CN108581490A - A kind of multi-robot Cooperation, which increases etc., subtracts material complex machining device and process - Google Patents

A kind of multi-robot Cooperation, which increases etc., subtracts material complex machining device and process Download PDF

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CN108581490A
CN108581490A CN201810319102.8A CN201810319102A CN108581490A CN 108581490 A CN108581490 A CN 108581490A CN 201810319102 A CN201810319102 A CN 201810319102A CN 108581490 A CN108581490 A CN 108581490A
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robot
welding
milling
increasing
processing
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田宏宇
李方
陈树君
余旭
刘峰
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Beijing University of Technology
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Beijing University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/04Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P15/00Making specific metal objects by operations not covered by a single other subclass or a group in this subclass

Abstract

The present invention relates to a kind of multi-robot Cooperation increasings etc. to subtract material complex machining device and process.Complex machining device includes three independent industrial robots for carrying different function end-effector, and robot positioner and workbench with two or more degree of freedom.The present invention models part to be processed to form three-dimensional data, generates the stl file needed for lamella under program;The electric arc generated by welding machine is that heat source is gradually shaped the manufacturing process of metal parts according to three-dimensional digital model by the addition of welding wire by line face body.By the regulation and control to welding condition, forms the different height of member section and sprawl thickness.Structure of the invention is compact, and the range of work is wide, and product flexibility is high;There is deposition efficiency high, stock utilization is high, and the whole manufacturing cycle is short, at low cost, few to accessory size limitation, and the advantages that being easy to repair part, the ability with In-situ reaction manufacture and forming large-scale part achievees the purpose that part integration near-net-shape.

Description

A kind of multi-robot Cooperation, which increases etc., subtracts material complex machining device and process
Technical field
The present invention relates to a kind of multi-robot Cooperation increasings etc. to subtract material complex machining device and process, is used for elaborate Hardware Direct precipitation manufactures, and belongs to the cold and hot working composite manufacturing field of machine-building.The present invention utilizes more robots Cooperating, complete to the forming of the increasing material of metal parts, etc. materials control, subtract that material molding is smooth the machining processes such as to repair, and Device and process are provided.
Background technology
With resource-effective and high efficiency manufacture the relevant technologies continuous implementations, for elaborate metal parts, especially The manufacture of the large-sized structural parts such as aviation and ship is constantly praised highly based on the increasing material manufacturing cooked mode of " addition ", and traditional " subtraction " manufacture is compared, and increases material manufacturing technology is a kind of by the manufacturing technology realized and shaped that successively adds up.Its advantage is Forming process is not necessarily to proembryo or mold;It is with short production cycle, product conversion rate is fast by CAD design data direct forming;Section About material and production cost subtract material manufacture compared to tradition, and material therefor is 1/3 to the 1/2 of original material, and stock utilization is close 100%.
Currently, an important trend is by increasing material manufacturing (Δ m in metal material increasing field>0) and subtract material manufacture (Δm<0) it is integrated, referred to as up-down material composite manufacturing.Increasing material manufacturing can complete the processing of complicated shape part so that design Maximum flexibility, but exist simultaneously the problems such as surface quality is not high and forming property is unstable.Subtract material manufacture (such as vehicle, milling, mill Deng) maturity is high, surface quality is preferable and forming property is stablized.The two is integrated and is formed by up-down material composite manufacturing technology, There are many technical advantages compared to single manufacturing process, as shown in Figure 1.
One typical up-down material composite manufacturing technology flow is as shown in Figure 2:(1) using increasing material technique according to particular way Diameter accumulates one layer or several layer materials;(2) it utilizes and subtracts upper surface and side profile that material has been accumulated in the processing of material technique, it is good to obtain Good geometric accuracy and surface quality.Above-mentioned steps are alternately until entire part machines.Up-down material composite manufacturing exists There is technical advantage outstanding when processing complex parts, the processing problem that single manufacturing process is difficult to realize can be solved, it is wide Wealthy application prospect is also by the extensive concern of domestic and international researcher.
Increasing material manufacturing is according to different connection type point:It bonds, be sintered, photocuring and fusing accumulate four kinds.Increasing material system Field is made, the metal parts increases material manufacturing technology using electric arc as heat source is with equipment is simple, stock utilization is high, production efficiency The advantages that high.Electric arc increases material manufacturing technology, as heat source, metal wire material is melted using electric arc, by setting forming path in substrate Upper accumulation synusia, heap is deposited until metal parts shapes layer by layer.Formation of parts is made of full weld metal, consistency height, metallurgical junction Conjunction performance is good, chemical composition is uniform.
However, silk material welds increasing material manufacturing, there are following technical problems still to have huge challenge.Firstly, since model The group of ladder error problem, slice planning parameters of scanning paths problem and filling process welding material that slicing delamination manufacture generates The forming accuracy of part can be influenced by knitting the factors such as transformation, welding deformation and residual stress all.Secondly as welding banking process is multiple It is miscellaneous, there is dynamic, distributed temperature field, the Thermal Cycling of multiple peak values so that the tissue and performance of drip molding in the process Variation is more complicated, to increase the Properties Control year of drip molding.Again, welding increases material technology to work out high-performance gold For the purpose of belonging to part, two kinds of layers of material silk material and powder material.The diameter of silk material material is between 0.8~1.6mm at present, diameter The fluctuation degree of the uniformity and wherein constituent content all has an impact drip molding structure property.
Based on the above issues, by electric arc silk material increases material manufacturing technology, subtract the smooth processing and manufacturing of material with milling and organically combine, and It is aided with equal materials hammering control technique, forms increasing etc. and subtract the compound manufacturing mode of the integrated cold and hot working of material, will have wide Application prospect.Electric arc increasing material and milling being subtracted the up-down material composite manufacturing technology that material is integrated by the present invention towards a kind of.Electric arc Increasing material (Wire arc additive manufacturing, WAAM), will be golden usually using electric arcs such as MIG, TIG, PAW as heat source Heap layer by layer is carried out after category silk material fusing according to setting forming path to apply, up to entire part near-net-shape, as shown in Figure 3.It compares In other metal increases material manufacturing technologies, electric arc increases material in the side such as manufacturing cost, production efficiency, material compatibility, condition depended degree Face all has outstanding advantage, as shown in table 1.In addition, the part that electric arc increasing material manufacturing goes out can be better than casting in terms of mechanical property, It can be suitable with forging by modulation means appropriate.Milling subtracts material again and can effectively solve that its forming accuracy is low and surface quality difference Problem largely compensates for the intrinsic deficiency that electric arc increases material so that two process advantage complementations meet modern system well Make industry high efficiency, high quality and diversified production requirement.
1 several frequently seen metal increases material manufacturing technology of table compares
The invention discloses a kind of multi-robot Cooperation increase, etc., subtract processing technology device and the technique side of material composite manufacturing Method.Carry different function end-effectors using more industrial robots, be respectively completed the increasing material manufacturing of Metal Material Welding silk material, The materials such as ultrasonic wave hammering manufacture and High Speed Milling Operation cuts down material manufacturing processing technic.
The above many advantages make electric arc increase material-milling and subtract material composite manufacturing technology institute in the fields such as Aviation space flight There is advantageous advantage when widely used lightweight, enlarged integral panel structure manufacture.Integral panel structure is usual It is made of covering and reinforcing rib etc., it not only has complicated resemblance, while also having internal structure staggeredly, sees Fig. 4 (a).If using traditional whole Milling Process, need to remove most of material from thicker substrate, and processing efficiency is low Under, see Fig. 4 (b).And if using composite manufacturing, Fig. 4 (c) is shown in technological process:Material is increased by electric arc on relatively thin substrate It directly accumulates reinforcing rib structure, then is aided with a small amount of milling and subtracts material and improve its forming accuracy and surface quality.It can be by material Material utilization rate is increased to 80% or more from 10%-20%, while increasing substantially processing efficiency and reducing cost, is integral panel The manufacture of structure provide one efficient, high-quality, low consumption, low cost novel process approach, thus advocating resource section energetically About have broad application prospects under the background of high efficiency manufacture.
It is noted that electric arc is increased the manufacture that material is applied to integral panel structure by foreign organization, and from prototype rank Section gradually moves towards practical stage.Cranfield universities of Britain produce 1.2m long titanium alloy aircraft wing components, whole only to need 37 hours are wanted, as shown in Figure 5.NTi companies of Norway use rapid plasma deposition (RPD) technology for airbus A350 aircrafts Titanium alloy parts are provided, as shown in Figure 6.
Invention content
The present invention is directed to elaborate metal parts, it is proposed that and it is a kind of by more robot cooperatings, it is common to complete to increase Manufacture process, etc. manufacture process and subtract manufacture process, to realize the Compound Machining system of component entirety integrated molding Make system and moulding process solution.The manufacture system is passed through by the robot of three carrying different function end-effectors Programming Control and coordinated manipulation, are respectively completed the materials manufactures such as metal wire material welding increasing material manufacturing, ultrasonic wave hammering and milling subtracts material Processing technologys, the technological processes such as manufacture are as shown in Figure 7.The typical part that the manufacture system can machine has certain Representative and complexity, such as single wall reinforcing plate structure part, irregular annular rotary structure part and more gusset combined structural members etc..
For the composite manufacturing technology, although milling subtracts material and largely compensates for electric arc increasing material several Intrinsic deficiency in terms of what size and surface quality, but it is noted that, electric arc increases material and belongs to heat processing technique, and milling subtracts material and belongs to cold Processing technology, there is obvious macro, microcosmic error propagation process (see Fig. 8), systems in hot and cold processing technology cycle alternation About the composite manufacturing technology towards high-precision, high performance direction develops.
Macroscopical error propagation refers to:Since temperature distributing disproportionation and accumulation of heat make part in electric arc increases material The solidification cooling at each position is inconsistent to cause residual stress, and causes part macroscopic deformation;The part macroscopic deformation can be transmitted to Follow-up milling subtracts in material, causes to cut or owe to cut phenomenon, while as the continuous removal of material can lead to the portion of residual stress Divide release and redistribution, and causes part secondary deformation.As it can be seen that macroscopical error propagation mainly decides part geometry precision.
The microcosmic error propagation refers to:Electric arc increases material due to the spies such as its layered manufacturing principle and complicated heat input Point, there are larger differences for size, pattern and the more conventional part of waste heat of acquired deposited part;The ruler of the deposited part Very little, pattern and waste heat can be transmitted to follow-up milling and subtract in material, be generated to allowance, cutting temperature, tool wear etc. a series of It influences, and then influences surface quality of workpieces.As it can be seen that microcosmic error propagation mainly decides surface quality of workpieces.
Therefore, the present invention increases material-milling for electric arc and subtracts macro, the microcosmic error propagation process in the presence of material composite manufacturing Theoretical research is carried out, and then proposes corresponding accuracy guarantee technology, to realize that high-precision, high performance composite manufacturing technology provide Theory and technology supports.Further, it is processed technical identification for aluminium alloy integral panel structural member, this is compound for preliminary identification The practical value of manufacturing process.
A kind of multi-robot Cooperation, which increases etc., subtracts material complex machining device, is negative respectively by three independent industrial robots Welding robot (1), the robot (2) for being responsible for the materials controls such as hammering and the responsible milling for blaming silk material increasing material manufacturing subtract material manufacture Robot (3) forms, and the positioner with two or more degree of freedom and workbench (4) composition, assembly of devices such as Fig. 9 institutes Show.
Increasing material manufacturing technique unit includes in manufacture system:Welding robot (1), is placed and the public of fixed workpiece is put down Welding machine and auxiliary device etc. necessary to platform, i.e. robot positioner and workbench (4) and silk material welding, such as Figure 10 institutes Show.
The medium manufacture process unit of manufacture system includes:The public affairs of workpiece are placed and fixed in ultrasonic wave hammering robot (2) Platform, i.e. robot positioner and workbench (4) and supersonic generator and supplementary controlled system etc. altogether, such as Figure 11 institutes Show.
Subtracting manufacture process unit in manufacture system includes:Milling Jian Cai robots (3) place and fix the public of workpiece Platform, i.e. robot positioner and workbench (4) and milling cutter and power head control unit etc., as shown in figure 12.
The present invention proposes following solution for complex machining process.
1. electric arc increases material-milling and subtracts cumulative stress in material composite manufacturing, release and redistribution mechanism and macroscopical error propagation Modeling
Since temperature distributing disproportionation and accumulation of heat make the solidification cooling at each position of part inconsistent in electric arc increases material Residual stress is caused, and causes part macroscopic deformation;In follow-up milling subtracts material, part can be led to the continuous removal of material The part of residual stress discharges and redistribution, and causes part secondary deformation.The root that part is deformed is that occurred inherently It strains (i.e. residual plastic strain), and the root for inherent strain occur is temperature field-stress field coupling.Therefore, of the invention Inherent strain evolution model is established in temperature field-stress field coupling from composite manufacturing, discloses cumulative stress, release And redistribution mechanism, and then realize the prediction to part macroscopic deformation.All modelings are based on lumped-parameter method thought, ensure meter The high efficiency and analyticity of calculation.
1) temperature field based on lumped-parameter method and stress field Analytic modeling
According to the theory of lumped parameter method, several units are turned to by part is discrete, its temperature field is equivalent to one etc. Ther mal network is imitated, its stress field is equivalent to a two dimension " bar-spring " model, and then analytic method can be utilized to calculate part Temperature field and Stress Field Distribution rule, as shown in figure 13.
2) inherent strain based on temperature field-stress field coupling develops modeling
In conjunction with the temperature field obtained as above arrived and stress field analytic modell analytical model, temperature field-stress field coupling model is established, is considered Generated multicycle thermal cycle acts on and is constantly accumulated by material and removed to " bar-spring " mould when two technique alternatings Dynamic constrained caused by type acts on, to establish inherent strain evolution model.
3) the part macroscopic deformation prediction based on equivalent load method
In conjunction with inherent strain evolution model, using equivalent load method, using obtained inherent strain as equivalent load power It acts on part, and then part deformation is predicted using elastic finite element method.
2. electric arc increases material-milling and subtracts deposited accessory size in material composite manufacturing, pattern and waste heat research and microcosmic error Transmit modeling
Electric arc increases the features such as material is due to its layered manufacturing principle and complicated heat input, the ruler of acquired deposited part There are larger difference, the size and shape of deposited part mainly influences follow-up milling and subtracts for very little, pattern and the more conventional part of waste heat The allowance of material and waste heat mainly influences cutting temperature and tool wear, and then influence surface quality of workpieces.Therefore, it originally grinds The size of deposited part, pattern and waste heat in material will be increased to electric arc by, which studying carefully, models, and studies it and subtract in material to follow-up milling The influence of allowance, cutting temperature and tool wear, and then realize the prediction to surface quality of workpieces, main points include:
1) electric arc increases deposited accessory size in material, pattern modeling and its influences to study on allowance
The size that electric arc increases deposited part in material is usually characterized with molten wide and molten height, and pattern usually uses surface waviness Characterize, research will establish the size of deposited part and pattern to increase material technological parameter with electric arc include the speed of travel, wire feed speed Mathematical model between degree, weldingvoltage etc., and then study influence of the two to following process surplus.
2) electric arc increases deposited part waste heat in material and its influences research to cutting temperature and tool wear
The waste heat that electric arc increases deposited part in material depends on interlayer temperature, if interlayer temperature is excessively high, molten bath was sprawled It opens, and leads to collapse defect, if interlayer temperature is too low, molten bath is sprawled not open, and reduces interfacial bonding strength.Research will be verified Interlayer temperature is sprawled to molten bath and the affecting laws of interfacial bonding strength, determines the waste heat range of deposited part, and then study Its influence to cutting temperature and tool wear.
3) surface quality of workpieces with increase, subtract material technological parameter Compound Mappings model
From the above research it is found that surface quality of workpieces is not only subtracted material technological parameter such as main shaft turn by milling in composite manufacturing The influences such as speed, feed speed are also influenced by the size of deposited part, pattern and waste heat, that is, are increased material work by electric arc The influence of skill parameter.Research increases, subtracts the Compound Mappings model of material technological parameter by surface quality of workpieces is established, as shown in figure 14.
3. based on multi-point flexibly Auxiliary support and increasing, subtracting the accuracy guarantee technical research of material processing parameter matching and processing skill Art is verified
Electric arc increases material-milling and subtracts in material composite manufacturing due to the presence of macro, microcosmic error propagation process, and it is several to restrict part The raising of what precision and surface quality, which is this this research, will propose that the part macroscopic deformation based on multi-point flexibly Auxiliary support inhibits Technology and based on the surface quality of workpieces optimization method for increasing, subtracting material processing parameter matching.On this basis, this research will select Several aluminium alloy integral panel structural members are processed technical identification.Main points include:
1) the part macroscopic deformation suppression technology based on multi-point flexibly Auxiliary support
The multi-point flexibly auxiliary support apparatus that this research proposes meter is made of several supporting rods according to array arrangement mode, often A supporting rod can realize displacement and power closed-loop control respectively, as shown in figure 15.The device can not only adapt to matrix shape to carry For support and clamping, external force can also be applied in the different stages that is heated or cooled, it is associated with inherent strain etc. to offset Loading force is imitated, to inhibit part macroscopic deformation.Research will propose external force Compensation Strategies in conjunction with inherent strain evolution model.
2) based on the surface quality of workpieces optimization method for increasing, subtracting material processing parameter matching
From aforementioned research it is found that surface quality of workpieces increases material by electric arc, milling subtracts material technological parameter and codetermined, the two More preferably surface quality of workpieces could be obtained by being only mutually matched.Research will be excellent using the heredity with global optimum's rustling sound ability Change algorithm to optimize involved technological parameter, to obtain optimal increasing, subtract material processing parameter matching scheme, to improve Surface quality of workpieces.
3) aluminium alloy integral panel structural member processing technology is verified
In conjunction with multi-point flexibly auxiliary support apparatus and increasing, the accuracy guarantee technology for subtracting material processing parameter matching, select several Aluminium alloy integral panel structural member is processed technical identification, and formation process specification.
The present invention also provides a kind of multi-robot Cooperation increasings etc. to subtract material complex machining process flow comprising following steps:
The first step will increase etc. and subtract material Compound Machining manufacture robot and other ancillary equipments are installed to uniform operational platform On, complete rigging up and debugging.
Second step obtains the three-dimensional data file of required processing metal members by the form for scanning or modeling, and works out Robot increasing material manufacturing processing program.Process planning is carried out according to material characteristics and the geometrical feature of 3D shape.
Third walks, and manipulates welding Zeng Cai robots (1) and is carried out on the workbench substrate for being fixed on robot positioner (4) Silk material increasing material manufacturing processing is welded, 1-2 layers of basis accumulation are completed.
4th step carries out the next step after completing 3-5 layers of single track deposition of increasing material manufacturing.
5th step manipulates hammering Deng Cai robots (2) and carries out the processing of the materials such as ultrasonic wave to completed 4th step component.Hammer Duan Deng materials robot (2) running orbit should follow third step welding Zeng Cai robot (1) running orbit, lag behind weldering in time Jie Zeng materials robot (1), and avoid the interference between operation robot.
6th step manipulates milling Jian Cai robots (3) and subtracts material processing to the progress milling of completed 5th step component.Milling Jian Cai robots (3) running orbit should follow third step welding Zeng Cai robot (1) running orbit, lag behind welding in time Zeng Cai robots (1) and hammering Deng Cai robots (2), and avoid the interference between operation robot.
7th step repeats above 4th step to the 6th step, so that three robots is completed entire part according to said sequence and processes Molding.System process, part to be processed are in weak support or without fixed holding states.Monofilament CMT can be used in increasing material manufacturing (Cold Metal Transfer welding cold metal transfers gas shielded arc welding) or mariages pulse MAG (Metal Active Gas welding metal active gas weldings) welding increasing material form.Equal materials manufacture is rushed using three ultrasonic waves Rifle is hit from top surface and two sides while impacting machined surface form.Milling subtracts material manufacture and carries high speed motive force using robot Head Milling Process form, methods for cooling use air-cooled or dry cutting form.
Device and method of the present invention provides elaborate metal parts integration processing and manufacturing solution, knot Structure is compact, and the range of work is wide, and product flexibility is high.Silk material, which increases material technique not only, has deposition efficiency high, and stock utilization is high, whole Manufacturing cycle is short, at low cost, the advantages that limiting less accessory size, be easy to repair part, has In-situ reaction manufacture and shapes The ability of large-scale part.Machine worktable shape and size are conjugated, it can be achieved that Multi-orientation multi-angle complex component adds by replacement Work and valuable parts locally increase material and remanufacture renovation technique etc..
Description of the drawings
Fig. 1 is up-down material composite manufacturing advantage figure.
Fig. 2 is up-down material composite manufacturing technology flow diagram.
Fig. 3 is electric arc increasing material manufacturing fundamental diagram.
Fig. 4 is integral panel structure and its manufacturing process comparison diagram.
Fig. 5 is electric arc increasing material manufacturing aircraft wing figure.
Fig. 6 is NTi companies electric arc increasing material manufacturing case and post-processing figure.
Fig. 7 is that robot increasing etc. subtracts material complex machining process flow chart.
Fig. 8 is that electric arc increasing material-milling subtracts microcosmic error propagation schematic diagram in material composite manufacturing.
Fig. 9 is that robot increasing etc. subtracts material Machining System figure.
Wherein:1- welds Zeng Cai robots, 2- hammering Deng Cai robots, 3- milling Jian Cai robots, the displacement of 4- robots Machine.
Figure 10 is that robot increasing etc. subtracts material Machining System welding increasing material process unit.
Figure 11 subtracts material Machining System milling for robot increasing etc. and subtracts material process unit.
Figure 12 is that robot increasing etc. subtracts the materials process units such as material Machining System hammering.
Figure 13 is temperature field and stress field Analytic modeling schematic diagram based on lumped-parameter method.
Figure 14 is surface quality of workpieces and increases, subtracts material technological parameter Compound Mappings model schematic.
Figure 15 is multi-point flexibly auxiliary support apparatus schematic diagram.
Specific implementation mode
In the present embodiment, Fig. 7 is that robot increasing etc. subtracts material complex machining process flow chart.Part to be processed can be by sweeping Retouch or model the three-dimensional data needed for being formed, welding silk material increasing material manufacturing technique is a kind of to utilize successively cladding principle.By right Welding condition regulates and controls, and can form different height and sprawl the member section shape of thickness, and welding method has MAG (fusings Pole active gas shielded arc welding), MIG (welding), TIG (gas tungsten arc welding), PA (plasmas Body welds) etc..The electric arc that welding machine generates is heat source, by the addition of silk material (welding wire), and generates lamella institute under program The stl file needed, the manufacturing process of metal parts is gradually shaped according to three-dimensional digital model by line-face-body.
Complex component is completed according to technological process to be integrated, steps are as follows:
The first step will increase etc. and subtract material Compound Machining manufacture robot and other ancillary equipments are installed to uniform operational platform On, complete rigging up and debugging.
Second step obtains the three-dimensional data file of required processing metal members by the form for scanning or modeling, and works out Robot increasing material manufacturing processing program.Process planning is carried out according to material characteristics and the geometrical feature of 3D shape.
Third walks, and manipulates welding Zeng Cai robots (1) and is carried out on the workbench substrate for being fixed on robot positioner (4) Silk material increasing material manufacturing processing is welded, 1-2 layers of basis accumulation are completed.
4th step carries out the next step after completing 3-5 layers of single track deposition of increasing material manufacturing.
5th step manipulates hammering Deng Cai robots (2) and carries out the processing of the materials such as ultrasonic wave to completed 4th step component.Hammer Duan Deng materials robot (2) running orbit should follow third step welding Zeng Cai robot (1) running orbit, lag behind weldering in time Jie Zeng materials robot (1), and avoid the interference between operation robot.
6th step manipulates milling Jian Cai robots (3) and subtracts material processing to the progress milling of completed 5th step component.Milling Jian Cai robots (3) running orbit should follow third step welding Zeng Cai robot (1) running orbit, lag behind welding in time Zeng Cai robots (1) and hammering Deng Cai robots (2), and avoid the interference between operation robot.
7th step repeats above 4th step to the 6th step, so that three robots is completed entire part according to said sequence and processes Molding.System process, part to be processed are in weak support or without fixed holding states.Increasing material manufacturing using monofilament CMT or Tests of twin-wire pulsed MAG welding, which connects, increases material form.Equal materials manufacture is impacted using three ultrasonic impact rifles from top surface and two sides simultaneously Machined surface form.Milling subtracts material manufacture and carries high speed motive force head Milling Process form using robot, and methods for cooling uses Air-cooled or dry cutting form.
1. electric arc increasing material manufacturing technique
Weld the shadow by controlling welding current, speed of welding and welding method to the ratio of width to height of weld seam in silk material technique It rings, to control the hoisting depth and weld width of multilayer cylinder appearance of weld.Through research, using cold metal transfer (CMT, Cold metal transfer), CMT+ pulses (P, Pulse), CMT+ exchanges the different welderings such as (A, Advance) and mariages GMAW The high muscle wall panel parts increasing material manufacturing of 4.5-10mm thickness may be implemented in the method for connecing.Using the welding procedure of CMT, wide height may be implemented Basic horizontal than 1-1.5, wall panel configurations are narrow height, average thickness 5mm;Using tandem gas metal arc welding method the ratio of width to height 1.5- 2 basic horizontal, siding present situation be it is wide high, average thickness be 10mm even more than.Except by control welding equipment heat input be, Formed panel surfaces are directly acted on using the active cooling device of thermoelectric-cooled technology, which applies semiconductor The shaped solid state heat pumps of refrigeration principle, that is, paltie effect (Peltier effect).Repacking, which is set, is fixed on formed siding both sides, work Thermo-electric cooling device side is cooled down due to paltie effect when making, and causes increasing material squab panel to cool down therewith, while thermoelectric-cooled The device other side absorbs thermal energy, and the heat of generation is scattered in air by fan.It can be with active control siding by apparatus above Forming temperature controls the ratio of width to height of multilayer cylinder appearance of weld.
2. compound subtract material milling process
Subtract complex machining process manufacture efficiency to improve increasing etc., enhances formed parts mechanical performance, it is in structure to subtract material milling Part is completed under the conditions of still having increasing material waste heat, is different from common cold conditions Milling Process.Studies have shown that for aluminum alloy materials parts list Face processing quality not only by cutting parameter, such as cutting speed, the amount of feeding, cutting depth and cutting width influence, is equally added Work temperature influences.For AA2219 materials, when its processing temperature rises 25 DEG C to 400 DEG C from room temperature, Part Surface Roughness Ra Downward trend after first rising is presented, i.e., poor in high temperature degree section roughness, low temperature and high temperature section roughness are preferable.Low-temperature zone 50 ~100 DEG C, 1.684 μm of roughness average belongs to semifinishing range.100~237.5 DEG C of high temperature section, roughness average 2.299 μm, close to roughing range.237.5~300 DEG C of high temperature section, 1.556 μm of roughness average belong to semifinishing range. Based on above-mentioned phenomenon, in the Milling Process after increasing material, in addition to it need to consider allowance and other cutting parameters, before also needing coordination One process, that is, increase material built-up welding member temperature, when needing higher processing efficiency, postwelding milling should using high temperature section 237.5~ 300 DEG C of progress;When without higher processing efficiency, postwelding milling should use 50~100 DEG C of progress of low-temperature zone, can ensure more preferable Material workability.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist Under the premise of not departing from present inventive concept, architectural form cans be flexible and changeable, can be with derivative series product.It only makes several Simple deduction or replace are regarded as belonging to present invention scope of patent protection determined by the appended claims.

Claims (3)

1. a kind of multi-robot Cooperation increases etc. and to subtract material complex machining device, which is characterized in that including by three independent carryings not The industrial robot of congenerous end-effector forms, and is responsible for welding robot (1), the ultrasonic wave of silk material increasing material manufacturing respectively Hammering robot (2) and responsible milling subtract the milling Jian Cai robots (3) of material manufacture, and with two or more degree of freedom Positioner and workbench (4);
It further include welding machine necessary to silk material welding;
Supersonic generator and control system;
And milling cutter and power head control unit.
2. the method for application device as described in claim 1, which is characterized in that step includes as follows:
The first step completes rigging up and debugging;
Second step obtains the three-dimensional data file of required processing metal members by the form for scanning or modeling, and works out machine People's increasing material manufacturing processing program;Third walks, and manipulates welding Zeng Cai robots (1) in the work for being fixed on robot positioner (4) Welding wire material increasing material manufacturing processing is carried out on stylobate plate, completes 1-2 layers of basis accumulation;
4th step carries out the next step after completing 3-5 layers of single track deposition of increasing material manufacturing;
5th step manipulates hammering Deng Cai robots (2) and carries out the processing of the materials such as ultrasonic wave to completed 4th step component;Hammering etc. Material robot (2) running orbit should follow third step welding Zeng Cai robot (1) running orbit, lag behind welding in time and increase Material robot (1), and avoid the interference between operation robot;
6th step manipulates milling Jian Cai robots (3) and subtracts material processing to the progress milling of completed 5th step component;Milling subtracts material Robot (3) running orbit should follow third step welding Zeng Cai robot (1) running orbit, lag behind welding in time and increase material Robot (1) and hammering Deng Cai robots (2), and avoid the interference between operation robot;
7th step repeats above 4th step to the 6th step, and three robots is made to complete entire part machine-shaping according to said sequence.
3. method according to claim 1, it is characterised in that:Increasing material manufacturing connects increasing using monofilament CMT or tests of twin-wire pulsed MAG welding Material form;Equal materials manufacture impacts machined surface form simultaneously using three ultrasonic impact rifles from top surface and two sides;Milling It cuts down material manufacture and power head Milling Process form is carried using robot, methods for cooling uses air-cooled or dry cutting form.
CN201810319102.8A 2018-04-11 2018-04-11 A kind of multi-robot Cooperation, which increases etc., subtracts material complex machining device and process Pending CN108581490A (en)

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