CN109128435A - Magnetic field control type electric arc robot increasing material manufacturing method - Google Patents
Magnetic field control type electric arc robot increasing material manufacturing method Download PDFInfo
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- CN109128435A CN109128435A CN201810944993.6A CN201810944993A CN109128435A CN 109128435 A CN109128435 A CN 109128435A CN 201810944993 A CN201810944993 A CN 201810944993A CN 109128435 A CN109128435 A CN 109128435A
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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
-
- 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
- B23K9/08—Arrangements or circuits for magnetic control of the arc
-
- 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
- B23K9/095—Monitoring or automatic control of welding parameters
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- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding Control (AREA)
- Arc Welding In General (AREA)
Abstract
The present invention provides a kind of magnetic field control electric arc intelligent robots to increase material method.This method are as follows: connect field power supply, welding gun moves to arcing point by the program set and carries out the starting the arc, welding robot is moved by desired guiding trajectory, by applying longitudinal magnetic field in welding gun end, and the welding wire of fusing is accumulated in designated position, while control system control wire feeder enters melt region according to specified speed conveying welding wire；Welding gun is raised to a layer height in the height direction, carries out next layer of fused deposition；The deposition for completing workpiece stacks.The present invention changes arc shape, control molten drop dropping process, constraint melting pool shape using external longitudinal magnetic field, improves formed precision；Outside Longitudinal Magnetic-field Has has stirring action for molten bath simultaneously, can make molten bath element homogenization, refinement crystal grain.Improve the formed precision and quality for increasing material component.
Description
Technical field
The present invention relates to electric arc increases material manufacturing technology fields more particularly to a kind of magnetic field control type electric arc robot to increase material system
Make manufacturing process.
Background technique
In increases material manufacturing technology field, presently, there are metal increasing material manufacturing method, most common two methods are laser
Increase material and electric arc increases material.The two respectively has respective advantage and disadvantage.Laser gain material major advantage is formed precision height, and gained finished product can be with
Direct plunge into use；The disadvantage is that it is lower to rise this height, increasing material efficiency.It is at low cost, molten drop deposition effect that electric arc, which increases material major advantage,
Rate is high；The disadvantage is that molding component precision is not high, heat input causes greatly hot component thermal deformation big.
With the continuous development of material electromagnetic process, electric arc is can be improved into the process that magnetic field introduces electric arc increasing material and increases material
Forming Quality.Plasma in welding arc has good electric conductivity, therefore can increase material process using magnetic field control electric arc.
It includes: magnetic field agitation molten bath that magnetic field, which controls electric arc to increase the mode of material, so that molten bath interior element distribution uniformity, refines crystal grain；Magnetic
Field changes arc shape, and magnetic fields generate Lorentz force to the charged particle of longitudinal movement, charged particle is driven to be rotated,
Shrink the expansion of electric arc lower part, top.When magnetic induction intensity reaches certain value, arc shape becomes bell shape from cone,
Its bell jar face is a high-speed rotating closed surface；Magnetic field controls molten drop dropping process, improves the precision of molten drop drop-off positions；
Magnetically confined melting pool shape improves formed precision；Improve formed precision；Applied by Beijing University of Technology Yin Shuyan et al. within 2002
Notification number be CN1369347A patent of invention magnetic control high deposition rate mixed gas protected consumable-electrode weld connect (MAG) method and specially
It uses magnetic field to control welding arc in equipment, effectively raises cladding efficiency.2012 by Chinese People's Liberation Army's plate armour
Soldier engineering college Zhu Sheng et al. application application No. is a kind of aerolite surface magnetic of the patent of invention of 201210514916.X
Improve aerolite using outside Longitudinal Magnetic-field Has in the control welding molding preparation method of deposition and obtain deposition quality, especially its
Frictional behaviour and mechanical property.
Summary of the invention
In order to solve the problems, such as that electric arc increases material formed precision, the present invention provides a kind of magnetic field control type electric arc robot increasing material
Manufacturing method.
It realizes the object of the invention, it is as follows to provide technical solution
Specific step is as follows:
S1: cleaning substrate surface removes surface irregularities and oxide, opens protection gas cylinder, increases material for electric arc and carries out standard
It is standby；
S2: carry out single track weld process parameter test, determine each welding condition and exciting current, field frequency with
And distance of the magnet exciting coil away from workpiece；
S3: it will be imported in control system after the processing of Three-dimensional Entity Components illustraton of model slicing delamination, control system is according to slice
Layered method generates welding robot run trace；
S4: starting welding robot, supply gas 1s in advance, connects field power supply, and welding gun moves to arcing point by the program set
The starting the arc is carried out, welding robot moved by desired guiding trajectory, by applying longitudinal magnetic field in welding gun end, and by the weldering of fusing
Silk is accumulated in designated position, while control system control wire feeder enters melt region according to specified speed conveying welding wire；
Welding gun: being raised a layer height by S5 in the height direction, and next layer of fused deposition is then carried out according to step S4；
S6: repeating step S5, and the deposition for completing workpiece stacks, and stops the movement of welding gun, while carrying out blow-out and stopping is sent
The wire feed of silk mechanism；
S7: after completing S6 step, protection gas stops supplying gas after postponing 1s, the electric current in magnet exciting coil is closed, weldering
After the home that rifle is moved to, the increasing material manufacturing of magnetic field control type electric arc robot is completed.
Further, the first layer of magnetic field control type electric arc robot increasing material manufacturing method accumulation is enterprising in corresponding substrate
Row.
Further, every layer heap product after the completion of, deposited metal surface is cooled down with air gun, be cooled to 100 DEG C-
When before 200 DEG C, next layer of accumulation is being carried out.
Further, workbench is mounted on positioner, and the position of test specimen can be more effectively adjusted during increasing material.
Further, the adjustable range of exciting current is between 0.5-10A, and field frequency is between 5-30Hz.
Further, magnetic field strength and changes of magnetic field frequency can be adjusted according to the requirement of Workpiece structure and size
Section, achievees the purpose that mention formed precision and quality.
The present invention compared with the existing technology, has a significant advantage that
1, magnetic field of the invention control electric arc robot increasing material manufacturing method changes arc shape using external longitudinal magnetic field,
It improves and increases material formed precision.
2, control electric arc robot increasing material manufacturing method in magnetic field of the invention utilizes external longitudinal magnetic field agitation molten pool, plays
Element is homogenized, the effect of crystal grain is refined.
3, magnetic field control type electric arc robot increasing material manufacturing method of the invention changes molten drop mistake using external longitudinal magnetic field
Mode is crossed, the control precision of molten drop drop-off positions is improved.
4, magnetic field control type electric arc robot increasing material manufacturing method of the invention constrains molten bath shape using external longitudinal magnetic field
Shape improves the forming accuracy when the difficult position for increasing material such as angle, edge is accumulated.
Detailed description of the invention
Fig. 1 is the schematic diagram of magnetic field control type electric arc robot increasing material manufacturing method device systems.
Fig. 2 is the partial enlarged view of welding gun end and magnet exciting coil.
Fig. 3 is in kind using the increasing material exemplar of example 1 obtained by magnetic field control type electric arc robot increasing material manufacturing method equipment
Figure.
Fig. 4 is in kind using the increasing material exemplar of example 2 obtained by magnetic field control type electric arc robot increasing material manufacturing method equipment
Figure.
Fig. 5 is in kind using the increasing material exemplar of example 3 obtained by magnetic field control type electric arc robot increasing material manufacturing method equipment
Figure.
Fig. 6 is in kind using the increasing material exemplar of example 4 obtained by magnetic field control type electric arc robot increasing material manufacturing method equipment
Figure.
Wherein, 1: protection gas cylinder, 2: wire-feed motor, 3: the source of welding current, 4: computer, 5: welding robot, 6:CCD camera,
7: welding parameter collector, 8: magnet exciting coil and mounting bracket, 9: field power supply, 10: workbench and positioner, 11: increasing material structure
Part, 12: welding robot control cabinet.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments
The present invention provides a kind of magnetic field control electric arc robot increasing material manufacturing method, controls electricity using magnetic field as shown in Figure 1
Arc robot system is manufactured, magnetic field control electric arc robot device include protection gas cylinder, wire-feed motor, the source of welding current, computer,
Welding robot, CCD camera, welding parameter collector, magnet exciting coil, exciting current, workbench and positioner, welding robot
Control cabinet.Welding wire, that is, increasing material manufacturing material, ingredient can be adjusted according to the performance requirement for increasing material structural member.
Wire-feed motor is placed on above the source of welding current to be connected with welding robot, can control wire feed rate.It protects gas and send
Silk mechanism is fixed on together at the nozzle of robot body, is in same position, protection molten drop is not oxidized, and this patent is used
Protection gas be argon gas.Magnet exciting coil as welding gun outside, it is coaxial with welding gun, field power supply be Alternating Current Excitation power supply, structure
As shown in Figure 2.Robot control cabinet is connected with welding robot, control welding robot running.CCD camera is connected with computer,
Monitoring droplet transfer in real time, welding parameter collector access welding circuit and are connected in computer, real time monitoring welding parameter variation.
Workbench is connected with positioner, and control system can be adjusted its posture according to the shape for increasing material structural member, reaches best
Deposition increases material position.
Electric arc intelligent robot is controlled by magnetic field and increases material method, thus it is possible to vary the characteristic of electric arc improves single track deposition weldering
The ratio of width to height of seam improves electric arc and increases material formed precision；External longitudinal magnetic field can change droplet transfer mode, improve molten drop deposition
The control precision of position；External longitudinal magnetic field can be constrained melting pool shape, improve the difficult position for increasing material such as angle, edge at
Type precision；There is stirring action in magnetic field for molten bath, can uniform molten bath interior element ingredient, thinning microstructure crystal grain.
Embodiment 1
With model ER130S-G high-strength steel welding wire, a diameter of 1.2mm；304 stainless steel substrates of 6mm thickness accumulate straight wall
For.The specific steps are that:
S1: 304 stainless steel substrate surfaces of cleaning remove surface irregularities and oxide, open protection gas cylinder, increase for electric arc
Material is ready；
S2: welding condition is determined.Wire feed rate is set as 7.2mm/min in this example, and speed of welding is set as
11mm/s；
S3: distance of the magnet exciting coil away from workpiece is adjusted, magnet exciting coil is set as 20mm away from the distance of workpiece in this example；
S4: adjusting exciting current size, and exciting current is set as 1A in this example；
S5: adjusting field frequency, and field frequency is set as 10Hz in this example；
S6: it will be imported in control system after the processing of Three-dimensional Entity Components illustraton of model slicing delamination, control system is according to slice
Layered method generates welding robot run trace；Complete the setting of parameters.Wherein wire feed rate is 7.2mm/min；Weldering
Connecing speed is 11mm/s；Exciting current is 1A, and field frequency 10Hz, distance of the magnet exciting coil away from workpiece surface is 20mm；It protects
Protect gas flow 20L/min；
S7: starting welding robot is supplied gas in advance, connects field power supply, and welding gun moves to the starting the arc by the program set and clicks through
The row starting the arc, welding robot move along a straight line by desired guiding trajectory in X-direction, complete to cease arc in weld seam end after welding together；
S8: welding gun is raised into 2mm in Z-direction, carries out down melting heap together according to step S7 after waiting 30s cooling
Product；
S9: repeating step S8, and the deposition for completing workpiece stacks.Stop the movement of welding gun, while carrying out blow-out and stopping is sent
The wire feed of silk mechanism；
S10: after completing S9 step, protection gas stops supplying gas after postponing 1s, the electric current in magnet exciting coil is closed, weldering
After the home that rifle is moved to, the increasing material manufacturing of magnetic field control type electric arc robot is completed.
Embodiment 2
With model ER130S-G high-strength steel welding wire, a diameter of 1.2mm；304 stainless steel substrates of 6mm thickness accumulate straight wall
For.The specific steps are that:
S1: 304 stainless steel substrate surfaces of cleaning remove surface irregularities and oxide, open protection gas cylinder, increase for electric arc
Material is ready；
S2: welding condition is determined.Wire feed rate is set as 7mm/min in this example, and speed of welding is set as 10mm/
s；
S3: distance of the magnet exciting coil away from workpiece is adjusted, magnet exciting coil is set as 15mm away from the distance of workpiece in this example；
S4: adjusting exciting current size, and exciting current is set as 1.5A in this example；
S5: adjusting field frequency, and field frequency is set as 15Hz in this example；
S6: it will be imported in control system after the processing of Three-dimensional Entity Components illustraton of model slicing delamination, control system is according to slice
Layered method generates welding robot run trace；Complete the setting of parameters.Wherein wire feed rate is 7mm/min, welding
Speed is 10mm/s；Exciting current is 1.5A, and field frequency 15Hz, distance of the magnet exciting coil away from workpiece surface is 15mm；It protects
Protect gas flow 20L/min；
S7: starting welding robot is supplied gas in advance, connects field power supply, and welding gun moves to the starting the arc by the program set and clicks through
The row starting the arc, welding robot move along a straight line by desired guiding trajectory in X-direction, complete to cease arc in weld seam end after welding together；
S8: welding gun is translated into 7mm in Y direction, carries out down melting heap together according to step S7 after waiting 30s cooling
Product；
S9: repeating step S8, and the deposition for completing workpiece stacks.Stop the movement of welding gun, while carrying out blow-out and stopping is sent
The wire feed of silk mechanism；
S10: after completing S9 step, protection gas stops supplying gas after postponing 1s, the electric current in magnet exciting coil is closed, weldering
After the home that rifle is moved to, the increasing material manufacturing of magnetic field control type electric arc robot is completed.
Embodiment 3
With model ER130S-G high-strength steel welding wire, a diameter of 1.2mm；304 stainless steel substrates of 6mm thickness accumulate block
For, the specific steps are that:
S1: 304 stainless steel substrate surfaces of cleaning remove surface irregularities and oxide, open protection gas cylinder, increase for electric arc
Material is ready；
S2: welding condition is determined.Wire feed rate is set as 7.5mm/min in this example, and speed of welding is set as
12mm/s；
S3: distance of the magnet exciting coil away from workpiece is adjusted, magnet exciting coil is set as 25mm away from the distance of workpiece in this example；
S4: adjusting exciting current size, and exciting current is set as 2.5A in this example；
S5: adjusting field frequency, and field frequency is set as 20Hz in this example；
S6: it will be imported in control system after the processing of Three-dimensional Entity Components illustraton of model slicing delamination, control system is according to slice
Layered method generates welding robot run trace；Complete the setting of parameters.Wherein wire feed rate is 7.5mm/min；Weldering
Connecing speed is 12mm/s, exciting current 2.5A, field frequency 20Hz, and distance of the magnet exciting coil away from workpiece surface is 25mm；
Shield gas flow rate 20L/min；
S7: starting welding robot is supplied gas in advance, connects field power supply, and welding gun moves to the starting the arc by the program set and clicks through
The row starting the arc, welding robot move along a straight line by desired guiding trajectory in X-direction, complete to cease arc in weld seam end after welding together；
Welding gun deviates 7mm in Y-axis, and the accumulation that the starting the arc carries out down one of weld seam after waiting 30s cooling repeats the above steps, and completes first layer
Accumulation.Welding gun lifts to home, accelerates cooling deposited metal layer with air gun, makes its surface temperature up to 100-200 DEG C；
S8: welding gun moves to upper one layer of arcing point by home and raises 2mm in Z-direction, then according to step S3 into
The fused deposition of next layer of row；
S9: repeating step S8, and the deposition for completing workpiece stacks.Stop the movement of welding gun, while carrying out blow-out and stopping is sent
The wire feed of silk mechanism；
S10: after completing S9 step, protection gas stops supplying gas after postponing 1s, the electric current in magnet exciting coil is closed, weldering
After the home that rifle is moved to, the increasing material manufacturing of magnetic field control type electric arc robot is completed.
Embodiment 4
With model ER130S-G high-strength steel welding wire, a diameter of 1.2mm；304 stainless steel substrates of 6mm thickness accumulate straight wall
For.The specific steps are that:
S1: 304 stainless steel substrate surfaces of cleaning remove surface irregularities and oxide, open protection gas cylinder, increase for electric arc
Material is ready；
S2: welding condition is determined.Wire feed rate is set as 7.2mm/min in this example, and speed of welding is set as
11mm/s；
S3: distance of the magnet exciting coil away from workpiece is adjusted, magnet exciting coil is set as 15mm away from the distance of workpiece in this example；
S4: adjusting exciting current size, and exciting current is set as 2A in this example；
S5: adjusting field frequency, and field frequency is set as 25Hz in this example；
S6: it will be imported in control system after the processing of Three-dimensional Entity Components illustraton of model slicing delamination, control system is according to slice
Layered method generates welding robot run trace；Complete the setting of parameters.Wherein wire feed rate is 7.2mm/min；Weldering
Connecing speed is 11mm/s；Exciting current is 2A, and field frequency 25Hz, distance of the magnet exciting coil away from workpiece surface is 15mm；It protects
Protect gas flow 20L/min；
S7: starting welding robot is supplied gas in advance, connects field power supply, and welding gun moves to the starting the arc by the program set and clicks through
The row starting the arc, welding robot are moved on substrate by rectangular path by desired guiding trajectory, are ceased after completing one layer of welding in weld seam end
Arc；
S8: welding gun is raised into 2mm in Z-direction, arcing point translates 0.5mm along X-axis, Y direction outward respectively.It waits
Next layer of fused deposition is carried out after 60s is cooling according to step S7.Next layer of rectangular path length and width is than upper one layer of big 1mm；
S9: repeating step S8, and the deposition for completing workpiece stacks.Stop the movement of welding gun, while carrying out blow-out and stopping is sent
The wire feed of silk mechanism；
S10: after completing S9 step, protection gas stops supplying gas after postponing 1s, the electric current in magnet exciting coil is closed, weldering
After the home that rifle is moved to, the increasing material manufacturing of magnetic field control type electric arc robot is completed.
Claims (7)
1. a kind of magnetic field control type electric arc robot increasing material manufacturing method, which comprises the steps of:
S1: cleaning substrate surface removes surface irregularities and oxide, opens protection gas cylinder；
S2: it carries out single track and welds process parameter test, determine each welding condition and exciting current, field frequency and encourage
Distance of the magnetic coil away from workpiece；
S3: it will be imported in control system after the processing of Three-dimensional Entity Components illustraton of model slicing delamination, control system is according to slicing delamination
It calculates and generates welding robot run trace；
S4: starting welding robot, supply gas 1s in advance, connects field power supply, and welding gun moves to arcing point and carries out the starting the arc, welding robot
It is moved, by applying longitudinal magnetic field in welding gun end, and the welding wire of fusing is accumulated in designated position, together by desired guiding trajectory
When control system control wire feeder according to specified speed conveying welding wire enter melt region；
Welding gun: being raised a layer height by S5 in the height direction, and next layer of fused deposition is then carried out according to step S4；
S6: repeating step S5, and the deposition for completing workpiece stacks, and stops the movement of welding gun, while carrying out blow-out and stopping wire-feed motor
The wire feed of structure；
S7: after completing S6 step, protection gas stops supplying gas after postponing 1s, closes the electric current in magnet exciting coil, welding gun is moved
After the home moved, the increasing material manufacturing of magnetic field control type electric arc robot is completed.
2. magnetic field control type electric arc robot as described in claim 1 increasing material manufacturing method, which is characterized in that apply longitudinal flux
Field concrete operations are as follows: in the periphery installation magnet exciting coil of welding gun, it is ensured that magnet exciting coil is coaxial with welding gun.
3. magnetic field control type electric arc robot as claimed in claim 2 increasing material manufacturing method, which is characterized in that magnet exciting coil is logical
It crosses mounting bracket and is mounted on welding gun periphery, and the adjustable distance away from workpiece.
4. the magnetic field control type electric arc robot increasing material manufacturing method as described in claim 2-4, which is characterized in that magnet exciting coil
Diameter is used to form for the enameled wire coiling of 2.5mm.
5. magnetic field control type electric arc robot as described in claim 1 increasing material manufacturing method, which is characterized in that welding gun used is
MIG welding gun, protection gas used are pure argon.Gas flow is 15L/min-25L/min.
6. magnetic field control type electric arc robot as described in claim 1 increasing material manufacturing method, which is characterized in that according to workpiece knot
The requirement of structure and size adjusts the distance of externally-applied magnetic field size, field frequency, magnet exciting coil away from workpiece.
7. magnetic field control type electric arc robot as described in claim 1 increasing material manufacturing method, which is characterized in that exciting current tune
Adjusting range is 0.5-10A, and field frequency adjustable range is 5-30Hz, and magnet exciting coil is apart from adjustable range away from workpiece surface
15-30mm。
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| PCT/CN2018/110524 WO2020037804A1 (en) | 2018-08-20 | 2018-10-16 | Intelligent additive method for magnetic field-controlled arc robot |
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