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
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- wire
- robot
- double
- silk
- single machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 51
- 239000000463 material Substances 0.000 title claims abstract description 35
- 238000003466 welding Methods 0.000 claims abstract description 62
- 238000004891 communication Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 3
- 238000010891 electric arc Methods 0.000 claims abstract 4
- 230000007246 mechanism Effects 0.000 claims description 24
- 238000003825 pressing Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 4
- 239000000654 additive Substances 0.000 description 30
- 230000000996 additive effect Effects 0.000 description 30
- 238000002844 melting Methods 0.000 description 21
- 230000008018 melting Effects 0.000 description 21
- 230000008021 deposition Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 5
- 229910052721 tungsten Inorganic materials 0.000 description 5
- 239000010937 tungsten Substances 0.000 description 5
- 229910052751 metal Inorganic materials 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 description 1
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- CSDREXVUYHZDNP-UHFFFAOYSA-N alumanylidynesilicon Chemical compound [Al].[Si] CSDREXVUYHZDNP-UHFFFAOYSA-N 0.000 description 1
- SNAAJJQQZSMGQD-UHFFFAOYSA-N aluminum magnesium Chemical compound [Mg].[Al] SNAAJJQQZSMGQD-UHFFFAOYSA-N 0.000 description 1
- 229910052786 argon Inorganic materials 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010790 dilution Methods 0.000 description 1
- 239000012895 dilution Substances 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Arc Welding In General (AREA)
Abstract
Description
技术领域technical field
本发明属于电弧增材制造技术领域，主要涉及一种机器人用单机同嘴双填丝非熔化极电弧增材制造方法与装置。The invention belongs to the technical field of arc additive manufacturing, and mainly relates to a method and a device for non-melting electrode arc additive manufacturing of a single machine with the same nozzle and double filling wire for a robot.
背景技术Background technique
电弧增材制造技术是新发展起来的先进制造技术之一。该技术利用层敷原理，采用电弧作为热源，将添加的金属丝材熔化，在程序的控制下，按照设定的成形路径在基板上进行堆敷，逐渐形成金属零件。具有材料利用率高、成本低、零件尺寸限制小的优点，是低成本金属零件直接制造的重要研究方向。Arc additive manufacturing technology is one of the newly developed advanced manufacturing technologies. This technology utilizes the principle of layering and uses the arc as a heat source to melt the added metal wire. Under the control of the program, it is stacked on the substrate according to the set forming path to gradually form metal parts. It has the advantages of high material utilization, low cost, and small size limitation of parts, and is an important research direction for direct manufacturing of low-cost metal parts.
在非熔化极电弧单丝增材制造中，电弧稳定，易于操作，容易实现自动化；通过对焊接参数进行调节，可以获得成型形状良好的金属或者合金构件。但是，制约该方法发展的主要因素是其生产效率低。为解决这一效率问题，需要一种快速、高效的非熔化极电弧增材制造方法，即非熔化极电弧双填丝增材制造方法。与单丝增材制造相比，双丝增材制造在相同的热输入条件下，电弧熔化两根丝材，其熔深和焊缝稀释率更小，生产效率更高。In the non-melting electrode arc monofilament additive manufacturing, the arc is stable, easy to operate, and easy to automate; by adjusting the welding parameters, a metal or alloy component with a good shape can be obtained. However, the main factor restricting the development of this method is its low production efficiency. In order to solve this efficiency problem, a fast and efficient non-melting electrode arc additive manufacturing method is required, that is, the non-melting electrode arc double filling wire additive manufacturing method. Compared with single-wire additive manufacturing, dual-wire additive manufacturing under the same heat input conditions, the arc melts two wires, the penetration depth and weld dilution rate are smaller, and the production efficiency is higher.
专利申请号为201610793797.4的一种双丝焊嘴机构公开了一种双丝焊嘴机构，该焊嘴内固定有两根平行设置的焊丝，主要用于双丝熔化极气体保护焊的高效率焊接，且体积较大，不适合非熔化极的电弧增材制造。专利申请号为201120361177.6的单焊接电源双送丝机构公开了一种单焊接电源双送丝机构，该机构有两台送丝机、两个焊枪，不能实现同时焊接，结构较为复杂、灵活性较差，且只能用于MIG/MAG焊接方法，不能满足机器人电弧双丝增材制造。A double-wire welding tip mechanism with patent application number 201610793797.4 discloses a double-wire welding tip mechanism, in which two welding wires arranged in parallel are fixed, mainly used for high-efficiency welding of double-wire MIG welding , and the volume is large, which is not suitable for arc additive manufacturing of non-melting electrodes. The patent application No. 201120361177.6 single welding power source double wire feeding mechanism discloses a single welding power source double wire feeding mechanism. Poor, and can only be used for MIG/MAG welding methods, which cannot meet the requirements of robot arc dual wire additive manufacturing.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种机器人用单机同嘴双填丝非熔化极电弧增材制造方法与装置，能够解决非熔化极电弧增材制造生产效率低、成型速度慢等问题，适用于同种材料或者异种材料的机器人非熔化极电弧双填丝增材制造。The purpose of the present invention is to provide a single-machine, same-nozzle, double-filling, non-melting electrode arc additive manufacturing method and device for robots, which can solve the problems of low production efficiency and slow forming speed of non-melting electrode arc additive manufacturing, and is suitable for the same kind of additive manufacturing. Robotic non-melting electrode arc double filler wire additive manufacturing of materials or dissimilar materials.
实现本发明的技术方案为：The technical scheme that realizes the present invention is:
提供一种机器人用单机同嘴双填丝非熔化极电弧增材制造装置，具体包括：机器人控制柜、非熔化极焊接电源、焊枪、机器人、送丝机构；其中，焊枪通过夹具固定在机器人上；Provided is a non-melting electrode arc additive manufacturing device for a robot with a single machine with the same nozzle and a double filling wire, which specifically includes: a robot control cabinet, a non-melting electrode welding power source, a welding torch, a robot, and a wire feeding mechanism; wherein, the welding torch is fixed on the robot by a fixture ;
送丝机构包括依次设置的双丝共用导电嘴、单机双送送丝机构、送丝盘I和送丝盘II及送丝通讯模块，具体为：The wire feeding mechanism includes a double-wire shared contact tip, a single-machine double-feeding wire feeding mechanism, a wire feeding tray I and a wire feeding tray II, and a wire feeding communication module, which are arranged in sequence, and are specifically:
双丝共用导电嘴，为固定在焊枪上的导电嘴，两个导丝孔在同一导电嘴内；The double-wire shared contact tip is the contact tip fixed on the welding torch, and the two guide wire holes are in the same contact tip;
单机双送送丝机构，固定于机器人臂上，包括控制电路、两套送丝装置及与其对应的电机与压丝装置。Single machine double wire feeding mechanism, fixed on the robot arm, including control circuit, two sets of wire feeding devices and corresponding motors and wire pressing devices.
其控制方法是，机器人控制柜通过送丝通讯模块控制单机双送送丝机构达到控制送丝的目的，二根丝材送入同一个导电嘴；机器人控制柜同时控制非熔化极焊接电源，调整工艺参数，引燃电弧，实现双丝同嘴填丝与电弧引燃的同步协调控制。装置通过机器人控制送丝信号的不同，实现双填丝非熔化极电弧增材制造；通过改变丝材的种类和材质，实现同种丝材和异种丝材的双填丝非熔化极电弧增材制造。The control method is that the robot control cabinet controls the single-machine double wire feeding mechanism through the wire feeding communication module to achieve the purpose of controlling wire feeding, and two wires are fed into the same contact nozzle; the robot control cabinet simultaneously controls the non-melting pole welding power source, adjusts Process parameters, ignite the arc, and realize the synchronous and coordinated control of double-wire filling and arc ignition. The device controls the difference of the wire feeding signal by the robot to realize the double-filling non-melting electrode arc additive manufacturing; by changing the type and material of the wire, it realizes the double-filling non-melting electrode arc additive manufacturing of the same wire material and different wire materials manufacture.
作为优选方式，双丝共用送丝嘴的送丝夹角α为0°-20°；As a preferred way, the wire feeding angle α of the double wire shared wire feeding nozzle is 0°-20°;
作为优选方式，双丝共用送丝嘴的两个送丝孔的中心距d为3-15mm；As a preferred way, the center distance d of the two wire feeding holes of the double wire shared wire feeding nozzle is 3-15mm;
作为优选方式，单机双送送丝机构通过一个控制电路对两套送丝装置的丝材送进速度进行控制；As a preferred way, the single-machine double wire feeding mechanism controls the wire feeding speed of the two sets of wire feeding devices through a control circuit;
利用上述机器人用单机同嘴双填丝非熔化极电弧增材制造装置进行的制造方法，具体步骤如下：The manufacturing method of using the above-mentioned robot with a single machine with the same nozzle and double filling wire non-melting electrode arc additive manufacturing device, the specific steps are as follows:
(1)根据所选材料、直径的丝材，确定送丝夹角和两个送丝孔的中心距，选择双丝共用导电嘴，并调整其与焊枪之间的位置；(1) According to the selected wire material and diameter, determine the wire feeding angle and the center distance of the two wire feeding holes, select the double wire shared contact tip, and adjust the position between it and the welding gun;
(2)接通电源，等待整个系统的通讯信号就位，预设堆敷电流、堆敷速度、送丝速度等焊接参数；(2) Turn on the power supply, wait for the communication signal of the whole system to be in place, and preset welding parameters such as deposition current, deposition speed, wire feeding speed, etc.;
(3)根据堆敷构件的几何参数设置焊接程序，机器人控制柜按照预定程序发送信号给焊接电源；(3) The welding program is set according to the geometric parameters of the deposited components, and the robot control cabinet sends a signal to the welding power source according to the predetermined program;
(4)机器人携带焊枪到达起焊位置，机器人控制柜发送信号给焊接电源控制堆敷电流达到预设值，通过送丝通讯模块控制两根丝材的送丝速度达到预设值；(4) The robot carries the welding torch to the starting position, the robot control cabinet sends a signal to the welding power source to control the deposition current to reach the preset value, and the wire feeding speed of the two wires is controlled to reach the preset value through the wire feeding communication module;
(5)机器人控制柜按照预定程序发送信号给焊接电源，引燃电弧，然后机器人控制柜发送信号给双丝通讯模块，单机双送送丝机构开始送丝，两根丝材同步或者异步送进一个导电嘴，按照预先设置的程序开始堆敷；(5) The robot control cabinet sends a signal to the welding power source according to the predetermined program to ignite the arc, and then the robot control cabinet sends a signal to the double wire communication module, the single machine double wire feeding mechanism starts to feed the wire, and the two wires are fed synchronously or asynchronously. A contact tip, which starts stacking according to the preset program;
(6)堆敷结束时，机器人控制柜发送信号给双丝通讯模块，单机双送送丝机构停止送丝，然后，机器人控制柜按照预定程序发送信号给焊接电源，熄灭电弧。(6) When the stacking is finished, the robot control cabinet sends a signal to the double wire communication module, and the single-machine double wire feeding mechanism stops wire feeding. Then, the robot control cabinet sends a signal to the welding power source according to the predetermined program to extinguish the arc.
(7)重复步骤4-6，直至完成预设几何参数构件的堆敷。(7) Repeat steps 4-6 until the stacking of components with preset geometric parameters is completed.
作为优选方式，所述的双丝共用导电嘴送出的丝材直径为0.8mm、0.9mm、1.0mm、1.2mm、1.6mm、2.0mm；As a preferred mode, the diameters of the wires sent from the dual-wire shared contact tip are 0.8mm, 0.9mm, 1.0mm, 1.2mm, 1.6mm, and 2.0mm;
作为优选方式，双丝共用导电嘴送出的丝材种类相同或不同As a preferred way, the types of wires sent out by the dual-wire shared contact tip are the same or different.
作为优选方式，单机双送送丝机构的丝材送进速度相同或不同；As a preferred way, the wire feeding speed of the single machine double wire feeding mechanism is the same or different;
与现有技术相比，本发明的显著优点是：1.利用本发明所提供的装置进行机器人钨极惰性电弧增材制造试验，双丝共用一个导电嘴，与二个分立的导电嘴相比，夹具体积减小，调节裕度大幅增加；2.该装置的单机双送送丝机结构紧凑，体积小，重量轻，可方便的实现机器人的远程送丝；3.利用本发明进行机器人电弧双丝增材制造时，其空间可达性更强，更容易实现复杂结构件的非熔化极电弧丝材增材制造，具有更加高效快速的优点。Compared with the prior art, the significant advantages of the present invention are: 1. Using the device provided by the present invention to carry out the robot tungsten inert arc additive manufacturing test, the two wires share one contact tip, compared with two separate contact tips , the volume of the fixture is reduced, and the adjustment margin is greatly increased; 2. The single-machine double wire feeder of the device is compact in structure, small in size, light in weight, and can easily realize the remote wire feeding of the robot; 3. Use the invention to carry out the robot arc In the case of double-wire additive manufacturing, its spatial accessibility is stronger, and it is easier to realize the non-melting arc wire additive manufacturing of complex structural parts, which has the advantages of higher efficiency and speed.
附图说明Description of drawings
图1为机器人单机同嘴双填丝非熔化极电弧增材制造系统示意图；Figure 1 is a schematic diagram of a robot single-machine, same-nozzle, double-filling non-melting electrode arc additive manufacturing system;
图2为双送丝装置结构示意图；Figure 2 is a schematic structural diagram of a double wire feeding device;
图3为双丝共用导电嘴示意图；Figure 3 is a schematic diagram of a dual-wire shared contact tip;
图4为单机双送送机机构内部结构图；Figure 4 is the internal structure diagram of the single-machine double-feeding mechanism;
图5为同种丝材单机双填丝钨极惰性电弧增材制造构件外观图；Figure 5 is an appearance view of a single-machine double-filled tungsten inert arc additive manufacturing component of the same wire material;
图6为异种丝材单机双填丝钨极惰性电弧增材制造外观图。Figure 6 is the appearance diagram of the single-machine double-filled tungsten inert arc additive manufacturing of dissimilar wire materials.
其中，1为机器人控制柜，2为变位机，3为工件，4为双丝共用导电嘴，5为焊枪，6为等离子电源，7为送丝通讯模块，8为送丝机构，9为单机双送送丝机构，10为机器人，11为送丝盘I，12为送丝盘II。Among them, 1 is the robot control cabinet, 2 is the positioner, 3 is the workpiece, 4 is the double-wire shared contact tip, 5 is the welding torch, 6 is the plasma power supply, 7 is the wire feeding communication module, 8 is the wire feeding mechanism, and 9 is the Single machine double wire feeding mechanism, 10 is the robot, 11 is the wire feeding tray I, and 12 is the wire feeding tray II.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明所述的一种机器人用单机同嘴双填丝非熔化极电弧增材制造方法与装置做进一步描述。The method and device for manufacturing a non-melting electrode arc additive manufacturing method and device for a single-machine, same-nozzle, double-filling wire for a robot according to the present invention will be further described below with reference to the accompanying drawings and specific embodiments.
一种机器人用单机同嘴双填丝非熔化极电弧增材制造装置具体包括：非熔化极焊接电源6、焊枪5、机器人10、送丝机构8以及变位机2。其中，焊枪5固定在机器人10上；双丝共用导电嘴4通过夹具固定在焊枪5上；单机双送送丝机构9固定于机器人臂上。双丝共用导电嘴4可同时送进两根丝材，送丝夹角α为0°-20°，两个送丝孔的中心距d为3-15mm，可以送出直径分别为0.8mm、0.9mm、1.0mm、1.2mm、1.6mm、2.0mm的同种或异种丝材。单机双送送丝机构通过一个控制电路控制两套送丝装置的丝材送进速度，其丝材送进速度相同或不同，并且可以实现单机双送丝的要求，灵活性较强。A non-melting electrode arc additive manufacturing device for a single machine with the same nozzle and double filling wire for a robot specifically includes: a non-melting electrode welding power source 6 , a welding torch 5 , a robot 10 , a wire feeding mechanism 8 and a positioner 2 . Among them, the welding torch 5 is fixed on the robot 10; the double-wire shared contact tip 4 is fixed on the welding torch 5 through a clamp; the single-machine double wire feeding mechanism 9 is fixed on the robot arm. The double-wire shared contact tip 4 can feed two wires at the same time, the wire feeding angle α is 0°-20°, the center distance d of the two wire feeding holes is 3-15mm, and the diameters that can be sent are 0.8mm and 0.9mm respectively. mm, 1.0mm, 1.2mm, 1.6mm, 2.0mm of the same or different kinds of wire. The single machine double wire feeding mechanism controls the wire feeding speed of the two sets of wire feeding devices through a control circuit.
具体采用的设备型号为：MOTOMAN MH6弧焊机器人、DX100控制柜和工作平台，焊接电源为福尼斯Magic Wave 3000型焊机，氩弧焊枪。The specific equipment models used are: MOTOMAN MH6 arc welding robot, DX100 control cabinet and working platform, the welding power source is Fronius Magic Wave 3000 welding machine, and argon arc welding gun.
实施例1Example 1
采用上述装置，进行同种丝材的单机同嘴双填丝非熔化极电弧增材制造。Using the above-mentioned device, single-machine, same-nozzle, and double-filling non-melting electrode arc additive manufacturing of the same wire material is carried out.
(1)根据所选材料、直径的丝材，确定送丝夹角和两个送丝孔的中心距，选择双丝共用导电嘴4，并调整好其和焊枪5之间的位置；(1) Determine the wire feeding angle and the center distance of the two wire feeding holes according to the selected wire material and diameter, select the double wire shared contact tip 4, and adjust the position between it and the welding gun 5;
(2)接通电源，等待整个系统的通讯信号就位，预设堆敷电流、堆敷速度、送丝速度等焊接参数；(2) Turn on the power supply, wait for the communication signal of the whole system to be in place, and preset welding parameters such as deposition current, deposition speed, wire feeding speed, etc.;
(3)根据堆敷构件的几何参数设置焊接程序，机器人控制柜1按照预定程序发送信号给焊接电源6；(3) The welding program is set according to the geometrical parameters of the stacked components, and the robot control cabinet 1 sends a signal to the welding power source 6 according to the predetermined program;
(4)机器人10携带焊枪5到达起焊位置，机器人控制柜1发送信号给焊接电源6控制堆敷电流达到预设值，通过送丝通讯模块7控制两根丝材的送丝速度达到预设值；(4) The robot 10 carries the welding torch 5 to the starting position, the robot control cabinet 1 sends a signal to the welding power source 6 to control the deposition current to reach the preset value, and the wire feeding communication module 7 controls the wire feeding speed of the two wires to reach the preset value value;
(5)机器人控制柜1按照预定程序发送信号给焊接电源6，引燃电弧，然后机器人控制柜1发送信号给双丝通讯模块7，单机双送送丝机构9开始送丝，两根丝材同步或者异步送进一个导电嘴，按照预先设置的程序开始堆敷；(5) The robot control cabinet 1 sends a signal to the welding power source 6 according to the predetermined program to ignite the arc, and then the robot control cabinet 1 sends a signal to the double wire communication module 7, the single machine double wire feeding mechanism 9 starts to feed the wire, and the two wires Feed a contact tip synchronously or asynchronously, and start stacking according to the preset program;
(6)堆敷结束时，机器人控制柜1发送信号给双丝通讯模块7，单机双送送丝机构9停止送丝，两根丝材同步或者异步停止，然后，机器人控制柜1按照预定程序发送信号给焊接电源6，熄灭电弧。(6) When the stacking is finished, the robot control cabinet 1 sends a signal to the double wire communication module 7, the single machine double wire feeding mechanism 9 stops wire feeding, and the two wires stop synchronously or asynchronously, and then the robot control cabinet 1 follows the predetermined program. Send a signal to the welding power source 6 to extinguish the arc.
(7)重复步骤4-6，直至完成预设几何参数构件的堆敷。(7) Repeat steps 4-6 until the stacking of components with preset geometric parameters is completed.
在本次堆敷实验中，两根丝材的送丝夹角α选定为0°，两个送丝孔的中心距d选定为1.2mm，所填丝材选定为直径1.0mm的H08Mn2Si碳钢焊丝，基板为Q235钢板，堆敷层数为40层的直壁体构件。工艺参数分别为：堆敷电流150A，二根丝材送丝速度均为1.6m/min，堆敷速度30cm/min，电弧高度5mm，保护气流量15L/min。In this stacking experiment, the wire feeding angle α of the two wires is selected as 0°, the center distance d of the two wire feeding holes is selected as 1.2mm, and the filled wire is selected as a diameter of 1.0mm. H08Mn2Si carbon steel welding wire, the substrate is Q235 steel plate, and the stacking layer is a straight-walled member with 40 layers. The process parameters are as follows: the deposition current is 150A, the wire feeding speed of the two wires is 1.6m/min, the deposition speed is 30cm/min, the arc height is 5mm, and the protective gas flow rate is 15L/min.
附图5给出了本次同种丝材单机双填丝钨极惰性电弧增材制造获得构件的外观图。由图可知，直壁体构件成形较好，整个直壁体基本呈直线，没有出现断续、缩孔等缺陷。Figure 5 shows the appearance of the component obtained by the single-machine double-filled tungsten inert arc additive manufacturing of the same wire material. It can be seen from the figure that the straight-walled member is well formed, and the entire straight-walled body is basically straight, and there are no discontinuities, shrinkage holes and other defects.
实施例2Example 2
采用上述装置，进行异种丝材的单机同嘴双填丝非熔化极电弧增材制造。The above-mentioned device is used to carry out the non-melting electrode arc additive manufacturing of dissimilar wire materials in a single machine with the same nozzle and double filling wire.
(1)根据所选材料、直径的丝材，确定送丝夹角和两个送丝孔的中心距，选择双丝共用导电嘴4，并调整好其和焊枪5之间的位置；(1) Determine the wire feeding angle and the center distance of the two wire feeding holes according to the selected wire material and diameter, select the double wire shared contact tip 4, and adjust the position between it and the welding gun 5;
(2)接通电源，等待整个系统的通讯信号就位，预设堆敷电流、堆敷速度、送丝速度等焊接参数；(2) Turn on the power supply, wait for the communication signal of the whole system to be in place, and preset welding parameters such as deposition current, deposition speed, wire feeding speed, etc.;
(3)根据堆敷构件的几何参数设置焊接程序，机器人控制柜1按照预定程序发送信号给焊接电源6；(3) The welding program is set according to the geometrical parameters of the stacked components, and the robot control cabinet 1 sends a signal to the welding power source 6 according to the predetermined program;
(4)机器人10携带焊枪5到达起焊位置，机器人控制柜1发送信号给焊接电源6控制堆敷电流达到预设值，通过送丝通讯模块7控制两根丝材的送丝速度达到预设值；(4) The robot 10 carries the welding torch 5 to the starting position, the robot control cabinet 1 sends a signal to the welding power source 6 to control the deposition current to reach the preset value, and the wire feeding communication module 7 controls the wire feeding speed of the two wires to reach the preset value value;
(5)机器人控制柜1按照预定程序发送信号给焊接电源6，引燃电弧，然后机器人控制柜1发送信号给双丝通讯模块7，单机双送送丝机构9开始送丝，两根丝材同步或者异步送进一个导电嘴，按照预先设置的程序开始堆敷；(5) The robot control cabinet 1 sends a signal to the welding power source 6 according to the predetermined program to ignite the arc, and then the robot control cabinet 1 sends a signal to the double wire communication module 7, the single machine double wire feeding mechanism 9 starts to feed the wire, and the two wires Feed a contact tip synchronously or asynchronously, and start stacking according to the preset program;
(6)堆敷结束时，机器人控制柜1发送信号给双丝通讯模块7，单机双送送丝机构9停止送丝，两根丝材同步或者异步停止，然后，机器人控制柜1按照预定程序发送信号给焊接电源6，熄灭电弧。(6) When the stacking is finished, the robot control cabinet 1 sends a signal to the double wire communication module 7, the single machine double wire feeding mechanism 9 stops wire feeding, and the two wires stop synchronously or asynchronously, and then the robot control cabinet 1 follows the predetermined program. Send a signal to the welding power source 6 to extinguish the arc.
(7)重复步骤4-6，直至完成预设几何参数构件的堆敷。(7) Repeat steps 4-6 until the stacking of components with preset geometric parameters is completed.
在本次堆敷实验中，两根丝材的送丝夹角α选定为15°，两个送丝孔的中心距d选定为6mm，所填丝材分别选定为直径1.2mm的ER5356铝镁焊丝和直径1.2mm的S311铝硅焊丝，基板为6061铝合金板，堆敷层数为25层的直壁体构件。工艺参数分别为：堆敷电流130A，二根送丝速度均为2.0m/min，堆敷速度30cm/min、电弧高度7mm，交流频率70hz，保护气流量17L/min。In this stacking experiment, the wire feeding angle α of the two wires is selected as 15°, the center distance d of the two wire feeding holes is selected as 6mm, and the filled wires are selected as the diameter of 1.2mm. ER5356 aluminum-magnesium welding wire and S311 aluminum-silicon welding wire with a diameter of 1.2mm, the substrate is a 6061 aluminum alloy plate, and the stacking layer is a straight wall member with 25 layers. The process parameters are: stacking current 130A, two wire feeding speeds are both 2.0m/min, stacking speed 30cm/min, arc height 7mm, AC frequency 70hz, protective gas flow 17L/min.
附图6给出了本次异种丝材单机双填丝钨极惰性电弧增材制造获得构件的外观图。由图可知，直壁体构件成形良好，侧表面的表面粗糙度较小，整个直壁体基本呈直线，中间没有出现断续、缩孔等缺陷。Fig. 6 shows the appearance of the component obtained by this dissimilar wire single-machine double-filled tungsten inert arc additive manufacturing. It can be seen from the figure that the straight wall member is well formed, the surface roughness of the side surface is small, the entire straight wall is basically straight, and there are no discontinuities, shrinkage holes and other defects in the middle.
以上所述仅对本发明做了示例性的描述，并不是限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在不脱离本发明的核心情况下，所做的修改，替换，改进等，均应该在本发明的保护范围。The above description is only an exemplary description of the present invention, and does not limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, substitutions, improvements, etc. made without departing from the core of the present invention should fall within the protection scope of the present invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109926695A true CN109926695A (en) | 2019-06-25 |
Family
ID=66979922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711349518.6A Pending 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109926695A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405323A (en) * | 2019-07-10 | 2019-11-05 | 江苏理工学院 | A wire feeder fixture based on argon arc welding trolley and its cladding process |
| 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 | A 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 |
| 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 |
| 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2683302Y (en) * | 2004-03-10 | 2005-03-09 | 上海东升焊接设备有限公司 | Single power supply twin-wire automatic submerged-arc welding machine |
| CN101774066A (en) * | 2010-02-05 | 2010-07-14 | 西南交通大学 | Portable multifunctional double-wire self-protecting flux-cored wire welding device |
| CN201702499U (en) * | 2010-06-12 | 2011-01-12 | 山东胜利钢管有限公司 | Multi-wire welding mechanism of internal welding of spiral welded pipe |
| US20120305532A1 (en) * | 2011-05-31 | 2012-12-06 | Tennyson Harris | System and Method for High-Speed Robotic Cladding of Metals |
| CN105798439A (en) * | 2016-05-12 | 2016-07-27 | 北京石油化工学院 | Single-power supply multi-wire welding machine and non-extinguishing arc welding wire alternate conversion control method thereof |
| CN205393754U (en) * | 2016-03-14 | 2016-07-27 | 北京石油化工学院 | Multipurpose singly lead electric nozzle mariages MIGMAG welder |
| CN205817052U (en) * | 2016-06-24 | 2016-12-21 | 石惟一 | Congruent melting pond mariages CO2/MIG/MAG welding gun |
| CN107008996A (en) * | 2017-06-02 | 2017-08-04 | 河南科技大学 | A kind of method of metal cold welding increasing material manufacturing |
-
2017
- 2017-12-15 CN CN201711349518.6A patent/CN109926695A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2683302Y (en) * | 2004-03-10 | 2005-03-09 | 上海东升焊接设备有限公司 | Single power supply twin-wire automatic submerged-arc welding machine |
| CN101774066A (en) * | 2010-02-05 | 2010-07-14 | 西南交通大学 | Portable multifunctional double-wire self-protecting flux-cored wire welding device |
| CN201702499U (en) * | 2010-06-12 | 2011-01-12 | 山东胜利钢管有限公司 | Multi-wire welding mechanism of internal welding of spiral welded pipe |
| US20120305532A1 (en) * | 2011-05-31 | 2012-12-06 | Tennyson Harris | System and Method for High-Speed Robotic Cladding of Metals |
| CN205393754U (en) * | 2016-03-14 | 2016-07-27 | 北京石油化工学院 | Multipurpose singly lead electric nozzle mariages MIGMAG welder |
| CN105798439A (en) * | 2016-05-12 | 2016-07-27 | 北京石油化工学院 | Single-power supply multi-wire welding machine and non-extinguishing arc welding wire alternate conversion control method thereof |
| CN205817052U (en) * | 2016-06-24 | 2016-12-21 | 石惟一 | Congruent melting pond mariages CO2/MIG/MAG welding gun |
| CN107008996A (en) * | 2017-06-02 | 2017-08-04 | 河南科技大学 | A kind of method of metal cold welding increasing material manufacturing |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405323A (en) * | 2019-07-10 | 2019-11-05 | 江苏理工学院 | A wire feeder fixture based on argon arc welding trolley and its cladding process |
| 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 |
| CN112139635B (en) * | 2020-09-01 | 2022-02-18 | 西安石油大学 | Tungsten electrode adjustable bidirectional wire filling GTAW restrained arc additive 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 | A rotary arc GTA additive manufacturing system and method based on non-axisymmetric tungsten electrode |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109926695A (en) | 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 | |
| CN108067715A (en) | A kind of double cold automatic increasing material manufacturing method and devices that fill silk of robot plasma arc | |
| CN109926705B (en) | Plasma arc dual-power-supply dual-hot-wire additive manufacturing method and device for robot | |
| CN111014993B (en) | Metal material ultra-efficient additive manufacturing method | |
| CN108115282B (en) | An additive manufacturing system that uses a combination of laser and arc and uses robots for automatic additive manufacturing | |
| CN107414259B (en) | Auxiliary wire-filling GMA additive manufacturing device and method for gradient material manufacturing | |
| CN111496345A (en) | A method and device for composite single-arc double-wire additive manufacturing of melting electrode arc and hot filling wire | |
| CN113352012B (en) | Bypass plasma arc twin-wire composite additive manufacturing device and method | |
| JP3208808U (en) | A system that provides position feedback for additive manufacturing | |
| CN111014885B (en) | A multi-filament high-efficiency forming additive manufacturing device | |
| US10442027B2 (en) | Digital communication based arc control welding system and method | |
| CN106238876A (en) | Non-close thin-walled workpiece GTAW double synchronous fills silk and increases material manufacture method | |
| CN110340487B (en) | Low-heat-input multi-wire arc additive manufacturing method and device for dissimilar metal structural part | |
| CN106392348A (en) | Additive manufacturing method and additive manufacturing device for aluminum alloy based on laser-double-MIG composite heat source | |
| CN112894102A (en) | Three-wire plasma arc additive manufacturing device and method | |
| CN107790886A (en) | Pulsed negative pressure formula laser enhancing KTIG and MIG composite welding apparatus and method | |
| CN114160922B (en) | System and method for improving accuracy and efficiency of aluminum alloy GTAW WAAM | |
| CN113427131B (en) | Pulsating wire feeding method for wire-filling welding using laser-GMA arc composite heat source | |
| CN103273169A (en) | Multi-wire bead welding system and process thereof | |
| CN116000457A (en) | Laser coaxial-induction multi-TIG electric arc multi-wire rapid additive manufacturing method and manufacturing system | |
| CN105935828A (en) | Electric arc three-dimensional rapid forming and manufacturing method based on pulse current forcible molten drop transition | |
| JP2006075904A (en) | Laser / MIG hybrid welding method at high wire speed. | |
| CN107457469A (en) | A kind of carbon steel structure part is from compression arc increasing material manufacturing method | |
| CN206898554U (en) | Mobile robot's TIG weld system | |
| CN112139629A (en) | High-frequency pulse three-wire indirect electric arc welding method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190625 |