CN106312574B - A kind of increase and decrease material composite manufacture device of large format parts - Google Patents
A kind of increase and decrease material composite manufacture device of large format parts Download PDFInfo
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- CN106312574B CN106312574B CN201610931096.2A CN201610931096A CN106312574B CN 106312574 B CN106312574 B CN 106312574B CN 201610931096 A CN201610931096 A CN 201610931096A CN 106312574 B CN106312574 B CN 106312574B
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a kind of increase and decrease material composite manufacture devices of large format parts, including lathe bed, multiple six degree of freedoms for increasing material manufacturing projecting robot is installed on lathe bed and five-axis linkage planer type milling machine, multiple projecting robots are distributed in around the milling head of planer-type milling machine；Projecting robot is equipped with increasing material manufacturing equipment, and used heat source can be high-power laser beam or electric arc；Increasing material manufacturing equipment carries out the manufacture of single-layer or multi-layer blank body on workbench, and planer-type milling machine milling head is finished and modified to the blank body of single-layer or multi-layer.The present invention overcomes large format complex parts Milling Process difficulty and increases material manufacturing technology size and shape etc. deficiency.Meanwhile increasing material manufacturing technique and subtracting manufacture process and both can independently carry out, also separated regions shapes simultaneously.Integration of equipmentsization is high, and Collaborative Control is easy to operate, can realize the rapidly and efficiently precision form of the integration to large format and super large breadth complex parts.
Description
Technical field
Increase material the present invention relates to increase and decrease material composite manufacture device technical field more particularly to multiple electric arcs or laser fusion is heavy
Product increases material and gantry mill composite manufacturing large format complex parts equipment.
Background technology
Electric arc increasing material manufacturing is the principle melted metal wire material using electric arc heat source, and successively accumulated according to dispersed material
Carry out forming metal parts.Laser Melting Deposition increasing material manufacturing be using high-power laser beam by fusion of metal powder, and according to
The principle that dispersed material is successively accumulated carrys out forming metal parts.
Compared with conventionally manufactured, increases material manufacturing technology be by the point-by-point by-line of material by face increase in a manner of realize complex parts
The technical process of stack shaping.Compared with other metal increasing material manufacturings, electric arc increases material manufacturing technology equipment cost is low, shaping efficiency
The advantages that high, stock utilization height, environmental requirement are low, forming part consistency height, metallurgical comprehensive function admirable.
But electric arc increasing material manufacturing was carried out in a manner of the high temperature fluent metal droplet transfer, was had in forming process
The presence of liquid state molten pool so that the edge configuration of part and the control of overall dimensions are relatively difficult, so as to cause formation of parts
Dimensional accuracy and surface quality are poor.
On the other hand, developed in recent years based on automatic powder feeding Laser Melting Deposition increases material manufacturing technology also very rapid.But
It is that the technology, there are similar problem, is exactly that dimensional accuracy is relatively low with electric arc increases material manufacturing technology.How essence is further increased
Degree, also become determine the technology can large-scale industrial application key.
Currently, in order to solve the above problem, patent CN104384936, CN105414981, CN105290789 etc. increases electric arc
The end of material manufacturing equipment is integrated into numerical control milling main shaft up, to realize that the alternating of increase and decrease material manufactures, can partly solve zero
The secondary operation clamping of part is difficult.But there are position inaccurate, the dimensional accuracy and surface quality of molded parts are poor.
For the parts thereof of internal structure complexity, cutter is difficult to process in place.German DMG companies by Laser Melting Deposition technology with
Five-axis numerical control milling machine is combined, and can increase substantially the precision of laser gain material manufacture, and achievement is notable.But it can adapt to
Metal parts size it is relatively small.Increase and decrease in addition, patent (CN105574254) proposes a kind of realized with single machine people
The method of material composite manufacturing effectively extends the size of molded parts, but forming efficiency is still relatively low.
Especially for the finishing of large format complex parts, above-mentioned increase and decrease material equipment operation is complicated, increasing material manufacturing
It can only separate and carry out with Milling Process, processing efficiency is relatively low.Meanwhile having very to the making space and degree of freedom of increasing material manufacturing equipment
Big limitation, additionally, due to the insufficient rigidity for being limited to robot itself, the Milling Accuracy of robot and less efficient.So
Above-mentioned increase and decrease material device and method are difficult to meet the requirement of manufacture large format complex parts size and complexity.
Invention content
The purpose of the present invention is to provide a kind of increase and decrease material composite manufacture devices of large format parts, it is intended to solve existing
The parts size precision of increases material manufacturing technology processing and surface quality is poor and the finishing of large format complex parts be difficult into
Capable problem.The heat source being suitble to is either the forming of electric arc fuse, can also be the laser fusion forming based on automatic powder feeding.
The invention is realized in this way a kind of increase and decrease material composite manufacture device, which is characterized in that it wraps it and includes lathe bed, it is described
Multiple six degree of freedoms for increasing material manufacturing are installed on lathe bed and hang upside down robot and multi-shaft interlocked planer-type milling machine；It is the multiple fall
Robot is hung to be distributed in around the milling head of the multi-shaft interlocked planer-type milling machine；Multiple projecting robots are equipped with increasing material and set
It is standby；Multiple increasing material equipment carry out subregion collaboration increasing material manufacturing on workbench；The milling head pair of the planer-type milling machine
The blank body of single-layer or multi-layer is finished and is modified, and the two is interactive or is carried out at the same time until completing the production of entire parts
Manufacture；Multiple projecting robots carry out Collaborative Control, the robot controller by common robot controller
Communicated with the controller in the increasing material equipment, realize the automation of increasing material manufacturing, the robot controller and
The digital control system of five-axis linkage planer type milling machine is communicated, and the two carries out cooperative motion.
Further, according to used heat source difference, increasing material equipment can be divided into electric arc increasing material manufacturing equipment and laser is molten
Change deposition increasing material manufacturing equipment.
It includes welding machine, wire feeder, welding gun and welding machine controller that the electric arc, which increases material equipment, and the welding gun is mounted on multiple
In the end flange of the projecting robot, wire feeder is used to provide solder for welding machine, and protection gas that is included or matching outside is
Welding region provides protective atmosphere, and welding machine controller is used to carry out the setting of electric arc increasing material manufacturing technological parameter, while protecting gas
Switch controlled, butt welding machine and wire feeder carry out real-time control.
It includes laser, laser controller, coaxial powder-feeding nozzle and powder feeder that the Laser Melting Deposition, which increases material equipment,
The coaxial powder-feeding nozzle is mounted in the end flange of multiple projecting robots；Powder feeder is used to carry to increase material equipment
For metal powder, protection gas that is included or matching outside provides protective atmosphere for melting range, and laser controller is for carrying out laser
The setting of device parameter, while to protecting the switch of gas to control.
Further, multiple projecting robots carry out Collaborative Control by common controller, and multiple robots can
To be divided the work according to the different feature of part, according to the complexity of task and feature, make rational planning for each robot
Forming track, realize robot work maximal efficiency；The robot controller and the welding machine controller (laser
Device controller) it is communicated, realize increasing material manufacturing jointly, corresponding welding machine controller (laser controller) root of each robot
It carries out setting respective technological parameter and material according to the part feature section distributed, different technical parameters can be met and worked at the same time,
Combined shaping while different materials realizes the flexibility manufacture of increasing material manufacturing；The robot controller and planer-type milling machine
Digital control system communicated, the two according to the thermo parameters method of formed blank carry out cooperative motion, realize composite manufacturing set
Standby high efficiency, high-precision work.
Compared with prior art, the increase and decrease material composite manufacture device of a kind of large format parts provided by the invention utilizes
Multiple increasing material manufacturings hang upside down robot subregion successively after Collaborative Manufacturing, using the milling head of planer-type milling machine to multiple single layers or more
Layer blank body carries out Milling Process, and for circulating repetition until parts machining finishes, which will be traditional
Removal formula Precision Machining based on milling becomes one with the increment manufacturing process based on increasing material manufacturing, can overcome list
Pure increases material manufacturing technology can also overcome Milling Process multiple to parts in the defect of dimensional accuracy and surface quality etc.
The restriction of miscellaneous degree etc. avoids post-production clamping tired in this way, secondary operation then need not be carried out to the part after processing
It is difficult, mismachining tolerance is big, processing when part there is the problem of deforming and being difficult to, brought for the application of increases material manufacturing technology
More wide application space provides new ways and means for the manufacturing of aerospace industries core precision parts；
And for the part of super large breadth, then multiple increasing material manufacturing equipment can be made full use of to carry out subregion Combined process, it recycles
Planer-type milling machine such as finishes at multiple single-layer or multi-layer blank bodies of formation, to realize the height to arbitrary structures parts
Precision, high efficiency of forming.
Compared with existing increase and decrease material composite manufacture device, a kind of increase and decrease material of large format parts provided by the invention is multiple
Manufacturing equipment is closed, the manufacture for the complex parts of large format or super large breadth, the increasing material equipment can be for greater flexibility
Coordinated or autonomous working are carried out with planer-type milling machine, equipment control is easy to operate；Meanwhile it can be increased according to the structure of parts
Material manufacturing equipment can be carried out at the same time processing with subregion, greatly improve processing efficiency；Multiple projecting robots
Flexibility and the scalability that increasing material manufacturing equipment can be given full play to meet the complex parts of large format especially super large breadth
The manufacture requirement of size and complexity.
Description of the drawings
Fig. 1 is the three beam dual robot knot of increase and decrease material composite manufacture device single-column of large format parts in the embodiment of the present invention
The schematic diagram of structure；
Fig. 2 is the electric arc increasing material manufacturing group of the increase and decrease material composite manufacture device of large format parts in the embodiment of the present invention
Composition schematic diagram；
Fig. 3 is three column of increase and decrease material composite manufacture device, the three beam dual robot knot of large format parts in the embodiment of the present invention
The schematic diagram of structure；
Fig. 4 is three column of increase and decrease material composite manufacture device, the three Liang Si robots knot of large format parts in the embodiment of the present invention
The schematic diagram of structure；
Fig. 5 is the three Liang Si robots knot of increase and decrease material composite manufacture device single-column of large format parts in the embodiment of the present invention
The schematic diagram of structure；
Fig. 6 is showing for the increase and decrease material composite manufacture device band forming chamber structure of large format parts in the embodiment of the present invention
It is intended to；
Fig. 7 is the electric arc increasing material manufacturing equipment single-column single-beam dual robot structure of large format parts in the embodiment of the present invention
Schematic diagram；
Fig. 8 is the electric arc increasing material manufacturing equipment single-column twin beams dual robot structure of large format parts in the embodiment of the present invention
Schematic diagram；
Fig. 9 is three beam of electric arc increasing material manufacturing equipment single-column, four robot architecture of large format parts in the embodiment of the present invention
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- workbenches, 2- lathe beds, 3- milling heads, 4- electric arc increasing material manufacturings group, 5- robot controllers, 6- welderings
Machine, 7- welding machine controllers, 8- wire feeders, 9- protections gas, 10- hang upside down robot, 11- welding guns, 12- formings chamber, 13- laser
Device, 14- laser controllers, 15- coaxial powder-feeding nozzles, 16- powder feeders
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing and specific implementation
The present invention is further described in detail for example, and the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention.
As shown in Figure 1, Figure 2, Figure 3 shows, it is that the present invention provides a kind of preferred embodiments one.
Increase and decrease material composite manufacture device provided in this embodiment, is compounded with electric arc increasing material manufacturing and gantry Milling Process,
It can be used for being molded various parts, the part etc. as needed for aerospace process industry.
The increase and decrease material composite manufacture device of large format parts includes a lathe bed 2, is equipped on lathe bed multiple for electricity
The six degree of freedom of arc increasing material manufacturing hangs upside down robot 10 and five-axis linkage planer type milling machine, multiple projecting robots 10 are distributed in gantry
Around the milling head 3 of milling machine；Projecting robot 10 is equipped with welding gun 11；Welding gun 11 carries out single-layer or multi-layer electricity on workbench
Arc increasing material manufacturing.Planer-type milling machine milling head 3 is finished and is modified to completed single-layer or multi-layer blank body, workbench
1 completion blank body two regions move back and forth and the rotary motion of itself.
It is the prior art that electric arc, which increases material equipment, including welding machine, welding machine controller, wire feeder, protection gas, welding gun, described
Welding gun is mounted in the end flange of multiple projecting robots；Welding machine controller carries out electric arc increasing material manufacturing technological parameter
Setting, such as wire feed rate, arc length amendment, the selection of pulse shape modification, bond pattern, while to protecting the switch of gas to control
System, butt welding machine, wire feeder carry out real-time control.
Hang upside down the brachium of the quantity foundation equipment range and projecting robot 10 to be processed of robot 10 to determine,
Robot 10 is hung centered on milling head, it is symmetrical or installation position is determined according to workpiece requirement asymmetric distribution by both sides
It sets, the mounting structure of four robots is also contemplated that support beam structure, avoids interfering, and distributing position is Liang Ge robots
It is located on the same beam with milling head, another two robot is located on other two beam, as shown in Figure 4, Figure 5.
Robot controller 9 carries out two projecting robots 10 of Collaborative Control, and Liang Ge robots are according to the different spy of part
Sign is divided the work, according to institute's assignment task and the complexity of feature, the forming track for each robot that makes rational planning for,
Realize the maximal efficiency of robot work；Robot controller 5 and welding machine controller 7 are communicated, common to realize that electric arc increases material
Manufacture, 10 corresponding welding machine controller 7 of each robot carry out setting different technique ginsengs according to the part feature section distributed
Number and material, can meet different technical parameters and work at the same time, and combined shaping while different materials realizes electric arc increasing material manufacturing
Flexibility manufactures；The digital control system of the robot controller 5 and planer-type milling machine is communicated, and according to formed blank
Thermo parameters method carries out cooperative motion, realizes that the high efficiency of composite manufacture device, high-precision work；Formed bland position
Change can realizing with rotary motion back and forth by workbench 1.
During actual processing, specific operation process is as follows：
1), metal substrate is fixed on workbench 1, according to the different feature of part and required workload, two
Six degree of freedom hangs upside down robot 10 and divides the work, and robot program is write according to respective processing request, according to institute's assignment
The complexity of task and feature, the forming track for each robot that makes rational planning for, while to the working region of Liang Ge robots
Safety zone is set, Liang Ge robots is avoided to interfere；The part feature that welding machine controller 7 is distributed according to corresponding robot 10
Duan Jinhang sets respective technological parameter and material, and robot controller 5 and welding machine controller 7 establish communication, and six degree of freedom falls
It hangs robot 10 and welding gun 11 is cooperateed with the progress electric arc increasing material manufacturing on workbench 1, form the blank of single-layer or multi-layer
After body, robot controller 5 sends Machining Instruction to the digital control system of planer-type milling machine, while measuring each designated position of blank body
Temperature, while real time data is sent to the digital control system of planer-type milling machine.
2), the digital control system of planer-type milling machine receives the temperature of the Machining Instruction and hair body each point of the transmission of robot controller 5
After degree, according to required by single-layer or multi-layer blank body size and the temperature changing regularity of surface accuracy and blank carry out path
Formed blank body, is moved to the working region of planer-type milling machine milling head 3, then waits for hair by planning, while mobile work platform
After the temperature of each measurement point of green body reaches set temperature line, blank of the planer-type milling machine milling head 3 to single-layer or multi-layer
The profile of body is finished, while being modified to the upper surface of blank body, ensures the reference plane of electric arc increasing material manufacturing next time
Accurate positionin.It waits for needed for blank body after processing is completed, the digital control system of planer-type milling machine sends next to robot controller 5
Step can start the instruction of processing.Wherein service life of the processing performance of the basis of design material of temperature line and cutter determines.
3), repetitive cycling above-mentioned steps 1) and step 2), the completion of processing of parts to the end always.
When processing substantially surface parts, above-mentioned operating procedure 1 and step 2 can also it is synchronous different operating positions into
Row, by the working region that formed blank body portion is moved to rotation planer-type milling machine milling head 3 back and forth of workbench,
It realizes that increasing material manufacturing and Milling Process orderly efficiently join according to the control of temperature line, makes full use of material under optimum temperature
Good machining accuracy and surface quality, while effectively reducing the stand-by period between increasing material manufacturing and Milling Process.
As shown in fig. 6, for the present invention provides a kind of preferred embodiments two.
The processing technology of the present embodiment in periphery as in the first embodiment, increase a forming chamber, for manufacturing to processing
The parts of environmental requirement harshness, such as oxidizable titanium alloy, magnesium alloy.
As shown in Fig. 7,8,9, for the present invention provides a kind of preferred embodiments three.
The processing technology of the present embodiment is used for simple electric arc increasing material manufacturing with the increasing material manufacturing in embodiment one.
As shown in Figure 10, it is that the present invention provides a kind of preferred embodiments four.
Increase and decrease material composite manufacture device provided in this embodiment, is compounded with Laser Melting Deposition increasing material manufacturing and gantry milling
Processing, can be used for being molded various parts, the part etc. as needed for aerospace process industry.
The increase and decrease material composite manufacture device of large format parts includes a lathe bed 2, is equipped on lathe bed multiple for swashing
The six degree of freedom of light powder feeding increasing material manufacturing hangs upside down robot 10 and five-axis linkage planer type milling machine, multiple projecting robots 10 are distributed in
Around the milling head 3 of planer-type milling machine；Projecting robot 10 is equipped with coaxial powder-feeding nozzle 15；Coaxial powder-feeding nozzle 15 is flat in work
Single-layer or multi-layer laser powder feeding increasing material manufacturing is carried out on platform.Planer-type milling machine milling head 3 is to completed single-layer or multi-layer blank body
Finished and modified, workbench 1 complete blank body two regions move back and forth and the rotary motion of itself.
It is the prior art, laser, laser controller, coaxial powder-feeding nozzle, powder feeder, guarantor that laser powder feeding, which increases material equipment,
Gas is protected, coaxial powder-feeding nozzle is mounted in the end flange of projecting robot；Laser controller carries out laser parameter
Setting, while to protecting the switch of gas to control, real-time control is carried out to coaxial powder-feeding nozzle, powder feeder.
Traditional removal formula Precision Machining based on milling is by the increase and decrease material composite manufacture device with increasing material manufacturing
Main increment layered manufacturing technique becomes one, and simple increases material manufacturing technology can be overcome in dimensional accuracy and surface quality
Etc. defect, restriction of the Milling Process to parts complexity etc. can also be overcome, in this way, do not need then pair plus
Part after work carries out secondary operation, and part when big current clamping difficulty, mismachining tolerance, processing is avoided to occur deforming and be difficult to
The problem of processing, brings more wide application space for the application of increases material manufacturing technology, is aerospace industries core essence
The manufacturing of close parts provides new ways and means.
In addition, for the part of super large breadth, then multiple increasing material manufacturing equipment can be made full use of to carry out subregion collaboration
Processing recycles planer-type milling machine multiple single-layer or multi-layer blank bodies of formation such as to finish, to realize to arbitrarily large
High-precision, the high efficiency of forming of size parts.
For the increase and decrease material composite manufacture device of large format parts provided in this embodiment, using gantry milling head
And multiple increasing material equipment, wherein it can be two to increase material equipment, can also be three or four etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (6)
1. a kind of increase and decrease material composite manufacture device, which is characterized in that it includes lathe bed (2), is equipped on the lathe bed (2) multiple
Six degree of freedom for increasing material manufacturing hangs upside down robot (10) and multi-shaft interlocked planer-type milling machine；The multiple projecting robot distribution
Around the milling head (3) of the multi-shaft interlocked planer-type milling machine；Multiple projecting robots are carried out by common controller
Collaborative Control, multiple robots can divide the work according to the different feature of part, according to the complicated journey of task and feature
The maximal efficiency for hanging upside down robot work is realized in degree, the forming track for each robot that makes rational planning for；Multiple projecting machines
People, which is equipped with, increases material equipment；Multiple increasing material equipment carry out subregion on workbench (1) and successively cooperate with increasing material manufacturing；Institute
The milling head (3) for stating planer-type milling machine is finished and is modified to the blank body of single-layer or multi-layer, and the two is interactive or is carried out at the same time
Until completing the manufacturing of entire parts；
Multiple projecting robots (10) carry out Collaborative Control, multiple projecting machines by common robot controller (5)
People (10) can divide the work according to the different feature of part, according to the complexity of task and feature, make rational planning for into
Shape track；Controller in the robot controller (5) and the increasing material equipment is communicated, and common realize increases material system
The automation made, each the projecting corresponding welding machine controller of robot or laser controller are according to the part feature section distributed
It carries out setting respective technological parameter and material, disclosure satisfy that different technical parameters work at the same time, different materials whiles is compound
The flexibility manufacture of increasing material manufacturing is realized in forming；The digital control system of the robot controller and five-axis linkage planer type milling machine
Communicated, the two according to the thermo parameters method of formed blank carry out cooperative motion, realize composite manufacture device high efficiency,
High-precision works.
2. increase and decrease material composite manufacture device as described in claim 1, which is characterized in that the increasing material equipment is that electric arc increases material system
Make equipment or Laser Melting Deposition increasing material manufacturing equipment.
3. increase and decrease material composite manufacture device as claimed in claim 2, which is characterized in that the electric arc increasing material manufacturing, which is equipped, includes
Welding machine (6), wire feeder (8), welding gun (11) and welding machine controller (7), the welding gun (11) are mounted on multiple projecting machines
The end of device people (10), wire feeder (8) are used to provide solder for welding machine, and protection gas (9) that is included or matching outside is welding region
Protective atmosphere is provided, welding machine controller (7) is used to carry out the setting of electric arc increasing material manufacturing technological parameter, while to protection gas (9)
Switch controlled, butt welding machine (6) and wire feeder (8) carry out real-time control.
4. increase and decrease material composite manufacture device as claimed in claim 2, which is characterized in that the Laser Melting Deposition increases material equipment
Including laser (13), laser controller (14), coaxial powder-feeding nozzle (15) and powder feeder (16)；The coaxial powder-feeding nozzle
Mounted on the end of multiple projecting robots (10)；Powder feeder (16) is used to provide metal powder to increase material equipment, carries
Or the protection gas (9) matched outside provides protective atmosphere for melting range, laser controller (14) is for carrying out laser (13) ginseng
Several settings, while the switch of protection gas (9) is controlled.
5. the increase and decrease material composite manufacture device as described in any in Claims 1-4, which is characterized in that the projecting robot
(10) symmetrical or installation site is determined according to workpiece requirement asymmetric distribution by both sides centered on milling head.
6. the increase and decrease material composite manufacture device as described in any in Claims 1-4, which is characterized in that the projecting machine
People (10) is four, and two of which robot and milling head are located on the same beam, and another two robot is located at described five
On other two beam of axis linkage planer-type milling machine.
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