CN106112207A - Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending - Google Patents
Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending Download PDFInfo
- Publication number
- CN106112207A CN106112207A CN201610682426.9A CN201610682426A CN106112207A CN 106112207 A CN106112207 A CN 106112207A CN 201610682426 A CN201610682426 A CN 201610682426A CN 106112207 A CN106112207 A CN 106112207A
- Authority
- CN
- China
- Prior art keywords
- defect
- welding
- repairing
- vision sensor
- consumable electrode
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
- B23K9/044—Built-up welding on three-dimensional surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Laser Beam Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of gas metal-arc welding 3D and increase material repair apparatus and method for repairing and mending, this device includes controller, four-axle linked platform, laser vision sensor, infrared vision sensor, fixture and consumable electrode welding torch；This method for repairing and mending includes: be arranged in patcher's station by defect workpiece；Drive the three-D profile of laser vision sensor scanning defect；The three-D profile of defect rebuild by controller；Determine concrete welding parameter；Controller drives near infrared vision sensing device to be scanned molten bath, obtains the time and frequency parameter of crater image, and generates compensation control routine according to the time and frequency parameter of crater image, revises the welding parameter set in real time；After repairing terminates, again drive the three-D profile of laser vision sensor scanning defect, determine that the workpiece after repairing is the most up to standard, if the most up to standard, then defect is repaired again, until defect mending is up to standard.The simple in construction of the present invention, easy to operate, reliability is high, strong adaptability.
Description
Technical field
The present invention relates to increase material repairing technique field, particularly relate to a kind of 3D increasing material for gas metal-arc welding and repair
Mend device and method for repairing and mending thereof.
Background technology
Existing increasing material method for repairing and mending mainly have laser melt cover, arc surfacing, electropaining plating, plasma spray technology etc..Laser melts
Coating technique is to utilize the laser beam of high-energy-density to be allowed to the method for consolidation together with substrate surface thin layer, substrate surface formed with
It is the filling cladding layer of metallurgical binding.Arc surfacing is to utilize welding rod or electrode to be deposited over substrate surface to carry out built-up welding.Electropaining
Coating technology is to utilize unidirectional current to pass through during electrolyte electrochemical reaction occurs, and realizes metal and deposits on plating piece surface.Thermal spraying
It is to utilize certain thermal source that powder or thread metal or nonmetallic materials are heated to melted or semi-molten state, deposition and shape
Become to have a kind of technology of the face coat of various function.
Above method for repairing and mending has certain limitation, and wherein laser melts coating technique transition region stress can be caused to concentrate；Electricity
There is anchoring strength of coating and the problem of intensity deficiency own in coating technology；Arc surfacing technology and the heat affecting of plasma spray technology
Qu great, easily causes workpiece deformation.It addition, above-mentioned repairing technique fails to be accurately obtained defect profile parameter before repairing, cause
Workpiece after repairing yet suffers from certain defect, and repair efficiency is undesirable.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that one is easy to operate, reliability is high, strong adaptability
Gas metal-arc welding 3D increase material repair apparatus.
Another object of the present invention is to, it is provided that a kind of method for repairing and mending based on above-mentioned repair apparatus.
The purpose of the present invention is achieved through the following technical solutions:
A kind of gas metal-arc welding 3D increases material repair apparatus, and it mainly includes controller, is positioned at above reparation station
Four-axle linked platform and be arranged in linkage platform the laser vision of defect profile three-dimensional information for obtaining workpiece and pass
Sensor, for obtaining the infrared vision sensor of molten bath status information, fixture and consumable electrode welding torch.Described controller and four axles connection
Moving platform, laser vision sensor, infrared vision sensor and consumable electrode welding torch connect, and are used for controlling the work of each unit coordinates.
Concrete, described controller is connected with four-axle linked platform, controls the movement in three directions of consumable electrode welding torch
And the rotation of horizontal direction, make consumable electrode welding torch with most suitable position and angle, defect be repaired on jig.
Described controller is connected with laser vision sensor, for driving laser vision sensor and obtaining the three-D profile of defect, and control
The three-D profile of defect is rebuild by device processed according to the data obtained, and generates optimum control code.Described controller is with infrared
Vision sensor connects, for driving infrared vision sensor and obtaining the real time imaging time and frequency parameter in molten bath, at mending course
In, adjust Repair Parameters in real time according to molten bath state, it is thus achieved that preferably repair efficiency.Described controller is electrically connected with consumable electrode welding torch
Connect, for controlling the size of current of consumable electrode welding torch and the flow of protective gas.One end of described fixture and four-axle linked platform
Connecting, the other end is fixed with consumable electrode welding torch, and four-axle linked platform drives consumable electrode welding torch to move and rotate by fixture, adjusts
To suitable welding position.
Concrete, described consumable electrode welding torch includes torch body, wire reel, wire pushing roller, ignition tip and protective cover.Described
Torch body is fixedly mounted on fixture.Described wire reel is arranged on the end of torch body, and wire pushing roller is arranged on wire reel
And between torch body, the filler wire being wrapped on wire reel sequentially passes through wire pushing roller, torch body and ignition tip, and from
Ignition tip protrudes.Described protective cover is arranged on the other end of torch body, and described ignition tip is arranged in protective cover, with protection
Leaving gap between cover, protective gas flows through from this gap, molten metal can be avoided oxidized when welding, impact weldering
Connect effect.When welding, protective gas enters gap from top to bottom, is covered in ignition tip, filler wire and welding position, is formed
Protection zone.Forming electric arc by discharge type between filler wire and workpiece, the metal near filler wire and defective locations exists
Melting under the effect of electric arc, form molten bath, after molten bath cools down, filler wire becomes the part into workpiece, completes workpiece, defect
Increasing material repair.
Preferably, the thickness of described protective cover is less than the thickness of ignition tip, so can save material, alleviate welding
Weight.
As the preferred version of the present invention, owing to the welding current of arc welding is relatively big, in order to avoid interfering to external world
Or injury, described protective cover uses plastic material to make, and plastic material can make tip and the external insulation that consumable electrode weld,
To protective effect.
Concrete, described four-axle linked platform is for controlling the position of consumable electrode welding torch and adjusting the welding of consumable electrode welding torch
Angle, its composition mainly include the X-axis mobile unit moved in the X-axis direction, the Y-axis mobile unit moved along Y direction, along Z
Direction of principal axis motion Z axis mobile unit and around be perpendicular to workpiece rotating shaft rotate A axle rotating unit.Described X-axis mobile unit
Being fixed on repairing platform, be positioned at the top repairing station, Y-axis mobile unit is arranged in X-axis mobile unit, and Z axis moves list
Unit is arranged in Y-axis mobile unit, and A axle rotating unit is arranged in Z axis mobile unit, can Z axis mobile unit level relatively turn
Dynamic.Described A axle rotating unit is fixing with fixture to be connected, and horizontally rotates with consumable electrode welding torch, for adjusting consumable electrode welding torch
Soldering angle.
As the preferred version of the present invention, described infrared vision sensor uses the shorter near infrared ray of wavelength as vision
The light source of sensor.Compared with far infrared, the degree of depth of near infrared ray detection is relatively deep, and the quantity of information of acquisition is more.Due to electric arc
Being welded in welding process the radiant light interference that can produce electric arc, the arc light selecting near infrared vision sensing device can filter off electric arc is done
Disturb, improve the image quality of crater image.Preferably, the present invention preferentially uses wavelength to be about the near-infrared light source of 950 nanometers.
As the preferred version of the present invention, described controller uses that capacity of resisting disturbance is strong, stable and reliable in work, works continuously
The industrial control computer of time length.
Another object of the present invention is achieved through the following technical solutions:
A kind of consumable electrode protection weldering 3D increases the method for repairing and mending of material repair apparatus, and this method for repairing and mending mainly comprises the steps:
Step S1: defect workpiece is arranged in patcher's station；
Laser vision sensor, near infrared vision sensing device are arranged on the Z of four axles (X-Y-Z-A axle) coordinated signals platform
In axle mobile unit, consumable electrode protective gas welding torch is arranged on A axle rotary unit.
Step S2: drive the three-D profile of laser vision sensor scanning defect；
After installing, four-axle linked platform is first coordinated consumable electrode welding torch to be moved to relevant position, at controller
Under control, laser vision sensor scanning defect (complex geometric shapes) profile is driven to obtain structure optical signal.
Step S3: controller accepts the feedback signal of laser vision sensor, rebuilds the three-D profile of defect；
According to the operation principle of laser vision sensor, in sensor, semiconductor laser emission source sends a branch of parallel swashing
Light.This laser beam is on the contour surface of workpiece, defect, and its surface source of light information is arrived by the CMOS camera calibration in sensor,
Utilize principle of triangulation, accurate defect profile structure optical signal can be obtained in the controller.Controller obtains laser video
The defect profile structure optical signal of sense sensor feedback, utilizes the method for three-dimensional reconstruction to set up defect threedimensional model.
Step S4: according to the three-D profile data genaration control routine of defect, determine concrete welding parameter；
The defect threedimensional model of reconstruction is compared by controller with original part model parameter, determines to be repaired concrete
Parameter also generates corresponding control routine.Controller drives the weldering of four-axle linked platform courses consumable electrode according to the control routine generated
Torch moves to the position specified, then be determined the welding parameter of melting pole gas shielded welding torch by control routine.This welding
Parameter mainly includes position, welding current, speed of welding and wire feed rate of welding etc..
Step S5: in mending course, controller drives near infrared vision sensing device to be scanned molten bath, obtains molten bath figure
The time and frequency parameter (including time domain, frequency domain information) of picture, and generate compensation control routine according to crater image time and frequency parameter, repair in real time
The welding parameter just set.
During welding, controller determines mending option according to the defect three-D profile rebuild, and drives four-axle linked platform to position
To the position of welding, and completed the patcher of defect special, complicated by the soldering angle of A axle rotating unit adjustment welding torch
Make.
Step S6: for repairing the thermal deformation that surface of test piece occurs after arc surfacing, after completing to repair for the first time, again drive
The three-D profile of dynamic laser vision sensor scanning defect, determines that the workpiece after repairing is the most up to standard, if the most up to standard, then to defect
Again repair, until defect mending is up to standard.
As the preferred version of the present invention, when welding, when position and the shape of defect are complex, can be by driving
A axle rotating unit adjusts the welding angle of consumable electrode welding torch and completes defect mending, uses the method to improve further and repaiies
Mend efficiency, overcome the deficiencies in the prior art.
Repair apparatus provided by the present invention may be mounted in the frame of robot end or portal frame, coordinates robot
Or the motion positions of portal frame is to relevant position, for the defect test specimen repaired under different occasion or need setting of repair maintenance
Standby.
Work process and the principle of the present invention be: the present invention utilizes the defect on laser vision sensor scanning workpiece, will
The three-D profile optical signal obtained sends controller to；Controller rebuilds the three-D profile of defect according to structure optical signal, and raw
Become corresponding control routine, determine the technical parameter of welding；In welding process, controller drives near infrared vision sensing device pair
Molten bath is scanned, and obtains the time and frequency parameter of crater image, arranges before generating corresponding compensation control routine, and correction in real time
Welding parameter, make final welding effect more preferable；After first welding, defective locations can be carried out by laser vision sensor
Again scanning, determine repairing situation and evaluation repair efficiency, if repair efficiency does not reaches the standard of setting, then controller drives four
Defect after repairing is repaired by axle linkage platform, laser vision sensor and infrared vision sensor again, until repairing
Till effect is up to standard.Simple in construction provided by the present invention, easy to operate, reliability is high, strong adaptability.
Compared with prior art, it also have the advantage that
(1) present invention proposes and utilizes laser vision sensor to combine four-axle linked platform measuring part defect three-dimensional wheel
It is wide, it is thus achieved that the dynamic structure optical signal of defect profile, and the method re-establishing defect threedimensional model by computer control,
Defect model accurately can be obtained by the method, effectively reduce the situation appearance lacking weldering, solder skip, weldering mistake, hence it is evident that improve weldering
Connect efficiency and welding effect.
(2) present invention proposes and gas metal-arc welding increases with 3D the new side remanufactured that material method for repairing and mending is combined
Method, is attached to the increasing material repair apparatus that the present invention provides on robot or portal frame, and may be used for repairing workpiece or equipment
Defect, is effectively improved the use cycle of equipment, makes it be reused by repairing write-off equipment, plays maximum value, body
Show the theory of energy-conserving and environment-protective.
(3) present invention provide method for repairing and mending not only welding time introduce near infrared vision sensing device obtain Molten Pool Shape and
Online adjustment welding current and wire feed rate in real time, also scan defect again at postwelding laser vision sensor, with
Guarantee that defect is farthest repaired benefit and repair efficiency reaches best.By contrasting the parameter of intact piece surface,
Generate and repair defects controlling code, apply this code to determine the kinematic parameter of consumable electrode welding torch on four axes motion platform and to melt
That changes pole welding torch melts the parameter covered, and welding can be made more precisely to put in place, it is thus achieved that preferably welding effect.
(4) present invention proposes to utilize near infrared vision sensing device to be scanned molten bath state, adjusts welding parameter in real time,
Stress collection after can at utmost reducing workpiece, defect reparation neutralizes the thermal deformation caused.
(5) present invention carries out laser scanning to defective locations after repairing every time, for evaluating this effect repaired,
And repair efficiency is evaluated, it is determined whether needing again to repair, this process can significantly improve the degree of reliability of repairing, obtains
Obtain preferable repair efficiency.
(6) increasing material repair apparatus provided by the present invention can apply on robot end or portal frame defective part
Or equipment to carry out repair operation, practicality and the suitability strong.
(7), compared with melting coating technique with laser, the present invention does not results in stress after part defect is repaired and concentrates；Skill is plated with electropaining
Art is compared, and the parts reliability after the present invention repairs is high, easy to operate；Compared with plasma spray technology, environmental protection of the present invention, suitable
Strong by property；Compared with traditional arc surfacing technology, present invention incorporates the visual system of laser sensor, overcome tradition skill
Thermal deformation and stress that art causes are concentrated.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of repair apparatus provided by the present invention.
Fig. 2 is the axonometric chart of four-axle linked platform provided by the present invention.
Fig. 3 is the front view of four-axle linked platform provided by the present invention.
Fig. 4 is the right view of four-axle linked platform provided by the present invention.
Fig. 5 is the top view of four-axle linked platform provided by the present invention.
Fig. 6 is the fundamental diagram of laser vision sensor provided by the present invention.
Fig. 7 is the consumable electrode welding torch provided by the present invention view when welding.
Fig. 8 is workpiece, defect top view provided by the present invention.
Fig. 9 is workpiece, defect sectional view provided by the present invention.
Figure 10 is method for repairing and mending flow chart provided by the present invention.
Label declaration in above-mentioned accompanying drawing: 100-controller, 210-X axle mobile unit, 220-Y axle mobile unit, 230-Z
Axle mobile unit, 240-A axle rotating unit, 300-laser vision sensor, the infrared vision sensor of 400-, 510-consumable electrode welds
Torch, 520-fixture, 530-filler wire, 540-wire reel；
1-ignition tip, 2-protective cover, 3-wire pushing roller, 4-protective gas, 5-electric arc, 6-molten bath.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is described further.
Embodiment 1:
Gas metal-arc welding is a kind of use wire melting electrode, when using noble gas (Ar or Ar+He) conduct
It is referred to as metal inert gas arc welding during protective gas, is called for short MIG weldering；And when protective gas is based on Ar, add few
Amount active gases (O2Or CO2) time, referred to as consumable electrode metal active gas arc welding, is called for short MAG weldering.The open one of the present invention is repaiied
Mend device and method for repairing and mending thereof for solving the deficiency that prior art exists.
Wherein, as it is shown in figure 1, this repair apparatus is a kind of gas metal-arc welding 3D increases material repair apparatus, mainly wrap
Include controller 100, be positioned at the four-axle linked platform repaired above station and be arranged in linkage platform for obtaining workpiece
The laser vision sensor 300 of defect profile three-dimensional information, for obtain molten bath status information infrared vision sensor 400,
Fixture 520 and consumable electrode welding torch 510.Described controller 100 and four-axle linked platform, laser vision sensor 300, infrared vision
Sensor 400 and consumable electrode welding torch 510 connect.
Concrete, described controller 100 is connected with four-axle linked platform, controls consumable electrode welding torch 510 in three directions
Movement and the rotation of horizontal direction, make consumable electrode welding torch 510 on jig with most suitable position and angle to defect
Repair.Described controller 100 is connected with laser vision sensor 300, is used for driving laser vision sensor 300 and obtaining
The three-D profile of defect, the three-D profile of defect is rebuild by controller 100 according to the data obtained, and generates optimum control generation
Code.Described controller 100 is connected with infrared vision sensor 400, for driving infrared vision sensor 400 and obtaining molten bath
Real time imaging time and frequency parameter, in mending course, adjusts Repair Parameters according to molten bath state, it is thus achieved that preferably repair effect in real time
Really.Described controller 100 electrically connects with consumable electrode welding torch 510, for controlling size of current and the protection gas of consumable electrode welding torch 510
The flow of body.One end of described fixture 520 is connected with four-axle linked platform, and the other end is fixed with consumable electrode welding torch 510, four axle connection
Moving platform drives consumable electrode welding torch 510 to move and rotate by fixture 520, is adjusted to suitable welding position.
Concrete, shown in Fig. 1 and Fig. 7, described consumable electrode welding torch includes torch body, wire reel 540, wire pushing roller
3, ignition tip 1 and protective cover 2.Described torch body is fixedly mounted on fixture.Described wire reel 540 is arranged on torch body
End, wire pushing roller 3 is arranged between wire reel 540 and torch body, and the filler wire 530 being wrapped on wire reel 540 depends on
Secondary through wire pushing roller 3, torch body and ignition tip 1, and protrude from ignition tip 1.Described protective cover 2 is arranged on torch body
The other end, described ignition tip 1 is arranged in protective cover 2, and leaves gap between protective cover 2, and protective gas 4 is from this gap
Flow through, molten metal can be avoided oxidized when welding, affect welding effect.When welding, protective gas 4 is from top to bottom
Enter gap, ignition tip 1, filler wire 530 and welding position are covered, form protection zone.Between filler wire 530 and workpiece
Forming electric arc 5 by discharge type, the metal near filler wire 530 and defective locations melts under the effect of electric arc 5, is formed
Molten bath 6, after molten bath 6 cools down, filler wire 530 becomes the part into workpiece, and the increasing material completing workpiece, defect is repaired.
Concrete, shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, described four-axle linked platform is used for controlling consumable electrode weldering
The position of torch 510 also adjusts the soldering angle of consumable electrode welding torch 510, and its composition mainly includes that the X-axis moved in the X-axis direction moves
Unit 210, the Y-axis mobile unit 220 moved along Y direction, the Z axis mobile unit 230 moved along Z-direction and around being perpendicular to
The A axle rotating unit 240 that the rotating shaft of workpiece rotates.Described X-axis mobile unit 210 is fixed on repairing platform, is positioned at patcher
The top of position, Y-axis mobile unit 220 is arranged in X-axis mobile unit 210, and Z axis mobile unit 230 is arranged on Y-axis mobile unit
On 220, A axle rotating unit 240 is arranged in Z axis mobile unit 230, can relatively Z axis mobile unit 230 horizontally rotate.Described A
Axle rotating unit 240 is fixing with fixture 520 to be connected, and horizontally rotates with consumable electrode welding torch 510, is used for adjusting consumable electrode welding torch
The soldering angle of 510.
As the preferred version of the present invention, described infrared vision sensor 400 uses the near infrared ray conduct that wavelength is shorter
The light source of vision sensor.Compared with far infrared, the degree of depth of near infrared ray detection is relatively deep, and the quantity of information of acquisition is more.Due to
Arc welding can produce the radiant light interference of electric arc in welding process, selects near infrared vision sensing device can filter off the arc of electric arc
Light disturbs, and improves the image quality of crater image.Preferably, the present invention preferentially uses wavelength to be about the near infrared light of 950 nanometers
Source.
As the preferred version of the present invention, described controller 100 uses capacity of resisting disturbance strong, stable and reliable in work, continuous
The industrial control computer of longevity of service.
Wherein, this method for repairing and mending is the method for repairing and mending that a kind of consumable electrode protection weldering 3D increases material repair apparatus, this method for repairing and mending
Can for different workpiece materials to be repaired use corresponding filler wire 530 as filling up the filler of defect, in conjunction with Fig. 1 and
Shown in Figure 10, this method for repairing and mending mainly comprises the steps:
Step S1: defect workpiece is arranged in patcher's station；
Laser vision sensor 300, near infrared vision sensing device 400 are arranged on four axles (X-Y-Z-A axle) coordinated signals
In the Z axis mobile unit 230 of platform, consumable electrode protective gas welding torch 510 is arranged on A axle rotary unit.
Step S2: drive laser vision sensor 300 to scan the three-D profile of defect；
After installing, four-axle linked platform is first coordinated consumable electrode welding torch 510 to be moved to relevant position, at controller
Under the control of 100, drive laser vision sensor 300 to scan defect (complex geometric shapes) profile and obtain structure optical signal.
Step S3: controller 100 accepts the feedback signal of laser vision sensor 300, rebuilds the three-D profile of defect；
As shown in Figure 6, according to the operation principle of laser vision sensor 300, in sensor, semiconductor laser emission source is sent out
Go out a branch of parallel laser.This laser beam is on the contour surface of workpiece, defect, and its surface source of light information is by sensor
CMOS camera calibration arrives, and utilizes principle of triangulation, can obtain accurate defect profile structure light letter in controller 100
Number.Controller 100 obtains the defect profile structure optical signal of laser vision sensor 300 feedback, the method utilizing three-dimensional reconstruction
Set up defect threedimensional model.
Step S4: according to the three-D profile data genaration control routine of defect, determine concrete welding parameter；
The defect threedimensional model of reconstruction is compared by controller 100 with original part model parameter, determines to be repaired
Design parameter also generates corresponding control routine.Controller 100 drives four-axle linked platform courses according to the control routine generated
Consumable electrode welding torch 510 moves to the position specified, then be determined the weldering of melting pole gas shielded welding torch 510 by control routine
Connect parameter.This welding parameter mainly includes position, welding current, speed of welding and wire feed rate of welding etc..
Step S5: in mending course, controller 100 drives near infrared vision sensing device 400 to be scanned molten bath, obtains
The time and frequency parameter (including time domain, frequency domain information) of crater image, and generate compensation control routine according to crater image time and frequency parameter,
Revise the welding parameter set in real time.It is illustrated in figure 7 the workpiece, defect complex for geometry, at consumable electrode gas
Droplet transfer during the multiple defect of protection repair welding.
When workpiece defect some in surface of test piece under time, shown in Fig. 1, Fig. 8 and Fig. 9, due to A axle and fusing
Having certain angle between pole welding torch 510, controller 100 can drive A axle rotary shaft to adjust consumable electrode welding torch 510 on workpiece
Welding position, thus the defect mending under completing surface of test piece.
Step S6: for repairing the thermal deformation that surface of test piece occurs after arc surfacing, after completing to repair for the first time, again drive
Dynamic laser vision sensor 300 scans the three-D profile of defect, determines that the workpiece after repairing is the most up to standard, if the most up to standard, the most right
Defect is repaired again, until defect mending is up to standard.
As the preferred version of the present invention, when welding, when position and the shape of defect are complex, can be by driving
A axle rotating unit 240 adjusts the welding angle of consumable electrode welding torch 510 to complete defect mending, uses the method can be further
Improve repairing efficiency, overcome the deficiencies in the prior art.
Repair apparatus provided by the present invention may be mounted in the frame of robot end or portal frame, coordinates robot
Or the motion positions of portal frame is to relevant position, for the defect test specimen repaired under different occasion or need setting of repair maintenance
Standby.
Work process and the principle of the present invention be: the present invention utilizes laser vision sensor 300 to scan the defect on workpiece,
Send the three-D profile optical signal of acquisition to controller 100；Controller 100 rebuilds the three-dimensional wheel of defect according to structure optical signal
Exterior feature, and generate corresponding control routine, determine the technical parameter of welding；In welding process, controller 100 drives near-infrared to regard
Molten bath is scanned by sense sensor 400, obtains the time and frequency parameter of crater image, generates corresponding compensation control routine, and real
The welding parameter arranged before Shi Xiuzheng, makes final welding effect more preferable；After first welding, laser vision sensor
Defective locations can be scanned by 300 again, determines repairing situation and evaluation repair efficiency, if repair efficiency does not reaches setting
Standard, then after controller 100 drives four-axle linked platform, laser vision sensor 300 and infrared vision sensor 400 to repairing
Defect again repair, until repair efficiency is up to standard.Simple in construction provided by the present invention, easy to operate, reliably
Property high, strong adaptability.
Embodiment 2:
As it is shown in figure 1, laser vision sensor 300, near infrared vision sensing device 400 are arranged on four axle (X-Y-Z-A
Axle) Motion Control Platform Z axis motion platform on, consumable electrode protective gas welding torch 510 is arranged on A axle rotation platform.
This device may be mounted in robot end or portal frame frame, coordinate robot or portal frame move to relevant position with
Repair defect test specimen or equipment under different occasion.
The work process that 3D provided by the present invention increases material repair apparatus is as follows: first coordinate four axes motion platform to melt
Pole welding torch 510 moves to relevant position, under computer control 100 controls, drives laser vision sensor 300 to scan defect
(complex geometric shapes) profile obtains structure optical signal.
Then, in laser vision sensor 300, semiconductor laser emission source sends a branch of parallel laser, and this laser beam is beaten
On the contour surface of workpiece, defect, its surface source of light information is arrived by the CMOS camera calibration in sensor, utilizes triangulation
Principle, can obtain accurate defect profile structure optical signal in computer control 100.(Fig. 6 is laser vision sensor
The fundamental diagram of 300)
Then, scanning, according to laser vision sensor 300, the defect profile structure optical signal that defect obtains, computer controls
Device 100 utilizes the method for three-dimensional reconstruction to set up defect threedimensional model.The model of reconstruction is compared with original Parameters of The Parts, really
Periodical repair mend design parameter and generate control routine.
Then, four axes motion platform courses consumable electrode welding torch 510 is driven to move to relevant position, then true by control routine
Determine the parameters such as filler wire 530 speed of melting pole gas shielded welding torch 510, striking size of current, to defective locations heap
The mode of weldering carries out melting covering repairing.As it is shown in fig. 7, be droplet transfer during gas metal-arc welding reparation defect, fill weldering
Silk 530 is through ignition tip 1 outwardly, and wire pushing roller 3 clips filler wire 530 and carries downwards.Protective cover 2 is by ignition tip cover
Live, with external insulation.Protective gas 4 flows downward from the surrounding of filler wire 530, for protecting the metal of high temperature melting, anti-
Only metal is oxidized.Electric arc 5 is formed by the form of electric discharge between filler wire 530 and workpiece, and molten under the effect of electric arc 5
Changing and form molten bath 6, after cooling, filler wire 530 becomes the part into workpiece.When running into workpiece, defect shape and position more
During complicated situation, for the defect mending (as shown in Figure 8 and Figure 9, defect some under surface of test piece) of this situation,
Owing to A axle and consumable electrode welding torch 510 have certain angle, A axle rotary shaft is driven to adjust the welding position of consumable electrode welding torch 510, can
To complete the defect mending under surface of test piece.
Then, it is illustrated in figure 1 the schematic diagram of weld pool resonance when near infrared vision sensing device 400 obtains weldering, at heap repair welding
The defect crater image obtained during benefit contains the real-time repairing situation of defect, obtains molten bath by methods such as image procossing
Image time and frequency parameter, and then compensate control routine.
Finally, for repairing the thermal deformation that surface of test piece occurs after arc surfacing, after completing to repair for the first time, laser video is used
Sense sensor 300 scans defect profile.The control routine again repaired after computer processes, thus put down with four axes motion
Platform drives consumable electrode welding torch 510 determining to melt accordingly to cover parameter and repair defect.It is three-dimensional that laser vision sensor 300 obtains defect
Profile, near infrared vision sensing device 400 obtains the state of repairing in real time.Many heat transfer agents (laser, near infrared vision sensing device
400) fusion generates optimal control algorithm, including welding position, welding current, speed of welding, wire feed rate isoparametric
Line adjusts.Figure 10 is the workflow diagram of this invention, and this operation (i.e. vision-based detection, weld deposit repairing) is repeated several times, until defect
Outline shape is up to standard.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (7)
1. a gas metal-arc welding 3D increases material repair apparatus, it is characterised in that includes controller, be positioned on reparation station
The four-axle linked platform of side and be arranged in linkage platform the laser vision of defect profile three-dimensional information for obtaining workpiece
Sensor, for obtaining the infrared vision sensor of molten bath status information, fixture and consumable electrode welding torch；Described controller respectively with
Four-axle linked platform, laser vision sensor, infrared vision sensor and consumable electrode welding torch connect；One end of described fixture and four
Axle linkage platform connects, and the other end is fixed with consumable electrode welding torch；
Described consumable electrode welding torch includes torch body, wire reel, wire pushing roller, ignition tip and protective cover；Described torch body is pacified
Being contained on fixture, described wire reel is arranged on one end of torch body, wire pushing roller between wire reel and torch body, institute
Stating protective cover and be arranged on the other end of torch body, ignition tip is arranged in protective cover, and leaves gap between protective cover.
Gas metal-arc welding 3D the most according to claim 1 increases material repair apparatus, it is characterised in that described four axle connection
Moving platform includes X-axis mobile unit, Y-axis mobile unit, Z axis mobile unit and A axle rotating unit；Described X-axis mobile unit position
In repairing above station, Y-axis mobile unit is arranged in X-axis mobile unit, and Z axis mobile unit is arranged in Y-axis mobile unit,
A axle rotating unit is arranged in Z axis mobile unit, can relatively Z axis mobile unit horizontally rotate；Described A axle rotating unit and folder
Tool is fixing to be connected, for adjusting the soldering angle of consumable electrode welding torch.
Gas metal-arc welding 3D the most according to claim 1 increases material repair apparatus, it is characterised in that described infrared regard
Sense sensor is near infrared vision sensing device.
Gas metal-arc welding 3D the most according to claim 1 increases material repair apparatus, it is characterised in that described controller
Use industrial control computer.
5. the method for repairing and mending of a consumable electrode protection weldering 3D increasing material repair apparatus, it is characterised in that comprise the steps:
Step S1: defect workpiece is arranged in patcher's station；
Step S2: drive the three-D profile of laser vision sensor scanning defect；
Step S3: controller accepts the feedback signal of laser vision sensor, rebuilds the three-D profile of defect；
Step S4: according to the three-D profile data genaration control routine of defect, determine concrete welding parameter；
Step S5: in mending course, drives near infrared vision sensing device to be scanned molten bath, obtains the time-frequency ginseng of crater image
Number, and generate compensation control routine according to the time and frequency parameter of crater image, revise the welding parameter set in real time；
Step S6: repair after terminating, again drives the three-D profile of laser vision sensor scanning defect, determines the work after repairing
Part is the most up to standard, if the most up to standard, then again repairs defect, until defect mending is up to standard.
Consumable electrode the most according to claim 5 protection weldering 3D increases the method for repairing and mending of material repair apparatus, it is characterised in that described
The concrete operations that step S3 is concrete are as follows, and in laser vision sensor, semiconductor laser emission source sends a branch of parallel laser, flat
Row laser beam is on the contour surface of workpiece, defect, and light source information after reflection is by the CMOS phase in laser vision sensor
Machine examination measures, and utilizes principle of triangulation to obtain accurate defect profile structure optical signal, and controller receives laser-vision sensing
The three-D profile of the data reconstruction defect of device feedback.
Consumable electrode the most according to claim 5 protection weldering 3D increases the method for repairing and mending of material repair apparatus, it is characterised in that described
Welding parameter in step S4 mainly includes welding position, welding current, speed of welding, wire feed rate parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610682426.9A CN106112207A (en) | 2016-08-17 | 2016-08-17 | Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610682426.9A CN106112207A (en) | 2016-08-17 | 2016-08-17 | Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106112207A true CN106112207A (en) | 2016-11-16 |
Family
ID=57279794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610682426.9A Pending CN106112207A (en) | 2016-08-17 | 2016-08-17 | Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106112207A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107914067A (en) * | 2017-10-31 | 2018-04-17 | 南昌大学 | A kind of welding gun deviation three-dimensional extracting method of the plate sheet welding based on passive vision sensing |
| CN108127238A (en) * | 2017-12-29 | 2018-06-08 | 南京理工大学 | The method that non-burnishing surface autonomous classification robot increases material forming |
| CN108544063A (en) * | 2018-07-03 | 2018-09-18 | 广东工业大学 | Gas metal-arc welding increases the device and method of material repairing |
| CN108747023A (en) * | 2018-06-01 | 2018-11-06 | 刘闻司 | The semiautomatic plant of laser welding repairing is carried out using manual filler |
| CN108971806A (en) * | 2018-07-26 | 2018-12-11 | 华中科技大学 | A kind of adjustable electric arc increasing material device and method of feed direction |
| CN110312588A (en) * | 2017-02-08 | 2019-10-08 | 株式会社神户制钢所 | Control device, stacking control method and program is laminated |
| CN110711922A (en) * | 2018-07-13 | 2020-01-21 | 山东建筑大学 | Method for additive manufacturing of stainless steel through MIG (metal-inert gas) fuse and surface treatment |
| CN111246964A (en) * | 2017-10-17 | 2020-06-05 | Lg电子株式会社 | Welding system and method of operating the same |
| CN111230259A (en) * | 2018-11-29 | 2020-06-05 | 南京理工大学 | Additive manufacturing forming precision control device of non-flat surface autonomous recognition robot |
| CN111745262A (en) * | 2020-07-16 | 2020-10-09 | 熊嘉锋 | Universal rotary wire feeding device and process for lateral wire feeding additive manufacturing |
| CN114460075A (en) * | 2021-12-30 | 2022-05-10 | 南京华鼎纳米技术研究院有限公司 | Paper sheet repairing method based on image recognition |
| CN116061438A (en) * | 2023-01-28 | 2023-05-05 | 四川大学 | Detection system and method for 3D printing repair of blade |
| CN117400002A (en) * | 2023-12-15 | 2024-01-16 | 中科德迈(沈阳)智能装备有限公司 | Composite manufacturing device for adding and subtracting materials and quality monitoring and intelligent control method |
| CN117464153A (en) * | 2023-12-27 | 2024-01-30 | 龙岩市凯鑫环保设备有限公司 | Automatic electric welding machine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080029500A1 (en) * | 2006-08-01 | 2008-02-07 | United Technologies Corporation | Brazing repairs |
| CN201970028U (en) * | 2010-09-29 | 2011-09-14 | 山西平阳重工机械有限责任公司 | Four-axle linked automatic welding auxiliary device |
| CN103074625A (en) * | 2013-01-16 | 2013-05-01 | 上海交通大学 | Movable laser cladding and repairing system |
| CN104674210A (en) * | 2013-12-02 | 2015-06-03 | 齐欢 | Workpiece laser automatic repair method |
| CN104741802A (en) * | 2015-03-30 | 2015-07-01 | 中国石油天然气集团公司 | Welding quality monitoring system and method |
| CN104942404A (en) * | 2015-07-15 | 2015-09-30 | 广东工业大学 | Dual-wavelength binocular vision seam tracking method and tracking system |
| CN206253789U (en) * | 2016-08-17 | 2017-06-16 | 广东工业大学 | Gas metal-arc welding 3D increases material repair apparatus |
-
2016
- 2016-08-17 CN CN201610682426.9A patent/CN106112207A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080029500A1 (en) * | 2006-08-01 | 2008-02-07 | United Technologies Corporation | Brazing repairs |
| CN201970028U (en) * | 2010-09-29 | 2011-09-14 | 山西平阳重工机械有限责任公司 | Four-axle linked automatic welding auxiliary device |
| CN103074625A (en) * | 2013-01-16 | 2013-05-01 | 上海交通大学 | Movable laser cladding and repairing system |
| CN104674210A (en) * | 2013-12-02 | 2015-06-03 | 齐欢 | Workpiece laser automatic repair method |
| CN104741802A (en) * | 2015-03-30 | 2015-07-01 | 中国石油天然气集团公司 | Welding quality monitoring system and method |
| CN104942404A (en) * | 2015-07-15 | 2015-09-30 | 广东工业大学 | Dual-wavelength binocular vision seam tracking method and tracking system |
| CN206253789U (en) * | 2016-08-17 | 2017-06-16 | 广东工业大学 | Gas metal-arc welding 3D increases material repair apparatus |
Non-Patent Citations (2)
| Title |
|---|
| 刘立君等: "《海洋工程装备焊接技术应用》", 31 January 2016, 中国海洋大学出版社 * |
| 曾平: "《船舶气体保护焊工艺设计与实作》", 28 February 2011, 哈尔滨工程大学出版社 * |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110312588A (en) * | 2017-02-08 | 2019-10-08 | 株式会社神户制钢所 | Control device, stacking control method and program is laminated |
| CN111246964A (en) * | 2017-10-17 | 2020-06-05 | Lg电子株式会社 | Welding system and method of operating the same |
| CN107914067A (en) * | 2017-10-31 | 2018-04-17 | 南昌大学 | A kind of welding gun deviation three-dimensional extracting method of the plate sheet welding based on passive vision sensing |
| CN107914067B (en) * | 2017-10-31 | 2019-10-01 | 南昌大学 | A kind of welding gun deviation three-dimensional extracting method of the plate sheet welding based on passive vision sensing |
| CN108127238A (en) * | 2017-12-29 | 2018-06-08 | 南京理工大学 | The method that non-burnishing surface autonomous classification robot increases material forming |
| CN108747023A (en) * | 2018-06-01 | 2018-11-06 | 刘闻司 | The semiautomatic plant of laser welding repairing is carried out using manual filler |
| CN108544063A (en) * | 2018-07-03 | 2018-09-18 | 广东工业大学 | Gas metal-arc welding increases the device and method of material repairing |
| CN110711922A (en) * | 2018-07-13 | 2020-01-21 | 山东建筑大学 | Method for additive manufacturing of stainless steel through MIG (metal-inert gas) fuse and surface treatment |
| CN108971806A (en) * | 2018-07-26 | 2018-12-11 | 华中科技大学 | A kind of adjustable electric arc increasing material device and method of feed direction |
| CN111230259A (en) * | 2018-11-29 | 2020-06-05 | 南京理工大学 | Additive manufacturing forming precision control device of non-flat surface autonomous recognition robot |
| CN111745262A (en) * | 2020-07-16 | 2020-10-09 | 熊嘉锋 | Universal rotary wire feeding device and process for lateral wire feeding additive manufacturing |
| CN114460075A (en) * | 2021-12-30 | 2022-05-10 | 南京华鼎纳米技术研究院有限公司 | Paper sheet repairing method based on image recognition |
| CN114460075B (en) * | 2021-12-30 | 2023-12-19 | 南京华鼎纳米技术研究院有限公司 | Paper repairing method based on image recognition |
| CN116061438A (en) * | 2023-01-28 | 2023-05-05 | 四川大学 | Detection system and method for 3D printing repair of blade |
| CN117400002A (en) * | 2023-12-15 | 2024-01-16 | 中科德迈(沈阳)智能装备有限公司 | Composite manufacturing device for adding and subtracting materials and quality monitoring and intelligent control method |
| CN117464153A (en) * | 2023-12-27 | 2024-01-30 | 龙岩市凯鑫环保设备有限公司 | Automatic electric welding machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106141435B (en) | Laser-arc hybrid welding process 3D increases material repair apparatus and method for repairing and mending | |
| CN106112207A (en) | Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending | |
| CN106141436A (en) | Wire filling laser welding increases material repair apparatus and method for repairing and mending | |
| CN106141374A (en) | Non-consumable gas shielded arc welding 3D increases material repair apparatus and method for repairing and mending | |
| CN206253789U (en) | Gas metal-arc welding 3D increases material repair apparatus | |
| CN206253808U (en) | Wire filling laser welding increases material repair apparatus | |
| CN105473267B (en) | The system and method welded using hot weld silk TIG positioning thermal controls | |
| CN107000119B (en) | Method and apparatus for being attached two workpiece in overlapping junction point | |
| Cook | Robotic arc welding: Research in sensory feedback control | |
| CN108115282A (en) | A kind of electric arc-laser compound machine people's increasing material manufacturing system | |
| CN104651832B (en) | Surface remediation process for large-size metallic component | |
| CN111037052B (en) | Arc additive manufacturing forming detection feedback compensation system and detection feedback compensation method | |
| CN109834408A (en) | Method and system for tool increasing material manufacturing | |
| KR102134045B1 (en) | Adaptable rotating arc welding method and system | |
| CN109175689B (en) | Self-adaptive fillet welding system based on visual detection and working method | |
| CN106001926A (en) | Vision sensing-based laser-electric arc hybrid welding real-time automatic control device and welding method thereof | |
| CN102424971A (en) | Rapid laser repair method and device for defect of aluminum alloy guide blade | |
| KR101678306B1 (en) | Automatic welding apparatus for pressure vessel and steel pipe | |
| US11554438B2 (en) | Method and apparatus for manufacturing layered model | |
| CN111906416B (en) | Blind area visible welding equipment and welding method thereof | |
| CN105171234B (en) | Robotic laser welds defocusing amount automatic regulating apparatus and its automatic adjusting method | |
| CN114260547B (en) | Narrow-gap rotating arc GTAW tungsten electrode position correction method based on deep learning algorithm | |
| e Silva et al. | Effect of dynamic wire in the GTAW process | |
| CN112877689A (en) | Process for repairing surface defects of metal parts through full-angle posture of laser cladding head | |
| JP2020189324A (en) | Structure manufacturing system and manufacturing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into 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: 20161116 |