CN116604143A - Welding track control method for arc additive 3D technology - Google Patents

Abstract

The invention discloses a welding trajectory control method for arc additive 3D technology, including the following steps: S1. Use the scanning camera of the 3D intelligent vision reverse reconstruction system to scan and photograph the roller sleeve profile and model it in 3D, output the walking path, and The output path program is sent to the welding robot, and the welding seam width parameters are proposed to be set; S2. Research on wear-resistant materials and welding process; S3. Based on the research on wear-resistant materials and welding process, the voltage and current of the welding robot are , Welding speed for parameter setting. In the present invention, the titanium carbide nail casting roller intends to use the research and development and application of 3D additive process technology, which solves the technical problem of the fusion of the base material 35CrMo and titanium carbide, and realizes the filling welding depth of 10-30mm to ensure that the titanium carbide nail casting roller base has no potential damage, the welding quality is up to standard, and the hardened layer is combined with soft and hard. The surface hardness of the titanium carbide cast nail can reach HRC62-65, and the welding filling layer can reach the hardness of HRC58-62, thus improving the welding quality.

Description

Welding trajectory control method for arc additive 3D technology

technical field

The invention belongs to the field of welding technology, and in particular relates to a welding trajectory control method for arc additive 3D technology.

Background technique

Aiming at the technical problem of surface hardening of grinding rollers, various new materials and new processes have been used for trial at home and abroad, but it has not been ideal. Either the wear resistance is good, the impact resistance is poor, and the parts break during use, or the impact toughness is good, but Not wear-resistant, resulting in short component life. In recent years, there has been a new technology of "soft and hard" combination of "soft and hard" for the grinding roller of the roller press, which is inlaid with welded titanium carbide ceramic cylindrical nails. The use effect is good and the service life is greatly increased. The number of damages is fast, which directly leads to the shutdown of the roller press. The reason is that the manufacturing process adopts manual inlay welding, which has many defects, many welding cracks, and many missing solder spots, resulting in poor stability of the inlaid welding nails. Large areas of peeling are caused, and the lifespan is greatly shortened. In view of the above situation, we propose a welding trajectory control method for arc additive 3D technology.

Contents of the invention

The object of the present invention is to provide a welding trajectory control method for arc additive 3D technology, so as to solve the problems raised in the above-mentioned background technology.

In order to achieve the above object, the present invention provides the following technical solution: a welding trajectory control method for arc additive 3D technology, comprising the following steps:

S1. Use the scanning camera of the 3D intelligent vision reverse reconstruction system to scan and take pictures of the roller sleeve profile and model in 3D, output the walking path, send the output path program to the welding robot, and set the weld width parameters;

S2. Research on wear-resistant materials and welding technology;

S3. Based on the research of wear-resistant materials and welding technology, the parameters of voltage, current and welding speed of the welding robot are proposed to be set. The core of the parameter to be set is the parameter to be set in the overlapping area of the weld;

S4. Through continuous experimentation, various parameter indicators are constantly adjusted according to the experimental situation, and reasonable process parameters are obtained through continuous correction of the results of new product test prototypes, and a database is established;

S5. Establish an arc additive system. According to the established database, input reasonable process parameters for each arc additive welding, and automatically generate a walking path, and control the welding robot to weld on the same path according to the automatically generated walking path.

Preferably, the scanning camera of the intelligent visual reverse reconstruction system in the S1 adopts a spatium HD180 scanning camera, and the 3D modeling in the S1, the output walking path is specifically constructed by derivation software to construct a 3D model, and the multiple contour photos are gradually Fitting, write an algorithm according to the model, run in the background of the program, and change the coefficients such as the width of the weld, and then output the walking path.

Preferably, the weld width parameters in the proposed setting of the weld width parameters in S1 include the number of revolutions of the weldment, the diameter of the welding wire, the welding track, the change track of the weld width, the weld width, and the variable control parameters of the welding speed .

Preferably, the research on the wear-resistant material in S2 adopts an experimental method, specifically: the wear-resistant material is titanium carbide cast nails, the titanium carbide cast nails are arranged in a cylindrical order, and the hardened surface of the cast nails is higher than the filling layer by 1 -2mm, the secondary hardening process is studied after welding, so that the surface hardness of titanium carbide casting nails reaches HRC62-65, and the hardness of the welding filling layer reaches HRC58-62, so that the casting nails are mainly used for crushing and grinding, and the welding filling layer is supplemented. To achieve both soft and hard, improve the service life of the grinding roller.

Preferably, the welding process research in S2 adopts a reference method and an analysis method. The reference method is specifically: a large number of process parameters accumulated on the surface hardening of the grinding rollers are directly used in the welding process research, and the surface hardening of the grinding rollers is directly used in the welding process research. A large number of technological parameters accumulated include the welding rod grade, the heating temperature parameter of the grinding roller base before welding, the heat preservation parameter of the welding machine, the welding parameters of three times of welding, and the thickness parameters of each welding layer; The nail welding trajectory is a continuous and irregular S-shaped curve in the grid, and the welding pool is irregular. Considering the welding quality and the damage to the roller matrix caused by the stress release after welding, it is necessary to ensure that the welding depth is uniform, and the welding frequency is variable speed welding.

Preferably, the research objects of the welding process in S2 include: welding method, electrode grade, heating temperature parameters of the substrate before welding and heat preservation parameters during the process, welding trajectory and molten pool parameters, variable welding speed parameters, and welding thickness parameters at different stages .

Preferably, the proposed setting of the parameters for the weld overlap area in S3 includes that the casting nails are circular and welding defects are prone to occur in the weld overlap area.

Preferably, the arc additive system in S5 includes arc additive software, an octagonal workbench, a biaxial positioner, barreled welding wire, a CMT fuse power supply, a welding robot, a CMT fuse gun head, and a wire cleaning gun. mechanism.

Preferably, the welding robot is set as an ABB IRB2600 welding robot or a Fronius FK4000-R FC welding machine.

Preferably, the steps of adding and subtracting materials by the arc additive system include: 3D model importing-substrate fixedly installed on the working platform-3D model importing-robot workpiece coordinate calibration-slicing parameter setting-generating robot trajectory path-dynamic simulation printing- Printing process specification setting - start printing - wait between printing layers - completion of adding and subtracting materials.

Compared with prior art, the beneficial effect of the present invention is:

(1) The research and development and application of 3D additive process technology for titanium carbide nail casting rollers in the present invention solves the technical problem of the fusion of base material 35CrMo and titanium carbide, and realizes a filling welding depth of 10-30mm to ensure that titanium carbide nail casting rollers There is no potential damage to the matrix, the welding quality is up to standard, and the hardened layer is combined with soft and hard. The surface hardness of the titanium carbide casting nail can reach HRC62-65, and the welding filling layer can reach the hardness of HRC58-62, thereby improving the welding quality.

(2) In the present invention, based on the 3D intelligent visual reverse reconstruction system, after scanning the welding contour, 3D modeling is performed, and the walking path and variable welding speed are output to the welding robot to realize intelligence, precisely control variable welding and welding quality, and ensure carbonization On the basis of the wear resistance and peeling resistance of the titanium nail casting roller surface, the damage to the matrix can be avoided, and the titanium carbide nail casting roller can be regenerated 3-5 times in the later stage, saving energy and reducing consumption.

Description of drawings

Fig. 1 is a flowchart of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example 1

Referring to Fig. 1, the present invention provides a technical solution: a welding trajectory control method for arc additive 3D technology, including the following steps:

S1. Use the scanning camera of the 3D intelligent vision reverse reconstruction system to scan and take pictures of the roller sleeve profile and model in 3D, output the walking path, send the output path program to the welding robot, and set the weld width parameters;

S2. Research on wear-resistant materials and welding technology;

S3. Based on the research of wear-resistant materials and welding technology, the parameters of voltage, current and welding speed of the welding robot are proposed to be set. The core of the parameter to be set is the parameter to be set in the overlapping area of the weld;

S4. Through continuous experimentation, various parameter indicators are constantly adjusted according to the experimental situation, and reasonable process parameters are obtained through continuous correction of the results of new product test prototypes, and a database is established;

S5. Establish an arc additive system. According to the established database, input reasonable process parameters for each arc additive welding, and automatically generate a walking path, and control the welding robot to weld on the same path according to the automatically generated walking path.

In this embodiment, preferably, the scanning camera of the intelligent visual reverse reconstruction system in the S1 adopts a spatiumHD180 scanning camera, and the 3D modeling in the S1, the output walking path is specifically constructed by derivation software to construct a 3D model, and multiple The contour photos are gradually fitted, and the algorithm is written according to the model, which runs in the background of the program and changes the coefficients such as the width of the weld, and then outputs the walking path.

In this embodiment, preferably, the weld width parameter in the proposed setting of the weld width parameter in S1 includes the number of revolutions of the weldment, the diameter of the welding wire, the welding track, the change track of the weld width, the weld width, the welding Variable speed control parameters.

In this embodiment, preferably, the research on the wear-resistant material in S2 adopts an experimental method, specifically: titanium carbide cast nails are selected as the wear-resistant material, the titanium carbide cast nails are arranged in a cylindrical order, and the cast nails have a hardened surface It is 1-2mm higher than the filling layer, and the secondary hardening process is studied after welding, so that the surface hardness of titanium carbide casting nails reaches HRC62-65, and the hardness of the welding filling layer reaches HRC58-62, so that casting nails are mainly used in crushing and grinding, and welding The filling layer is supplemented to achieve both hardness and softness and improve the service life of the grinding roller.

In this embodiment, preferably, the welding process research in S2 adopts a reference method and an analysis method. The reference method is specifically: a large number of process parameters accumulated on the surface hardening of the grinding roller are directly used in the welding process research. A large number of technical parameters accumulated for the surface hardening of the grinding roller include the welding rod grade, the heating temperature parameter of the grinding roller substrate before welding and the heat preservation parameter of the welding machine, the welding parameters of three welding times, and the thickness parameters of the welding layer each time; the analysis method is specifically: according to The welding trajectory of titanium carbide cast nails is a continuous irregular S-shaped curve in the grid, and the welding pool is irregular. Considering the welding quality and the damage to the roller matrix caused by the stress release after welding, it is necessary to ensure that the welding depth is uniform and the welding frequency is uniform. Adopt variable speed welding.

In this embodiment, preferably, the research objects of the welding process in S2 include: welding method, electrode grade, substrate heating temperature parameters before welding and heat preservation parameters during the process, welding trajectory and molten pool parameters, variable welding speed parameters, Welding thickness parameters at different stages.

In this embodiment, preferably, the proposed setting of the parameters for the weld overlap area in S3 includes that the casting nails are circular and welding defects are prone to occur in the weld overlap area.

In this embodiment, preferably, the arc additive system in S5 includes arc additive software, octagonal workbench, biaxial positioner, barreled welding wire, CMT fuse power supply, welding robot, and CMT fuse gun head And cleaning gun wire cutting mechanism.

In this embodiment, preferably, the welding robot is set as an ABB IRB2600 welding robot or a Fronius FK4000-R FC welding machine.

In this embodiment, preferably, the steps of adding and subtracting materials by the arc additive system include: importing the 3D model - fixing the substrate to the working platform - importing the 3D model - calibrating the coordinates of the robot workpiece - setting slice parameters - generating the trajectory path of the robot -Dynamic simulation printing-printing process specification setting-start printing-waiting between printing layers-addition and subtraction of materials are completed.

Example 2

Referring to Fig. 1, the present invention provides a technical solution: a welding trajectory control method for arc additive 3D technology, including the following steps:

S1. Use the scanning camera of the 3D intelligent vision reverse reconstruction system to scan and take pictures of the roller sleeve profile and model in 3D, output the walking path, send the output path program to the welding robot, and set the weld width parameters;

S2. Research on wear-resistant materials and welding technology;

S3. Based on the research of wear-resistant materials and welding technology, the parameters of voltage, current and welding speed of the welding robot are proposed to be set. The core of the parameter to be set is the parameter to be set in the overlapping area of the weld;

S4. Through continuous experimentation, various parameter indicators are constantly adjusted according to the experimental situation, and reasonable process parameters are obtained through continuous correction of the results of new product test prototypes, and a database is established;

S5. Establish an arc additive system. According to the established database, input reasonable process parameters for each arc additive welding, and automatically generate a walking path, and control the welding robot to weld on the same path according to the automatically generated walking path.

In this embodiment, preferably, the scanning camera of the intelligent visual reverse reconstruction system in the S1 adopts a spatiumHD180 scanning camera, and the 3D modeling in the S1, the output walking path is specifically constructed by derivation software to construct a 3D model, and multiple The contour photos are gradually fitted, and the algorithm is written according to the model, which runs in the background of the program and changes the coefficients such as the width of the weld, and then outputs the walking path.

In this embodiment, preferably, the weld width parameter in the proposed setting of the weld width parameter in S1 includes the number of revolutions of the weldment, the diameter of the welding wire, the welding track, the change track of the weld width, the weld width, the welding Variable speed control parameters.

In this embodiment, preferably, the research on the wear-resistant material in S2 adopts an experimental method, specifically: titanium carbide cast nails are selected as the wear-resistant material, the titanium carbide cast nails are arranged in a cylindrical order, and the cast nails have a hardened surface It is 1-2mm higher than the filling layer, and the secondary hardening process is studied after welding, so that the surface hardness of titanium carbide casting nails reaches HRC62-65, and the hardness of the welding filling layer reaches HRC58-62, so that casting nails are mainly used in crushing and grinding, and welding The filling layer is supplemented to achieve both hardness and softness and improve the service life of the grinding roller.

In this embodiment, preferably, the welding process research in S2 adopts a reference method and an analysis method. The reference method is specifically: a large number of process parameters accumulated on the surface hardening of the grinding roller are directly used in the welding process research. A large number of technical parameters accumulated for the surface hardening of the grinding roller include the welding rod grade, the heating temperature parameter of the grinding roller substrate before welding and the heat preservation parameter of the welding machine, the welding parameters of three welding times, and the thickness parameters of the welding layer each time; the analysis method is specifically: according to The welding trajectory of titanium carbide cast nails is a continuous and irregular S-shaped curve in the grid, and the welding pool is irregular. Considering the welding quality and the damage to the roller matrix caused by the stress release after welding, it is necessary to ensure that the welding depth is uniform and the welding frequency is uniform. Adopt variable speed welding.

In this embodiment, preferably, the welding robot is set as an ABB IRB2600 welding robot or a Fronius FK4000-R FC welding machine.

In this embodiment, preferably, the steps of adding and subtracting materials by the arc additive system include: importing the 3D model - fixing the substrate to the working platform - importing the 3D model - calibrating the coordinates of the robot workpiece - setting slice parameters - generating the trajectory path of the robot -Dynamic simulation printing-printing process specification setting-start printing-waiting between printing layers-addition and subtraction of materials are completed.

Principle and advantage of the present invention:

In the present invention, the titanium carbide nail casting roller intends to use the research and development and application of 3D additive technology, which solves the technical problem of the fusion of the base material 35CrMo and titanium carbide, and realizes the filling welding depth of 10-30mm to ensure that the titanium carbide nail casting roller base has no potential damage, the welding quality is up to the standard, and the hardened layer is combined with soft and hard, the surface hardness of the titanium carbide cast nail can reach HRC62-65, and the welding filling layer can reach the hardness of HRC58-62, thereby improving the welding quality; After the structural system scans the welding contour, the 3D model is output to the welding robot to output the walking path and variable welding speed to realize intelligence, precisely control the variable welding and welding quality, and ensure the wear resistance and anti-flaking of the surface of the titanium carbide nailing roller On the basis of reliability, the damage to the matrix can be avoided, and the titanium carbide nail casting roller can be repaired 3-5 times reproducibly in the later stage, saving energy and reducing consumption.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (10)

1. A welding track control method for an arc additive 3D technology is characterized in that: the method comprises the following steps:

s1, scanning and shooting a roller sleeve contour by using a scanning camera of a 3D intelligent visual reverse reconstruction system, 3D modeling, outputting a walking path, sending an output path program to a welding robot, and performing to-be-set on weld seam width parameters;

s2, researching a wear-resistant material and a welding process;

s3, carrying out parameter setting on voltage, current and welding speed of the welding robot based on abrasion-resistant material research and welding process research, wherein the core of the parameter setting is the parameter setting of a welding seam overlapping area;

s4, continuously adjusting various parameter indexes according to experimental conditions through continuous experiments, continuously correcting the results of a new product test prototype to obtain reasonable process parameters, and establishing a database;

s5, an arc material adding system is established, reasonable technological parameters are input when arc material adding welding is performed each time according to the established database, a walking path is automatically generated, and a welding robot is controlled to perform welding of the same path track according to the automatically generated walking path.

2. The welding trajectory control method for arc additive 3D technology of claim 1, wherein: the scanning camera of the intelligent visual reverse reconstruction system in the S1 adopts a satellite HD180 scanning camera, the 3D modeling in the S1 is carried out, a 3D model is constructed by specifically adopting derivative construction software to output a walking path, a plurality of contour photos are gradually fitted, the intelligent visual reverse reconstruction system operates in a program background according to a model programming algorithm, coefficients such as weld width and the like are changed, and then the walking path is output.

3. The welding trajectory control method for arc additive 3D technology of claim 1, wherein: and in the step S1, the welding seam width parameters in the process of performing the to-be-set on the welding seam width parameters comprise variable control parameters of the number of revolutions of a welding piece, the diameter of a welding wire, a welding track, a welding seam width change track, the welding seam width and the welding speed.

4. The welding trajectory control method for arc additive 3D technology of claim 1, wherein: the abrasion-resistant material in S2 is researched by adopting an experimental method, and the method specifically comprises the following steps: the wear-resistant material is titanium carbide casting nails which are arranged in a cylindrical order, the hardened surface of the casting nails is 1-2mm higher than that of the filling layer, and a secondary hardening process is researched after welding, so that the surface hardness of the titanium carbide casting nails reaches HRC62-65, and the hardness of the welding filling layer reaches HRC58-62, the casting nails are mainly used when crushing and grinding, the welding filling layer is used as an auxiliary material, both softness and hardness are realized, and the service life of the grinding roller is prolonged.

5. The welding trajectory control method for arc additive 3D technology of claim 1, wherein: the welding process in S2 is researched by adopting a reference method and an analysis method, wherein the reference method specifically comprises the following steps: the method is characterized in that a large amount of accumulated process parameters for surface hardening of the grinding roller are directly used for welding process research, and the large amount of accumulated process parameters for surface hardening of the grinding roller comprise welding rod marks, heating temperature parameters before welding of a grinding roller matrix, heat preservation parameters during welding, welding three times of welding parameters and thickness parameters of a welding layer each time; the analysis method specifically comprises the following steps: according to the welding track of the embedded titanium carbide casting nails is a continuous irregular S-shaped curve in a grid, a welding pool is irregular, the welding depth is required to be uniform by considering the welding quality and the damage of post-welding stress release to a roller matrix, and variable-speed welding is adopted for the welding number.

6. The welding trajectory control method for arc additive 3D technology of claim 5, wherein: the study object of the welding process in S2 includes: the welding method, the welding rod brand, the heating temperature parameter before welding the substrate, the heat preservation parameter in the process, the welding track and molten pool parameter, the variable welding speed parameter and the welding thickness parameter at different stages.

7. The welding trajectory control method for arc additive 3D technology of claim 1, wherein: the parameter to be set of the welding seam overlapping area in the step S3 comprises the fact that the casting nails are round, and welding defects are prone to occurring in the welding seam overlapping area.

8. The welding trajectory control method for arc additive 3D technology of claim 1, wherein: the arc material adding system in the S5 comprises arc material adding software, an octagonal workbench, a double-shaft positioner, barreled welding wires, a CMT fuse power supply, a welding robot, a CMT fuse gun head and a gun cleaning and cutting mechanism.

9. The welding trajectory control method for arc additive 3D technology of claim 8, wherein: the welding robot is set as an ABB IRB2600 welding robot or a Funisi FK4000-R FC welder.

10. The welding trajectory control method for arc additive 3D technology of claim 9, wherein: the step of increasing or decreasing materials of the arc material increasing system comprises the following steps: three-dimensional model import-substrate fixed mounting to a working platform-three-dimensional model import-robot workpiece coordinate calibration-slicing parameter setting-robot track path generation-dynamic simulation printing-printing process specification setting-start printing-printing interlayer waiting-material increase and decrease finishing.