CN109158729A - A kind of longitudinally connected method of welding bead in electric arc increasing material manufacturing - Google Patents
A kind of longitudinally connected method of welding bead in electric arc increasing material manufacturing Download PDFInfo
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- CN109158729A CN109158729A CN201811265028.2A CN201811265028A CN109158729A CN 109158729 A CN109158729 A CN 109158729A CN 201811265028 A CN201811265028 A CN 201811265028A CN 109158729 A CN109158729 A CN 109158729A
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- welding
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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
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Abstract
The present invention proposes a kind of longitudinally connected method of welding bead in electric arc increasing material manufacturing, belongs to automated manufacturing technical field.This method carries out preliminary experiment on electric arc increasing material manufacturing platform first, determines the value range of speed of welding and wire feed rate；Then in the value range, formally tested and recorded the height and the width of wire feed rate, speed of welding, each resulting welding bead accumulation result；According to record result regression fit is carried out to height and the width respectively, obtains welding bead longitudinal direction Mathematical Model of heaped-up；In use, the width of needs and height are substituted into model solution, solution meets the value range of setting if it exists, then is welded according to the wire feed rate and speed of welding that are calculated, realize the longitudinally connected of welding bead.The present invention can establish accurate speed of welding, wire feed rate to the width of welding bead endwise piling product result, the relationship of height in electric arc increasing material manufacturing, improve forming parts quality, obtain good electric arc increasing material manufacturing effect.
Description
Technical field
The present invention relates to a kind of longitudinally connected methods of welding bead in electric arc increasing material manufacturing, belong to automated manufacturing technology neck
Domain.
Background technique
Increasing material manufacturing is that data are obtained from threedimensional model, and usually by the accumulation that is layering, material is attached system
The process of object is produced, with equipment interoperability is strong, processing step is simple, the manufacturing cycle is short, can manufacture complex parts, material benefit
Flexible production mode with the advantages such as rate is high, manufacturing cost is low, suitable for small mount, multi items.Increasing material manufacturing material therefor model
Enclose very extensively, including polymer, metal, ceramics, sandy soil, glass, biomaterial etc., the material of most common of them be polymer and
Metal.Compared with traditional increasing material manufacturing, functor produced has good mechanical property for metal increasing material manufacturing, can directly into
Therefore row industrial application is in recent years also continuously improved the demand of metal increasing material manufacturing.
In metal increasing material manufacturing, using electric arc is high with energy efficiency as heat source progress increasing material manufacturing, production cost is low, skill
The advantages that art maturation, molded part function admirable, therefore electric arc increasing material manufacturing (Wire and Arc Additive
Manufacturing, WAAM) be great future method.WAAM is realized by welding process, is needed welding bead
In welding plane and the direction of vertical plane is accumulated, and can just obtain molded part.In order to guarantee the size essence of molded part
Degree and Forming Quality need to study the relationship of welding bead accumulation effect and technological parameter.
However, being limited to for the purpose of welding mostly, welding process in the existing research to technological parameter and compact dimensions
It is smaller that middle weld size accounts for overall dimension；And during WAAM, entire molded part is welded by metal, therefore existing big absolutely
Technological parameter and compact dimensions relationship in majority research are simultaneously not suitable for, and when practical application is unable to get preferable welding effect.
Therefore, it is necessary to influence of the welding condition to welding bead accumulation effect is studied under WAAM background.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, welding bead in a kind of electric arc increasing material manufacturing is proposed
Longitudinally connected method.It is vertical to welding bead that the present invention can establish accurate speed of welding, wire feed rate in electric arc increasing material manufacturing
To the width of result, the relationship of height is accumulated, forming parts quality is improved, good electric arc increasing material manufacturing effect is obtained.
The present invention proposes a kind of longitudinally connected method of welding bead in electric arc increasing material manufacturing, which is characterized in that including following step
It is rapid:
(1) the longitudinally connected model of welding bead of electric arc increasing material manufacturing is established；Specific step is as follows:
(1-1) builds electric arc increasing material manufacturing platform, and when operation, welding gun is fixed on end effector of robot；Then
Selected substrate and welding wire；
The initial value range of speed of welding and wire feed rate, and the butt welding in initial value range is set separately in (1-2)
It connects speed and wire feed rate carries out preliminary experiment；Under the parameter combination of every group welding speed and wire feed rate, robot is in substrate
On carry out the welding of setting length, observe figuration of bead situation, extract do not occur fold, trickling, discontinuously, the parameter group of stomata
It closes, so that it is determined that the final value range of speed of welding and wire feed rate；
In the final value range that (1-3) is determined in step (1-2), r value is chosen to wire feed rate, to speed of welding
Choose s value, altogether carry out n=rs time formally test so that each value of wire feed rate with all values of speed of welding
It combined；
Every time in formal experiment, Robotic Manipulator welding gun carries out j endwise piling with given wire feed rate, speed of welding
Product forms welding bead and accumulates result；In experiment, record wire feed rate, speed of welding, resulting welding bead accumulates the height of result every time
With width；
The data that (1-4) is recorded according to step (1-4), using quadratic polynomialIt is right
Height and the width carry out regression fit respectively；
In formula, a is constant term, biFor the linear coefficient of first order, c is the coefficient of cross term, diFor the coefficient of quadratic term,
x1For wire feed rate, x2For speed of welding, y is output valve, represents width or height；
It is fitted respectively for height h, width w, then respectively obtains height and corresponding 6 coefficients of width, i.e.,
A when y is taken as height hh, bh1, bh2, ch, dh1, dh2A when width w is taken as with yw, bw1, bw2, cw, dw1,
dw2, totally 12, obtained equation form are as follows:
(1-5) is fitted the calculating that resulting coefficient carries out F statistic to step (1-4)；
Remember that the formal experiment number in step (1-3) is n times, the independent variable quantity of recurrence is m, the experimental result of i-th
For yi, the regression fit result of i-th isEquation in step (1-4) is fully deployed and is written as follow form:
Wherein xi1For the wire feed rate that i-th is formally tested, xi2For the speed of welding that i-th is formally tested, a, b1, b2,
C, d1, d26 coefficients fitted for step (1-4)；
Above formula is arranged into the form for Ak=y, defines C=A-1, then ciiThe i-th row, the i-th element arranged for Matrix C, ki
For i-th of element of k；
Significance test is carried out using each coefficient of the F statistic being shown below to regression equation:
Wherein, FiFor coefficient kiF statistic；
(1-6) sets significance, the insignificant variable in regression equation is picked according to the calculated result of F statistic
Remove, thus the equation optimized, establish out welding bead longitudinally the width of accumulation result, highly with wire feed rate, speed of welding
Relationship obtains the longitudinally connected model of welding bead；
(2) model obtained using step (1), carries out the longitudinally connected of welding bead；The specific method is as follows:
(2-1) enables the width of the welding bead set accumulation result as w0, it is highly h0, then by w0And h0Step (1) is substituted into establish
Model solution；
If model is not without solution or solution in the resulting final value range of step (1-2), welding bead accumulates result can not
Reach；Solution then obtains corresponding wire feed rate and speed of welding in the resulting final value range of step (1-2) if it exists,
Enter step (2-2)；
(2-2) is welded with wire feed rate and speed of welding the control robot being calculated in step (2-1), is welded
Shi Houyi welding bead is welded on the surface of this welding bead, is accumulated j times altogether, the longitudinally connected of welding bead finishes.
The features of the present invention and beneficial effect are:
In method proposed by the invention, the modelling phase design experimental science it is reasonable, guarantee experiment representativeness,
On the basis of comprehensive, experiment number is reduced, experimental implementation is facilitated.The modeling process of this method carries out statistics to experimental result
Analysis, ensure that the reliability of result.The method proposed through the invention can be established accurately in electric arc increasing material manufacturing
Speed of welding, wire feed rate connect the width of welding bead endwise piling product result, the relationship of height with the longitudinal direction that this relationship carries out welding bead
It connects, can guarantee complex parts Forming Quality on the basis of, it is significant to electric arc increasing material manufacturing.
Detailed description of the invention
Fig. 1 is the longitudinally connected schematic diagram of welding bead in electric arc increasing material manufacturing in the embodiment of the present invention, wherein (a) is to overlook
Figure, is (b) main view.
Specific embodiment
The present invention proposes a kind of longitudinally connected method of welding bead in electric arc increasing material manufacturing, with reference to the accompanying drawing and specific implementation
Example is further described as follows.
The present invention proposes a kind of longitudinally connected method of welding bead in electric arc increasing material manufacturing." longitudinal direction " refers to each welding bead preceding
The surface of welding bead is welded, and is accumulated by the available welding bead with certain altitude of multiple welding as a result, such as Fig. 1 institute
Show (Fig. 1 is the longitudinally connected schematic diagram of welding bead in electric arc increasing material manufacturing in the embodiment of the present invention, and wherein Fig. 1 (a) is top view,
Fig. 1 (b) is main view).The welding condition for influencing longitudinal accumulation result is mainly speed of welding (the mobile speed of welding gun)
And wire feed rate, the geometric parameter for accumulating result is mainly height and width.Method proposed by the invention will establish welding bead and indulge
To height, width and speed of welding, the relationship of wire feed rate after accumulation, and according to this relationship, the longitudinal direction for carrying out welding bead connects
It connects.
The present invention proposes a kind of longitudinally connected modeling method of welding bead in electric arc increasing material manufacturing, comprising the following steps:
(1) the longitudinally connected model of welding bead of electric arc increasing material manufacturing is established；Specific step is as follows:
(1-1) builds electric arc increasing material manufacturing platform, wherein each component can be routine portion component；Electric arc increases in the present embodiment
Material manufacturing platform uses ABB IRB1200 robot, Panasonic YD350-GL4 gas metal-arc welding welder system, by welding gun
It is fixed on end effector of robot.Then substrate and welding wire are selected；Phosphorus content 0.45%, thickness are selected in the present embodiment
The carbon steel sheet of 6mm selects the ER70s-6 of diameter 1.2mm as welding wire (the accumulation material i.e. in increasing material manufacturing) as substrate.It protects
Gas is protected using 82% argon gas and the gaseous mixture of 18% carbon dioxide, protection air-flow amount is controlled in 20L/min.
(1-2) selects the speed of welding of larger initial value range, wire feed rate to carry out preliminary experiment, and (such as: wire feed rate takes
2m/min~5m/min, speed of welding take 2mm/s~10mm/s)；Under the parameter combination of every group welding speed and wire feed rate,
Operation robot carries out setting on substrate length, and (as the welding of 10cm or so), observation figuration of bead situation mentions the present embodiment
The parameter combination for not occurring the defects of fold, trickling, discontinuous, stomata is taken, so that it is determined that available speed of welding, wire feed rate
Final value range.In the value range of identified speed of welding and wire feed rate, needed for being estimated according to application scenarios
Final welding bead accumulation result height, select some accumulation numbers carry out longitudinal accumulation experiment (i.e. with selected speed of welding,
Wire feed rate is welded, and after being soldered a welding bead, next welding bead is welded on the welding bead surface, this behavior is duplicate
Number is selected accumulation number), according to the degree of closeness of resulting accumulation result and expected result, determine suitable accumulation
Number j.In the present embodiment, according to experiment, wire feed rate takes 2.3m/min~4m/min, and speed of welding takes 4mm/s~8mm/s,
Accumulation number j takes 10 times, and the height of obtained accumulation result is between 13mm~18mm.
In the range that (1-3) is determined in step (1-2), r value is chosen to wire feed rate, s are chosen to speed of welding
Value (r and s take respectively 5 or so be advisable), carries out formally testing for n=rs time altogether, guarantee each value of wire feed rate with welding
All valued combinations mistakes of speed.Every time in formal experiment, Robotic Manipulator welding gun with given wire feed rate, speed of welding into
Row j times longitudinal accumulation, forms welding bead and accumulates result.In experiment, need to record wire feed rate, speed of welding, resulting weldering every time
The height and the width of road accumulation result.
The data that (1-4) is recorded according to step (1-3), using quadratic polynomialIt is right
Height and the width carry out regression fit.In formula, a is constant term, biFor the linear coefficient of first order, c is the coefficient of cross term, di
For the coefficient of quadratic term, x1For wire feed rate, x2For speed of welding, y is output valve, represents width or height.For height h, width
Degree w is fitted respectively, then respectively obtains height and corresponding 6 coefficients of width, the i.e. a when y is taken as height hh,
bh1, bh2, ch, dh1, dh2A when width w is taken as with yw, bw1, bw2, cw, dw1, dw2, totally 12, obtained equation form are as follows:
(1-5) is fitted the calculating that resulting coefficient carries out F statistic to step (1-4).Remember the formal reality in step (1-3)
Testing number is n times, and (in the present embodiment, independent variable is wire feed rate and speed of welding, therefore m=to the independent variable quantity m of recurrence
2), the experimental result of i-th is yi, the regression fit result of i-th is(note that experimental result and fitting result are divided into width
Spend w and two kinds of height h, therefore y hereiWithIt must be calculated respectively as width and height).By all experimental datas,
Equation in step (1-4) is fully deployed and is written as follow form:
Wherein xi1For the wire feed rate that i-th is formally tested, xi2For the speed of welding that i-th is formally tested, a, b1, b2,
C, d1, d26 coefficients (having 6 when y takes width w, there is 6 when taking height h) fitted for step (1-4).Above formula is arranged
For the form of Ak=y, C=A is defined-1, then ciiThe i-th row, the i-th element arranged for Matrix C, kiFor i-th of element of k.
Significance test is carried out using each coefficient of the F statistic being shown below to regression equation.
Due toIt is that 6 coefficients are write into the vector formed together, therefore kiJust successively represent this 6 coefficients it
One；FiAs coefficient kiF statistic.
(1-6) chooses suitable significance and (generally takes 0.1 and less according to the calculated result of F statistic；More connect
Nearly 0, then conspicuousness is stronger), the insignificant variable in regression equation is rejected, thus the equation optimized: firstly, can will show
Work property level is set to 0.05, and enabling coefficient of the F statistic less than 0.05 is 0 (leaving out this)；If equation to be further simplified, can
Significance is set to 0.1, further leaves out coefficient of the F statistic less than 0.1, more simplified equation can be obtained.It establishes out and welds
Road longitudinally the width of accumulation result, highly with wire feed rate, the relationship of speed of welding, that is, the longitudinally connected model of welding bead.
(2) model obtained using step (1), carries out the longitudinally connected of welding bead；The specific method is as follows:
The model of (2-1) step (1) is divided into two parts, is the relationship of height h and speed of welding x2, wire feed rate x1 respectively
With width w and speed of welding x2, wire feed rate x1Relationship:
Wherein ah, bh1, bh2, ch1, dh1, dh2, aw, bw1, bw2, cw, dw1, dw2For by being fitted and being obtained after significance test
Coefficient.Part coefficient is set to 0 in significance test, here for unified representation, is still retained.
In practical application, if desired width is w0, it is highly h0Welding bead accumulate as a result, then by w0And h0Model is substituted into ask
Solution
If model without solution or solution not obtained by the step (1-2) in the range of, illustrate required welding bead accumulation result without
Method reaches, therefore can not weld, and needs to rethink the width and height of required welding bead accumulation result；If there is solution in step
In the range of obtained by (1-2), then corresponding wire feed rate and speed of welding are obtained.
(2-2) is welded with wire feed rate and speed of welding the control robot being calculated in step (2-1), is welded
Shi Houyi welding bead is welded on the surface of this welding bead, is accumulated altogether j times (the present embodiment is 10 times), then obtained
The height of welding bead accumulation result, width will be close to h0, w0, the longitudinally connected of welding bead finish.
Claims (1)
1. a kind of longitudinally connected method of welding bead in electric arc increasing material manufacturing, which comprises the following steps:
(1) the longitudinally connected model of welding bead of electric arc increasing material manufacturing is established；Specific step is as follows:
(1-1) builds electric arc increasing material manufacturing platform, and when operation, welding gun is fixed on end effector of robot；Then it selectes
Substrate and welding wire；
The initial value range of speed of welding and wire feed rate is set separately in (1-2), and to welding speed in initial value range
Degree and wire feed rate carry out preliminary experiment；Under the parameter combination of every group welding speed and wire feed rate, robot is enterprising in substrate
The welding of row setting length, observes figuration of bead situation, extracts and does not occur fold, trickling, discontinuous, stomata parameter combination,
So that it is determined that the final value range of speed of welding and wire feed rate；
In the final value range that (1-3) is determined in step (1-2), r value is chosen to wire feed rate, speed of welding is chosen
S value, altogether carry out n=rs time formally test so that each value of wire feed rate with all valued combinations of speed of welding
It crosses；
Every time in formal experiment, Robotic Manipulator welding gun carries out j longitudinal accumulation, shape with given wire feed rate, speed of welding
Result is accumulated at welding bead；In experiment, record wire feed rate, speed of welding, resulting welding bead accumulates the height and width of result every time
Degree；
The data that (1-4) is recorded according to step (1-4), using quadratic polynomialTo height
Regression fit is carried out respectively with width；
In formula, a is constant term, biFor the linear coefficient of first order, c is the coefficient of cross term, diFor the coefficient of quadratic term, x1For
Wire feed rate, x2For speed of welding, y is output valve, represents width or height；
It is fitted respectively for height h, width w, then respectively obtains height and corresponding 6 coefficients of width, i.e., when y takes
A when for height hh, bh1, bh2, ch, dh1, dh2A when width w is taken as with yw, bw1, bw2, cw, dw1, dw2, totally 12, obtain
Equation form are as follows:
(1-5) is fitted the calculating that resulting coefficient carries out F statistic to step (1-4)；
Remember that the formal experiment number in step (1-3) is n times, the independent variable quantity of recurrence is m, and the experimental result of i-th is yi,
The regression fit result of i-th isEquation in step (1-4) is fully deployed and is written as follow form:
Wherein xi1For the wire feed rate that i-th is formally tested, xi2For the speed of welding that i-th is formally tested, a, b1, b2, c, d1,
d26 coefficients fitted for step (1-4)；
Above formula is arranged into the form for Ak=y, defines C=A-1, then ciiThe i-th row, the i-th element arranged for Matrix C, kiFor k
I-th of element；
Significance test is carried out using each coefficient of the F statistic being shown below to regression equation:
Wherein, FiFor coefficient kiF statistic；
(1-6) sets significance according to the calculated result of F statistic, and the insignificant variable in regression equation is rejected, from
And the equation optimized, establish out welding bead longitudinally accumulation result width, highly with wire feed rate, the relationship of speed of welding,
Obtain the longitudinally connected model of welding bead；
(2) model obtained using step (1), carries out the longitudinally connected of welding bead；The specific method is as follows:
(2-1) enables the width of the welding bead set accumulation result as w0, it is highly h0, then by w0And h0Substitute into the mould that step (1) is established
Type solves；
If model is not without solution or solution in the resulting final value range of step (1-2), welding bead accumulation result is unable to reach；
Solution then obtains corresponding wire feed rate and speed of welding, into step in the resulting final value range of step (1-2) if it exists
Suddenly (2-2)；
(2-2) is welded with wire feed rate and speed of welding the control robot being calculated in step (2-1), when welding after
One welding bead is welded on the surface of this welding bead, is accumulated j times altogether, the longitudinally connected of welding bead finishes.
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Cited By (3)
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| CN110722285A (en) * | 2019-09-30 | 2020-01-24 | 湖南科技大学 | Laser hot wire welding seam forming quality prediction method, system and medium |
| CN110883403A (en) * | 2019-12-24 | 2020-03-17 | 华中科技大学 | Welding bead modeling method, device and system for electric arc additive manufacturing |
| CN111037046A (en) * | 2019-12-02 | 2020-04-21 | 西安铂力特增材技术股份有限公司 | Method for forming part with cross lap joint structure based on electric arc wire feeding forming |
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