mouth 4 can be sent into two silk materials simultaneously, and wire feed angle α is 0 ° -20 °, and the center in two wire feed holes is 3-15mm away from d, can send out
Diameter is respectively the of the same race or xenogenesis silk material of 0.8mm, 0.9mm, 1.0mm, 1.2mm, 1.6mm, 2.0mm.Single machine is double to send wire-feed motor
Structure controls the silk material feed rate of two sets of wire feeders by a control circuit, and silk material feed rate is identical or different, and
And the requirement of the double wire feeds of single machine may be implemented, flexibility is stronger.
The device model specifically used are as follows: MOTOMAN MH6 arc welding robot, DX100 control cabinet and workbench, welding
Power supply is 3000 type welding machine of Fu Nisi Magic Wave, argon-arc welding gun.
Embodiment 1
Using above-mentioned apparatus, the single machine of silk material of the same race is carried out with the double non-melt pole electrical arc increasing material manufacturings that fill silk of mouth.
(1) according to the silk material of selected materials, diameter, determine the center in wire feed angle and two wire feed holes away from selecting mariages
Ignition tip 4 is shared, and adjusts its position between welding gun 5；
(2) power on, wait the communication signal of whole system in place, preset heap and apply electric current, heap deposited speed, wire feed rate
Etc. welding parameters；
(3) welding procedure is arranged according to the geometric parameter that heap applies component, robot control cabinet 1 is sent according to preset program to be believed
Number give the source of welding current 6；
(4) carrying of robot 10 welding gun 5 has reached welding position and has set, and robot control cabinet 1 sends a signal to the control of the source of welding current 6
Heap applies electric current and reaches preset value, reaches preset value by the wire feed rate that wire feed communication module 7 controls two silk materials；
(5) robot control cabinet 1 sends a signal to the source of welding current 6 according to preset program, and ignite electric arc, then robot control
Cabinet 1 processed sends a signal to mariages communication module 7, and single machine is double to send wire feeder 9 to start wire feed, and two silk materials are synchronous or asynchronous send
Into an ignition tip, starts heap according to pre-set program and apply；
(6) at the end of heap applies, robot control cabinet 1 sends a signal to mariages communication module 7, and single machine is double to send wire feeder 9
Stop wire feed, two silk materials synchronizations or asynchronous stopping, then, robot control cabinet 1 sends a signal to weldering according to preset program
Power supply 6 is connect, electric arc is extinguished.
(7) step 4-6 is repeated, until the heap for completing default geometric parameter component applies.
It is applied in experiment in this heap, the wire feed angle α of two silk materials is chosen to be 0 °, and the center in two wire feed holes is selected away from d
For 1.2mm, filled silk material is chosen to be the H08Mn2Si carbon steel welding wire of diameter 1.0mm, and substrate is Q235 steel plate, and heap coating number is 40
The straight wall component of layer.Technological parameter is respectively as follows: heap and applies electric current 150A, and two silk material wires feed rate are 1.6m/min, and heap applies
Speed 30cm/min, electric arc height 5mm, protection air-flow amount 15L/min.
Attached drawing 5 gives the appearance that the double Tungsten Inert electric arc increasing material manufacturings that fill silk of this silk material single machine of the same race obtain component
Figure.As seen from the figure, straight wall body component forming is preferable, and entire straight wall body is substantially linear, the defects of interrupted, shrinkage cavity does not occur.
Embodiment 2
Using above-mentioned apparatus, the single machine of xenogenesis silk material is carried out with the double non-melt pole electrical arc increasing material manufacturings that fill silk of mouth.
(1) according to the silk material of selected materials, diameter, determine the center in wire feed angle and two wire feed holes away from selecting mariages
Ignition tip 4 is shared, and adjusts its position between welding gun 5；
(2) power on, wait the communication signal of whole system in place, preset heap and apply electric current, heap deposited speed, wire feed rate
Etc. welding parameters；
(3) welding procedure is arranged according to the geometric parameter that heap applies component, robot control cabinet 1 is sent according to preset program to be believed
Number give the source of welding current 6；
(4) carrying of robot 10 welding gun 5 has reached welding position and has set, and robot control cabinet 1 sends a signal to the control of the source of welding current 6
Heap applies electric current and reaches preset value, reaches preset value by the wire feed rate that wire feed communication module 7 controls two silk materials；
(5) robot control cabinet 1 sends a signal to the source of welding current 6 according to preset program, and ignite electric arc, then robot control
Cabinet 1 processed sends a signal to mariages communication module 7, and single machine is double to send wire feeder 9 to start wire feed, and two silk materials are synchronous or asynchronous send
Into an ignition tip, starts heap according to pre-set program and apply；
(6) at the end of heap applies, robot control cabinet 1 sends a signal to mariages communication module 7, and single machine is double to send wire feeder 9
Stop wire feed, two silk materials synchronizations or asynchronous stopping, then, robot control cabinet 1 sends a signal to weldering according to preset program
Power supply 6 is connect, electric arc is extinguished.
(7) step 4-6 is repeated, until the heap for completing default geometric parameter component applies.
It is applied in experiment in this heap, the wire feed angle α of two silk materials is chosen to be 15 °, and the center in two wire feed holes is selected away from d
For 6mm, filled silk material is chosen to be the ER5356 magnalium welding wire of diameter 1.2mm and the S311 Al-Si wire of diameter 1.2mm, base respectively
Plate is 6061 aluminium alloy plates, the straight wall component that heap coating number is 25 layers.Technological parameter be respectively as follows: heap apply electric current 130A, two
Wire feed rate is 2.0m/min, and heap applies speed 30cm/min, electric arc height 7mm, a-c cycle 70hz, protection air-flow amount 17L/
min。
Attached drawing 6 gives the appearance that the double Tungsten Inert electric arc increasing material manufacturings that fill silk of this xenogenesis silk material single machine obtain component
Figure.As seen from the figure, straight wall body component forming is good, and the surface roughness of side surface is smaller, and entire straight wall body is substantially linear, in
Between without occur discontinuously, shrinkage cavity the defects of.
The above has only done illustrative description to the present invention, is not the limitation present invention, for the technology of this field
For personnel, the invention may be variously modified and varied.All modifications when not departing from core of the invention, made,
Replacement, improve etc., it should be in protection scope of the present invention.
Claims (8)
1. a kind of robot single machine specifically includes: robot control with the double non-melt pole electrical arc increasing material manufacturing devices that fill silk of mouth
Cabinet (1), the non-melt pole source of welding current (6), welding gun (5), robot (10), wire feeder (8)；Wherein, welding gun (5) passes through fixture
It is fixed on robot (10)；
It is characterized in that, the wire feeder (8) includes that the mariages set gradually shares ignition tip (4), the double wire feeds of single machine
Mechanism (9), wire feeding disc I (11) and wire feeding disc II (12) and wire feed communication module (7), specifically:
The mariages shares ignition tip (4), and for the ignition tip being fixed on welding gun (5), two thread eyes are in same ignition tip
It is interior；
The single machine is double to send wire feeder (9), is fixed on robots arm, including control circuit, two sets of wire feeders and with
Its corresponding motor and wire pressing device.
2. robot single machine according to claim 1 is with the double non-melt pole electrical arc increasing material manufacturing devices that fill silk of mouth, special
Sign is that the wire feed angle α that the mariages shares ignition tip (4) is 0 ° -20 °.
3. robot single machine according to claim 1 is with the double non-melt pole electrical arc increasing material manufacturing devices that fill silk of mouth, special
Sign is, it is 3-15mm that the mariages, which shares the center in two wire feed holes of ignition tip (4) away from d,.
4. robot single machine according to claim 1 is with the double non-melt pole electrical arc increasing material manufacturing devices that fill silk of mouth, special
Sign is that the single machine is double to send wire feeder (9) to carry out by silk material feed rate of the control circuit to two sets of wire feeders
Control.
5. -4 utilization robot single machines are the same as the double non-melt pole electrical arc increasing material manufacturing device systems that fill silk of mouth according to claim 1
Make method, which is characterized in that including specific step is as follows:
(1) according to the silk material of selected materials, diameter, determine the center in wire feed angle and two wire feed holes away from selecting mariages to share
Ignition tip (4), and adjust its position between welding gun (5)；
(2) power on, wait the communication signal of whole system in place, preset heap and apply the welderings such as electric current, heap deposited speed, wire feed rate
Connect parameter；
(3) welding procedure is arranged according to the geometric parameter that heap applies component, robot control cabinet (1) sends signal according to preset program
Give the source of welding current (6)；
(4) robot (10) carrying welding gun (5) has reached welding position and has set, and robot control cabinet (1) sends a signal to the source of welding current (6)
Control heap applies electric current and reaches preset value, reaches preset value by the wire feed rate that wire feed communication module (7) control two silk materials；
(5) robot control cabinet (1) sends a signal to the source of welding current (6) according to preset program, and ignite electric arc, then robot control
Cabinet (1) processed sends a signal to mariages communication module (7), and single machine is double to send wire feeder (9) to start wire feed, two silk materials it is synchronous or
One ignition tip of asynchronous feeding starts heap according to pre-set program and applies；
(6) at the end of heap applies, robot control cabinet (1) is sent a signal to mariages communication module (7), and single machine is double to send wire feeder
(9) stop wire feed, two silk materials synchronizations or asynchronous stopping, then, robot control cabinet (1) sends signal according to preset program
It gives the source of welding current (6), extinguishes electric arc.
(7) step 4-6 is repeated, until the heap for completing default geometric parameter component applies.
6. manufacturing method according to claim 5, robot single machine is the same as the double non-melt pole electrical arc increasing material manufacturing dresses that fill silk of mouth
Set, which is characterized in that the mariages share the silk material diameter that wire feeding mouth (4) are sent out be 0.8mm, 0.9mm, 1.0mm, 1.2mm,
1.6mm、2.0mm。
7. manufacturing method according to claim 5, which is characterized in that the mariages shares the silk that wire feeding mouth (4) are sent out
Material type is identical or different.
8. manufacturing method according to claim 5, which is characterized in that the double silk materials for sending wire feeder (9) of the single machine
Feed rate is identical or different.
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| CN201711349518.6A CN109926695A (en) | 2017-12-15 | 2017-12-15 | A kind of robot single machine is the same as the double non-melt pole electrical arc increasing material manufacturing method and apparatus that fill silk of mouth |
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| CN201711349518.6A CN109926695A (en) | 2017-12-15 | 2017-12-15 | A kind of robot single machine is the same as the double non-melt pole electrical arc increasing material manufacturing method and apparatus that fill silk of mouth |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110405323A (en) * | 2019-07-10 | 2019-11-05 | 江苏理工学院 | One kind is based on using wire feeding mouth fixture and its melting and coating process on argon arc welding trolley |
| CN112139635A (en) * | 2020-09-01 | 2020-12-29 | 西安石油大学 | Tungsten electrode adjustable bidirectional filler wire GTAW constrained arc additive manufacturing device and method |
| CN113305863A (en) * | 2021-06-23 | 2021-08-27 | 广西焊杰机器人技术有限公司 | Welding robot and welding method thereof |
| CN114406417A (en) * | 2022-03-01 | 2022-04-29 | 山东大学 | Rotary arc GTA additive manufacturing system and method based on non-axisymmetric tungsten electrode |
| CN114850632A (en) * | 2022-07-06 | 2022-08-05 | 湖南湘投金天科技集团有限责任公司 | Heterogeneous intermetallic compound additive machining equipment and machining method thereof |
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| CN112139635A (en) * | 2020-09-01 | 2020-12-29 | 西安石油大学 | Tungsten electrode adjustable bidirectional filler wire GTAW constrained arc additive manufacturing device and method |
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| CN115106613A (en) * | 2022-06-20 | 2022-09-27 | 汉中万利航空装备制造有限公司 | Arc fuse additive manufacturing system and method |
| CN115106613B (en) * | 2022-06-20 | 2024-01-26 | 汉中万利航空装备制造有限公司 | Arc fuse additive manufacturing system and method |
| CN114850632A (en) * | 2022-07-06 | 2022-08-05 | 湖南湘投金天科技集团有限责任公司 | Heterogeneous intermetallic compound additive machining equipment and machining method thereof |
| CN115476025A (en) * | 2022-10-05 | 2022-12-16 | 南京理工大学 | Plasma arc additive method and device for heterogeneous dual-wire in-situ alloying |
| CN115476025B (en) * | 2022-10-05 | 2024-03-19 | 南京理工大学 | Method and device for adding material to heterogeneous double-wire in-situ alloying plasma arc |
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