CN113909631B - Suspended structure material adding process with auxiliary device at tail end of robot - Google Patents
Suspended structure material adding process with auxiliary device at tail end of robot Download PDFInfo
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- CN113909631B CN113909631B CN202111166824.2A CN202111166824A CN113909631B CN 113909631 B CN113909631 B CN 113909631B CN 202111166824 A CN202111166824 A CN 202111166824A CN 113909631 B CN113909631 B CN 113909631B
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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
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- 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
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- 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
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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Abstract
The invention provides a forming method of a part with a suspended structure, which comprises the following steps: modeling the parts in Solidworks software; slicing is carried out through the additive software pair, and a scanning filling path of a non-suspended area of the part is obtained through a path planning algorithm; the method that the auxiliary device is additionally arranged at the tail end of the robot is adopted to perform additive forming on the suspended area of the part, the suspended device can send out double wires or thin sheets with the same components as the material of the part, and the double wires or thin sheets are used for supporting a molten pool formed by melting wires when the additive suspended structure is formed. The invention realizes the additive forming of complex parts with suspended structures, and is suitable for the problem of actual engineering.
Description
Technical Field
The invention belongs to the technical field of controlled arc additive manufacturing, and particularly relates to a suspended structure additive process with an auxiliary device at the tail end of a robot.
Background
The arc additive manufacturing technology (Wire and Arc Additive Manufacturing, WAAM) belongs to the field of metal additive manufacturing, and is a rapid prototyping technology with strong development in recent years. Based on the manufacturing principle of discrete-stacking, the arc is used as a heat source to melt metal wires and then the metal wires are deposited layer by layer in a cladding way, and finally the forming of the part is realized. Compared with the traditional forging and machining parts, the part formed by the technology has the advantages of high strength, good toughness, uniform chemical composition, high density and the like. Compared with the additive manufacturing technology using laser and electron beams as heat sources, the method has the advantages of low production cost and equipment cost, high material utilization rate, high deposition efficiency, good interlayer bonding capability and the like, and is widely applied to the fields of aerospace, automobile manufacturing, navigation and the like.
The stacking and forming process of the parts is carried out in a high-temperature molten metal droplet transition mode, the front layer and the rear layer can undergo a complex thermal cycle process in the cladding process, heat accumulation is difficult to dissipate, a molten pool is overheated and easily flows down, so that collapse phenomenon occurs, and finally, the parts cannot be formed. This layer-by-layer stacking approach makes it difficult to achieve additive applications of complex structural members, such as members with suspended columnar structures.
Fig. 1 is a schematic diagram of a suspended column structure. The suspended columnar structure is a columnar body in the horizontal direction, the lower part of the suspended columnar body is in a suspended state, is perpendicular to the deposition direction of the straight arm structure, and is positioned in the center of the straight arm.
For example, chinese patent application publication No. CN106041075a, entitled "high-energy beam additive manufacturing method for suspended structure of metal part" discloses a high-energy beam additive manufacturing method for suspended structure of metal part, which enables an additive manufacturing technique to be used for manufacturing complex metal members with suspended structure, and ensures high efficiency and high performance of additive manufacturing. The support substrate which is parallel to the lower surface of the suspended structure is adopted as a reference for shaping the suspended structure below the suspended structure, and is shaped in a mode of adding support.
However, the solid support portion in the above method increases the design time of the mold, and the forming process of the support portion in the additive manufacturing process also takes more time, and the redundant support portion needs to be removed by the material reduction process after the forming is completed, which causes material waste. Although the method for adding the support structure and the material-adding suspended structure is feasible, the method is still lacking from the aspects of material utilization rate, model design time and material processing time increasing and decreasing.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention solves the technical problem that, therefore, a person skilled in the art is dedicated to develop an arc additive process method for a suspended structure, which can solve the problem that the suspended structure is difficult to form, and simultaneously solve the problems of material waste, higher processing time cost and the like caused by adding a supporting structure when adding the suspended structure for additive.
The invention provides a controlled arc material-increasing process method for forming a forming piece with a suspended structure, which is characterized in that an auxiliary device is arranged at the tail end of a robot, the auxiliary device is used for conveying supporting materials, the supporting materials play an auxiliary supporting role for material increase of the suspended structure, the supporting materials are melted into a part of the suspended structure when forming the suspended structure, and the surface of the suspended member is subjected to finish machining in the later stage to obtain a target material-increasing sample piece with the suspended structure, and the method specifically comprises the following steps:
s101, obtaining a model of a part to be formed, wherein the model has at least one or more suspended structures; establishing a three-dimensional CAD model of the target part by using Solidworks software, converting the model into a data file in an STL format, slicing the model layer by layer to obtain contour data of each layer of the additive piece, and planning a cladding filling path of the additive piece according to the contour data;
step S102, performing additive printing on a non-suspended part by adopting a CMT arc additive method according to a planned cladding filling path, wherein the forming process should select technological parameters with good forming quality and high efficiency;
step 103, conveying the supporting material by the auxiliary device to slowly move to the starting point of forming the suspended part until the supporting material slightly touches the starting point of forming the suspended part; the suspended part is subjected to material addition forming by adopting a CMT arc material adding method, and a metal wire or sheet conveyed by an auxiliary device supports a molten pool, so that the molten pool cannot fall under the action of self gravity, supporting force, surface tension and the like; the high temperature of the molten pool can melt the supporting material into a part of a suspended structure, but the supporting material cannot be penetrated; when the technological parameters of the forming process are set, the parameters with small heat input are selected to prevent bad forming caused by the falling or penetration of a molten pool;
and step S104, carrying out finish machining treatment on the obtained suspended structure sample piece, and removing the part with the irregular surface to obtain the target material-increasing sample piece with the suspended structure.
Further, the supporting material conveyed by the auxiliary device can be metal wires, metal sheets and the like, and the aimed suspended structure is mainly a columnar or sheet suspended structure.
Further, the specific workflow of additive forming of the suspended structure using the auxiliary device is as follows: the auxiliary device slowly conveys the wire or foil until it touches the wall slightly. The conveyed supporting material is kept against the wall, and the welding gun moves freely on the supporting material, so that the material adding and forming process of the suspended part is realized.
Further, the robot-end mounted auxiliary device has a mechanical sensor for determining whether the conveyed support material is slightly against the non-suspended portion of the additive sample.
Further, the non-suspended part should be formed by selecting the process parameters with good forming quality and high efficiency, and the suspended part should be formed by selecting the process parameters with good forming quality and small heat input, and the energy density is smaller than that of the non-suspended part. .
Further, the model of the robot in the adopted material adding equipment is an ABB IRB2600 industrial robot, and the model of the welding machine is a Fronius CMT Advanced 4000 digital welding machine.
Compared with the prior art, the invention has at least the following technical effects or advantages:
1. the invention solves the problem that the controlled arc material adding method in the prior art is difficult to form a component with complex geometric shape by providing the material adding process method of the suspended structure with the auxiliary device at the tail end of the robot, and has obvious gain effect on a formed piece with the suspended structure;
2. the invention solves the problems of material waste, higher processing time cost and the like caused by adding excessive supporting structures when forming the suspended structure;
3. the invention changes the traditional process method of adding the complex suspending member by using the positioner, adopts an auxiliary device arranged at the tail end of the robot to replace adding the complex suspending sample by using the positioner, does not need the positioner, ensures that the material adding system is more concise and reduces the equipment cost.
Drawings
Fig. 1 is a schematic view of an additive suspended columnar structure.
Fig. 2 is a schematic view of an additive suspension columnar sheet structure.
Detailed Description
The invention is further described in connection with the following embodiments in order to make the technical means, the creation features, the achievement of the purpose and the effect of the invention easy to understand.
Step S101, obtaining a model of a part to be formed; establishing a three-dimensional CAD model of the target part by using Solidworks software, converting the model into a data file in an STL format, slicing the model layer by layer to obtain contour data of each layer of the additive piece, and planning a cladding filling path of the additive piece according to the contour data;
step S102, performing additive printing on a non-suspended part by adopting a CMT arc additive method according to a planned cladding filling path, wherein the forming process should select technological parameters with good forming quality and high efficiency;
step 103, conveying the supporting material by the auxiliary device to slowly move to the starting point of forming the suspended part until the supporting material slightly touches the starting point of forming the suspended part; the suspended part is subjected to material addition forming by adopting a CMT arc material adding method, and a metal wire or sheet conveyed by an auxiliary device supports a molten pool, so that the molten pool cannot fall under the action of self gravity, supporting force, surface tension and the like; the high temperature of the molten pool can melt the supporting material into a part of a suspended structure, but the supporting material cannot be penetrated; the process parameters of the forming process are called suspended part forming process parameters;
and step S104, carrying out finish machining treatment on the obtained suspended structure sample piece, and removing the part with the irregular surface to obtain the target material-increasing sample piece with the suspended structure.
Embodiment 1 prints a suspended columnar structure, comprising the following specific steps:
FIG. 1 is a schematic diagram of a formed suspended columnar structure by using a suspended structure material-adding process method with an auxiliary device at the tail end of a robot.
Printing a wall body, namely performing single-layer single-pass cladding forming from the point A to the point B by using 316L stainless steel welding wires as materials in the example, wherein the length of a welding bead is 10cm, the welding gun is lifted by 3mm after the first pass of welding, and performing cladding forming from the point B to the point A to form a second layer, and performing reciprocating linear cladding filling for 15 times in a circulating way to form the wall body ABCD with the length of 100mm, the height of 90mm and the thickness of 6 mm. Wherein the CMT arc additive process parameters are as follows: welding current 214A, welding voltage 16.2V, wire feeding speed 7m/min, welding speed 11mm/s, and stay time between each layer of welding seams 45s.
Printing a suspended columnar structure, taking 316L stainless steel welding wires as materials, and at the beginning, conveying the double wires by an auxiliary device to slowly approach the wall ABCD, positioning the double wires until the double wires slightly prop against the wall by a mechanical sensor, and controlling the length of the double wires to be 2cm. And (3) performing cladding forming operation of the columnar structure from the E point to the F point, wherein the length of the columnar structure is 1.5cm, removing redundant 5mm double-wire materials, repositioning an auxiliary device through a mechanical sensor, and slowly feeding wires to approach the formed columnar structure with the length of 1.5cm until the double wires slightly prop against the columnar structure. The previously performed columnar structure forming process was repeated until a new columnar structure of 1.5cm length was grown.
Repeating the process of adding the material to the suspended columnar structure until the length of the suspended columnar structure is 6cm, and finishing printing the suspended columnar structure.
The CMT arc material-increasing technological parameters of the suspended columnar structure are as follows: welding current 115A, welding voltage 13.3V, wire feeding speed 3m/min, welding speed 5mm/s, and suspending columnar structures with supporting parts waiting for cooling when the columnar structures stay for 60s after each time of material addition is carried out for 1.5cm columnar structures.
And (3) carrying out surface finish machining treatment on the formed piece, and finally measuring the mechanical property, so that the use standard of the forging can be achieved.
Embodiment 2 prints a suspended sheet structure, comprising the following steps:
printing a wall body, namely performing single-layer single-pass cladding forming from the point A to the point B by using 316L stainless steel welding wires as materials in the example, wherein the length of a welding bead is 10cm, the welding gun is lifted by 3mm after the first pass of welding, and performing cladding forming from the point B to the point A to form a second layer, and performing reciprocating linear cladding filling for 15 times in a circulating way to form the wall body ABCD with the length of 100mm, the height of 90mm and the thickness of 6 mm. Wherein the CMT arc additive process parameters are as follows: welding current 214A, welding voltage 16.2V, wire feeding speed 7m/min, welding speed 11mm/s, and stay time between each layer of welding seams 45s.
Printing a suspended sheet structure, taking 316L stainless steel as a material, and at the beginning, conveying a metal sheet by an auxiliary device to slowly approach the wall ABCD, positioning by a mechanical sensor until the metal sheet slightly abuts against the wall, and controlling the length of the sheet to be 2cm. And (3) carrying out cladding forming operation of the sheet-shaped structure from the E point to the F point, wherein the length of the sheet-shaped structure is 1.5cm, removing redundant 5mm sheet-shaped materials, repositioning an auxiliary device through a mechanical sensor, and slowly conveying the sheet to be close to the formed sheet-shaped structure with the length of 1.5cm until the sheet slightly butts against the sheet-shaped structure. The previously performed sheet formation process was repeated until a new 1.5cm long sheet was grown.
Repeating the process of adding the material to the suspended sheet structure until the length of the suspended sheet structure is 6cm, and finishing printing the suspended sheet structure.
The CMT arc additive process parameters of the sheet structure are as follows: welding current 115A, welding voltage 13.3V, wire feeding speed 3m/min, welding speed 5mm/s, and suspending sheet structure with support part waiting for cooling after 60s of each material adding and discharging 1.5cm sheet structure.
And (3) carrying out surface finish machining treatment on the formed piece, and finally measuring the mechanical property, so that the use standard of the forging can be achieved.
Embodiment 1 utilizes the auxiliary device of the invention to convey double wires as a support, and finally forms a desired suspended columnar structure; embodiment 2 the auxiliary device of the invention is used for conveying metal sheets as a support, and the desired suspended sheet structure is finally formed; the suspension structure material adding process method with the auxiliary device at the tail end of the robot adopted in the embodiment 1 and the embodiment 2 has the following effects and advantages:
the method solves the problem that the controlled arc material-adding method in the prior art is difficult to form complex components, and has obvious gain effect on forming pieces with suspended structures.
The problems of material waste, higher processing time cost and the like caused by adding excessive supporting structures when forming the suspended structure are solved.
The traditional process method for adding the complex suspension component by using the positioner is changed, an auxiliary device arranged at the tail end of the robot is adopted to replace the complex suspension sample added by using the positioner, and the positioner is not needed, so that the material adding system is simpler, and the equipment cost is reduced.
Claims (4)
1. A suspended structure material adding process with an auxiliary device at the tail end of a robot, which is characterized in that the auxiliary device is arranged at the tail end of the robot and is used for conveying supporting materials; the supporting material is used for supporting a molten pool formed by melting the wire material when the material adding suspension structure is formed;
the supporting material is melted in the suspended structure when the suspended structure is formed, becomes a part of the suspended structure, and finally carries out finish machining on the surface of the suspended component;
the auxiliary device is used for conveying a supporting material which is a metal wire or a metal sheet;
the material adding welding gun and the auxiliary device are arranged at the tail end of the robot;
the supporting material conveyed by the auxiliary device is the same as the components of the material adding piece;
the additive process method comprises the following steps:
s101, setting at least one suspension structure in a model; establishing a three-dimensional CAD model of the target part by using Solidworks software, converting the model into a data file in an STL format, slicing the model layer by layer to obtain contour data of each layer of the additive piece, and planning a cladding filling path of the additive piece according to the contour data;
step S102, performing additive printing on a non-suspended part by adopting a CMT arc additive method according to a planned cladding filling path, wherein the forming process should select technological parameters with good forming quality and high efficiency;
step 103, conveying the supporting material by the auxiliary device to slowly move to the starting point of forming the suspended part until the supporting material slightly touches the starting point of forming the suspended part; the suspended part is subjected to material addition forming by adopting a CMT arc material adding method, and a metal wire or sheet conveyed by an auxiliary device supports a molten pool, so that the molten pool cannot fall under the action of self gravity, supporting force, surface tension and the like; the supporting material is melted into a part of a suspended structure by the molten pool at high temperature, but the supporting material cannot be penetrated; when the technological parameters of the forming process are set, the parameters with small heat input are selected to prevent bad forming caused by the falling or penetration of a molten pool;
step S104, carrying out finish machining treatment on the obtained suspended structure sample piece to remove the part with irregular surface, and obtaining a target material adding sample piece with a suspended structure;
the specific workflow of additive forming of suspended structures using auxiliary devices is as follows: the auxiliary device slowly conveys the metal wires or the metal sheets until the metal wires or the metal sheets slightly touch the wall; the conveyed supporting material is kept against the straight arm and is fixed, and the welding gun moves freely on the supporting material, so that the material adding and forming process of the suspended part is realized;
the robot end mounted auxiliary device has a mechanical sensor for determining whether the conveyed support material is slightly against the non-suspended portion of the additive sample.
2. The process for adding material to a suspended structure with auxiliary devices at the tail end of a robot according to claim 1, wherein the suspended structure is a columnar or sheet-shaped suspended structure.
3. The process for adding material to a suspended structure with an auxiliary device on a robot end according to claim 1, wherein the process parameters with good forming quality and high efficiency are selected when the non-suspended part is formed, the process parameters with good forming quality and small heat input are selected when the suspended part is formed, and the energy density is smaller than that when the non-suspended part is formed.
4. The process for adding materials to a suspended structure with auxiliary devices at the tail end of a robot according to claim 1, wherein the robot model in the adopted material adding equipment is an ABB IRB2600 industrial robot, and the welding machine model is a Fronius CMT Advanced 4000 digital welding machine.
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| CN113909631B true CN113909631B (en) | 2023-08-22 |
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| CN104588649A (en) * | 2014-12-08 | 2015-05-06 | 西安交通大学 | Process for directly forming metal part of cantilever structure through laser light |
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| WO2021188902A1 (en) * | 2020-03-19 | 2021-09-23 | Michigan Technological University | System for and method of producing a weld arc additive manufacturing part with granular support |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9767224B2 (en) * | 2013-05-13 | 2017-09-19 | The Board Of Trustees Of The University Of Alabama | Systems and methods for designing and fabricating contact-free support structures for overhang geometries of parts in powder-bed metal additive manufacturing |
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- 2021-09-30 CN CN202111166824.2A patent/CN113909631B/en active Active
Patent Citations (6)
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|---|---|---|---|---|
| CN104588649A (en) * | 2014-12-08 | 2015-05-06 | 西安交通大学 | Process for directly forming metal part of cantilever structure through laser light |
| JP2020185590A (en) * | 2019-05-14 | 2020-11-19 | 株式会社神戸製鋼所 | Manufacturing method of lamination molding and lamination molding |
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