CN108145279A - A kind of electric arc increasing material manufacturing method for spatially spiral part - Google Patents
A kind of electric arc increasing material manufacturing method for spatially spiral part Download PDFInfo
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- CN108145279A CN108145279A CN201711401584.3A CN201711401584A CN108145279A CN 108145279 A CN108145279 A CN 108145279A CN 201711401584 A CN201711401584 A CN 201711401584A CN 108145279 A CN108145279 A CN 108145279A
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- welding
- spiral part
- material manufacturing
- spatially spiral
- increasing material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
- B23K9/044—Built-up welding on three-dimensional surfaces
Abstract
The present invention relates to a kind of electric arc increasing material manufacturing methods for spatially spiral part, belong to metal working technical area.The method of the present invention emulates the space path track of generation first in simulated environment, ensure that the path in welding process is continuously feasible, welding gun remains perpendicular attitude in manufacturing process, the height of welding gun and position can be finely adjusted, robot drives workpiece welding platform, ensure that workpiece welding platform remains certain welding striking-distance with welding gun, realize that metal carries out accumulation manufacture part in work piece platform according to intended trajectory by the spatial movement of welding platform.The space flexibility that the method for the present invention takes full advantage of six-DOF robot drives welding substrate movement, manufacture of the welding substrate based on electric arc increases material manufacturing technology realization spatial complex helical member is driven using multi-freedom robot, so as to ensure the accuracy of manufacture of helical member and mechanical property.
Description
Technical field
Increase material system the present invention relates to a kind of electric arc increasing material manufacturing method for spatially spiral part more particularly to using electric arc
Increasing material manufacturing of the method realization to free bodies such as complex space helical members is made, belongs to metal working technical area.
Background technology
Electric arc increasing material manufacturing method is that the molding of workpiece is realized by welding deposit, for welding process liquid is kept to melt
The pattern in pond, welding gun are preferably maintained in plumbness during material stacking, although the inclination of certain angle is also allowed to, meeting
Cause moulding material mechanical property decline and welding process it is unstable.The Xiong Jun of traditional increasing material manufacturing process such as Harbin Institute of Technology
The increasing material manufacturing mode used in its doctoral thesis " multilayer single track GMA increasing material manufacturings forming characteristic and deposition size Control " is kept
Welding substrate is fixed, and mobile welding gun makes metal material successively be accumulated on substrate.The mode successively accumulated is to molding
The shape need of part is stringent, while manufactures complex space helical member and need to design a large amount of backing material, and due to existing
Fill characteristic causes surface accuracy low and poor mechanical property.Therefore the realization pair of the multivariant space flexibility of robot is utilized
The free bodies increasing material manufacturing such as complex space helical member keeps welding gun vertically to fix, and welding substrate movement is driven using robot
Increasing material manufacturing mode can ensure directly to carry out steric bulk in no backing material, and steric bulk will not generate ladder
Effect.
It is existing since the spatial degrees of freedom of molded part requires height for the electric arc increasing material manufacturing process of complex space helical member
The implementation method of some electric arc increasing material manufacturings can not meet the precision and mechanical property requirements of workpiece.
Invention content
The purpose of the present invention is to propose to a kind of electric arc increasing material manufacturing methods for spatially spiral part, make full use of six freely
The space flexibility for spending robot drives welding substrate movement, the welding plane moment is enable to ensure substantially vertical with welding gun, with
Ensure the quality of welding, so as to ensure the accuracy of manufacture of helical member and mechanical property.
Electric arc increasing material manufacturing method proposed by the present invention for spatially spiral part includes the following steps：
(1) using format conversion method, the tomograph of spatially spiral part to be processed is converted to for increasing material manufacturing
The STL models of process processing；
(2) the STL models generated using step (1) are layered and path planning, are generated spatially spiral part to be processed and are existed
The motion path track of welding substrate during increasing material manufacturing, specific implementation step are as follows：
(2-1) is extracted the central axis of spatially spiral part, is made spatially spiral using object mass axis approximate fits method
A series of planes along Z-direction different height of part intersect with STL models, obtain a series of cutting with different Z-direction height
Face；
(2-2) calculates the center of gravity P in the different Z-direction height sections of step (2-1)i, the center of gravity of adjacent sections is used into straightway E
It is connected, all centers of gravity is sequentially connected, obtain the mass axis S={ P of the parti,Eij, i, j=1 ..., n, i ≠ j, and
Using the mass axis approximation as the central axis of helical member to be processed, wherein PiRepresent the center of gravity of i-th of cross section, EijIt represents
It is connection relation between i-th and j-th of cross sectional centroid；
(2-3) utilizes following formula according to the central axis of spatially spiral part obtained in step (2-2)：
Calculate each focus point P in above-mentioned steps (2-2)iTangent line rectorWherein,It represents and utilizes PiTwo before and after point
Adjacent focus point Pi+1And Pi-1The tangential vector acquired,It represents and utilizes PiThe front and rear focus point P for being separated by a biti-2And Pi+2Institute
The tangential vector acquired；
Each point tangentially carries out space delamination on the central axis that (2-4) is obtained along above-mentioned steps (2-3), makes and each center
The tangential vertical plane of point intersects with above-mentioned STL models, obtains whole layered planes；
(2-5) obtains a heterosphere plane using layered approach in step (2-4) between each two layered plane,
Layering coordinate system C is established on each layered planeslicing, coordinate origin is located at the layered plane focus point P, ZiAxis is just
To obtain tangential using the computational methods of step (2-3) along the point, formula is utilizedObtain layering coordinate system CslicingXiAxis is positive, in formulaWithFor current point
PiWith subsequent point Pi+1The tangential vector obtained by step (2-3), Y is obtained using right-hand screw ruleiThe forward direction of axis；
The method that (2-6) is combined using the consistency profiles of path planning in individual layer plane with zigzag method, generates above-mentioned step
Suddenly the increasing material manufacturing path locus of the heterosphere plane of (2-5) converts the path locus in different heterosphere planes
Path locus under into the tool coordinates system on welding substrate sets a tool coordinates on the welding substrate of robot end
It is Xt-Yt-Zt, tool coordinates system Xt-Yt-ZtOrigin OtPositioned at the center of welding substrate, ZtIt is upward perpendicular to welding substrate, Xt
For forward direction along end effector of robot, direction is outside, and Y is determined by right-hand screw ruletForward direction, by the road in all heterospheres
Diameter is connected to obtain spatially spiral part to be processed tool coordinates system down space increasing material manufacturing track L on welding substratetool；
(2-7) utilizes formula Lworld=Mwelding2worldMtool2weldingLtool, will be under tool coordinates system
The movement locus L of welding substrate during spatially spiral part increasing material manufacturingtoolThe welding base being converted under world coordinate system
The increasing material manufacturing track L of plateworld, wherein coordinate transformation matrix
During spatially spiral part increasing material manufacturing to be processed under the world coordinate system that (2-8) is obtained according to above-mentioned steps
The movement locus L of welding substrateworld, the instruction for controlling robot motion is generated, robot drives according to control instruction and welds
It connects substrate and keeps relative position with welding gun, constantly welding increases spatially spiral part on welding substrate, according to the movement rail of generation
Mark completes the increasing material manufacturing of spatially spiral part.
Electric arc increasing material manufacturing method proposed by the present invention for spatially spiral part, features and advantages are：
The method of the present invention emulates the space path track of generation first in simulated environment, ensures in welding process
Path it is continuously feasible, welding gun remains perpendicular attitude in manufacturing process, and the height of welding gun and position can be finely adjusted, machine
Device people drives workpiece welding platform, ensures that workpiece welding platform remains certain welding striking-distance with welding gun, passes through welding
The spatial movement of platform manufactures part to realize that metal carries out accumulation in work piece platform according to intended trajectory.The method of the present invention
The space flexibility for taking full advantage of six-DOF robot drives welding substrate movement, is driven and welded using multi-freedom robot
Connect substrate based on electric arc increases material manufacturing technology realize spatial complex helical member manufacture, so as to ensure the accuracy of manufacture of helical member and
Mechanical property.
Description of the drawings
Fig. 1 is the spatially spiral part tomograph involved in the method for the present invention.
Fig. 2 is the STL illustratons of model of the spatially spiral part for increasing material manufacturing layering and path planning.
Fig. 3 is the partial enlarged view of the STL illustratons of model of spatially spiral part shown in Fig. 2.
Fig. 4 is the result schematic diagram of the plane interception STL model files of different height.
Fig. 5 is that the tangential of focus point on central axis solves schematic diagram.
Fig. 6 is central axis fitting extraction and is tangentially layered schematic diagram.
Fig. 7 is the layering result schematic diagram along central axis tangent line.
Fig. 8 is that heterosphere and its coordinate system define schematic diagram.
Fig. 9 is the path locus schematic diagram in single heterosphere plane.
Figure 10 is welding gun coordinate system and robot end's welding platform coordinate system, wherein, 1 is the weldering that increasing material manufacturing uses
Rifle, 2 be welding substrate, and 3 be robot.
Figure 11 is whole path locus schematic diagram of the helical member to be processed in tool coordinates system.
Figure 12 is the movement locus schematic diagram of world coordinate system robot end's welding platform.
Specific embodiment
Electric arc increasing material manufacturing method proposed by the present invention for spatially spiral part, this method include the following steps：
(1) using format conversion method, by the tomograph of complicated helical member to be processed as shown in Figure 1 be converted to as
STL models (tri patch file) shown in Fig. 2 for the processing of increasing material manufacturing process, Fig. 3 is the STL model partial enlargements
Figure；
(2) the STL models generated using step (1) are layered and path planning, are generated spatially spiral part to be processed and are existed
The motion path track of welding substrate during increasing material manufacturing, specific implementation step are as follows：
(2-1) is realizes that spatially spiral part tangentially carries out space delamination along axis, it is necessary first to utilize object mass axis
Approximate fits method extracts the central axis of spatially spiral part, makes a series of along Z-direction different height of spatially spiral part
Plane intersects with STL models, obtains a series of sections as shown in Figure 4 with different Z-direction height；
(2-2) calculates the center of gravity P in the different Z-direction height sections of step (2-1)i, the center of gravity of adjacent sections is used into straightway E
It is connected, all centers of gravity is sequentially connected, obtain the mass axis S={ P of the parti,Eij, i, j=1 ..., n, i ≠ j, and
Using the mass axis approximation as the central axis of helical member to be processed, wherein PiRepresent the center of gravity of i-th of cross section, EijIt represents
It is connection relation between i-th and j-th of cross sectional centroid；
(2-3) utilizes following formula according to the central axis of spatially spiral part obtained in step (2-2)：
Calculate each focus point P in above-mentioned steps (2-2)iTangent line rectorWherein,It represents and utilizes PiTwo before and after point
Adjacent focus point Pi+1And Pi-1The tangential vector acquired,It represents and utilizes PiThe front and rear focus point P for being separated by a biti-2And Pi+2Institute
The tangential vector acquired, as shown in Figure 5；
Each point tangentially carries out space delamination as shown in fig. 6, making on the central axis that (2-4) is obtained along above-mentioned steps (2-3)
Intersect with the tangential vertical plane of each central point with above-mentioned STL models, obtain whole layered planes as shown in Figure 7；
(2-5) obtains a heterosphere using layered approach in step (2-4), between each two layered plane and puts down
Layering coordinate system C is established in face on each layered planeslicing, coordinate origin is located at the layered plane center of gravity
Point P, ZiAxis forward direction is tangential to be obtained along the point using the computational methods of step (2-3), utilizes formulaObtain layering coordinate system CslicingXiAxis is positive, in formulaWithFor current point
PiWith subsequent point Pi+1The tangential vector obtained by step (2-3), Y is obtained using right-hand screw ruleiThe forward direction of axis, such as Fig. 8 institutes
Show；
(2-6) uses the method that the consistency profiles of path planning in individual layer plane is combined with zigzag method, and (this method is
There is technology, reference can be made to Zhang Y M, Chen Y, Li P, et al.Weld deposition-based rapid
prototyping:a preliminary study[J].Journal of Materials Processing
Technology,2003,135(2):Method in 347-357.), the increasing of the heterosphere plane of generation above-mentioned steps (2-5)
Material manufactures path locus：As shown in figure 9, according to used in during increasing material manufacturing between welding machine welding bead model and welding parameter
Relationship, associated welds parameter is adjusted by searching for the state modulator handbook of welding machine, can realize and be put down in heterosphere
Height change in face at different paths.Path locus in different heterosphere planes is converted on welding substrate
Path locus under tool coordinates system sets a tool coordinates system X on the welding substrate of robot endt-Yt-Zt, tool seat
Mark system Xt-Yt-ZtOrigin OtPositioned at the center of welding substrate, ZtIt is upward perpendicular to welding substrate, XtForward direction is along robot end
Actuator, direction is outside, and Y is determined by right-hand screw ruletForward direction, as shown in Figure 10, Figure 10 are welding gun coordinate system and robot
End welding platform coordinate system, wherein, 1 is the welding gun that increasing material manufacturing uses, and 2 be welding substrate, and 3 be robot.It will be all non-
Path in conforming layer is connected to obtain spatially spiral part to be processed tool coordinates system down space increasing material manufacturing rail on welding substrate
Mark Ltool, as shown in figure 11.
(2-7) utilizes formula Lworld=Mwelding2worldMtool2weldingLtool, will be under tool coordinates system
The movement locus L of welding substrate during spatially spiral part increasing material manufacturingtoolThe weldering being converted under world coordinate system
Meet the increasing material manufacturing track L of substrateworld, wherein coordinate transformation matrix As shown in figure 12.
During spatially spiral part increasing material manufacturing to be processed under the world coordinate system that (2-8) is obtained according to above-mentioned steps
The movement locus L of welding substrateworld, the instruction for controlling robot motion is generated, robot drives according to control instruction and welds
It connects substrate and keeps relative position with welding gun, constantly welding increases spatially spiral part on welding substrate, according to the movement rail of generation
Mark completes the increasing material manufacturing of spatially spiral part.
Claims (1)
- A kind of 1. electric arc increasing material manufacturing method for spatially spiral part, it is characterised in that this method includes the following steps：(1) using format conversion method, the tomograph of spatially spiral part to be processed is converted to for increasing material manufacturing process The STL models of processing；(2) the STL models generated using step (1) are layered and path planning, are generated spatially spiral part to be processed and are being increased material The motion path track of welding substrate in manufacturing process, specific implementation step are as follows：(2-1) is extracted the central axis of spatially spiral part, is made spatially spiral part using object mass axis approximate fits method A series of planes along Z-direction different height intersect with STL models, obtain a series of sections with different Z-direction height；(2-2) calculates the center of gravity P in the different Z-direction height sections of step (2-1)i, the center of gravity of adjacent sections is connected using straightway E, All centers of gravity are sequentially connected, obtain the mass axis S={ P of the parti,Eij, i, j=1 ..., n, i ≠ j, and should Central axis of the mass axis approximation as helical member to be processed, wherein PiRepresent the center of gravity of i-th of cross section, EijRepresent i-th A is connection relation between j-th of cross sectional centroid；(2-3) utilizes following formula according to the central axis of spatially spiral part obtained in step (2-2)：Calculate each focus point P in above-mentioned steps (2-2)iTangent line rectorWherein,It represents and utilizes PiTwo is adjacent before and after point Focus point Pi+1And Pi-1The tangential vector acquired,It represents and utilizes PiThe front and rear focus point P for being separated by a biti-2And Pi+2It is acquired Tangential vector；Each point tangentially carries out space delamination on the central axis that (2-4) is obtained along above-mentioned steps (2-3), makes to cut with each central point Intersect to vertical plane with above-mentioned STL models, obtain whole layered planes；(2-5) obtains a heterosphere plane, every using layered approach in step (2-4) between each two layered plane Layering coordinate system C is established on a layered planeslicing, coordinate origin is located at layered plane focus point Pi, ZiAxis forward direction is The computational methods of step (2-3) is used to obtain along the point tangential, utilize formula To layering coordinate system CslicingXiAxis is positive, in formulaWithFor current point PiWith subsequent point Pi+1It is obtained by step (2-3) Tangential vector, Y is obtained using right-hand screw ruleiThe forward direction of axis；The method that (2-6) is combined using the consistency profiles of path planning in individual layer plane with zigzag method, generation above-mentioned steps (2- 5) path locus in different heterosphere planes is converted to and is welding by the increasing material manufacturing path locus of heterosphere plane Path locus under the tool coordinates system on substrate is connect, a tool coordinates system X is set on the welding substrate of robot endt- Yt-Zt, tool coordinates system Xt-Yt-ZtOrigin OtPositioned at the center of welding substrate, ZtIt is upward perpendicular to welding substrate, XtPositive edge End effector of robot, direction is outside, and Y is determined by right-hand screw ruletPath in all heterospheres is connected by forward direction Obtain spatially spiral part to be processed tool coordinates system down space increasing material manufacturing track L on welding substratetool；(2-7) utilizes formula Lworld=Mwelding2worldMtool2weldingLtool, tool coordinates system down space helical member is increased into material system The movement locus L of welding substrate during makingtoolIt is converted into the increasing material manufacturing track L of the welding substrate under world coordinate systemworld, Wherein coordinate transformation matrixThe welding during spatially spiral part increasing material manufacturing to be processed under the world coordinate system that (2-8) is obtained according to above-mentioned steps The movement locus L of substrateworld, the instruction for controlling robot motion is generated, robot drives welding base according to control instruction Plate keeps relative position with welding gun, and constantly welding increases spatially spiral part on welding substrate, complete according to the movement locus of generation Into the increasing material manufacturing of spatially spiral part.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112659544A (en) * | 2020-12-02 | 2021-04-16 | 西安交通大学 | Thin-wall tubular model slicing method and system of five-axis 3D printer and printing method |
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