CN220480775U - Arc additive manufacturing equipment with additive repairing function - Google Patents
Arc additive manufacturing equipment with additive repairing function Download PDFInfo
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- CN220480775U CN220480775U CN202321971673.2U CN202321971673U CN220480775U CN 220480775 U CN220480775 U CN 220480775U CN 202321971673 U CN202321971673 U CN 202321971673U CN 220480775 U CN220480775 U CN 220480775U
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- 239000000654 additive Substances 0.000 title claims abstract description 98
- 230000000996 additive effect Effects 0.000 title claims abstract description 98
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 47
- 238000003801 milling Methods 0.000 claims abstract description 39
- 238000003466 welding Methods 0.000 claims abstract description 36
- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000005253 cladding Methods 0.000 claims description 35
- 239000000463 material Substances 0.000 claims description 20
- 230000008439 repair process Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 14
- 238000007639 printing Methods 0.000 claims description 8
- 239000000945 filler Substances 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011261 inert gas Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004441 surface measurement Methods 0.000 description 1
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 1
- 229910052721 tungsten Inorganic materials 0.000 description 1
- 239000010937 tungsten Substances 0.000 description 1
Classifications
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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
Abstract
The utility model discloses an arc additive manufacturing device with an additive repairing function, which comprises: a plurality of industrial robots and industrial computers; wherein each of the plurality of industrial robots is connected to the industrial computer; the front end of each industrial robot is provided with a SmartRay3D line laser sensor, a wire feeder, an arc welding gun and a milling cutter assembly; the milling cutter assembly comprises a milling cutter and a milling cutter driving device; the SmartRay3D line laser sensor, the wire feeder, the arc welding gun and the milling cutter driving device are all connected with the industrial robot through communication wires. The utility model can reduce the defects of the additive construction and improve the quality of the additive construction.
Description
Technical Field
The utility model belongs to the field of arc additive manufacturing, and particularly relates to arc additive manufacturing equipment with an additive repairing function.
Background
In large-scale structural member multi-robot arc additive manufacturing, the path and process parameters of the additive often need to be determined in advance through modeling and then actual additive manufacturing operation is performed according to modeling data. However, due to the common influence of factors such as actual process parameter fluctuation, surface fluctuation state of a front-layer additive cladding layer, molten pool fluidity and the like, a certain deviation exists between the actual size of each layer of additive and the configured size, and as the layer-by-layer additive is carried out, the deviation is accumulated continuously, and finally the interruption of the additive process is caused, and even additive defects are generated.
Disclosure of Invention
In order to solve the problems in the prior art, the utility model provides arc additive manufacturing equipment with an additive repairing function.
The technical problems to be solved by the utility model are realized by the following technical scheme:
an arc additive manufacturing apparatus with additive repair function, comprising: a plurality of industrial robots and industrial computers;
wherein, the front end of each industrial robot is provided with a SmartRay3D line laser sensor, a wire feeder, an arc welding gun and a milling cutter assembly; the milling cutter assembly comprises a milling cutter and a milling cutter driving device; the plurality of industrial robots and the SmartRay3D line laser sensor are each connected to the industrial computer; the wire feeder, the arc welding gun and the milling cutter driving device are all connected with the industrial robot through communication wires.
In one embodiment, the wire feeder and the arc welding gun are used for performing an additive operation; the arc welding gun is also used for carrying out filler wire remelting repair.
In one embodiment, the SmartRay3D line laser sensor is used for image acquisition of the cladding layer surface during the additive operation.
In one embodiment, the milling cutter assembly is used for subtractive process repair.
In one embodiment, the industrial robot is a six-axis robot.
In one embodiment, the apparatus further comprises: a power supply provided for each industrial robot;
the power supply is used for supplying power to the industrial robot, the wire feeder, the arc welding gun and the milling cutter driving device.
In one embodiment, the industrial computer is installed with iungapnt software;
and the industrial computer controls the industrial robot to cooperate with the wire feeder and the arc welding gun to perform material adding operation by running the IungoPNT software.
In one embodiment, the industrial computer is also installed with SmartRay Studio 4 software;
and the industrial computer is used for measuring the three-dimensional size of the cladding layer in the process of the material adding operation by running the SmartRay Studio 4 software and matching with the SmartRay3D line laser sensor.
In one embodiment, the industrial computer includes an FPGA chip, the FPGA chip including instantiated state machine circuitry therein;
the state machine circuit is used for outputting a first level combination when h1-h2 is more than delta h, outputting a second level combination when h2-h1 is more than delta h and outputting a third level combination when |h1-h2| is less than or equal to delta h;
wherein h2 is an additive manufacturing parameter configured by a user, h1 is an additive actual parameter corresponding to the additive manufacturing parameter, and Δh is a state jump threshold set by the user.
In one embodiment, the additive manufacturing parameter is a print setpoint for a cladding height output by the iungapnt software;
the actual parameters of the additive are measured values of the height of the cladding layer output by the SmartRay Studio 4 software;
the state jump threshold is the maximum allowable deviation between the measured value of the cladding layer height set by a user and the printing set value;
the first level combination is a driving signal for driving the milling cutter assembly to perform material reduction processing repair;
the second level combination is a driving signal for driving the arc welding gun to carry out filler wire remelting repair;
and the third level combination is a driving signal for driving the wire feeder and the arc welding gun to be matched for additive manufacturing.
The arc additive manufacturing equipment with the additive repairing function comprises a plurality of industrial robots and industrial computers; the front end of each industrial robot is provided with a SmartRay3D line laser sensor, a wire feeder, an arc welding gun and a milling cutter assembly; a plurality of industrial robots and SmartRay3D line laser sensors are connected to an industrial computer; the milling cutter assembly comprises a milling cutter and a milling cutter driving device; the wire feeder, the arc welding gun and the milling cutter driving device are all connected with the industrial robot through communication wires; from this, this equipment can utilize SmartRay3D line laser sensor to carry out image acquisition to the cladding layer surface at the material adding operation in-process, utilize arc welding gun to carry out filler wire remelting restoration to and utilize milling cutter subassembly to carry out material reduction processing restoration, thereby real-time supervision increases the quality, and restores the layer that appears the deviation, improves the product quality of material adding component.
The present utility model will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of an arc additive manufacturing apparatus with an additive repairing function according to an embodiment of the present utility model;
FIG. 2 is a schematic diagram of the structure of a SmartRay3D line laser sensor in the device of FIG. 1;
fig. 3 is a schematic view of the structure of the milling cutter in the apparatus shown in fig. 1.
Detailed Description
The present utility model will be described in further detail with reference to specific examples, but embodiments of the present utility model are not limited thereto.
In order to reduce defects of the additive components and improve the product quality of the additive components, the embodiment of the utility model provides arc additive manufacturing equipment with an additive repairing function, and the equipment comprises a plurality of industrial robots 1 and industrial computers 6 as shown in fig. 1; the front end of each industrial robot 1 is provided with a SmartRay3D line laser sensor 5, a wire feeder 3, an arc welding gun 4 and a milling cutter assembly 7; the milling cutter assembly 7 comprises a milling cutter 10 and a milling cutter driving means; the plurality of industrial robots 1 and SmartRay3D line laser sensors 5 are each connected to an industrial computer 6; the wire feeder 3, the arc welding gun 4 and the milling cutter driving device are all connected with the industrial robot 1 through communication wires.
Specifically, referring to fig. 2, the SmartRay3D line laser sensor 5 is composed of an industrial CCD (charge coupled device ) camera 8 and a low-power line laser 9, which irradiates the surface of the additive cladding layer by transmitting a 650nm red laser stripe of a fixed width, and the horizontal distance of the laser stripe from the arc center is about 3cm, so as to obtain image data of the height fluctuation of the surface of the irradiated cladding layer.
It will be appreciated that the SmartRay3D line laser sensor 5 is less costly than a conventional binocular stereoscopic camera and is more suitable for use in a multi-robot additive manufacturing scenario.
In a preferred implementation, the industrial robot 1 may move along the additive cladding surface such that the red laser stripes may scan the entire cladding surface, thereby obtaining an image of the entire cladding surface for transmission to the industrial computer 6.
Furthermore, in the embodiment of the utility model, the surface measurement can be performed on the surface of the cladding layer while the material is added, and the three-dimensional measurement of the surface morphology is not required to be performed after the material addition is finished, so that the time can be saved.
The arc welding gun 4 can realize arc burning and wire melting; the wire feeder 3 can provide wire required for additive manufacturing, so that the industrial robot 1 drives the wire feeder 3 and the arc welding gun 4 to perform normal additive operation. In the process of the material adding operation, if a user finds that the material adding manufacturing is deviated from the cladding layer image, the industrial robot 1 can be controlled by the industrial computer 6, and then the industrial robot 1 drives the arc welding gun 4 to carry out wire filling remelting repair or drives the milling cutter driving device to carry out material reducing processing repair. Therefore, based on the arc additive manufacturing equipment shown in fig. 1, the quality of the additive can be monitored in real time, and the layer with deviation can be repaired, so that the product quality of the additive component can be improved.
In practice, TIG (tungsten inert gas) arc welding gun 4 is preferably used as arc welding gun 4.
In one embodiment, the industrial robot 1 is preferably a six-axis robot, and the mechanical arm of the robot is more flexible and is more beneficial to manufacturing of precise additive construction. For example, ABB robots manufactured by ABB corporation may be used, but are not limited thereto.
In one embodiment, the arc additive manufacturing apparatus provided by the embodiment of the present utility model may further include: a power supply 2 provided for each industrial robot 1; the power supply 2 is used for supplying power to the industrial robot 1, the wire feeder 3, the arc welding gun 4 and the milling cutter driving device. Specifically, the power supply 2 supplies the arc welding gun 4 with arc burning energy, and also supplies the industrial robot 1, the wire feeder 3, the arc welding gun 4, the milling cutter driving device, and other components that need to be powered.
Thus, each industrial robot 1 has its own independent power supply, and is thus less susceptible to other industrial robots 1 during additive manufacturing.
The power supply 2 may be, for example, a vanity front power supply, but is not limited to this.
In one embodiment, the industrial computer 6 may have iungapnt software installed therein; the industrial computer 6 can control the industrial robot 1 to perform additive operation in cooperation with the wire feeder 3 and the arc welding gun 4 by operating the iungapnt.
Here, iungapnt is a 3D printing software independently developed by the company inflight of engagama, which can slice a large-sized additive member in layers, thereby outputting a robot additive path and process parameters of each layer, and thus performing 3D printing according to the additive path and process parameters. The process parameters referred to herein include additive height, density, etc. The IungoPNT is mainly used for arc additive manufacturing technology and has the advantages of stable printing and forming, high efficiency and flexibility. Therefore, the quality of the additive construction can be higher and more stable by utilizing the IungoPNT to realize the additive operation.
It should be noted that, the software capable of implementing 3D print control is not limited to the iungapnt version, and the embodiment of the present utility model does not limit the 3D print control software running in the industrial computer 6.
In one embodiment, smartRay Studio 4 software may also be installed in the industrial computer 6; the industrial computer 6 may then measure the three-dimensional dimensions of the cladding layer during the additive operation by running SmartRay Studio 4 software in conjunction with SmartRay3D line laser sensor 5.
Here SmartRay Studio 4 is a three-dimensional reconstruction software that can reconstruct the actual three-dimensional dimensions of the structure from a large number of two-dimensional image data of the structure. Therefore, in the embodiment of the utility model, the image data scanned and shot by the SmartRay3D line laser sensor 5 can be imported into the SmartRay Studio 4 for three-dimensional reconstruction, so that the SmartRay Studio 4 is utilized to reconstruct the surface morphology of the cladding layer in the process of the additive operation, and the three-dimensional dimension of the cladding layer in the process of the additive operation is measured. Meanwhile, the SmartRay Studio 4 can also visually display, export and store the reconstruction result.
Preferably, the current cladding layer can be photographed with a SmartRay3D line laser sensor 5 after each layer of additive is added, so that the actual three-dimensional size of the layer of additive cladding layer is reconstructed with SmartRay Studio 4.
In one embodiment, the industrial computer 6 may include an FPGA chip that may include exemplary state machine circuitry therein. The state machine circuit can be used for outputting a first level combination when h1-h2 is more than delta h, outputting a second level combination when h2-h1 is more than delta h and outputting a third level combination when |h1-h2| is less than or equal to delta h; wherein h2 is an additive manufacturing parameter configured by a user, h1 is an additive actual parameter corresponding to the additive manufacturing parameter, and Δh is a state jump threshold set by the user.
It can be understood that the common state machine is composed of a state register and a combinational logic circuit, the FPGA itself contains a plurality of registers, and the combinational logic circuit is easy to realize in the FPGA; therefore, in the embodiment of the utility model, simple control logic can be realized in the FPGA by a mode of instantiating a state machine circuit, so that different level combinations are output according to the deviation between the additive manufacturing parameters and the corresponding additive actual parameters, and different driving control is realized.
Illustratively, in one preferred implementation, the additive manufacturing parameter may be a print setting for the cladding height output by the iungapnt software; the actual parameters of the additive may be measured values of the cladding layer height output by SmartRay Studio 4 software; the state jump threshold is the maximum allowable deviation between the measured value of the cladding layer height set by the user and the print setting value, which may be set to 0, for example, in a high-precision additive manufacturing scenario, although this is not necessarily the case; the first level combination can be a driving signal for driving the milling cutter assembly 7 to perform material reduction processing repair; the second level combination can be a driving signal for driving the arc welding gun 4 to carry out filler wire remelting repair; the third level combination may be a drive signal that drives the wire feeder 3 and the arc welding gun 4 in cooperation for additive manufacturing.
Therefore, when the measured value of the height of the cladding layer is higher than the printing set value thereof by too much, the milling cutter assembly 7 is driven to perform material reduction processing repair, so that the height of the cladding layer is reduced; when the measured value of the cladding layer height is lower than the printing set value of the cladding layer height by too much, driving the arc welding gun 4 to carry out wire filling remelting repair; and when the measured value of the cladding layer height and the printing set value are not different, continuing to perform additive manufacturing.
It can be appreciated that by implementing the control logic using the state machine circuit, compared with the manner of implementing the control logic using the processor or the controller, the state machine circuit is a hardware circuit, so that the response speed is faster, and the method is more suitable for application scenarios of real-time monitoring and online repairing of the additive.
In summary, the embodiment of the utility model simultaneously scans the cladding layer area in the process of material addition by a plurality of SmartRay3D line laser sensors, and reconstructs the three-dimensional shape of the whole material addition cladding layer by using SmartRay Studio 4 software, thereby realizing low-cost and rapid acquisition of the arc material addition surface shape data of the large-scale component multi-robot. And the utility model can select to continue the additive manufacturing or drive the milling cutter to carry out the material reduction processing repair or drive the arc welding gun to carry out the filler wire additive repair according to the deviation of the measured value of the height of the cladding layer and the printing set value. The arc additive manufacturing equipment provided by the embodiment of the utility model has the advantages of simple composition and reasonable design, and can realize collaborative operation of arc additive, measurement and online repair, thereby effectively improving the product quality of the additive component.
It should be noted that the terms "first," "second," and the like are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the disclosed embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the present disclosure.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.
Although the present application has been described herein with respect to various embodiments, other variations of the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the figures and the disclosure. In the description of the present utility model, the word "comprising" does not exclude other elements or steps, the "a" or "an" does not exclude a plurality, and the "a" or "an" means two or more, unless specifically defined otherwise. Moreover, some measures are described in mutually different embodiments, but this does not mean that these measures cannot be combined to produce a good effect.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The foregoing is a further detailed description of the utility model in connection with the preferred embodiments, and it is not intended that the utility model be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the utility model, and these should be considered to be within the scope of the utility model.
Claims (10)
1. An arc additive manufacturing apparatus with additive repair function, comprising: a plurality of industrial robots and industrial computers;
wherein, the front end of each industrial robot is provided with a SmartRay3D line laser sensor, a wire feeder, an arc welding gun and a milling cutter assembly; the milling cutter assembly comprises a milling cutter and a milling cutter driving device; the plurality of industrial robots and the SmartRay3D line laser sensor are each connected to the industrial computer; the wire feeder, the arc welding gun and the milling cutter driving device are all connected with the industrial robot through communication wires.
2. The arc additive manufacturing apparatus of claim 1 wherein the wire feeder and the arc welding gun are used to perform an additive operation; the arc welding gun is also used for carrying out filler wire remelting repair.
3. The arc additive manufacturing apparatus of claim 1 wherein the SmartRay3D line laser sensor is configured to image the cladding layer surface during an additive operation.
4. The arc additive manufacturing apparatus of claim 1, wherein the milling cutter assembly is configured for subtractive process repair.
5. The arc additive manufacturing apparatus of claim 1 wherein the industrial robot is a six axis robot.
6. The arc additive manufacturing apparatus of claim 1, further comprising: a power supply provided for each industrial robot;
the power supply is used for supplying power to the industrial robot, the wire feeder, the arc welding gun and the milling cutter driving device.
7. The arc additive manufacturing apparatus of claim 1 wherein the industrial computer is installed with iungapnt software;
and the industrial computer controls the industrial robot to cooperate with the wire feeder and the arc welding gun to perform material adding operation by running the IungoPNT software.
8. The arc additive manufacturing apparatus of claim 7 wherein the industrial computer is further installed with SmartRay Studio 4 software;
and the industrial computer is used for measuring the three-dimensional size of the cladding layer in the process of the material adding operation by running the SmartRay Studio 4 software and matching with the SmartRay3D line laser sensor.
9. The arc additive manufacturing apparatus of claim 8 wherein the industrial computer comprises an FPGA chip comprising instantiated state machine circuitry therein;
the state machine circuit is used for outputting a first level combination when h1-h2 is more than delta h, outputting a second level combination when h2-h1 is more than delta h and outputting a third level combination when |h1-h2| is less than or equal to delta h;
wherein h2 is an additive manufacturing parameter configured by a user, h1 is an additive actual parameter corresponding to the additive manufacturing parameter, and Δh is a state jump threshold set by the user.
10. The arc additive manufacturing apparatus of claim 9, wherein,
the additive manufacturing parameter is a printing set value of the cladding layer height output by the IungoPNT software;
the actual parameters of the additive are measured values of the height of the cladding layer output by the SmartRay Studio 4 software;
the state jump threshold is the maximum allowable deviation between the measured value of the cladding layer height set by a user and the printing set value;
the first level combination is a driving signal for driving the milling cutter assembly to perform material reduction processing repair;
the second level combination is a driving signal for driving the arc welding gun to carry out filler wire remelting repair;
and the third level combination is a driving signal for driving the wire feeder and the arc welding gun to be matched for additive manufacturing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321971673.2U CN220480775U (en) | 2023-07-25 | 2023-07-25 | Arc additive manufacturing equipment with additive repairing function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202321971673.2U CN220480775U (en) | 2023-07-25 | 2023-07-25 | Arc additive manufacturing equipment with additive repairing function |
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| CN220480775U true CN220480775U (en) | 2024-02-13 |
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| CN202321971673.2U Active CN220480775U (en) | 2023-07-25 | 2023-07-25 | Arc additive manufacturing equipment with additive repairing function |
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2023
- 2023-07-25 CN CN202321971673.2U patent/CN220480775U/en active Active
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