CN107999753A - A kind of synchronous feedback increase and decrease material Collaborative Manufacturing System and its application method - Google Patents
A kind of synchronous feedback increase and decrease material Collaborative Manufacturing System and its application method Download PDFInfo
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- CN107999753A CN107999753A CN201711249541.8A CN201711249541A CN107999753A CN 107999753 A CN107999753 A CN 107999753A CN 201711249541 A CN201711249541 A CN 201711249541A CN 107999753 A CN107999753 A CN 107999753A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/20—Direct sintering or melting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/30—Process control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/30—Process control
- B22F10/32—Process control of the atmosphere, e.g. composition or pressure in a building chamber
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/50—Treatment of workpieces or articles during build-up, e.g. treatments applied to fused layers during build-up
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
- B22F12/22—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
- B22F12/50—Means for feeding of material, e.g. heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
- B22F12/90—Means for process control, e.g. cameras or sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/24—After-treatment of workpieces or articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/24—After-treatment of workpieces or articles
- B22F2003/247—Removing material: carving, cleaning, grinding, hobbing, honing, lapping, polishing, milling, shaving, skiving, turning the surface
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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Abstract
The invention discloses a kind of synchronous feedback increase and decrease material Collaborative Manufacturing System and its application method, and increasing material operation portion includes：Zeng Cai robots, printhead, laser light source, dust feeder；Laser light source：For giving printhead transmission laser beam under control of the control system；Dust feeder：For conveying printing material to printhead under control of the control system；Printhead：For forming molten bath on working face using its light powder coupling device when obtaining laser beam and printing material；Zeng Cai robots：Increase material printing for driving Zeng Cai robots to drive printhead to carry out three-dimensional motion under control of the control system；Molten bath monitoring device：Control system, control system are sent to for monitoring the form parameter for obtaining molten bath or/and temperature gradient information：For revised increasing material control parameter to be sent to laser light source, dust feeder, Zeng Cai robots, printhead according to after form parameter or/and the initial increasing material control parameter of temperature gradient information revision.
Description
Technical field
The present invention relates to 3D printing field, more particularly to correct and increase and decrease in real time a kind of synchronous feedback that material is carried out with environment
Increase and decrease material Collaborative Manufacturing System and its application method.
Background technology
At present in large scale 3D printing equipment, there are following main problem：
1) the size Control process feedback-less of print procedure, printing path and print procedure parameter are by Slice Software and road
After the planning software output result of footpath, the direct opened loop control of printing device, the size value progress for print procedure is not anti-in real time
The problem of feedback and amendment；
2) large scale printing device often first carries out increasing material manufacturing at present, after to be done, remove equipment and (destroys and entirely set
Standby inert gas atmosphere environment), destressing heat treatment is carried out into holding furnace, then further according to complex degree of structure selection pair
The lathe answered is processed, and finally reaches requirement, this considerably increases the complexity of manufacture system, exist initial input into
The problems such as this is very high, life cycle of the product length, manufacturing process efficiency is low, and area of mill site is big.
1st, common knowledge of the present invention is exactly the general definition increasing material of manufacture system and subtracts material manufacture, in most cases lathe
Processing is to subtract material, and 3D printing kind equipment belongs to increasing material manufacturing, and increasing material manufacturing is main in large scale metal parts forming field at present
Using the printing type of laser melting powder feeding formula；Blank is often first printed, it is subsequently heat-treated, then subtract material and be fabricated onto part requirements
Size.
2nd, immediate with this programme at present is a kind of external machining center occurred, can directly be passed through in piece surface
The mode of built-up welding, repairs part, then by replacing tool magazine, carries out subtracting material processing so as to reach the system of part requirements
Make, which does not occur also in the domestic market, mainly abroad in the promotional videos of machine tool plant.
Generally speaking, the major defect of technology at present, 1 is manufacturing process feedback-less, and dimensional accuracy is not high；2 be for reality
The use of existing part, subsequent handling and equipment are more, and actual use is of high cost, takes up a large area.
The content of the invention
It is an object of the invention to provide a kind of synchronous feedback increase and decrease material Collaborative Manufacturing System and its application method, it is proposed that
It is a kind of to correct the manufacture system for increasing material processing technology parameter in real time, to achieve the purpose that fine quality controls.
The present invention is achieved through the following technical solutions：
A kind of synchronous feedback increases and decreases material Collaborative Manufacturing System, including atmosphere protection system, control system, increase material operation portion,
Molten bath monitoring device：
Increasing material operation portion includes：Zeng Cai robots, printhead, laser light source, dust feeder；
Laser light source：For giving printhead transmission laser beam under control of the control system；
Dust feeder：For conveying printing material to printhead under control of the control system；
Printhead：It is molten for being formed when obtaining laser beam and printing material using its light powder coupling device on working face
Pond；
Zeng Cai robots：For driving Zeng Cai robots to drive printhead to carry out three-dimensional motion under control of the control system
Increase material printing；
Molten bath monitoring device：The form parameter in molten bath is obtained for monitoring or/and temperature gradient information is sent to control system
System,
Control system：For that will be repaiied after initially increasing material control parameter according to form parameter or/and the revision of temperature gradient information
Increasing material control parameter after ordering is sent to laser light source, dust feeder, Zeng Cai robots, printhead；
Atmosphere protection system：For forming protective atmosphere to increasing material operating environment under control of the control system.
The present invention design principle be：Due to traditional increasing material manufacturing process feedback-less, printing path and print procedure ginseng
After number is by Slice Software and path planning software output result, the direct opened loop control of printing device, therefore in order to debug out most
Good workmanship, often repeatedly just starts formally to print after debugging arrange parameter, and the process repeatedly debugged all relies on
Experience is corrected repeatedly, therefore can cause the waste of material, and good microcosmic crystal grain life can not be obtained in print procedure
Long, to solve the above-mentioned problems, present invention research is found can be micro- by controlling the state of bath temperature gradient can effectively improve
Grain growth is seen, therefore, the present invention, which proposes, directly initiates formal print procedure, the temperature in the real time measure molten bath in print procedure
Gradient parameter is spent, initially increases material control parameter by the use of temperature gradient as feedback signal, then revised, that is, changes control laser light
Source, dust feeder, Zeng Cai robots, printhead parameter after continue to print, light source parameters or sent so as to propose and directly change
Powder parameter or kinematic parameter change bath temperature gradient in real time, all reach anticipation with the printing effect that this is obtained at per a moment
Be conducive to the temperature gradient of microcosmic grain growth, and this mode need not increase other auxiliary and change bath temperature gradient equipment,
Production cost can be greatly saved, and this mode can not have to just start formally to print after repeatedly debugging repeatedly, therefore often
All in being completed under revision state, whole printing process itself is the equal of to be manufactured in debugging for the printing at a moment.It is in addition, of the invention
Also research is found, microcosmic grain growth is also can effectively improve for the adjusting for form parameter in molten bath, with control bath temperature ladder
The principle of degree is consistent, and particularly, present invention research is found, in the print procedure of the deflecting class such as chamfering, arc, the shape in molten bath
Shape can great changes will take place, and since the change in direction, the shape in molten bath occur more random change, can not effectively solve
The shape in molten bath is controlled under a shape for being conducive to microcosmic grain growth the most, in order to solve this problem, the present invention
The parameter of printing is adjusted also with the mode of shape feedback, so that molten to adjust using some parameters for printing equipment of itself
The shape in pond reaches predetermined shape parameter, thus can all ensure that the shape in molten bath is under optimum state at any time,
And present invention discover that the shape in molten bath is farthest related with powder sending quantity, certainly also related with other specification, the present invention can be with
These Parameters variations are effectively controlled to reach predetermined set shape effect.The present invention research it has also been found that, existing welding technique or
There is the method to crystal orientation control in 3D printing technique, but these technologies are all to reach using external accessory to crystal orientation control
System, such as the control of Electromagnetic Control, auxiliary temperature-reducing, also some technologies are controlled using angle type selecting, but these technologies all do not have
Solve the problems, such as that crystal orientation is grown from control bath temperature gradient and shaped angles, while more change itself printing without proposition and set
Standby parameter controls bath temperature gradient and shaped angles so as to solve the problems, such as that crystal orientation is grown, and the present invention is substantially
The state in molten bath is adjusted using the control parameter of printing itself, the purpose is to establish the control mode in molten bath initial metallurgical
Stage just completes the control of crystal grain, can carry out the control to crystal grain to greatest extent, and conventional art is all built upon smelting
The crystal grain for setting supplementary means all to smelt completion after the completion of gold or after metallurgical sizing optimizes, it is known that smelting skill
Crude steel quality determines the quality of later stage purified steel in art, and same adjustment mode value of the invention is corresponded directly to crude steel product
Matter is defined, and the prior art is the equal of that processing is optimized to later stage purified steel, it is clear that, the controlled range of the application
Bigger, the product that more preferable quality can be obtained, therefore pre-provisioning request is can reach without the complex process means in later stage, and meanwhile it is above-mentioned
Secondary heat treatment is all also needed to after traditional crystal orientation control method and reaches improvement tissue and performance, and can be straight after the completion of the present invention
Fill foot subtract material processing technical requirements and be directly entered milling or mill cut subtract material processing, without subtracting material before processing carry out heat
Processing.
Preferably, the molten bath monitoring device obtains the form parameter in molten bath, the molten bath using spatial digitizer monitoring
Monitoring device obtains the temperature gradient information in molten bath using the monitoring of temperature information acquisition device.
Preferably, the initial material control parameter that increases includes controlling ginseng according to the melting pool shape to be revised of form parameter
Number, the initial material control parameter that increases include melting control parameter according to the molten bath to be revised of temperature gradient information.
Preferably, the shape parameters control and melting control parameter include：The power ginseng of laser light source power
Number, the focus parameter of control laser light source focal position, control printhead stop the dwell time parameter of interval time, control is beaten
The speed parameter of print head translational speed, the powder sending quantity parameter for controlling dust feeder powder sending quantity, control dust feeder powder feed rate
At least one of powder feed rate parameter, the atmosphere parameter for controlling atmosphere.
Preferably, further include Parameters of The Parts acquisition device and subtract material operation in the protective atmosphere for increasing material operating environment
Portion,
Subtracting material operation portion includes：Jian Cai robots, subtract material mechanical processing head,
Jian Cai robots：Subtract material mechanical processing head progress for driving Jian Cai robots to drive under control of the control system
Three-dimensional motion subtracts material operation；
Parameters of The Parts acquisition device：The dimensional parameters for having completed to increase material parts processed or/and temperature ginseng are obtained for monitoring
Number or/and heat stress parameter；
Control system：Dimensional parameters or/and temperature parameter or/and heat for being obtained according to Parameters of The Parts acquisition device should
Force parameter revision is initial subtract after material control parameter by it is revised subtract material control parameter be sent to Jian Cai robots, subtract material machinery plus
Foreman.
Likewise, above-mentioned principle is based on, it will be seen that the present invention is will to subtract material manufacture part and increasing material manufacturing part
It is placed in same system, under same atmosphere, since the increasing material manufacturing forming process of parts is needed in extremely low oxygen, water
Carried out in the atmosphere of content, influence product mechanical property to suppress metal oxidation and produced phenomena such as preventing print defect
Raw, atmosphere protection subsystem provides an atmosphere for being full of inert gas for forming process, simultaneously because increasing material manufacturing is sharp
Being synchronous feedback parameter is influencing control parameter, achieve the purpose that real-time correction technique defect, therefore increasing material manufacturing goes out
The physical parameter of blank part, which is entirely capable of being directly used in, subtracts material manufacture, without other middle unnecessary processing, has also just reached two-shipper
Device people's Collaborative Control realizes that synchronous feedback increases and decreases material Collaborative Manufacturing.The present invention can substantially reduce technological process, reduce heat treatment
And process equipment, reduce occupation area of equipment；Increase and decrease material synchronously to carry out, and with feedback, can directly process and meet requirement
Part, or provide more preferable semi-finished product, improve the production efficiency of product, reduce production and operation cost.
Preferably, the Parameters of The Parts acquisition device is obtained using spatial digitizer monitoring and has completed to increase material parts processed
Dimensional parameters, the Parameters of The Parts acquisition device are obtained using the monitoring of temperature information acquisition device and have completed to increase material parts processed
Temperature parameter, the Parameters of The Parts acquisition device obtain the heat for having completed to increase material parts processed using the monitoring of thermal stress acquisition device
Stress parameters.
Preferably, it is described initial to subtract material control parameter and include：Control subtract material mechanical processing head rotating speed rotating speed control parameter,
Control any one in the TRAJECTORY CONTROL parameter for subtracting material robot motion track.
Preferably, the application method based on synchronous feedback increase and decrease material Collaborative Manufacturing System, comprises the following steps：
Step A, technical papers are handled：Manufacture part model data are switched into the identifiable initial control ginseng of control system
Number；
Step B, atmosphere is set：Control system control starts atmosphere system；
Step C, increasing material manufacturing：The initial material control parameter that increases that control system is pressed in initial control parameter starts powder feeding dress
Put, laser light source, printhead, Zeng Cai robots proceed by increasing material manufacturing, pass through molten bath monitoring device during manufacture
Form parameter or/and temperature gradient information are obtained, revision is first in real time according to form parameter or/and temperature gradient information for control system
Laser light source, dust feeder are controlled after beginning to increase material control parameter, under revised increasing material control parameter, Zeng Cai robots, are beaten
Print head continues increasing material manufacturing, while obtains shaping in real time by Parameters of The Parts acquisition device and completed to increase material parts processed
Dimensional parameters simultaneously in sequence manufacture numeric feedback control system for subtracting material；
Step D, back to zero：After the completion of increasing material manufacturing, increase material operation portion return to zero-bit, size will be received using control system
Parameter and the size ratio pair in initial control parameter, reformulate according to comparing result and initially subtract material control parameter；
Step E, material manufacture is subtracted：Control system is started Jian Cai robots, is subtracted material mechanical processing by the initial material control parameter that subtracts
Head, which proceeds by, subtracts material manufacture, and dimensional parameters or/and temperature are obtained in real time by Parameters of The Parts acquisition device during manufacture
Parameter or/and heat stress parameter are spent, and synchronously revises and initially subtracts material control parameter, and initially subtracts material control parameter revised
Under continue to control Jian Cai robots, subtract material mechanical processing head and continue to subtract material manufacture.
What step A, technical papers were handled concretely comprises the following steps：Obtain manufacture part CAD model data, by CAD model into
The processing of row slicing delamination, and path planning and setting are carried out, technological parameter is set further according to path and material parameter, then by work
Skill parameter and motion control program are converted to the G code of the identifiable machine tooling of system, then G code is converted to corresponding control
The control language of system processed.
Compared with prior art, the present invention have the following advantages and advantages：Technological process can be reduced, reduces heat
Processing and process equipment, reduce occupation area of equipment；Increase and decrease material synchronously to carry out, and with feedback, can directly process satisfaction and use
It is required that part, or provide more preferable semi-finished product, improve the production efficiency of product, reduce production and operation cost.
Brief description of the drawings
Attached drawing described herein is used for providing further understanding the embodiment of the present invention, forms one of the application
Point, do not form the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is a kind of side view of synchronous feedback increase and decrease material Collaborative Manufacturing System of the present invention.
Fig. 2 is the flow chart of application method of the present invention.
In figure, 1, Jian Cai robots, 2, Zeng Cai robots, 3, spatial digitizer, 4, printhead, 5, part, 6, subtract material machine
Tool processing head, 7, cable automatic deploying and retracting mechanism.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, the present invention is made with reference to embodiment
Further to describe in detail, exemplary embodiment of the invention and its explanation are only used for explaining the present invention, are not intended as to this
The restriction of invention.
Embodiment one
As shown in Figure 1 and Figure 2,
A kind of synchronous feedback increases and decreases material Collaborative Manufacturing System, including atmosphere system, control system, increasing material operation portion, molten bath
Monitoring device：
Increasing material operation portion includes：Zeng Cai robots 2, printhead 4, laser light source, dust feeder；
Laser light source：For giving 4 transmission laser beam of printhead under control of the control system；
Dust feeder：For giving the conveying printing material of printhead 4 under control of the control system；
By taking metallic print as an example, in practice, laser light source and dust feeder are respectively to printhead transmission laser beam and metal
Powder (printing material), metal dust are ejected into laser facula in work under the light powder coupling device effect of printhead subsystem
Make in the molten bath that is formed on face, molten bath, molten bath refers to Yin Re and is fused into the mother metal part of pond shape, is formed on weldment during melting welding
The liquid metal part with certain geometrical shape --- be called molten bath.
Printhead 4：For being formed when obtaining laser beam and printing material using its light powder coupling device on working face
Molten bath；
Zeng Cai robots 2：For driving Zeng Cai robots 2 to drive printhead 4 to carry out three-dimensional under control of the control system
Movement increases material printing；
Molten bath monitoring device：The form parameter in molten bath is obtained for monitoring or/and temperature gradient information is sent to control system
System,
Control system：For that will be repaiied after initially increasing material control parameter according to form parameter or/and the revision of temperature gradient information
Increasing material control parameter after ordering is sent to laser light source, dust feeder, Zeng Cai robots 2, printhead 4；
Atmosphere system：For forming protective atmosphere to increasing material operating environment under control of the control system.
The present invention design principle be：Due to traditional increasing material manufacturing process feedback-less, printing path and print procedure ginseng
After number is by Slice Software and path planning software output result, the direct opened loop control of printing device, therefore in order to debug out most
Good workmanship, often repeatedly just starts formally to print after debugging arrange parameter, and the process repeatedly debugged all relies on
Experience is corrected repeatedly, therefore can cause the waste of material, and good microcosmic crystal grain life can not be obtained in print procedure
Long, to solve the above-mentioned problems, present invention research is found can be micro- by controlling the state of bath temperature gradient can effectively improve
Grain growth is seen, therefore, the present invention, which proposes, directly initiates formal print procedure, the temperature in the real time measure molten bath in print procedure
Gradient parameter is spent, initially increases material control parameter by the use of temperature gradient as feedback signal, then revised, that is, changes control laser light
Source, dust feeder, Zeng Cai robots 2, printhead 4 parameter after continue to print so that propose directly change light source parameters or
Powder feeding parameter or kinematic parameter change bath temperature gradient in real time, all reach anticipation with the printing effect that this is obtained at per a moment
The temperature gradient for being conducive to microcosmic grain growth, and this mode need not increase other auxiliary change bath temperature gradients set
It is standby, production cost can be greatly saved, and this mode can not have to just start formally to print after repeatedly debugging repeatedly, therefore
All in being completed under revision state, whole printing process itself is the equal of to be manufactured in debugging for printing per a moment.In addition, this hair
Bright also research is found, microcosmic grain growth is also can effectively improve for the adjusting for form parameter in molten bath, with controlling bath temperature
The principle of gradient is consistent, and particularly, present invention research is found, in the print procedure of the deflecting class such as chamfering, arc, molten bath
Shape can great changes will take place, and since the change in direction, the shape in molten bath occur more random change, can not effectively solve
Certainly the shape in molten bath is controlled under a shape for being conducive to microcosmic grain growth the most, in order to solve this problem, this hair
The bright mode also with shape feedback adjusts the parameter of printing, so as to be adjusted using some parameters for printing equipment of itself
The shape in molten bath reaches predetermined shape parameter, thus can all ensure that the shape in molten bath is in optimum state at any time
Under, and present invention discover that the shape in molten bath is farthest related with powder sending quantity, certainly also related with other specification, the present invention can
Reach predetermined set shape effect effectively to control these Parameters variations.The present invention, which studies, also found, existing welding technique
Or have method to crystal orientation control in 3D printing technique, but these technologies are all to be reached using external accessory to crystal orientation control
System, such as the control of Electromagnetic Control, auxiliary temperature-reducing, also some technologies are controlled using angle type selecting, but these technologies all do not have
Solve the problems, such as that crystal orientation is grown from control bath temperature gradient and shaped angles, while more change itself printing without proposition and set
Standby parameter controls bath temperature gradient and shaped angles so as to solve the problems, such as that crystal orientation is grown, while above-mentioned traditional crystalline substance
Secondary heat treatment is all also needed to after to control method and reaches improvement tissue and performance, and can directly meet to subtract after the completion of the present invention
The technical requirements of material processing and be directly entered milling or what mill was cut subtracts material processing, without being heat-treated subtracting material before processing.
Preferably, the molten bath monitoring device obtains the form parameter in molten bath, the molten bath using the monitoring of spatial digitizer 3
Monitoring device obtains the temperature gradient information in molten bath using the monitoring of temperature information acquisition device.Temperature information acquisition device is infrared
Imager.
Preferably, the initial material control parameter that increases includes controlling ginseng according to the melting pool shape to be revised of form parameter
Number, the initial material control parameter that increases include melting control parameter according to the molten bath to be revised of temperature gradient information.
Preferably, the shape parameters control and melting control parameter include：The power ginseng of laser light source power
Number, the focus parameter of control laser light source focal position, control printhead 4 stop the dwell time parameter of interval time, control
The speed parameter of 4 translational speed of printhead, the powder sending quantity parameter for controlling dust feeder powder sending quantity, control dust feeder powder feed rate
Powder feed rate parameter, control at least one of the atmosphere parameter of atmosphere.
Preferably, further include Parameters of The Parts acquisition device and subtract material operation in the protective atmosphere for increasing material operating environment
Portion,
Subtracting material operation portion includes：Jian Cai robots 1, subtract material mechanical processing first 6,
Jian Cai robots 1：Subtract material mechanical processing first 6 for driving Jian Cai robots 1 to drive under control of the control system
Carry out three-dimensional motion and subtract material printing；
Parameters of The Parts acquisition device：The dimensional parameters for having completed to increase material parts processed or/and temperature ginseng are obtained for monitoring
Number or/and heat stress parameter；
Control system：Dimensional parameters or/and temperature parameter or/and heat for being obtained according to Parameters of The Parts acquisition device should
Force parameter revision is initial to be subtracted and is sent to Jian Cai robots 1, subtracts material machinery the revised material control parameter that subtracts after material control parameter
Processing head 6.
Likewise, above-mentioned principle is based on, it will be seen that the present invention is will to subtract material manufacture part and increasing material manufacturing part
It is placed in same system, under same atmosphere, since the increasing material manufacturing forming process of parts is needed in extremely low oxygen, water
Carried out in the atmosphere of content, influence product mechanical property to suppress metal oxidation and produced phenomena such as preventing print defect
Raw, atmosphere protection subsystem provides an atmosphere for being full of inert gas for forming process, simultaneously because increasing material manufacturing is sharp
Being synchronous feedback parameter is influencing control parameter, achieve the purpose that real-time correction technique defect, therefore increasing material manufacturing goes out
The physical parameter of blank part, which is entirely capable of being directly used in, subtracts material manufacture, without other middle unnecessary processing, has also just reached two-shipper
Device people's Collaborative Control realizes that synchronous feedback increases and decreases material Collaborative Manufacturing.The present invention can substantially reduce technological process, reduce heat treatment
And process equipment, reduce occupation area of equipment；Increase and decrease material synchronously to carry out, and with feedback, can directly process and meet requirement
Part, or provide more preferable semi-finished product, improve the production efficiency of product, reduce production and operation cost.
Preferably, the Parameters of The Parts acquisition device is obtained using the monitoring of spatial digitizer 3 and has completed to increase material parts processed
Dimensional parameters, the Parameters of The Parts acquisition device using temperature information acquisition device monitoring obtain has completed increase material parts processed
Temperature parameter, the Parameters of The Parts acquisition device obtained using the monitoring of thermal stress acquisition device and completed to increase material parts processed
Heat stress parameter.
Preferably, it is described initial to subtract material control parameter and include：Control subtracts the rotating speed control ginseng that material is machined first 6 rotating speed
Count, any one in the TRAJECTORY CONTROL parameter of 1 movement locus of control Jian Cai robots.
Preferably, the application method based on synchronous feedback increase and decrease material Collaborative Manufacturing System, comprises the following steps：
Step A, technical papers are handled：Manufacture part model data are switched into the identifiable initial control ginseng of control system
Number；
Step B, atmosphere is set：Control system control starts atmosphere system；
Step C, increasing material manufacturing：The initial material control parameter that increases that control system is pressed in initial control parameter starts powder feeding dress
Put, laser light source, printhead, Zeng Cai robots proceed by increasing material manufacturing, pass through molten bath monitoring device during manufacture
Form parameter or/and temperature gradient information are obtained, revision is first in real time according to form parameter or/and temperature gradient information for control system
Laser light source, dust feeder are controlled after beginning to increase material control parameter, under revised increasing material control parameter, Zeng Cai robots 2, are beaten
Print first 4 continues increasing material manufacturing, while obtains shaping in real time by Parameters of The Parts acquisition device and completed to increase material parts processed
Dimensional parameters and in sequence by numeric feedback control system be used for subtract material manufacture；
Step D, back to zero：After the completion of increasing material manufacturing, increase material operation portion return to zero-bit, size will be received using control system
Parameter and the size ratio pair in initial control parameter, reformulate according to comparing result and initially subtract material control parameter；
Step E, material manufacture is subtracted：Control system is started Jian Cai robots 1, is subtracted material mechanical processing by the initial material control parameter that subtracts
First 6 proceed by subtract material manufacture, dimensional parameters or/and temperature are obtained by Parameters of The Parts acquisition device in real time during manufacture
Parameter or/and heat stress parameter are spent, and synchronously revises and initially subtracts material control parameter, and initially subtracts material control parameter revised
Under continue to control Jian Cai robots 1, subtract material mechanical processing first 6 and continue to subtract material manufacture.
What step A, technical papers were handled concretely comprises the following steps：Obtain manufacture part CAD model data, by CAD model into
The processing of row slicing delamination, and path planning and setting are carried out, technological parameter is set further according to path and material parameter, then by work
Skill parameter and motion control program are converted to the G code of the identifiable machine tooling of system, then G code is converted to corresponding control
The control language of system processed.
Above-described embodiment, has carried out the purpose of the present invention, technical solution and beneficial effect further
Describe in detail, it should be understood that the foregoing is merely the embodiment of the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution, improvement and etc. done, should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of synchronous feedback increases and decreases material Collaborative Manufacturing System, it is characterised in that including atmosphere protection system, control system, increasing
Material operation portion, molten bath monitoring device：
Increasing material operation portion includes：Zeng Cai robots (2), printhead (4), laser light source, dust feeder；
Laser light source：For giving printhead (4) transmission laser beam under control of the control system；
Dust feeder：For giving printhead (4) conveying printing material under control of the control system；
Printhead (4)：It is molten for being formed when obtaining laser beam and printing material using its light powder coupling device on working face
Pond；
Zeng Cai robots (2)：For driving Zeng Cai robots (2) to drive printhead (4) to carry out three under control of the control system
Maintenance and operation, which is moved, increases material printing；
Molten bath monitoring device：Control system is sent to for monitoring the form parameter for obtaining molten bath or/and temperature gradient information,
Control system：After according to that will be revised after form parameter or/and the initial increasing material control parameter of temperature gradient information revision
Increasing material control parameter be sent to laser light source, dust feeder, Zeng Cai robots (2), printhead (4)；
Atmosphere protection system：For forming protective atmosphere to increasing material operating environment under control of the control system.
A kind of 2. synchronous feedback increase and decrease material Collaborative Manufacturing System according to claim 1, it is characterised in that
The molten bath monitoring device obtains the form parameter in molten bath, the molten bath monitoring device using spatial digitizer (3) monitoring
The temperature gradient information for obtaining molten bath is monitored using temperature information acquisition device.
A kind of 3. synchronous feedback increase and decrease material Collaborative Manufacturing System according to claim 1, it is characterised in that the initial increasing
Material control parameter includes the melting pool shape control parameter to be revised according to form parameter, and the initial material control parameter that increases includes
Control parameter is melted according to the molten bath to be revised of temperature gradient information.
A kind of 4. synchronous feedback increase and decrease material Collaborative Manufacturing System according to claim 3, it is characterised in that the shape control
State modulator processed and melting control parameter include：The power parameter of laser light source power, the focus for controlling laser light source focus
Location parameter, control printhead (4) stop the dwell time parameter of interval time, control the speed of printhead (4) translational speed
Parameter, the powder sending quantity parameter for controlling dust feeder powder sending quantity, the powder feed rate parameter for controlling dust feeder powder feed rate, control gas
At least one of atmosphere parameter of atmosphere environment.
5. a kind of synchronous feedback increase and decrease material Collaborative Manufacturing System according to any one in claim 1-4, its feature exist
In, further include Parameters of The Parts acquisition device and subtract material operation portion in the protective atmosphere for increasing material operating environment,
Subtracting material operation portion includes：Jian Cai robots (1), subtract material mechanical processing head (6),
Jian Cai robots (1)：Subtract material mechanical processing head for driving Jian Cai robots (1) to drive under control of the control system
(6) carry out three-dimensional motion and subtract material operation；
Parameters of The Parts acquisition device：For monitor obtain completed increase material parts processed dimensional parameters or/and temperature parameter or/
And heat stress parameter；
Control system：For dimensional parameters or/and temperature parameter or/and the thermal stress ginseng obtained according to Parameters of The Parts acquisition device
Number revision is initial subtract after material control parameter by it is revised subtract material control parameter be sent to Jian Cai robots (1), subtract material machinery plus
Foreman (6).
A kind of 6. synchronous feedback increase and decrease material Collaborative Manufacturing System according to claim 5, it is characterised in that the part ginseng
Number acquisition device obtains the dimensional parameters for having completed to increase material parts processed, the Parameters of The Parts using spatial digitizer (3) monitoring
Acquisition device obtains the temperature parameter for having completed to increase material parts processed, the Parameters of The Parts using the monitoring of temperature information acquisition device
Acquisition device obtains the heat stress parameter for having completed to increase material parts processed using the monitoring of thermal stress acquisition device.
7. a kind of synchronous feedback increase and decrease material Collaborative Manufacturing System according to claim 5, it is characterised in that described initially to subtract
Material control parameter includes：Control subtracts the rotating speed control parameter of material mechanical processing head (6) rotating speed, control Jian Cai robots (1) movement
Any one in the TRAJECTORY CONTROL parameter of track.
8. based on the application method of any one synchronous feedback increase and decrease material Collaborative Manufacturing System in claim 1-7, its feature exists
In comprising the following steps：
Step A, technical papers are handled：Manufacture part model data are switched into the identifiable initial control parameter of control system；
Step B, atmosphere is set：Control system control starts atmosphere system；
Step C, increasing material manufacturing：The initial material control parameter that increases that control system is pressed in initial control parameter starts dust feeder, swashs
Radiant, printhead, Zeng Cai robots proceed by increasing material manufacturing, and shape is obtained by molten bath monitoring device during manufacture
Shape parameter or/and temperature gradient information, control system is according to form parameter or/and the initial increasing material of temperature gradient information revision in real time
Laser light source, dust feeder, Zeng Cai robots (2), printhead are controlled after control parameter, under revised increasing material control parameter
(4) continue increasing material manufacturing, while shaping is obtained by Parameters of The Parts acquisition device in real time and has completed to increase material parts processed
Dimensional parameters simultaneously in sequence manufacture numeric feedback control system for subtracting material；
Step D, back to zero：After the completion of increasing material manufacturing, increase material operation portion return to zero-bit, dimensional parameters will be received using control system
With the size ratio pair in initial control parameter, reformulated according to comparing result and initially subtract material control parameter；
Step E, material manufacture is subtracted：Control system is started Jian Cai robots (1), is subtracted material mechanical processing head by the initial material control parameter that subtracts
(6) proceed by and subtract material manufacture, dimensional parameters or/and temperature are obtained by Parameters of The Parts acquisition device in real time during manufacture
Parameter or/and heat stress parameter are spent, and synchronously revises and initially subtracts material control parameter, and initially subtracts material control parameter revised
Under continue to control Jian Cai robots (1), subtract material mechanical processing head (6) and continue to subtract material manufacture.
9. application method according to claim 8, it is characterised in that what step A, technical papers were handled concretely comprises the following steps：
The CAD model data of manufacture part are obtained, CAD model is subjected to slicing delamination processing, and carry out path planning and setting, then root
Technological parameter is set according to path and material parameter, technological parameter and motion control program are then converted into the identifiable machine of system
The G code of bed processing, then G code is converted to the control language of corresponding control system.
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