CN106312574A - Material increase and decrease composite manufacturing device of large-breadth parts - Google Patents
Material increase and decrease composite manufacturing device of large-breadth parts Download PDFInfo
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- CN106312574A CN106312574A CN201610931096.2A CN201610931096A CN106312574A CN 106312574 A CN106312574 A CN 106312574A CN 201610931096 A CN201610931096 A CN 201610931096A CN 106312574 A CN106312574 A CN 106312574A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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Abstract
The invention discloses a material increase and decrease composite manufacturing device of large-breadth parts. The device comprises a lathe bed, wherein a plurality of six-degree-of-freedom inverted hanging robots used for material increase manufacturing and a five-axis linkage planer type milling machine are mounted on the lathe bed; the plurality of inverted hanging robots are distributed around a milling head of the planer type milling machine; material increase manufacturing devices are arranged on the inverted hanging robots; a utilized heat source can be high-power laser beams or electric arcs; the material increase manufacturing devices perform manufacturing of single-layer or multi-layer blank bodies on a working platform; and the milling head of the planer type milling machine performs finish machining and trimming on the single-layer or multi-layer blank bodies. According to the material increase and decrease composite manufacturing device, the difficulty of milling and processing of the large-breadth complex parts and defects of a material increase manufacturing technology in the aspects like size and shape are overcome; the material increase manufacturing technology and a material decrease manufacturing technology can be independently carried out and can be carried out at the same time in different regions as well; and the integration of the device is high, the cooperative control is convenient to operate, and the integrated, quick, efficient and precise forming of the large-breadth and super large-breadth complex parts can be achieved.
Description
Technical field
The present invention relates to increase and decrease material composite manufacture device technical field, particularly relate to multiple electric arc increasing material or laser fusion sinks
Long-pending increasing material and gantry mill composite manufacturing large format complex parts equipment.
Background technology
It is to utilize electric arc thermal source to be melted by metal wire material that electric arc increases material manufacture, and the principle successively piled up according to dispersed material
Carry out forming metal parts.Laser Melting Deposition increase material manufacture be application high-power laser beam by fusion of metal powder, be also according to
The principle that dispersed material is successively piled up carrys out forming metal parts.
Compared with conventionally manufactured, increase material manufacturing technology and realize complex parts with material pointwise by-line by face increase mode
The technical process of stack shaping.Compared with increasing material manufacture with other metal, electric arc increasing material manufacturing technology equipment cost is low, shaping efficiency
High, stock utilization high, environmental requirement is low, the advantage such as forming part consistency height, metallurgical comprehensive function admirable.
But, it is to carry out in the way of the high temperature fluent metal droplet transfer that electric arc increases material manufacture, has in forming process
The existence of liquid state molten pool so that the edge configuration of part and the control of overall dimensions are relatively difficult, thus cause formation of parts
Dimensional accuracy and surface quality are poor.
On the other hand, material manufacturing technology development in recent years is increased based on automatic powder feeding Laser Melting Deposition the rapidest.But
It is that this technology increases material manufacturing technology with electric arc and there is similar problem, it is simply that dimensional accuracy is on the low side.Improve essence the most further
Degree, also becomes and determines that can this technology the key of large-scale industrial application.
Currently, for solving problem above, electric arc is increased by patent CN104384936, CN105414981, CN105290789 etc.
Material manufactures the end of equipment and is integrated into numerical control milling main shaft up, to realize alternately manufacturing of increase and decrease material, can partly solve zero
The secondary operations clamping difficulty of part.But, there is location inaccurate, dimensional accuracy and the surface quality of molded parts are poor.
For the parts thereof that internal structure is complicated, cutter is difficult to processing and puts in place.Germany DMG company by Laser Melting Deposition technology with
Five-axis numerical control milling machine combines, and can increase substantially the precision that laser gain material manufactures, and achievement is notable.But, be can adapt to
Metallic element be relatively small in size.It addition, patent (CN105574254) proposes one single machine people realizes increase and decrease
The method of material composite manufacturing, effectively extends the size of molded parts, but forming efficiency is the most on the low side.
Especially for the polish of large format complex parts, above-mentioned increase and decrease material equipment operation complexity, increase material manufacture
Can only separately carry out with Milling Process, working (machining) efficiency is relatively low.Meanwhile, the making space and degree of freedom increasing material manufacture equipment is had very
Big restriction, additionally, due to being limited to the insufficient rigidity of robot itself, the Milling Accuracy of robot and inefficient.So,
Above-mentioned increase and decrease material equipment and method are difficult to meet and manufacture large format complex parts size and the requirement of complexity.
Summary of the invention
It is an object of the invention to provide the increase and decrease material composite manufacture device of a kind of large format parts, it is intended to solve existing
Increase the parts size precision of material fabrication technique and surface quality be poor, and the polish of large format complex parts be difficult to into
The problem of row.The thermal source being suitable for both can be that electric arc fuse shapes, it is also possible to is that laser fusion based on automatic powder feeding shapes.
The present invention is achieved in that a kind of increase and decrease material composite manufacture device, it is characterised in that wraps it and includes lathe bed, described
It is provided with multiple for increasing six degree of freedom reversal of the natural order of things robot and the multi-shaft interlocked planer-type milling machine that material manufactures on lathe bed；The plurality of fall
Hang robot to be distributed in around the milling head of described multi-shaft interlocked planer-type milling machine；Multiple described reversal of the natural order of things robots are provided with increasing material and set
Standby；Multiple described increasing material equipment carry out subregion collaborative increasing material manufacture on work platforms；The milling head pair of described planer-type milling machine
The blank body of single or multiple lift carries out polish and finishing, and both are carried out alternately or simultaneously until completing the production of whole parts
Manufacture；Described multiple reversal of the natural order of things robots are carried out Collaborative Control, described robot controller by common robot controller
Communicate with the described controller increased in material equipment, it is achieved increase the automatization that material manufactures, described robot controller and
The digital control system of five-axis linkage planer type milling machine communicates, and the two carries out synergy movement.
Further, different according to the thermal source used, increase material equipment and electric arc increasing material manufacture equipment and laser can be divided into melt
Change deposition and increase material manufacture equipment.
Described electric arc increases material equipment and includes that welding machine, wire feeder, welding gun and welding machine controller, described welding gun are arranged on multiple
In the end flange of described reversal of the natural order of things robot, wire feeder, for providing solder for welding machine, carries or the protection gas joined outward is
Welding region provides protective atmosphere, and welding machine controller increases the setting of manufacture process parameter for carrying out electric arc, protects gas simultaneously
Switch be controlled, butt welding machine and wire feeder control in real time.
Described Laser Melting Deposition increases material equipment and includes laser instrument, laser controller, coaxial powder-feeding nozzle and powder feeder,
Described coaxial powder-feeding nozzle is arranged in the end flange of multiple described reversal of the natural order of things robot；Powder feeder is for carrying for increasing material equipment
For metal dust, carry or the protection gas joined outward provides protective atmosphere, laser controller to be used for carrying out laser for melting range
The setting of device parameter, is controlled the switch of protection gas simultaneously.
Further, described multiple reversal of the natural order of things robots are carried out Collaborative Control by common controller, and multiple robots can
Dividing the work with the feature different according to part, according to task and the complexity of feature, make rational planning for each robot
Shaping track, it is achieved robot work maximal efficiency；Described robot controller and described welding machine controller (laser
Device controller) communicate, common realization increases material manufacture, welding machine controller (laser controller) root that each robot is corresponding
It is set respective technological parameter and material according to the part feature section distributed, different technical parameters can be met and work simultaneously,
Combined shaping while different materials, it is achieved increase the flexibility manufacture that material manufactures；Described robot controller and planer-type milling machine
Digital control system communicate, the two carries out synergy movement according to the thermo parameters method of formed blank, it is achieved composite manufacturing sets
Standby high efficiency, high accuracy work.
Compared with prior art, the increase and decrease material composite manufacture device of a kind of large format parts that the present invention provides, utilize
After robot subregion successively Collaborative Manufacturing is hung upside down in multiple increasing material manufactures, utilize the milling head of planer-type milling machine to multiple monolayers or many
Layer blank body carries out Milling Process, and it is complete that circulation is repeated up to parts machining, and this increase and decrease material composite manufacture device is by traditional
Removal formula Precision Machining based on milling and the increment manufacturing process being fabricated to master with increasing material become one, and can overcome list
Pure increases the material manufacturing technology defect at the aspect such as dimensional accuracy and surface quality, it is also possible to overcome Milling Process multiple to parts
The restriction of the aspects such as miscellaneous degree, so, then need not the part after processing is carried out secondary operations, it is to avoid post-production clamping is stranded
Difficulty, mismachining tolerance are big, add part in man-hour there is deformation and unmanageable problem, brings for increasing the application of material manufacturing technology
More wide application space, for the ways and means that the manufacturing offer of aerospace industries core precision parts is new；
And for the part of super large breadth, then can make full use of multiple increasing material manufacture equipment and carry out subregion Combined process, recycling
Planer-type milling machine carries out polish etc. to the multiple single or multiple lift blank bodies formed, thus realizes the height to arbitrary structures parts
Precision, high efficiency of forming.
Compared with existing increase and decrease material composite manufacture device, the increase and decrease material of a kind of large format parts that the present invention provides is multiple
Closing manufacture equipment, for large format or the manufacture of the complex parts of super large breadth, described increasing material equipment can be for greater flexibility
Carrying out coordinated with planer-type milling machine or work alone, equipment controls easy to operate；Meanwhile, can increase according to the structure of parts
Material manufactures equipment can be processed with subregion simultaneously, greatly improves working (machining) efficiency；Multiple described reversal of the natural order of things robots are also
Can give full play to increase material and manufacture motility and the extensibility of equipment, meet the complex parts of large format especially super large breadth
Size and the manufacture requirements of complexity.
Accompanying drawing explanation
Fig. 1 is the increase and decrease material composite manufacture device single-column three beam dual robot knot of large format parts in the embodiment of the present invention
The schematic diagram of structure；
Fig. 2 is that the electric arc of the increase and decrease material composite manufacture device of large format parts in the embodiment of the present invention increases material manufacture group
Composition schematic diagram；
Fig. 3 is the increase and decrease material composite manufacture device three post three beam dual robot knot of large format parts in the embodiment of the present invention
The schematic diagram of structure；
Fig. 4 is the increase and decrease material composite manufacture device three post three Liang Si robot knot of large format parts in the embodiment of the present invention
The schematic diagram of structure；
Fig. 5 is the increase and decrease material composite manufacture device single-column three Liang Si robot knot of large format parts in the embodiment of the present invention
The schematic diagram of structure；
Fig. 6 is increase and decrease the showing of material composite manufacture device band forming cavity cell structure of large format parts in the embodiment of the present invention
It is intended to；
Fig. 7 is that the electric arc of large format parts in the embodiment of the present invention increases material manufacture equipment single-column single-beam dual robot structure
Schematic diagram；
Fig. 8 is that the electric arc of large format parts in the embodiment of the present invention increases material manufacture equipment single-column twin beams dual robot structure
Schematic diagram；
Fig. 9 is that the electric arc of large format parts in the embodiment of the present invention increases material manufacture equipment single-column three beam four robot architecture
Schematic diagram；
Figure 10 is that the Laser Melting Deposition of the increase and decrease material composite manufacture device of large format parts in the embodiment of the present invention increases
The composition schematic diagram of material manufacture group；
In figure, 1-work platforms, 2-lathe bed, 3-milling head, 4-electric arc increase material manufacture group, 5-robot controller, 6-weldering
Machine, 7-welding machine controller, 8-wire feeder, 9-protection gas, 10-reversal of the natural order of things robot, 11-welding gun, 12-shape chamber, 13-laser
Device, 14-laser controller, 15-coaxial powder-feeding nozzle, 16-powder feeder
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and be embodied as
The present invention is described in further detail by example, and specific embodiment described herein is only in order to explain the present invention, not
For limiting the present invention.
As shown in Figure 1, Figure 2, Figure 3 shows, for the invention provides a kind of preferred embodiment one.
The increase and decrease material composite manufacture device that the present embodiment provides, is compounded with electric arc and increases material manufacture and gantry Milling Process, its
May be used for the various part of molding, such as the part etc. needed for Aero-Space process industry.
The increase and decrease material composite manufacture device of large format parts includes a lathe bed 2, lathe bed is provided with multiple for electricity
Arc increases six degree of freedom reversal of the natural order of things robot 10 and the five-axis linkage planer type milling machine that material manufactures, and multiple reversal of the natural order of things robots 10 are distributed in gantry
Around the milling head 3 of milling machine；Reversal of the natural order of things robot 10 is provided with welding gun 11；Welding gun 11 carries out single or multiple lift electricity on work platforms
Arc increases material manufacture.Planer-type milling machine milling head 3 carries out polish and finishing, work platforms to completed single or multiple lift blank body
1 completes moving back and forth and self rotary motion of two regions of blank body.
It is prior art that electric arc increases material equipment, including welding machine, welding machine controller, wire feeder, protection gas, welding gun, described
Welding gun is arranged in the end flange of multiple described reversal of the natural order of things robot；Welding machine controller carries out electric arc and increases manufacture process parameter
Setting, such as wire feed rate, arc length correction, pulse shape modification, the selection etc. of bond pattern, the switch of protection gas is controlled simultaneously
System, butt welding machine, wire feeder control in real time.
The quantity of reversal of the natural order of things robot 10 determines with the brachium hanging upside down robot 10 according to the scope that equipment is to be processed, falls
Hang robot 10 centered by milling head, symmetrical by both sides or determine installation position according to workpiece requirement asymmetric distribution
Putting, the mounting structure of four robots it is also contemplated that support beam structure, it is to avoid interferes, its distributing position Shi Liangge robot
Being positioned on same beam with milling head, another two robot lays respectively on two other beam, as shown in Figure 4, Figure 5.
Robot controller 9 carries out two reversal of the natural order of things robots 10 of Collaborative Control, and Liang Ge robot is according to the different spy of part
Levy and divide the work, according to institute's assignment task and the complexity of feature, the shaping track of each robot that makes rational planning for,
Realize the maximal efficiency of robot work；Robot controller 5 and welding machine controller 7 communicate, and jointly realize electric arc and increase material
Manufacturing, the welding machine controller 7 of each robot 10 correspondence is set different technique ginsengs according to the part feature section distributed
Number and material, can meet different technical parameters and work simultaneously, combined shaping while different materials, it is achieved electric arc increases what material manufactured
Flexibility manufactures；Described robot controller 5 and the digital control system of planer-type milling machine communicate, and according to formed blank
Thermo parameters method carries out synergy movement, it is achieved the high efficiency of composite manufacture device, high accuracy work；Formed bland position
Change can realizing with rotary motion by work platforms 1 back and forth.
In the actual course of processing, its specific operation process is as follows:
1), by metal basal board it is fixed on work platforms 1, the feature different according to part and required workload, two
Six degree of freedom hangs upside down robot 10 and divides the work, and writes robot program according to respective processing request, according to institute's assignment
Task and the complexity of feature, the shaping track of each robot that makes rational planning for, the simultaneously working region to Liang Ge robot
Set safety zone, it is to avoid Liang Ge robot interferes；The part feature that welding machine controller 7 is distributed according to corresponding robot 10
Section is set respective technological parameter and material, robot controller 5 and welding machine controller 7 foundation and communicates, and six degree of freedom falls
Hang robot 10 and welding gun 11 to carry out working in coordination with and on work platforms 1, carry out electric arc increase material manufacture, form the blank of single or multiple lift
After body, robot controller 5 sends Machining Instruction to the digital control system of planer-type milling machine, and measure blank body each specifies position simultaneously
Temperature, real time data is sent to the digital control system of planer-type milling machine simultaneously.
2), the digital control system of planer-type milling machine receives Machining Instruction and the temperature of hair body each point that robot controller 5 sends
After degree, carry out path according to the temperature changing regularity of the size required by single or multiple lift blank body and surface accuracy and blank
Planning, mobile working platform simultaneously, formed blank body is moved to the working region of planer-type milling machine milling head 3, then waits hair
After each temperature measuring point of base substrate reaches set temperature line, the planer-type milling machine milling head 3 blank to single or multiple lift
The profile of body carries out polish, repairs the upper surface of blank body simultaneously, it is ensured that electric arc increases material manufacture datum level next time
Be accurately positioned.After machining needed for blank body, the digital control system of planer-type milling machine sends next to robot controller 5
Step can start the instruction of processing.Wherein the basis of design drawing abillity of temperature line and the life-span of cutter determine.
3), repetitive cycling above-mentioned steps 1) and step 2), until the completion of processing of last parts.
When processing large format part, above-mentioned operating procedure 1 and step 2 can also synchronize to enter in different operating positions
OK, by workbench back and forth with rotate the working region that formed blank body portion moved to planer-type milling machine milling head 3,
Control realization according to temperature line increases material manufacture and Milling Process joins the most efficiently, makes full use of material under optimum temperature
Good machining accuracy and surface quality, reduce the waiting time increased between material manufacture and Milling Process simultaneously effectively.
As shown in Figure 6, for the invention provides a kind of preferred embodiment two.
The processing technique of the present embodiment, with embodiment one, adds one and shapes chamber in periphery, for manufacturing processing
The parts that environmental requirement is harsh, such as oxidizable titanium alloy, magnalium etc..
As shown in Fig. 7,8,9, for the invention provides a kind of preferred embodiment three.
The processing technique of the present embodiment manufactures with the increasing material in embodiment one, increases material manufacture for simple electric arc.
As shown in Figure 10, for the invention provides a kind of preferred embodiment four.
The increase and decrease material composite manufacture device that the present embodiment provides, is compounded with Laser Melting Deposition and increases material manufacture and gantry milling
Processing, it may be used for the various part of molding, such as the part etc. needed for Aero-Space process industry.
The increase and decrease material composite manufacture device of large format parts includes a lathe bed 2, lathe bed is provided with multiple for swashing
Light powder feeding increases six degree of freedom reversal of the natural order of things robot 10 and the five-axis linkage planer type milling machine that material manufactures, and multiple reversal of the natural order of things robots 10 are distributed in
Around the milling head 3 of planer-type milling machine；Reversal of the natural order of things robot 10 is provided with coaxial powder-feeding nozzle 15；Coaxial powder-feeding nozzle 15 is flat in work
Carry out single or multiple lift laser powder feeding on platform and increase material manufacture.Planer-type milling machine milling head 3 is to completed single or multiple lift blank body
Carrying out polish and finishing, work platforms 1 completes moving back and forth and self rotary motion of two regions of blank body.
It is prior art that laser powder feeding increases material equipment, laser instrument, laser controller, coaxial powder-feeding nozzle, powder feeder, guarantor
Protecting gas, coaxial powder-feeding nozzle is arranged in the end flange of reversal of the natural order of things robot；Laser controller carries out laser parameter
Set, the switch of protection gas is controlled simultaneously, coaxial powder-feeding nozzle, powder feeder are controlled in real time.
Traditional removal formula Precision Machining based on milling is fabricated to by this increase and decrease material composite manufacture device with increasing material
Main increment layered manufacturing technique becomes one, and simple increasing material manufacturing technology can be overcome in dimensional accuracy and surface quality
Etc. the defect of aspect, it is also possible to overcome the Milling Process restriction to aspects such as parts complexities, so, then need not adding
Part after work carries out secondary operations, it is to avoid current clamping is difficult, mismachining tolerance is big, add part in man-hour deformation occurs and is difficult to
The problem of processing, brings more wide application space for increasing the application of material manufacturing technology, for aerospace industries core essence
The manufacturing of close parts provides new ways and means.
It addition, for the part of super large breadth, then can make full use of multiple increasing material and manufacture equipment and carry out subregion and work in coordination with
Processing, recycling planer-type milling machine carries out polish etc., thus realizes arbitrarily large the multiple single or multiple lift blank bodies formed
The high accuracy of size parts, high efficiency of forming.
For the increase and decrease material composite manufacture device of the large format parts that the present embodiment provides, use gantry milling head
And multiple increasing material equipment, wherein, increasing material equipment can be two, it is also possible to be three or four etc..
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (6)
1. an increase and decrease material composite manufacture device, it is characterised in that wrap it and include lathe bed (2), described lathe bed (2) is provided with multiple
For increasing six degree of freedom reversal of the natural order of things robot (10) and the multi-shaft interlocked planer-type milling machine that material manufactures；The plurality of reversal of the natural order of things robot is distributed
Around the milling head (3) of described multi-shaft interlocked planer-type milling machine；Multiple described reversal of the natural order of things robots are provided with increasing material equipment；Multiple institutes
State increasing material equipment on work platforms (1), carry out subregion collaborative increasing material manufacture；The milling head (3) of described planer-type milling machine is to monolayer
Or the blank body of multilamellar carries out polish and finishing, both are carried out alternately or simultaneously until completing the production system of whole parts
Make；
Described multiple reversal of the natural order of things robots (10) are carried out Collaborative Control, described robot by common robot controller (5)
Controller (5) and the described controller increased in material equipment communicate, it is achieved increase the automatization that material manufactures, described robot
The digital control system of controller and five-axis linkage planer type milling machine communicates, and the two carries out synergy movement.
2. increase and decrease material composite manufacture device as claimed in claim 1, it is characterised in that described increasing material equipment is that electric arc increases material system
Make equipment or Laser Melting Deposition increases material manufacture equipment.
3. increase and decrease material composite manufacture device as claimed in claim 2, it is characterised in that described electric arc increases material manufacture equipment and includes
Welding machine (6), wire feeder (8), welding gun (11) and welding machine controller (7), described welding gun (11) is arranged on multiple described reversal of the natural order of things machine
The end of device people (10), wire feeder (8), for providing solder for welding machine, carries or the protection gas (9) joined outward is welding region
Thering is provided protective atmosphere, welding machine controller (7) increases the setting of manufacture process parameter for carrying out electric arc, simultaneously to protection gas (9)
Switch be controlled, butt welding machine (6) and wire feeder (8) control in real time.
4. increase and decrease material composite manufacture device as claimed in claim 2, it is characterised in that described Laser Melting Deposition increases material equipment
Including laser instrument (13), laser controller (14), coaxial powder-feeding nozzle (15) and powder feeder (16)；Described coaxial powder-feeding nozzle
It is arranged on the end of multiple described reversal of the natural order of things robot (10)；Powder feeder (16) is for for increasing material equipment offer metal dust, carrying
The protection gas (9) joined outside or is that melting range provides protective atmosphere, and laser controller (14) is used for carrying out laser instrument (13) ginseng
The setting of number, is controlled the switch of protection gas (9) simultaneously.
5. the increase and decrease material composite manufacture device of the large format parts as described in arbitrary in Claims 1-4, it is characterised in that
Described reversal of the natural order of things robot (10) is centered by milling head, symmetrical by both sides or determine according to workpiece requirement asymmetric distribution
Installation site.
6. the increase and decrease material composite manufacture device of the large format parts as described in arbitrary in Claims 1-4, it is characterised in that
Described reversal of the natural order of things robot (10) is four, and two of which robot and milling head are positioned on same beam, another two robot
Lay respectively on two other beam of described five-axis linkage planer type milling machine.
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