CN106112206A - A kind of multi-shaft interlocked formula metal 3D printer based on arc-welding method and Method of printing - Google Patents
A kind of multi-shaft interlocked formula metal 3D printer based on arc-welding method and Method of printing Download PDFInfo
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- CN106112206A CN106112206A CN201610587173.7A CN201610587173A CN106112206A CN 106112206 A CN106112206 A CN 106112206A CN 201610587173 A CN201610587173 A CN 201610587173A CN 106112206 A CN106112206 A CN 106112206A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
- B23K9/044—Built-up welding on three-dimensional surfaces
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Abstract
The invention discloses a kind of multi-shaft interlocked formula metal 3D printer based on arc-welding method and Method of printing, including closed case, six shaft mechanical arms, displacement substrate assembly, welding assembly, temperature probe and CCD watch-dog, described closed case includes forming room, control room and gas cylinder room, described displacement substrate includes one-level positioner and two grades of positioners, described one-level positioner includes one-level displacement driving side and one-level displacement support-side, described two grades of positioners include two grades of rotation positioners and printing substrate, the two ends of described two grades of rotation positioners be located at one-level positioner one-level displacement driving side and one-level displacement support-side on and one-level displacement driving side drive under can spin upside down action, described six shaft mechanical arms are located at above printing substrate, described printing substrate is additionally provided with heater and cooler device.The present invention solves tradition 3D printing type consumptive material and prepares that difficulty is big and the low problem of utilization rate, it is achieved that the printing of large scale functionally graded metal material parts.
Description
Technical field
The invention belongs to 3D printing technique field, particularly relate to multi-shaft interlocked formula metal 3D based on arc-welding method and print skill
Art.
Background technology
Known metal 3D printing technique is to utilize laser or electron beam to enter metal dust or silk material as thermal source
Row fused deposition and then molding.Known laser 3D prints not easy-formation large scale and the part of FGM, molding
Efficiency is low, and the preparation difficulty of high-quality powder consumptive material is big.Known electron beam fuse 3D prints because it is only along propping up
The molded part held is piled up, it is difficult to the part that molding structure is more complicated；And electron beam dusts and spreads powder 3D printing type
There is consumptive material and prepare the problem that difficulty is big and consumptive material utilization rate is on the low side.These equipment manufacturing cost are high, and structure is complicated, and maintenance cost is high,
It is unfavorable for popularization and application on a large scale.
Summary of the invention
Goal of the invention: for the problem and shortage of above-mentioned existing existence, it is an object of the invention to provide a kind of based on arc-welding
The multi-shaft interlocked formula metal 3D printer of method and Method of printing, solve the 3D printing type existence consumption that electron beam dusts and spreads powder
Material prepares that difficulty is big and the low problem of utilization rate, has low cost consumptive material and realizes beating of large scale functionally graded metal material parts
Print, solves fuse 3D and prints difficult molding complex parts and inefficient problem.
Technical scheme: in order to solve above-mentioned technical problem, the present invention by the following technical solutions: a kind of based on arc-welding method
Multi-shaft interlocked formula metal 3D printer, including closed case, six shaft mechanical arms, displacement substrate assembly, welding assembly, temperature probe
With CCD watch-dog, described closed case includes that forming room, control room and gas cylinder room, described displacement substrate assembly are located at forming room
In and include one-level positioner and two grades of positioners, described one-level positioner include one-level displacement driving side and one-level displacement support
Side, described two grades of positioners include two grades of rotation positioners and the printing substrate being located on two grades of rotation positioners, described two grades
The two ends of rotation positioner are located at the one-level of one-level positioner and conjugate in driving side and one-level displacement support-side and conjugate in one-level
Can spin upside down action under the drive of driving side, described six shaft mechanical arms are located at above printing substrate, and described temperature probe sets
On six shaft mechanical arms；Described welding assembly includes the source of welding current and the wire-feed motor being located in control room, is located at the storage of gas cylinder room
Gas cylinder and the welding gun being located at six shaft mechanical arm front ends, described gas bomb is connected with welding gun by high-pressure pneumatic flexible pipe, described wire feed
Machine is connected with welding gun by wire leading pipe；Described CCD watch-dog is located in forming room, and described printing substrate is additionally provided with heating and cooling
Device.
As preferably, outside the control room of described closed case, it is additionally provided with control panel.
As preferably, described six shaft mechanical arms include being sequentially connected with base, underarm, upper arm and wrist from bottom to up, described
Base is that 340 ° of freedom degree rotatings are flexibly connected, and described underarm is 245 ° of connections that freely swing, and described upper arm is 215 ° of companies of swing
Connect, and the angle of the swinging track of upper arm and underarm swinging track is 30 °～90 °；Described wrist is for swinging and being rotatably connected.Institute
State between the six each parts of shaft mechanical arm all as movable joint, the multi-direction multimode flexible motion of welding gun can be realized, thus
Realize the printing of variously-shaped parts.
Present invention also offers the multi-shaft interlocked formula metal 3D Method of printing of a kind of arc-welding method based on above-mentioned printer,
Under the protection of noble gas, using metal aluminum filament as shaping raw material, metal aluminum filament and substrate are connected to two poles energising, gold
Belong to aluminium wire by mechanical arm on substrate according to the rules path motion and wire feed, while motion wire feed with substrate formed electric arc,
Under the effect of arc heat, metal aluminum filament is melted and forms molten bath on substrate, is the most successively piled into predetermined after the cooling of molten bath
Shape, completes the molding of hardware.
Said method is in specifically comprising the following steps that
(1) first, make the temperature of printing substrate relative to welding wire fusing point within the scope of-5～3 DEG C printing basal plate preheating；
(2) after the temperature of printing substrate arrives preset temperature range, described six shaft mechanical arms are opened according to the printing path preset
Begin successively to print motion, the most described one-level positioner and two grades of positioners driving printing substrates to do and rotate and deflect fortune
Dynamic；Described every layer of printing is equipped with arcing point and blow-out point, and described arcing point and blow-out point are each provided at printing outside body；
(3), in print procedure, the source of welding current and wire-feed motor regulate in real time according to the acceleration change and molding situation that print motion
Voltage, electric current and wire feed rate；Often print one layer, need to have been controlled in molded part by the chiller on printing substrate
The temperature on surface, after the temperature of molded portion of upper surface reaches preset value, restarts the printing carrying out lower floor, the most repeatedly
Promising of the whole model of Wang Zheng.
Further, described metal aluminum filament, in energising melting process, carries out Real-time Feedback, institute to electrical current and voltage
Stating electric current and control 20～300A, Control of Voltage is 5～40V.
Further, the walking movement speed of described metal aluminum filament is 4～10mm/s, the wire feed of the most described metal aluminum filament
Speed is 5～8m/min.
Further, the interlayer interval waiting time that described metal aluminum filament successively melts is 30～180s.
Further, described metal aluminum filament is before entering lower floor molten bath, and the temperature in molten bath need to be cooled to less than 400 DEG C.
Further, described six shaft mechanical arms are additionally provided with the interface for mounting machining unit head；Described two grades of changes
Position machine deflection angle with respect to the horizontal plane is-45 °～45 °.
Beneficial effect: compared with prior art, the invention have the advantages that described in 1., metal 3D printer cost is significantly
Less than laser and the cost of electron beam former；2. metal 3D printer described in uses silk material as molding consumptive material, preparation difficulty
Degree and cost are below powder consumptive material；3. compare the five-axis machine tool fitness machine system that complexity is suitable, described six shaft mechanical arm tools
There is range of movement feature big, fireballing；4. six shaft mechanical arms described in have also reserved interface for mounting machining unit head, can
Realize the comprehensive function of printing shaping and machining；5. conjugate substrate assembly described in and can realize the dual-axis rotation position of printing substrate
Put conversion, it is simple to realize the printing shaping of complex space model and FGM；6. temperature probe described in and CCD watch-dog
Stable automatically controlling can be carried out to printing technical process；7., every difference in functionality room in closed case described in, molding can be made
Journey is not by environmental disturbances and ensures the reliable and stable work of each parts.
Accompanying drawing explanation
Fig. 1 is the schematic appearance of multi-shaft interlocked formula metal 3D printer based on arc-welding method of the present invention；
Fig. 2 is the internal structure schematic diagram of multi-shaft interlocked formula metal 3D printer based on arc-welding method of the present invention；
Fig. 3 is the schematic layout pattern of multi-shaft interlocked formula metal 3D printer based on arc-welding method of the present invention.
Wherein, closed case 1, six shaft mechanical arms 2, conjugate substrate assembly 3, one-level displacement driving side 31, one-level displacement
Hold side 32, two grades of positioners 33, printing substrate 34, welding assembly 4, the source of welding current 41, wire-feed motor 42, welding gun 43, gas bomb 44,
Temperature probe 5, CCD watch-dog 6, control panel 7.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment, it is further elucidated with the present invention, it should be understood that these embodiments are merely to illustrate
The present invention rather than limit the scope of the present invention, after having read the present invention, each to the present invention of those skilled in the art
The amendment planting the equivalent form of value all falls within the application claims limited range.
Shown in Fig. 1～3, based on arc-welding method the multi-shaft interlocked formula metal 3D printer of the present invention, equipment includes closing machine
The parts such as case, six shaft mechanical arms, displacement substrate assembly, welding assembly, temperature probe, CCD watch-dog, control panel；Displacement base
Plate assembly includes one-level displacement driving side, one-level displacement support side, two grades of parts such as positioner, printing substrate；Welding assembly bag
Include the parts such as the source of welding current, wire-feed motor, welding gun, gas cylinder.
Described six shaft mechanical arms, displacement substrate assembly, welding assembly are connected on the base plate being connected to closed case；Described temperature control
Probe is fixedly connected on the end of six shaft mechanical arms；Described CCD watch-dog is fixedly connected on the forming room side of closed case；Institute
State control panel and be flush-mounted in the front side of closed case；The two ends of described two grades of rotation positioners are respectively fixedly connected with and conjugate in one-level
Driving side and one-level displacement support side (this both-end fixed structure compared to cantilever design print large-size components time more firm)；
Described printing substrate is fixedly connected on two grades of positioners；The source of welding current that described wire-feed motor is fixedly connected in control room it
On；Described welding gun is fixedly connected on the end of six shaft mechanical arms；Described gas cylinder is fixedly installed in the gas cylinder room of closed case；Institute
State wire-feed motor to be connected with welding gun by wire leading pipe；Described gas cylinder is connected with welding gun by high-pressure pneumatic flexible pipe.
Whole forming machine system is isolated from the outside by described closed case, provides stable environment for forming process.Closed case
Inside is separated out forming room, control room and gas cylinder room, makes each functional module relatively independent and is easy to safeguard；Described six shaft mechanical arms
The motion of print procedure is completed according to pre-set forming path；Described displacement substrate assembly realizes the double of molded part
To position of rotation convert, with carry out subsequent region printing shaping (because electric arc melting accumulation mode print time by gravity shadow
Ringing, molten bath must effectively be attached to molded surface, so the gradient printed can only be (general and vertical within the specific limits
Angle is not more than 45 degree), described bidirectional rotation displacement scheme makes up displacement printing substrate without spin cannot print complex model
Not enough)；Described welding assembly realizes the stable arc-welding of silk material and piles up；The described temperature probe upper surface temperature to molded part
Carry out detecting and feed back to control panel to be carried out print rhythm control；Forming room's print state is carried out by described CCD watch-dog
The detection of visual monitoring, particularly forming process, with on-line tuning technological parameter and process abnormal conditions；Described control panel collection
The duty in each portion of middle display device and carry out output function instruction；One-level displacement driving side in described displacement substrate assembly
With one-level displacement support side composition one-level positioner, one-level positioner realizes the one-level position of rotation conversion of printing substrate, one-level
Displacement driving side provides rotary driving force, one-level displacement support side to provide far-end supporting for one-level positioner for one-level positioner；
Described two grades of positioners realize two grades of position of rotation conversion of printing substrate；Described printing substrate possesses pressure cooling and actively adds
The function of heat (when printing beginning, for reducing the temperature difference of molten drop and substrate, strengthens the degrees of fusion of molten drop and substrate, needs base
Plate preheats；When printing to certain floor height (general about 10 layers), due to the successively accumulative effect of molded partial heat, make
The temperature becoming printable surface layer is too high to cool down in time, and then occurs that molten drop trickles, and now needs to wait printable surface layer
Temperature be down to suitable temperature and could continue to print, and the interlayer waiting time can be reduced by the forced cooling function of substrate, carry
High shaping efficiency), provide molding basis for print procedure；The source of welding current in described welding assembly realizes the weldering in print procedure
Connect electric current, voltage parameter regulates in real time；Described wire-feed motor provides stable silk material to carry for print procedure；Described welding gun is as silk
The output port of material, protective gas and circuit cable；Described gas cylinder provides pressure protective gas for printing shaping process, the highest
Pure argon or CO2Protection gas.
Specific implementation process: by pre-set model printing path input to control panel, perform printing, six axles
Mechanical arm successively prints motion according to preset path.Molding starting point (starting the arc) and terminal due to arc-welding method 3D print procedure
(blow-out) molding effect is difficult to control, and compact dimensions exists randomness, if the starting the arc and blow-out point are arranged on required printing note
Internal, then it is easily formed internal flaw, thus the path that the setting of printing path is different from known electron beam or laser paving powder sets
Fixed, concrete scheme is: every layer of arcing point printed and blow-out point are arranged on outside required printing body, to ensure required part
Quality.In print procedure, the source of welding current and wire-feed motor are real according to the interrupted situation of the acceleration and deceleration change and molding that print motion
Time adjust the parameter such as voltage, electric current, wire feed stem elongation.To be printed complete one layer after, temperature probe detects table in molded part
The temperature in face also feeds back in control panel, and detection temperature parameter is compared with preset temperature and controls next layer and beat by control panel
The initial time of print.In print procedure, the upper surface of molded part is scanned catching by CCD watch-dog, chain of command buttress
Judge whether printing floor height defect is compensated according to the image caught.In print procedure, printing substrate is according to technological requirement pair
Molded part carries out forcing cooling or actively heating.After the model of a band of position to be printed, displacement substrate assembly according to
The model printing path preset is shifted one's position, to carry out the printing shaping of subsequent region.Above procedure is repeated and can complete
The printing of whole part model.
In the drawings, welding gun is arranged on six-joint robot, and vision monitoring instrument is connected by data cable with photographic head, temperature
Monitor controller is connected by data cable with temperature sensor, and welding machine electric power and noble gas bottle pass through hose connection, welding gun and weldering
Electromechanical source is connected by client cables, and substrate is bolted on rotation positioner.
Before print job starts, the operating path input six-joint robot that first will set, the most pre-hot substrate to 200
DEG C, then begin to print.Six-joint robot drives welding gun to move along the path set with the speed of 6mm/s, and welding machine electric power sets
Determine welding current 150A, voltage 20V, wire feed rate 6m/min, control welding gun and be successively stacked on substrate after melted for welding wire.Temperature
Degree monitor controller and the interlayer temperature of vision monitoring instrument synchronization monitoring printable layer and pattern, with electric current in regulation print procedure in real time,
The various print parameters such as voltage, wire feed rate, the speed of travel.
With tradition pressure casting method contrast, the method, without making die casting in advance, saves substantial amounts of cost and man-hour,
Need to increase machining although follow-up, but its cost and man-hour are well below the manufacture of die casting.Add with traditional mechanical
Work method contrasts, and the method is without preparing large-sized sheet metal in advance, it is only necessary to uses the wire rod of model of the same race, significantly saves
Save material time, improve stock utilization simultaneously.
Claims (10)
1. a multi-shaft interlocked formula metal 3D printer based on arc-welding method, it is characterised in that: include closed case, six shaft mechanicals
Arm, displacement substrate assembly, welding assembly, temperature probe and CCD watch-dog, described closed case include forming room, control room and
Gas cylinder room, in described displacement substrate assembly is located at forming room and include one-level positioner and two grades of positioners, described one-level conjugates
Machine includes one-level displacement driving side and one-level displacement support-side, and described two grades of positioners include two grades of rotation positioners and are located at two
Printing substrate on level rotation positioner, the two ends of described two grades of rotation positioners are located at the one-level displacement of one-level positioner and drive
Action, described six shaft mechanical arms can be spun upside down on side and one-level displacement support-side and under the drive of one-level displacement driving side
Being located at above printing substrate, described temperature probe is located on six shaft mechanical arms；Described welding assembly includes being located in control room
The source of welding current and wire-feed motor, be located at the gas bomb of gas cylinder room and be located at the welding gun of six shaft mechanical arm front ends, and described gas bomb passes through
High-pressure pneumatic flexible pipe is connected with welding gun, and described wire-feed motor is connected with welding gun by wire leading pipe；Described CCD watch-dog is located at forming room
In, described printing substrate is additionally provided with heater and cooler device.
Multi-shaft interlocked formula metal 3D printer based on arc-welding method the most according to claim 1, it is characterised in that: described closing
It is additionally provided with control panel outside the control room of cabinet.
Multi-shaft interlocked formula metal 3D printer based on arc-welding method the most according to claim 1, it is characterised in that: described six axles
Mechanical arm includes being sequentially connected with base, underarm, upper arm and wrist from bottom to up, and described base is that 340 ° of freedom degree rotating activities connect
Connecing, described underarm is 245 ° of connections that freely swing, and described upper arm is 215 ° and swings connection, and the swinging track of upper arm is put with underarm
The angle of dynamic track is 30 °～90 °；Described wrist is for swinging and being rotatably connected.
4. a multi-shaft interlocked formula metal 3D Method of printing for arc-welding method based on the arbitrary described printer of claims 1 to 3, its
It is characterised by: under the protection of noble gas, using metal aluminum filament as shaping raw material, metal aluminum filament and substrate is connected to power supply
The two poles of the earth be energized, metal aluminum filament by mechanical arm on substrate according to the rules path motion and wire feed, with base while motion wire feed
Plate forms electric arc, and under the effect of arc heat, metal aluminum filament is melted and forms molten bath on substrate, after the cooling of molten bath the most again by
Layer is piled into reservation shape, completes the molding of hardware.
The multi-shaft interlocked formula metal 3D Method of printing of arc-welding method the most according to claim 4, it is characterised in that concrete steps are such as
Under:
(1) first, make the temperature of printing substrate relative to welding wire fusing point within the scope of-5～3 DEG C printing basal plate preheating；
(2) after the temperature of printing substrate arrives preset temperature range, described six shaft mechanical arms are opened according to the printing path preset
Begin successively to print motion, the most described one-level positioner and two grades of positioners driving printing substrates to do and rotate and deflect fortune
Dynamic；Described every layer of printing is equipped with arcing point and blow-out point, and described arcing point and blow-out point are each provided at printing outside body；
(3), in print procedure, the source of welding current and wire-feed motor regulate in real time according to the acceleration change and molding situation that print motion
Voltage, electric current and wire feed rate；Often print one layer, need to have been controlled in molded part by the chiller on printing substrate
The temperature on surface, after the temperature of molded portion of upper surface reaches preset value, restarts the printing carrying out lower floor, the most repeatedly
Promising of the whole model of Wang Zheng.
Multi-shaft interlocked formula metal 3D Method of printing based on arc-welding method the most according to claim 5, it is characterised in that: described gold
Genus aluminium wire, in energising melting process, carries out Real-time Feedback to electrical current and voltage, and described electric current controls 20～300A, electricity
Voltage-controlled system is 5～40V.
Multi-shaft interlocked formula metal 3D Method of printing based on arc-welding method the most according to claim 5, it is characterised in that: described gold
The walking movement speed belonging to aluminium wire is 4～10mm/s, and the wire feed rate of the most described metal aluminum filament is 5～8m/min.
Multi-shaft interlocked formula metal 3D Method of printing based on arc-welding method the most according to claim 5, it is characterised in that: described gold
The interlayer interval waiting time that genus aluminium wire successively melts is 30～180s.
Multi-shaft interlocked formula metal 3D Method of printing based on arc-welding method the most according to claim 5, it is characterised in that: described gold
Genus aluminium wire is before entering lower floor molten bath, and the temperature in molten bath need to be cooled to less than 400 DEG C.
Multi-shaft interlocked formula metal 3D Method of printing based on arc-welding method the most according to claim 5, it is characterised in that: described
Six shaft mechanical arms are additionally provided with the interface for mounting machining unit head；The deflection with respect to the horizontal plane of described two grades of positioners
Angle is-45 °～45 °.
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| CN110893502A (en) * | 2019-12-09 | 2020-03-20 | 北京理工大学 | Electric arc additive manufacturing method of aluminum alloy gradient structural member |
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| CN111702292B (en) * | 2020-06-10 | 2021-05-28 | 南京英尼格玛工业自动化技术有限公司 | Multi-layer single-channel continuous arc additive manufacturing method and system for metal structural part |
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| CN111872588A (en) * | 2020-07-03 | 2020-11-03 | 横店集团英洛华电气有限公司 | Multi-station combined welding method |
| CN115555767A (en) * | 2022-09-28 | 2023-01-03 | 天津市天卓机器人科技发展有限公司 | Full-digital control multifunctional integrated welding device |
| CN116079329A (en) * | 2023-03-03 | 2023-05-09 | 山东沃尔鑫机械有限公司 | Intelligent welding positioner |
| CN116079329B (en) * | 2023-03-03 | 2023-09-22 | 山东沃尔鑫机械有限公司 | Intelligent welding positioner |
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Effective date of registration: 20170622 Address after: 300308 No. 58 West Central Road, Tianjin Airport Economic Development Zone Applicant after: Tianjin Jinhang Technical Physics Research Institute Address before: Xing Zhi road in Qixia District of Nanjing City, Jiangsu province 210046 Xingzhi Science Park A Building 9 floor Nanjing aerospace high tech Photoelectric Technology Co. Ltd. Applicant before: Nanjing Aerospace hi tech Photoelectric Technology Co., Ltd. |
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