CN110394536A - A kind of induction fusing wire intelligent robot increasing material manufacturing method - Google Patents
A kind of induction fusing wire intelligent robot increasing material manufacturing method Download PDFInfo
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- CN110394536A CN110394536A CN201910371847.3A CN201910371847A CN110394536A CN 110394536 A CN110394536 A CN 110394536A CN 201910371847 A CN201910371847 A CN 201910371847A CN 110394536 A CN110394536 A CN 110394536A
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- wire
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- increasing material
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- robot
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Classifications
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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
- B23K13/00—Welding by high-frequency current heating
- B23K13/01—Welding by high-frequency current heating by induction heating
-
- 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
- B23K35/00—Rods, electrodes, materials, or media, for use in soldering, welding, or cutting
- B23K35/22—Rods, electrodes, materials, or media, for use in soldering, welding, or cutting characterised by the composition or nature of the material
- B23K35/38—Selection of media, e.g. special atmospheres for surrounding the working area
- B23K35/383—Selection of media, e.g. special atmospheres for surrounding the working area mainly containing noble gases or nitrogen
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
Abstract
The present invention provides a kind of induction fusing wire intelligent robot increasing material manufacturing method.This method includes software systems, control system, induction heating system, robot motion's system, wherein software systems include 3 d modeling software SolidWorks, hierarchy slicing and path planning software lungoPNT；Control system is used to receive the instruction of software systems, controls the movement of robot and robot pose adjustment in robot motion's system；Robot motion's system is 6 axis joint arm type robots；Induction heating system includes induction heating power and load coil, wire feeder and gas shield device；The present invention utilizes the principle of induction heating, so that wire is quickly heated to molten condition, molten metal receives the double action of magnetic field force and gravity, drips from heat-resistant ceramic tube；The alternating magnetic field that induction coil produces simultaneously has stirring action to molten bath, and the element in molten bath can be made to homogenize, and improves formed precision and quality that metal increases material component.
Description
Technical field
The present invention relates to metal material increasing fields, and in particular to a kind of induction fusing wire intelligent robot increasing material system
Make method.
Background technique
Increasing material manufacturing is commonly called as 3D printing, is to have merged CAD, material processing and forming technique, with number
Based on model file, by software and digital control system by dedicated metal material, nonmetallic materials and biomaterial for medical purpose,
It is successively accumulated according to modes such as extruding, sintering, melting, photocuring, injections, produces the manufacturing technology of physical item.Relative to
Traditional cooked mode to raw material removal-cutting, assembling is different, is a kind of system that " from bottom to top " passes through material addition
Method is made, from scratch.
At present metal increase material increasing material manufacturing method: 1, direct fusion sediment, using high energy beam current (electron beam, laser beam,
Electric arc, ion beam etc.) it acts on metal powder or wire and melts metal powder or wire, and in solid substrate
Upper solidification forms one layer of metallurgical cladding layer, after having printed one layer of X-Y scheme according to certain path, powder spray head with substrate
Or wire feeder rises a level, carries out next layer of fusion sediment, until forming a complete workpiece.2, constituency is molten
Change deposition, first in one layer of substrate upper berth metal powder, the laser beam or electron beam of focusing are pressed under the control of scanning galvanometer
According to certain path rapid irradiance powder, rapid melting is brought it about, is solidified, metallurgical cladding layer is formed, then substrate decline one
A level is then covered with one layer of metal powder, is scanned processing, repeats such process until entire workpiece is completed.
Existing metal increases material manufacturing technology be not also it is very mature, since wire and metal powder melt under high energy beam current
Change, solidification deposition, wherein liquid solid-state phase changes are complicated, it is difficult to which the defects of controlling, being easy to produce stomata crackle increases the workpiece that material comes out
It is also perfect far away in mechanical property and mechanical performance, traditional forging, the level of casting is not achieved；Electric arc increase material arc power compared with
Precision is difficult to control in the case where big；The laser beam spot of focusing is smaller, and electron beam line is smaller, in the increasing material system of large-scale workpiece
Efficiency is lower when making；Laser gain material, electron beam increase material, ion beam increases material equipment valuableness, and late maintenance cost is high；Metal increases material
Powder relies primarily on import, and import is examined, and the links such as transport are many and diverse, seriously affects engineering use.
Summary of the invention
The object of the present invention is to provide machining accuracy height, and processing efficiency is fast, and cost is relatively low, a kind of high sense of energy utilization rate
Answer molten metal silk intelligent robot increasing material manufacturing method.
It realizes that the object of the invention provides a kind of induction fusing wire intelligent robot increasing material manufacturing method, including walks as follows
It is rapid:
S1: cleaning substrate surface removes surface impurity and oxide, checks gas cylinder, is ready to increase material；
S2: determining and increase material technological parameter induction heating power, alternative frequency, and wire feed rate increases material speed.Increase material speed by
Actual demand determines.The determination of induction heating power and alternative frequency provides following formula:
(1) relationship of induction heating power and wire feed rate:
In formula, q-- melts the flow of wire, m3/s；
D-- wire diameter, m；
vs-- wire feed rate, m/s；
Q=cq ρ (ts-t0)
In formula, Q-- melts the heat provided required for wire, J；
C-wire specific heat capacity, J/ (kg DEG C)；
ρ-density of wires, kg/m3；
ts- wire melting temperature, t0- room temperature, DEG C；
In formula, P-induction heating power, kW；
L=load coil length, m；
(2) determination of alternative frequency:
0 μ r of μ=μ
In formula, μ 0 --- space permeability, μ 0=4 π * 10-7(H/m)
μ r --- relative permeability；
In formula, f-alternative frequency, kHz；
ρ r-wire resistance, Ω m；
Δ -- penetration depth, m；
S3 designs the Three-dimensional Entity Components model for wanting to increase material with 3 d modeling software SolidWorks, uses lungoPNT
Hierarchy slicing and path planning are carried out to Three-dimensional Entity Components model, generate the identifiable file of robot, and imported into
Control system；
S4: opening control cabinet switch, and the metal determined in S2 is increased material processing parameter setting by induction heating power switch
It is good, side-blown protection gas is opened, control system is moved to according to specified path clustering welding gun increases material starting point, and the induction outside welding gun adds
Heat coil can generate alternating magnetic field after being powered in welding gun, and wire is heated to fusing point or more temperature using kelvin effect moment
Degree, the place accumulation that molten metal silk is specified in welding gun, while having stirring action to molten bath in electromagnetic force, it can make in molten bath
Element homogenization, welding gun covers with specified speed and path, until the completion of first layer workpiece；
S5: raising a level for robot, prints the second layer according to the step of S4, and third layer ... is until form one
Complete workpiece；
S6: after completing S5 step, stopping wire feed, closes control cabinet power supply, stops supplying gas after protection gas delay 5s；
Further, the first layer of induction fusing wire robot increasing material manufacturing method accumulation is enterprising in corresponding substrate
Row.
Further, every layer heap product after the completion of, deposited metal surface is cooled down with air gun, be cooled to 75 DEG C~
When between 100 DEG C, next layer of accumulation is being carried out.
Further, induction heating power power frequency variation range 50KHz~100KHz, induction coil are placed in welding gun
Outside, height is freely adjustable.Welding gun is manufactured by heat-resistant ceramic tube SiC, and welding gun internal diameter is 0.8mm~1.2mm, welding gun diameter
40mm。
Further, wire should be bonded as far as possible with heat-resistant ceramic tube, prevented liquid metal adverse current, blocked pipeline.
Further, side-blown protective gas is straight argon, the protective gas nozzle strange hand fixture of hose in gas shield device
It is outer contrary with material is increased to be fixed on heat-resistant ceramic tube, protects gas jets apart from molten bath distance 100mm-120mm, with horizontal face angle
Degree is 30 °~45 °, and side-blown gas flow is 18L/min~25L/min.The strange hand fixture model SKIER of hose is strange with hose
The advantages of hand fixture, is pose easy to disassemble, and can freely adjusting protection gas jets.
Further, Song Ji mechanism includes wire-feed motor, wire feed rolls, wire leading pipe, and wire leading pipe is connected with welding gun.In replacement metal
When silk size, wire feed rolls, seal wire pipe size also should be replaced accordingly.
Further, the artificial 6 axis joint arm type robot of the operation machine of induction fusing wire, such as Ku Ka robot,
An Chuan robot, ABB robot etc..
The present invention compared with the existing technology, has a significant advantage that
1, induction fusing wire intelligent robot increasing material manufacturing method of the invention is made in the way of induction heating
Electric energy is converted into thermal energy, and capacity usage ratio reaches 95% or more, greatly improves efficiency of heating- utilization, reduces production cost；
2, induction fusing wire intelligent robot increasing material manufacturing method of the invention, the temperature of induction heating can pass through
The change of induction heating power and change, temperature-controllable and control precision it is higher；
3, induction fusing wire intelligent robot increasing material manufacturing method of the invention, the alternating magnetic field for answering coil to produce
There is stirring action to molten bath, the element in molten bath can be made to homogenize, it is preferable to increase material molding effect；
4, induction fusing wire intelligent robot increasing material manufacturing method of the invention, without arc light, cigarette during increasing material
The influence that dirt etc. is harmful to the human body；
5, induction fusing wire intelligent robot increasing material manufacturing method of the invention, equipment is simply easily operated, the later period
Maintenance cost is lower.
Detailed description of the invention
Fig. 1 is the structural block diagram of induction fusing wire metal increasing material manufacturing method of the present invention.
Fig. 2 is lungoPNT hierarchy slicing Operation interface diagram.
Fig. 3 is increasing material manufacturing entity component figure.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments
The present invention provides a kind of induction fusing wire intelligent robot increasing material manufacturing method, using technique shown in Fig. 1 into
Row induction fusing wire metal increases the connection of material system, and it mainly includes software system that induction fusing wire metal, which increases material system,
System, control system, induction heating system, robot motion's system.It include 3 d modeling software SolidWorks in software systems,
Hierarchy slicing and path planning software lungoPNT.Control system includes control cabinet.Induction heating system includes induction heating electricity
Source and load coil, gas shield device, wire feeder.
Wire, that is, increasing material manufacturing material, ingredient can be adjusted according to the performance requirement for increasing material structural member.Gold
Belong to silk be sent in heat-resistant ceramic tube welding gun by wire-feed motor, by load coil, be heated to molten condition, gravity with
Under the action of the magnetic field that induction coil generates, molten drop drips from welding gun.Position is dripped under protection gas jets alignment molten drop, protection is molten
Drip not oxidized, protection gas used by this patent is argon gas.Load coil is placed in outside heat-resistant ceramic tube welding gun, and resistance to
Thermal Ceramics pipe welding gun is coaxial.
Embodiment
With model ER-506 carbon steel metal silk, a diameter of 1.2mm；For the Q345 substrate of 6mm thickness.Its specific steps
Are as follows:
S1: cleaning substrate surface removes surface impurity and oxide, checks gas cylinder, is ready to increase material；
S2: determining and increase material technological parameter, and wire feed rate 0.12m/s in this example increases material speed 1.5m/min, room temperature 25
℃；And induction heating power size and alternative frequency are found out according to the following formula:
In formula, q-- melts the flow of wire, m3/s；
D-- wire diameter, 0.0012m；
vs-- wire feed rate, 0.12m/s；
Q=cq ρ (ts-t0)
In formula, Q-- melts the heat provided required for wire, J；
C-wire specific heat capacity, 480J/ (kg DEG C)；
ρ-density of wires, 7.85*103kg/m3；
ts- wire melting temperature, 1400 DEG C；t0- room temperature, 25 DEG C；
In formula, P-induction heating power, kW；
L-- load coil length, 0.05m；
(2) determination of alternative frequency:
0 μ r of μ=μ
In formula, μ 0 --- space permeability, μ 0=4 π * 10-7(H/m)
μ r --- relative permeability, 2180；
In formula, f-alternative frequency, kHz；
Δ -- penetration depth, 0.0006m；
ρ r-wire resistance, 9.78*10-8Ω·m；
Calculate induction heating power be 1.6Kw, alternative frequency 22.9kHz；
S3: the Three-dimensional Entity Components model for increasing material is constructed with 3 d modeling software SolidWorks, with lungoPNT to three
It ties up entity component model and carries out hierarchy slicing and path planning, lungoPNT hierarchy slicing operation interface is as shown in Fig. 2, generate one
A identifiable file of robot, and it imported into control system；
S4: opening control cabinet switch, and the metal determined in S2 is increased material processing parameter setting by induction heating power switch
It is good, side-blown protection gas is opened, control system is moved to according to specified path clustering welding gun increases material starting point, and the induction outside welding gun adds
Heat coil can generate alternating magnetic field after being powered in welding gun, and wire is heated to fusing point or more temperature using kelvin effect moment
Degree, the place accumulation that molten metal silk is specified in welding gun, while having stirring action to molten bath in electromagnetic force, it can make in molten bath
Element homogenization, welding gun covers with specified speed and path, until the completion of first layer workpiece；
S5: raising a level for robot, prints the second layer according to the step of S4, and third layer ... is until form one
Complete workpiece；
S6: after completing S5 step, stopping wire feed, closes control cabinet power supply, stops supplying gas after protection gas delay 5s；
S7: being moved to home for welding gun, and molten metal silk intelligent robot increasing material manufacturing is answered in completion, increases the reality that material goes out
Body part is as shown in Figure 3.
Claims (8)
1. a kind of induction fusing wire intelligent robot increasing material manufacturing method, which comprises the steps of:
S1: cleaning substrate surface removes surface impurity and oxide, checks gas cylinder, is ready to increase material；
S2: determining and increase material technological parameter induction heating power, alternative frequency, and wire feed rate increases material speed；
S3: the Three-dimensional Entity Components model for increasing material is constructed with 3 d modeling software SolidWorks, with lungoPNT to three-dimensional
Entity component model carries out hierarchy slicing and path planning, after exporting G code, extracts coordinate letter using the script that python writes
Breath, is then converted into the identifiable language of robot, and import in control cabinet；
S4: opening control cabinet switch, and induction heating power switch is good by the metal determined in S2 increasing material processing parameter setting, beats
Side-blown protection gas is opened, control system is moved to according to specified path clustering welding gun increases material starting point, the induction heating line outside welding gun
Circle can generate alternating magnetic field after being powered in welding gun, and wire is heated to fusing point temperatures above using kelvin effect moment, melt
The place accumulation that the wire melted is specified in welding gun, while having stirring action to molten bath in electromagnetic force, welding gun is with specified speed
Degree and path are covered, until the completion of first layer workpiece；
S5: raising a level for robot, prints the second layer according to the step of S4, and third layer ... is until form complete work
Part；
S6: after completing S5 step, stopping wire feed, closes control cabinet power supply, stops supplying gas after protection gas delay 5s；
S7: welding gun is moved to home, molten metal silk intelligent robot increasing material manufacturing is answered in completion.
2. induction fusing wire intelligent robot increasing material manufacturing method as described in claim 1, which is characterized in that induction adds
Hot systems include induction heating power and induction coil, wire feeder and gas shield device.
3. induction fusing wire intelligent robot increasing material manufacturing method as claimed in claim 2, which is characterized in that induction adds
Thermoelectric generator power frequency variation range 1KHz~100KHz, induction coil are placed in outside welding gun, and height is freely adjustable；Welding gun is by resistance to
Thermal Ceramics pipe SiC manufacture, welding gun internal diameter are 0.8mm~1.2mm, welding gun diameter 40mm.
4. induction fusing wire intelligent robot increasing material manufacturing method as claimed in claim 2, which is characterized in that gas is protected
Side-blown protective gas is straight argon in protection unit, and protective gas nozzle is fixed on outside heat-resistant ceramic tube with the strange hand fixture of hose and increases material
Contrary, protection gas jets are 30 °~45 ° with horizontal plane angle apart from molten bath distance 100mm-120mm, side-blown gas stream
Amount is 18L/min~25L/min.
5. induction fusing wire intelligent robot increasing material manufacturing method as claimed in claim 4, which is characterized in that hose is strange
Hand fixture model SKIER.
6. induction fusing wire intelligent robot increasing material manufacturing method as claimed in claim 2, which is characterized in that described to send
Machine mechanism includes wire-feed motor, wire feed rolls, wire leading pipe, and wire leading pipe is connected with welding gun, and when replacing wire size, wire feed rolls is led
Fiber tube size also should be replaced accordingly.
7. induction fusing wire intelligent robot increasing material manufacturing method as described in claim 1, which is characterized in that described
The artificial 6 axis joint arm type robot of the operation machine of induction fusing wire, specially Ku Ka robot, An Chuan robot or
ABB robot.
8. induction fusing wire intelligent robot increasing material manufacturing method as described in claim 1, which is characterized in that induction adds
The determination formula of thermal power and alternative frequency is as follows:
(1) relationship of induction heating power and wire feed rate:
In formula, q-- melts the flow of wire, m3/s；
D-- wire diameter, m；
vs-- wire feed rate, m/s；
Q=cq ρ (ts-t0)
In formula, Q-- melts the heat provided required for wire, J；
C-wire specific heat capacity, J/ (kg DEG C)；
ρ-density of wires, kg/m3；
ts- wire melting temperature, t0- room temperature, DEG C；
In formula, P-induction heating power, kW；
L=load coil length, m；
(2) determination of alternative frequency:
0 μ r of μ=μ
In formula, μ 0 --- space permeability, μ 0=4 π * 10-7(H/m)
μ r --- relative permeability；
In formula, f-alternative frequency, kHz；
Δ -- penetration depth, m；
ρ r-wire resistance, Ω m.
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| CN111408840A (en) * | 2020-04-07 | 2020-07-14 | 哈尔滨工业大学（威海） | Device for assisting underwater laser deposition or material increase through induction heating and use method |
| CN112936292A (en) * | 2021-03-29 | 2021-06-11 | 昆明理工大学 | Open-source slicing path planning robot arc additive manufacturing method |
| CN113134670A (en) * | 2021-04-27 | 2021-07-20 | 哈尔滨工业大学 | Additive machining equipment and machining method |
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