CN111730157B - Novel double six-axis robot electric arc additive and argon in-process electric arc milling reduction material composite manufacturing device - Google Patents
Novel double six-axis robot electric arc additive and argon in-process electric arc milling reduction material composite manufacturing device Download PDFInfo
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- CN111730157B CN111730157B CN202010565396.XA CN202010565396A CN111730157B CN 111730157 B CN111730157 B CN 111730157B CN 202010565396 A CN202010565396 A CN 202010565396A CN 111730157 B CN111730157 B CN 111730157B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H5/00—Combined machining
- B23H5/04—Electrical discharge machining combined with mechanical working
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H11/00—Auxiliary apparatus or details, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
Abstract
The invention provides a novel double six-axis robot arc additive and argon electric spark arc milling reduction material composite manufacturing device, which comprises: the device comprises a power supply part, a moving carrier, an electric arc additive working head, an electric arc milling and reducing material working head in argon, a control cabinet, a working platform, an additive piece and a clamp; the power supply section includes: an electric arc additive power supply and an electric spark electric arc milling material reducing power supply in argon gas; the motion carrier includes: an electric arc material increase six-axis robot and an electric arc milling material reduction six-axis robot in argon gas; the electric arc additive working head comprises: a welding gun support, an insulating washer, a welding gun and a welding wire; the electric spark electric arc milling cut material working head in argon comprises: the material reducing working head comprises a material reducing working head support, an insulating cushion block, a rotating joint static end shell, a rotating joint moving end rotating shaft, a motor shell, a motor main shaft, a motor mounting frame, a coupler upper part, a small O-shaped sealing ring, a coupler lower part, a material reducing working head shell, a main bearing, a material reducing working head main shaft, an annular external cooling nozzle array device, a gland, an electrode, a lip-shaped sealing ring, a small bearing and an O-shaped sealing ring; electric arc material increase and electric arc milling reduction material in argon are carried out in parallel by two independent six-axis robots; the electric spark arc milling cut material working head in the argon gas can mill the additive part through the end face and the circumferential face of the electrode; the electric spark electric arc milling material reducing power supply in the argon gas has two modes of large-current electric arc rough milling and small-current electric spark finish milling.
Description
Technical Field
The invention belongs to the field of additive manufacturing and subtractive manufacturing, and particularly relates to a process combining electric arc additive manufacturing and electric spark electric arc milling subtractive manufacturing in argon.
Background
The electric arc additive manufacturing technology utilizes electric arc to melt welding wires, and molten pools are solidified and stacked layer by layer to form parts. The additive manufacturing technology has the advantages of high stacking speed, high material utilization rate and low equipment cost, and is a modern additive manufacturing technology with great potential. Because the electric arc additive manufacturing is a layer-by-layer stacking process, the height of each layer is generally larger than 1mm, and the surface quality of the part is poor. Therefore, to ensure the precision and surface quality of the part, post-processing machining is necessary to bring the part to the final service requirements.
Arc additive manufacturing is usually completed by a six-axis robot as a moving carrier, and subsequent processing is generally completed by other numerical control machines. Because follow-up processing needs to be changed for other equipment, the work piece needs many times to relocate, and this will increase extra transport and location clamping time, is showing and is reducing machining efficiency. And for the electric arc additive manufacturing part with a thin-wall structure, if a traditional numerical control milling machine is adopted to remove redundant materials, machining deformation and surface hardening are easy to generate, and the original mechanical structure of the part is damaged. In addition, the method of firstly performing electric arc material increase and then integrally performing subsequent processing has the problem that the interior of the closed part cannot be subjected to subsequent processing. These existing problems greatly limit the commercialization of arc additive manufacturing.
The novel double six-axis robot arc additive and argon electric spark arc milling reduction material composite manufacturing device organically combines the arc additive and the argon electric spark arc milling reduction material. In the manufacturing process, the electric arc additive and the electric arc milling cutting material in argon gas are respectively driven by two six-axis robots and run simultaneously, and the material addition and the material reduction are carried out simultaneously, so that the manufacturing efficiency is greatly improved. In addition, the electric spark arc in argon gas is adopted for milling, no cutting force exists, the surface deformation of a part cannot be caused, and the machining precision and the machining quality can be improved; and pure argon is adopted as a cooling medium, so that impurities can be prevented from being mixed into a remelted layer during milling, and the product quality is ensured.
Disclosure of Invention
The invention aims to solve the technical problem of providing a novel double six-axis robot arc additive and argon electric spark arc milling cutting material composite manufacturing device aiming at the defects of the prior art.
The technical scheme of the invention is as follows:
a novel double six-axis robot electric arc additive and argon electric arc milling cut material composite manufacturing device is characterized by comprising a power supply part, a moving carrier, an electric arc additive working head, an argon electric arc milling cut material working head, a control cabinet, a working table, an additive piece and a clamp; the power supply section includes: an electric arc additive power supply and an electric spark electric arc milling material reducing power supply in argon gas; the motion carrier includes: an electric arc material increase six-axis robot and an electric arc milling material reduction six-axis robot in argon gas; the electric arc material increase six-axis robot, the electric arc material milling reduction six-axis robot in argon gas, the workbench and the control cabinet are fastened on the ground through foundation bolts; the additive material piece is installed on the workbench through the clamp.
Preferably, the arc additive work head comprises: a welding gun support, an insulating washer, a welding gun and a welding wire; the welding gun support is arranged at the tail end joint of the electric arc material increase six-axis robot through a screw; the insulating washer is made of an insulating material; the welding gun is arranged on the welding gun support through the insulating washer, and the welding gun support are insulated from each other and do not conduct electricity; the welding wire is coaxially arranged inside the welding gun; and the positive electrode and the negative electrode of the electric arc additive power supply are respectively connected with the welding gun and the workbench through leads.
Preferably, the argon electric spark arc milling cut material working head comprises: the device comprises a material reducing working head support, an insulating cushion block, a rotating joint static end shell, a rotating joint moving end rotating shaft, a motor shell, a motor main shaft, a motor mounting frame, a coupler upper part, a small O-shaped sealing ring, a coupler lower part, a material reducing working head shell, a main bearing, a material reducing working head main shaft, an annular external cooling nozzle array device, a gland, an electrode, a lip-shaped sealing ring, a small bearing and an O-shaped sealing ring.
Preferably, the material reducing working head support is installed at the tail end joint of the six-axis robot for electric spark arc milling of the material to be reduced in the argon gas through a screw; the insulating cushion block is made of insulating non-conducting materials; the core part of the shell at the static end of the rotary joint is provided with a gas channel, and the top of the shell is provided with a hollow pipe joint which is used for being connected with an external high-purity argon pipe; the middle part of the outer shell at the static end of the rotary joint is provided with a bearing mounting hole for mounting the small bearing; the middle part of the outer shell of the static end of the rotary joint is provided with an annular groove for installing the lip-shaped sealing ring, so that the rotary seal between the outer shell of the static end of the rotary joint and the rotating shaft of the movable end of the rotary joint can be ensured; the bottom of the shell at the static end of the rotary joint is provided with a cavity with the diameter exceeding the outer diameter of the rotating shaft at the moving end of the rotary joint; the bottom of the static end shell of the rotary joint is provided with an annular flange which is used for being coaxially arranged at the top of the motor shell; the core part of the rotating shaft at the moving end of the rotating joint is a cylindrical gas channel, and the top part of the rotating shaft is a short shaft neck for coaxially mounting the small bearing; the lower part of a rotating shaft at the movable end of the rotating joint is provided with an annular flange which is used for being coaxially arranged at the top of the motor spindle; an annular sealing groove is formed in the middle of the bottom of the rotating shaft at the moving end of the rotating joint and used for mounting the O-shaped sealing ring, so that static sealing between the rotating shaft at the moving end of the rotating joint and the motor spindle can be guaranteed; the motor spindle core part is provided with a gas channel for transmitting argon; the bottom of the motor spindle is provided with an annular sealing groove for mounting the small O-shaped sealing ring, so that static sealing between the motor spindle and the main shaft of the material reducing working head can be ensured; the motor spindle is coaxially arranged on the motor shell; the motor shell is coaxially arranged at the top of the material reducing working head shell through the motor mounting rack; the shell of the material reducing working head is internally provided with a coaxial stepped through hole, and the middle part of the shell is provided with a bearing mounting hole for mounting the main bearing; the middle part of the material reducing working head shell is provided with a convex mounting seat which is used for being mounted on the material reducing working head bracket through the insulating cushion block, and the material reducing working head shell and the material reducing working head bracket are insulated from each other; the bottom of the shell of the material reducing working head is provided with an annular flange used for installing the annular external cooling nozzle array device; the top of the main shaft of the material reducing working head is a long shaft and is used for mounting the lower part of the coupler; the upper part of the coupler is arranged on a rotating shaft at the bottom of the motor spindle, the upper part of the coupler and the lower part of the coupler are coaxially arranged through flanges, and torque can be transmitted to the main shaft of the material reducing working head by the motor spindle; the middle part of the main shaft of the material reducing working head is provided with a shaft neck which is used for being arranged on the shell of the material reducing working head through the main bearing; the middle lower part of the main shaft of the material reducing working head is provided with external threads which are used for installing the gland and clamping the electrode; the bottom of the main shaft of the material reducing working head is an external conical surface and is used for positioning the electrode; the main shaft core part of the material reducing working head is provided with a gas channel with a circular section, and the gas channel is branched into an oblique straight gas channel at the middle lower part and leads to the junction of the outer conical surface and the thread; the electrode is in a hollow cylinder shape, the inner surface of the upper part of the electrode is an inner conical surface and is used for being matched with the outer conical surface at the bottom of the main shaft of the material reducing working head, and the positioning and the sealing are convenient; the electrode is distributed with an axial gas channel along the circumferential direction, the gas channel is provided with small holes at the lower part of the electrode along the radial direction outwards and inwards at the same time for spraying argon, in addition, the gas channel is contracted into the small holes at the end surface of the bottom of the electrode, and the argon can be sprayed out, and the pressure in the gas channel is kept; the upper part of the annular external cooling nozzle array device is provided with an annular flange which is used for being arranged at the annular flange at the bottom of the shell of the material reducing working head; the bottom of the annular external cooling nozzle array device is provided with an annular gas channel, and one side of the annular external cooling nozzle array device is provided with a hollow pipe joint with proper length for connecting an external argon gas pipe; the annular external cooling nozzle array device is uniformly distributed with hollow pipes with bent spaces along the circumferential direction, the upper parts of the hollow pipes are connected with the annular gas channel, and the diameters of the hollow pipes are gradually reduced from the top to the bottom; the lower part of the hollow tube is bent inwards to be close to the electrode; the lower part of the hollow pipe is provided with a small hole inwards, and argon can be sprayed out; the diameter of the small hole on the end surface of the bottom of the hollow pipe is smaller, so that argon can be sprayed out, and the gas pressure in the hollow pipe can be maintained; and the anode and the cathode of a power supply of the electric spark arc milling cutting material in argon are respectively connected with the workbench and the shell of the material reducing working head through leads.
Preferably, argon enters through a hollow tube joint at the top of a shell at the static end of the rotary joint, sequentially enters into an annular space formed by the main shaft of the material reducing working head, the gland and the electrode through a gas passage at the core part of a rotating shaft at the moving end of the rotary joint, a gas passage at the core part of the main shaft of the motor main shaft and a gas passage inside the main shaft of the material reducing working head, and in the space, the argon uniformly flows into an axial gas passage uniformly distributed on the electrode and is sprayed out from small holes inwards and outwards at the lower part of the electrode, and the small holes at the end surface of the bottom of the electrode are also sprayed out by the argon; in addition, argon enters through a hollow pipe joint at one side of the annular outer cooling nozzle array device, enters an annular space at the lower part of the annular outer cooling nozzle array device, uniformly flows into the bent hollow pipe, and is sprayed out from a lateral small hole and an end face small hole at the lower part of the hollow pipe; the lip-shaped sealing ring, the O-shaped sealing ring and the small O-shaped sealing ring can ensure the sealing in the argon transmission process; the electrode is along inside and outside surface and bottom terminal surface spun argon gas, and the annular outer cooling nozzle array device inwards with the downward spun argon gas guarantee the electric spark electric arc jointly and cut down chip removal, cooling and the stability of remelting district's chemical composition in the material process.
Preferably, the torque of the motor spindle is transmitted to the rotating joint moving end rotating shaft upwards and is transmitted to the material reducing working head spindle downwards, and the material reducing working head spindle transmits the torque to the electrode downwards; when the material reducing device works, the rotating shaft at the movable end of the rotating joint, the motor spindle, the upper part of the coupler, the lower part of the coupler, the main shaft of the material reducing working head, the gland and the electrode rotate together.
Preferably, in the process of electric arc material increase, an electric arc is formed between the welding wire and the material increase piece, the welding wire is melted, the welding wire forms a molten pool, and the molten pool is stacked into a specific shape layer by layer under the driving of the electric arc material increase six-axis robot, and finally becomes a part. During this period, the manufacture of the spark arc milling cutting material in argon gas can be carried out simultaneously, and the side surface or the top surface of the part is milled to remove the redundant material.
Preferably, when the argon electric spark arc milling cut material is manufactured, the argon electric spark arc milling cut material working head mills a part under the driving of the argon electric spark arc milling cut material six-axis robot; when the material reducing device works, the motor spindle drives the rotating shaft at the movable end of the rotating joint, the material reducing working head spindle and the electrode to rotate together; meanwhile, an external argon source supplies air, and argon finally sprays out on the inner surface and the outer surface of the electrode and the end surface through the rotating joint static end shell, the rotating joint moving end rotating shaft, the motor spindle, the material reducing working head spindle and the internal gas channel of the electrode; in addition, the annular outer cooling nozzle array device sprays argon gas inwards and downwards; when the electric spark arc milling material power supply in the argon gas is in an arc mode, when the electrode is close to the additive piece, an arc is generated between the electrode and the additive piece, the high-temperature arc melts a large amount of materials so as to achieve the purpose of removing a large amount of materials, the electric spark arc is suitable for rough machining, the rotating electrode periodically extinguishes the arc so as to periodically melt the materials and cool the materials, and part burning is prevented; when the electric spark arc milling material cutting power supply in the argon gas is in an electric spark mode, when the electrode is close to the additive piece, electric sparks are generated between the electrode and the additive piece, small electric spark heat melts a small amount of material so as to achieve the purpose of precisely removing the material, the electric spark heat is used for finish machining, the rotating electrode periodically extinguishes the electric spark so as to periodically melt the material and cool the material, and the purposes of precisely controlling the removal amount and preventing the part from being burnt are achieved; during which the injected argon is used to blow off the molten swarf and at the same time to cool the electrodes; in addition, the argon gas prevents impurity elements such as oxygen in the air from being mixed into the remelted layer when the material is cooled.
Compared with the prior art, the invention has the following technical effects:
the novel double six-axis robot electric arc additive and argon electric spark electric arc milling reduction material composite manufacturing device combines two processing modes of electric arc additive and argon electric spark electric arc milling reduction material by using two independent six-axis robots, and in the manufacturing process, the electric arc additive and the argon electric spark electric arc milling reduction material can be simultaneously carried out, so that the manufacturing efficiency is greatly improved. In addition, the electric spark arc in the argon gas is adopted for milling, no cutting force is generated, the surface deformation of the part is avoided, the machining precision and the machining quality can be improved, and the argon gas can protect a remelted layer of the part from being polluted by impurity elements.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of an arc additive working head according to the present invention;
FIG. 3 is a working head for milling cut material by electric spark arc in argon gas according to the present invention;
FIG. 4 is an enlarged schematic view of the A position of the working head for milling the reduced material by electric spark arc in argon gas according to the present invention;
FIG. 5 is a schematic view of an annular outer cooling nozzle array apparatus of the present invention;
1. a control cabinet, 2, an electric arc material increase six-axis robot, 3, an electric arc material increase working head, 4, an electric arc milling material reduction working head in argon, 5, an electric arc material reduction six-axis robot in argon, 6, an electric arc material reduction power supply in argon, 7, an electric arc material increase power supply, 8, a working table, 9, a clamp, 10, a material increase part, 11, a welding gun support, 12, an insulating gasket, 13, a welding gun, 14, a welding wire, 15, a material reduction working head support, 16, an insulating cushion block, 17, a rotating joint static end shell, 18, a rotating joint dynamic end rotating shaft, 19, a motor shell, 20, a motor main shaft, 21, a motor mounting frame, 22, a coupling upper part, 23, a small O-shaped sealing ring, 24, a coupling lower part, 25, a material reduction working head shell, 26, a main bearing, 27, a material reduction working head main shaft, 28 and an annular external cooling nozzle array device, 29. gland, 30, electrode, 31, lip seal, 32, small bearing, 33, O type sealing washer.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The first embodiment is as follows:
the invention provides a novel double six-axis robot arc additive and argon electric spark arc milling cut material composite manufacturing device as shown in the attached figures 1-5, which is characterized in that a power supply part, a moving carrier, an arc additive working head 3, an argon electric spark arc milling cut material working head 4, a control cabinet 1, a working table 8, an additive piece 10 and a clamp 9 are arranged; the power supply section includes: an electric arc additive power supply 7 and an electric arc milling reduction material power supply 6 for electric spark in argon; the motion carrier includes: an electric arc material increase six-axis robot 2 and an electric arc milling material reduction six-axis robot 5 in argon gas; the electric arc material increase six-axis robot 2, the argon electric arc milling material reduction six-axis robot 5, the workbench 8 and the control cabinet 1 are fastened on the ground through foundation bolts; the additive 10 is mounted on the working table 8 through the clamp 9.
Preferably, the arc additive work head 3 comprises: a welding gun support 11, an insulating washer 12, a welding gun 13 and a welding wire 14; the welding gun support 11 is installed on a tail end joint of the electric arc additive six-axis robot 2 through a screw; the insulating washer 12 is made of an insulating material; the welding gun 13 is mounted on the welding gun support 11 through the insulating gasket 12, and the welding gun 13 and the welding gun support 11 are insulated and non-conductive; the welding wire 14 is coaxially arranged inside the welding gun 13; the anode and the cathode of the electric arc additive power supply 7 are respectively connected with the welding gun 13 and the workbench 8 through leads.
Preferably, the argon electric spark arc milling cut material working head 4 comprises: the device comprises a material reducing working head support 15, an insulating cushion block 16, a rotary joint static end shell 17, a rotary joint moving end rotating shaft 18, a motor shell 19, a motor spindle 20, a motor mounting frame 21, a coupling upper portion 22, a small O-shaped sealing ring 23, a coupling lower portion 24, a material reducing working head shell 25, a main bearing 26, a material reducing working head spindle 27, an annular outer cooling nozzle array device 28, a gland 29, an electrode 30, a lip-shaped sealing ring 31, a small bearing 32 and an O-shaped sealing ring 33.
Preferably, the material reducing working head support 15 is installed on the tail end joint of the six-axis robot 5 for electric spark arc milling of the material reducing in the argon gas through a screw; the insulating cushion block 16 is made of insulating non-conducting material; the core part of the shell 17 at the static end of the rotary joint is provided with a gas channel, and the top of the shell is provided with a hollow pipe joint which is used for being connected with an external high-purity argon pipe; the middle part of the static end shell 17 of the rotary joint is provided with a bearing mounting hole for mounting the small bearing 32; the middle part of the static end shell 17 of the rotary joint is provided with an annular groove for installing the lip-shaped sealing ring 31, so that the rotary seal between the static end shell 17 of the rotary joint and the rotating shaft 18 at the moving end of the rotary joint can be ensured; the bottom of the static end shell 17 of the rotary joint is provided with a cavity with the diameter exceeding the outer diameter of the rotating shaft 18 at the moving end of the rotary joint; the bottom of the static end shell 17 of the rotary joint is provided with an annular flange which is used for being coaxially arranged at the top of the motor shell 19; the core part of the rotating shaft 18 at the moving end of the rotating joint is a cylindrical gas channel, and the top part of the rotating shaft is a short journal for coaxially mounting the small bearing 32; the lower part of the rotating shaft 18 at the moving end of the rotating joint is provided with an annular flange which is coaxially arranged at the top of the motor spindle 20; an annular sealing groove is formed in the middle of the bottom of the rotating shaft 18 at the moving end of the rotating joint and used for mounting the O-shaped sealing ring 33, so that static sealing between the rotating shaft 18 at the moving end of the rotating joint and the motor spindle 20 can be guaranteed; the core part of the motor spindle 20 is provided with a gas channel for transmitting argon; an annular sealing groove is formed in the bottom of the motor spindle 20 and used for mounting the small O-shaped sealing ring 23, so that static sealing between the motor spindle 20 and the material reducing working head spindle 27 can be guaranteed; the motor spindle 20 is coaxially mounted on the motor housing 19; the motor shell 19 is coaxially arranged at the top of the material reducing working head shell 25 through the motor mounting frame 21; the material reducing working head shell 25 is internally provided with a coaxial stepped through hole, and the middle part of the material reducing working head shell is provided with a bearing mounting hole for mounting the main bearing 26; the middle part of the material reducing working head shell 25 is provided with a convex mounting seat which is used for being mounted on the material reducing working head support 15 through the insulating cushion block 16, and the material reducing working head shell 25 and the material reducing working head support 15 are insulated from each other; the bottom of the material reducing working head shell 25 is provided with an annular flange used for installing the annular external cooling nozzle array device 28; the top of the main shaft 27 of the material reducing working head is a long shaft and is used for mounting the lower part 24 of the coupler; the upper coupler part 22 is mounted on a rotating shaft at the bottom of the motor spindle 20, the upper coupler part 22 and the lower coupler part 24 are coaxially mounted through flanges, and torque can be transmitted to the material reducing working head spindle 27 through the motor spindle 20; the middle part of the main shaft 27 of the material reducing working head is a shaft neck and is used for being mounted on the shell 25 of the material reducing working head through the main bearing 26; the middle lower part of the main shaft 27 of the material reducing working head is provided with external threads which are used for installing the gland 29 and clamping the electrode 30; the bottom of the main shaft 27 of the material reducing working head is an external conical surface and is used for positioning the electrode 30; the core part of the main shaft 27 of the material reducing working head is provided with an air channel with a circular section, and the air channel is branched into an oblique straight air channel at the middle lower part and leads to the junction of the outer conical surface and the thread; the electrode 30 is in a hollow cylindrical shape, the inner surface of the upper part of the electrode is an inner conical surface, and the electrode is used for being matched with the outer conical surface at the bottom of the main shaft 27 of the material reducing working head, so that the positioning and the sealing are convenient; the electrode 30 is distributed with an axial gas channel along the circumferential direction, the gas channel is provided with small holes at the lower part of the electrode 30 along the radial direction outwards and inwards at the same time for spraying argon, in addition, the gas channel is contracted into small holes at the bottom end surface of the electrode 30, argon can be sprayed out, and the pressure in the gas channel is kept; the upper part of the annular external cooling nozzle array device 28 is provided with an annular flange which is used for being arranged at the annular flange at the bottom of the material reducing working head shell 25; the bottom of the annular external cooling nozzle array device 28 is an annular gas channel, and one side of the annular external cooling nozzle array device is provided with a hollow pipe joint with proper length for connecting an external argon gas pipe; the annular external cooling nozzle array device 28 is uniformly distributed with hollow pipes with bent spaces along the circumferential direction, the upper parts of the hollow pipes are connected with the annular gas channel, and the diameters of the hollow pipes are gradually reduced from the top to the bottom; the lower portion of the hollow tube is bent inward to be adjacent to the electrode 30; the lower part of the hollow pipe is provided with a small hole inwards, and argon can be sprayed out; the diameter of the small hole on the end surface of the bottom of the hollow pipe is smaller, so that argon can be sprayed out, and the gas pressure in the hollow pipe can be maintained; and the anode and the cathode of the electric spark arc milling cutting material power supply 6 in the argon gas are respectively connected with the workbench 8 and the cutting material working head shell 25 through leads.
Preferably, argon enters through a hollow tube joint at the top of the shell 17 at the static end of the rotary joint and then enters into an annular space formed by the main shaft 27 of the material reducing working head, the gland 29 and the electrode 30 through a gas passage at the core part of the rotating shaft 18 at the moving end of the rotary joint, a gas passage at the core part of the main shaft 20 of the motor and a gas passage inside the main shaft 27 of the material reducing working head, in the annular space, the argon uniformly flows into axial gas passages uniformly distributed on the electrode 30 and is sprayed out from small holes inwards and outwards at the lower part of the electrode 30, and the small holes at the end surface of the bottom of the electrode 30 are also sprayed out by the argon; in addition, argon enters through a hollow pipe joint at one side of the annular outer cooling nozzle array device 28, enters into an annular space at the lower part of the annular outer cooling nozzle array device 28, uniformly flows into a bent hollow pipe, and is sprayed out from a small side hole and a small end face hole at the lower part of the hollow pipe; the lip-shaped sealing ring 31, the O-shaped sealing ring 33 and the small O-shaped sealing ring 23 can ensure sealing in the argon transmission process; the electrode 30 is along the inner and outer surface and the bottom terminal surface spun argon gas, and the annular external cooling nozzle array device 28 inwards and the downward spun argon gas guarantee the chip removal, cooling and the remelting zone chemical composition's stability in the material process is cut down to the electric spark electric arc milling jointly.
Preferably, the torque of the motor spindle 20 is transmitted to the rotating joint moving end rotating shaft 18 upwards and is transmitted to the material reducing working head spindle 27 downwards, and the material reducing working head spindle 27 transmits the torque to the electrode 30 downwards; during operation, the rotating shaft 18 at the movable end of the rotating joint, the motor spindle 20, the upper part 22 of the coupler, the lower part 24 of the coupler, the spindle 27 of the material reducing working head, the gland 29 and the electrode 30 rotate together.
Preferably, in the process of arc material increase, an arc is formed between the welding wire 14 and the material increasing piece 10, the welding wire 14 is melted, the welding wire 14 forms a molten pool, and the molten pool is stacked into a specific shape layer by layer under the driving of the arc material increasing six-axis robot 2, and finally becomes a part. During this period, the manufacture of the spark arc milling cutting material in argon gas can be carried out simultaneously, and the side surface or the top surface of the part is milled to remove the redundant material.
Preferably, when the argon electric spark arc milling cut material is manufactured, the argon electric spark arc milling cut material working head 4 mills a part under the driving of the argon electric spark arc milling cut material six-axis robot 5; when the material reducing device works, the motor spindle 20 drives the rotating joint moving end rotating shaft 18, the material reducing working head spindle 27 and the electrode 30 to rotate together; meanwhile, an external argon gas source supplies gas, and argon gas passes through the rotating joint static end shell 17, the rotating joint moving end rotating shaft 18, the motor spindle 20, the material reducing working head spindle 27 and an internal gas channel of the electrode 30 and is finally sprayed out from the inner surface, the outer surface and the end face of the electrode 30; in addition, the annular outer cooling nozzle array arrangement 28 projects argon gas inwardly and downwardly; when the electric spark arc milling cutting material power supply 6 in argon gas is in an arc mode, when the electrode 30 is close to the additive piece 10, an arc is generated between the electrode 30 and the additive piece 10, a large amount of materials are melted by the high-temperature arc, so that the purpose of removing a large amount of materials is achieved, the electric spark arc is suitable for rough machining, the rotating electrode 30 periodically extinguishes the arc, so that the materials are periodically melted and cooled, and parts are prevented from being burnt; when the electric spark arc milling cutting material power supply 6 in argon gas is in an electric spark mode, when the electrode 30 is close to the additive piece 10, electric sparks are generated between the electrode 30 and the additive piece 10, a small amount of material is melted by fine electric spark heat so as to achieve the purpose of precisely removing the material, the electric spark is used for finish machining, the electrode 30 rotating periodically extinguishes the electric spark so as to periodically melt the material and cool the material, and the purposes of precisely controlling the removal amount and preventing parts from being burnt are achieved; during which the injected argon gas is used to blow off the molten swarf and at the same time to cool the electrode 30; in addition, the argon gas prevents impurity elements such as oxygen in the air from being mixed into the remelted layer when the material is cooled.
Compared with the prior art, the invention has the following technical effects:
the novel double-six-axis robot electric arc additive and argon electric spark electric arc milling reduction material composite manufacturing device combines two processing modes of electric arc additive and argon electric spark electric arc milling reduction material by using two independent six-axis robots, and during the manufacturing process, the electric arc additive and the argon electric spark electric arc milling reduction material can be simultaneously carried out, so that the manufacturing efficiency is greatly improved. In addition, the electric spark arc in the argon gas is adopted for milling, no cutting force is generated, the surface deformation of the part is avoided, the machining precision and the machining quality can be improved, and the argon gas can protect a remelted layer of the part from being polluted by impurity elements.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A novel double six-axis robot electric arc additive and argon electric arc milling cut material composite manufacturing device is characterized by comprising a power supply part, a moving carrier, an electric arc additive working head, an argon electric arc milling cut material working head, a control cabinet, a working table, an additive piece and a clamp; the power supply section includes: an electric arc additive power supply and an electric spark electric arc milling material reducing power supply in argon gas; the motion carrier includes: an electric arc material increase six-axis robot and an electric arc milling material reduction six-axis robot in argon gas; the electric arc material increase six-axis robot, the electric arc material milling reduction six-axis robot in argon gas, the workbench and the control cabinet are fastened on the ground through foundation bolts; the additive material piece is installed on the workbench through the clamp.
2. The novel double six-axis robot arc additive and argon electric spark arc milling reduction material composite manufacturing device according to claim 1, characterized in that:
the electric arc additive working head comprises: a welding gun support, an insulating washer, a welding gun and a welding wire; the welding gun support is arranged at the tail end joint of the electric arc material increase six-axis robot through a screw; the insulating washer is made of an insulating material; the welding gun is arranged on the welding gun support through the insulating washer, and the welding gun support are insulated from each other and do not conduct electricity; the welding wire is coaxially arranged inside the welding gun; and the positive electrode and the negative electrode of the electric arc additive power supply are respectively connected with the welding gun and the workbench through leads.
3. The novel double six-axis robot arc additive and argon electric spark arc milling reduction material composite manufacturing device according to claim 1, characterized in that:
the electric spark electric arc milling cut material working head in argon comprises: the device comprises a material reducing working head support, an insulating cushion block, a rotating joint static end shell, a rotating joint moving end rotating shaft, a motor shell, a motor main shaft, a motor mounting frame, a coupler upper part, a small O-shaped sealing ring, a coupler lower part, a material reducing working head shell, a main bearing, a material reducing working head main shaft, an annular external cooling nozzle array device, a gland, an electrode, a lip-shaped sealing ring, a small bearing and an O-shaped sealing ring.
4. The novel double six-axis robot arc additive and argon electric spark arc milling reduction material composite manufacturing device according to claim 3, characterized in that:
the material reducing working head support is arranged at the tail end joint of the six-axis robot for electric spark arc milling and reducing the material in the argon gas through a screw; the insulating cushion block is made of insulating non-conducting materials; the core part of the shell at the static end of the rotary joint is provided with a gas channel, and the top of the shell is provided with a hollow pipe joint which is used for being connected with an external high-purity argon pipe; the middle part of the outer shell at the static end of the rotary joint is provided with a bearing mounting hole for mounting the small bearing; the middle part of the outer shell of the static end of the rotary joint is provided with an annular groove for installing the lip-shaped sealing ring, so that the rotary seal between the outer shell of the static end of the rotary joint and the rotating shaft of the movable end of the rotary joint can be ensured; the bottom of the shell at the static end of the rotary joint is provided with a cavity with the diameter exceeding the outer diameter of the rotating shaft at the moving end of the rotary joint; the bottom of the static end shell of the rotary joint is provided with an annular flange which is used for being coaxially arranged at the top of the motor shell; the core part of the rotating shaft at the moving end of the rotating joint is a cylindrical gas channel, and the top part of the rotating shaft is a short shaft neck for coaxially mounting the small bearing; the lower part of a rotating shaft at the movable end of the rotating joint is provided with an annular flange which is used for being coaxially arranged at the top of the motor spindle; an annular sealing groove is formed in the middle of the bottom of the rotating shaft at the moving end of the rotating joint and used for mounting the O-shaped sealing ring, so that static sealing between the rotating shaft at the moving end of the rotating joint and the motor spindle can be guaranteed; the motor spindle core part is provided with a gas channel for transmitting argon; the bottom of the motor spindle is provided with an annular sealing groove for mounting the small O-shaped sealing ring, so that static sealing between the motor spindle and the main shaft of the material reducing working head can be ensured; the motor spindle is coaxially arranged on the motor shell; the motor shell is coaxially arranged at the top of the material reducing working head shell through the motor mounting rack; the shell of the material reducing working head is internally provided with a coaxial stepped through hole, and the middle part of the shell is provided with a bearing mounting hole for mounting the main bearing; the middle part of the material reducing working head shell is provided with a convex mounting seat which is used for being mounted on the material reducing working head bracket through the insulating cushion block, and the material reducing working head shell and the material reducing working head bracket are insulated from each other; the bottom of the shell of the material reducing working head is provided with an annular flange used for installing the annular external cooling nozzle array device; the top of the main shaft of the material reducing working head is a long shaft and is used for mounting the lower part of the coupler; the upper part of the coupler is arranged on a rotating shaft at the bottom of the motor spindle, the upper part of the coupler and the lower part of the coupler are coaxially arranged through flanges, and torque can be transmitted to the main shaft of the material reducing working head by the motor spindle; the middle part of the main shaft of the material reducing working head is provided with a shaft neck which is used for being arranged on the shell of the material reducing working head through the main bearing; the middle lower part of the main shaft of the material reducing working head is provided with external threads which are used for installing the gland and clamping the electrode; the bottom of the main shaft of the material reducing working head is an external conical surface and is used for positioning the electrode; the main shaft core part of the material reducing working head is provided with a gas channel with a circular section, and the gas channel is branched into an oblique straight gas channel at the middle lower part and leads to the junction of the outer conical surface and the thread; the electrode is in a hollow cylinder shape, the inner surface of the upper part of the electrode is an inner conical surface and is used for being matched with the outer conical surface at the bottom of the main shaft of the material reducing working head, and the positioning and the sealing are convenient; the electrode is distributed with an axial gas channel along the circumferential direction, the gas channel is provided with small holes at the lower part of the electrode along the radial direction outwards and inwards at the same time for spraying argon, in addition, the gas channel is contracted into the small holes at the end surface of the bottom of the electrode, and the argon can be sprayed out, and the pressure in the gas channel is kept; the upper part of the annular external cooling nozzle array device is provided with an annular flange which is used for being arranged at the annular flange at the bottom of the shell of the material reducing working head; the bottom of the annular external cooling nozzle array device is provided with an annular gas channel, and one side of the annular external cooling nozzle array device is provided with a hollow pipe joint with proper length for connecting an external argon gas pipe; the annular external cooling nozzle array device is uniformly distributed with hollow pipes with bent spaces along the circumferential direction, the upper parts of the hollow pipes are connected with the annular gas channel, and the diameters of the hollow pipes are gradually reduced from the top to the bottom; the lower part of the hollow tube is bent inwards to be close to the electrode; the lower part of the hollow pipe is provided with a small hole inwards, and argon can be sprayed out; the diameter of the small hole on the end surface of the bottom of the hollow pipe is smaller, so that argon can be sprayed out, and the gas pressure in the hollow pipe can be maintained; and the anode and the cathode of a power supply of the electric spark arc milling cutting material in argon are respectively connected with the workbench and the shell of the material reducing working head through leads.
5. The novel double six-axis robot arc additive and argon electric spark arc milling reduction material composite manufacturing device according to claim 4, characterized in that:
argon enters through a hollow tube joint at the top of a shell at the static end of the rotary joint and sequentially enters an annular space formed by the main shaft of the material reducing working head, the gland and the electrode through a gas passage at the core part of a rotating shaft at the moving end of the rotary joint, a gas passage at the core part of the main shaft of the motor main shaft and a gas passage inside the main shaft of the material reducing working head, the argon uniformly flows into an axial gas passage uniformly distributed on the electrode in the space and is sprayed out from small holes inwards and outwards at the lower part of the electrode, and the small holes at the end surface of the bottom of the electrode are also sprayed out by the argon; in addition, argon enters through a hollow pipe joint at one side of the annular outer cooling nozzle array device, enters an annular space at the lower part of the annular outer cooling nozzle array device, uniformly flows into the bent hollow pipe, and is sprayed out from a lateral small hole and an end face small hole at the lower part of the hollow pipe; the lip-shaped sealing ring, the O-shaped sealing ring and the small O-shaped sealing ring can ensure the sealing in the argon transmission process; the electrode is along inside and outside surface and bottom terminal surface spun argon gas, and the annular outer cooling nozzle array device inwards with the downward spun argon gas guarantee the electric spark electric arc jointly and cut down chip removal, cooling and the stability of remelting district's chemical composition in the material process.
6. The novel double six-axis robot arc additive and argon electric spark arc milling reduction material composite manufacturing device according to claim 4, characterized in that:
the torque of the motor spindle is upwards transmitted to the rotating shaft at the movable end of the rotating joint and downwards transmitted to the main shaft of the material reducing working head, and the main shaft of the material reducing working head downwards transmits the torque to the electrode; when the material reducing device works, the rotating shaft at the movable end of the rotating joint, the motor spindle, the upper part of the coupler, the lower part of the coupler, the main shaft of the material reducing working head, the gland and the electrode rotate together.
7. The novel double six-axis robot arc additive and argon electric spark arc milling reduction material composite manufacturing device according to claim 2, characterized in that:
in the process of electric arc additive manufacturing, electric arcs are formed between the welding wires and the additive parts, the welding wires are melted, the welding wires form a molten pool, and the molten pool is stacked layer by layer into a specific shape under the driving of the electric arc additive six-axis robot to finally form parts; during this period, the manufacture of the spark arc milling cutting material in argon gas can be carried out simultaneously, and the side surface or the top surface of the part is milled to remove the redundant material.
8. The novel double six-axis robot arc additive and argon electric spark arc milling reduction material composite manufacturing device according to claim 4, characterized in that:
when an electric spark arc milling cut material in argon is manufactured, a working head of the electric spark arc milling cut material in argon mills a part under the driving of a six-axis robot of the electric spark arc milling cut material in argon; when the material reducing device works, the motor spindle drives the rotating shaft at the movable end of the rotating joint, the material reducing working head spindle and the electrode to rotate together; meanwhile, an external argon source supplies air, and argon finally sprays out on the inner surface and the outer surface of the electrode and the end surface through the rotating joint static end shell, the rotating joint moving end rotating shaft, the motor spindle, the material reducing working head spindle and the internal gas channel of the electrode; in addition, the annular outer cooling nozzle array device sprays argon gas inwards and downwards; when the electric spark arc milling material power supply in the argon gas is in an arc mode, when the electrode is close to the additive piece, an arc is generated between the electrode and the additive piece, the high-temperature arc melts a large amount of materials so as to achieve the purpose of removing a large amount of materials, the electric spark arc is suitable for rough machining, the rotating electrode periodically extinguishes the arc so as to periodically melt the materials and cool the materials, and part burning is prevented; when the electric spark arc milling material cutting power supply in the argon gas is in an electric spark mode, when the electrode is close to the additive piece, electric sparks are generated between the electrode and the additive piece, small electric spark heat melts a small amount of material so as to achieve the purpose of precisely removing the material, the electric spark heat is used for finish machining, the rotating electrode periodically extinguishes the electric spark so as to periodically melt the material and cool the material, and the purposes of precisely controlling the removal amount and preventing the part from being burnt are achieved; during which the injected argon is used to blow off the molten swarf and at the same time to cool the electrodes; in addition, the argon gas prevents impurity elements such as oxygen in the air from being mixed into the remelted layer when the material is cooled.
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