CN114043240A - Fixed gantry arc additive and subtractive composite manufacturing device and method - Google Patents

Fixed gantry arc additive and subtractive composite manufacturing device and method Download PDF

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Publication number
CN114043240A
CN114043240A CN202111327969.6A CN202111327969A CN114043240A CN 114043240 A CN114043240 A CN 114043240A CN 202111327969 A CN202111327969 A CN 202111327969A CN 114043240 A CN114043240 A CN 114043240A
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China
Prior art keywords
unit
welding
working platform
robot
arc
Prior art date
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Pending
Application number
CN202111327969.6A
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Chinese (zh)
Inventor
冯晨
王福德
陈金存
李�权
倪江涛
罗志伟
张睿泽
严振宇
崔保伟
侯谊飞
周庆军
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Capital Aerospace Machinery Co Ltd
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Capital Aerospace Machinery Co Ltd
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Publication date
Application filed by Capital Aerospace Machinery Co Ltd filed Critical Capital Aerospace Machinery Co Ltd
Priority to CN202111327969.6A priority Critical patent/CN114043240A/en
Publication of CN114043240A publication Critical patent/CN114043240A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/04Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23CMILLING
    • B23C1/00Milling machines not designed for particular work or special operations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/04Welding for other purposes than joining, e.g. built-up welding

Abstract

The invention provides a fixed gantry arc additive and subtractive composite manufacturing device and a method, which comprises a gantry, a robot unit, an arc welding unit, a numerical control milling unit, a double-rotation working platform unit, a welding room unit and a master control unit, wherein the gantry is arranged on the gantry; the portal frame is used for carrying the robot unit and the numerical control milling unit to realize up-down lifting and left-right moving; the robot unit is used for carrying a welding gun and a wire feeding mechanism to realize additive manufacturing; the arc welding unit is used for melting wires to weld; the double-rotary working platform unit is used for bearing the substrate to perform electric arc material increase of a product or machine processing of a blank product; the welding room unit is used for protecting welding smoke and arc light in the welding process; the main control unit is used for displaying the working states of the portal frame, the robot unit, the arc welding unit, the numerical control milling unit and the double-rotating working platform unit and realizing the control of each sub-unit in a man-machine interaction mode. The invention solves the problem of low equipment utilization rate by synchronous online material increase and decrease manufacturing.

Description

Fixed gantry arc additive and subtractive composite manufacturing device and method
Technical Field
The invention belongs to the technical field of electric arc additive manufacturing equipment, and particularly relates to a fixed gantry electric arc additive and subtractive composite manufacturing device and method.
Background
The electric arc fuse material additive manufacturing technology is a digital manufacturing technology for manufacturing large metal parts with integrated functional structures. By adopting a wire feeding mode and adopting an electric arc as a heat source, the novel additive manufacturing technology for directly stacking metal wires is realized. The technology has the characteristics of high deposition efficiency, low cost and the like, and can realize the rapid manufacturing of large-scale complex structural members such as high-performance high-temperature alloy, titanium alloy, aluminum alloy, high-strength steel and the like. The component formed by the electric arc additive manufacturing technology has the advantages of good mechanical property, low production cost, high forming efficiency and the like, and is widely concerned.
At present, in traditional electric arc additive manufacturing equipment, a robot or a machine tool clamping welding gun is mostly adopted to realize additive forming of a blank product under the control of a program, and after the additive forming is finished, the blank product is transferred to a special machine tool to be machined. The traditional manufacturing process can be realized only by two sets of equipment for material increase and material reduction, and the problems of long turnover time and low equipment utilization rate exist. The prior patent proposes an electric arc material increase/reduction integrated device, and after electric arc material increase is finished, subsequent blank machining is carried out on the same platform, and the device needs to wait for the material increase product to be machined, and then the next product can be manufactured, so that the problem of low device utilization rate still exists. Conventional manufacturing equipment has not met the stringent demands of the design sector for rapid response in additive manufacturing.
Disclosure of Invention
In order to overcome the defects in the prior art, the inventor of the invention carries out intensive research and provides a fixed gantry arc material increase and material reduction composite manufacturing device and method.
The technical scheme provided by the invention is as follows:
in a first aspect, the fixed gantry arc material increasing and reducing composite manufacturing device comprises a gantry, a robot unit, an arc welding unit, a numerical control milling unit, a double-rotation working platform unit, a welding room unit and a master control unit; the portal frame is used for carrying the robot unit and the numerical control milling unit to realize up-down lifting and left-right moving; the robot unit is used for carrying a welding gun and a wire feeding mechanism to realize additive manufacturing; the arc welding unit is used for melting wires to weld; the numerical control milling unit is used for processing the additive parts; the double-rotary working platform unit is used for bearing the substrate to perform electric arc material increase of a product or machine processing of a blank product; the welding room unit is used for protecting welding smoke and arc light in the welding process; the main control unit is used for displaying the working states of the portal frame, the robot unit, the arc welding unit, the numerical control milling unit and the double-rotating working platform unit and realizing the control of each sub-unit in a man-machine interaction mode.
In a second aspect, a fixed gantry arc additive and subtractive composite manufacturing method is implemented by the fixed gantry arc additive and subtractive composite manufacturing apparatus of the first aspect, and includes the following steps:
placing the substrate on a rotary working platform I, carrying a welding gun by a robot unit and carrying a wire feeding mechanism to implement electric arc additive manufacturing;
after additive manufacturing is completed, the rotary working platform I and the rotary working platform II are moved in opposite directions along the slide rail and then are butted into a large working platform, and a blank product is moved to the rotary working platform II;
and the rotary working platform I and the rotary working platform II move reversely along the slide rail to form two independent working platforms, the rotary working platform I continues to implement the material increase manufacturing part, and the rotary working platform II bearing blank products implements milling material reduction.
According to the fixed gantry arc additive and subtractive composite manufacturing device and method provided by the invention, the fixed gantry arc additive and subtractive composite manufacturing method has the following beneficial effects:
(1) according to the fixed gantry arc additive and subtractive composite manufacturing device and method, synchronous online additive and subtractive manufacturing of components is realized on equipment, and the production efficiency can be improved;
(2) the fixed gantry two-way deposition large-size arc fuse material increasing/reducing manufacturing equipment has the characteristics of large size of formed products, high deposition efficiency and the like, and can realize the manufacturing of large-size complex workpieces;
(3) the fixed gantry arc material increasing and reducing composite manufacturing device and method provided by the invention are based on a robot control system, and the technical scheme for realizing robot coordination control and external shaft linkage control is high in maturity, so that the whole system is easy to realize.
Drawings
FIG. 1 is a schematic view of an equipment bay for additive manufacturing;
FIG. 2 is a schematic view of material reduction in an equipment compartment;
FIG. 3 is an equipment bay elevation view;
fig. 4 is an equipment bay external side view.
Description of the reference numerals
1-a portal frame; 2-ram; 3-a main robot; 4-slave robot; 5-a welding gun; 6-rotating the working platform I; 7-a robot control cabinet; 8-CMT welding power supply; 9-a wire feeder; 10-milling a machining head; 11-rotating the working platform II; 12-a master control unit; 13-a slide rail; 14-a rigid hull; 15-observation window 16-safety door; 17-smoke dust purification device.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to a first aspect of the invention, a fixed gantry two-way deposition large-size electric arc material increase and reduction composite manufacturing device is provided, as shown in fig. 1 and 2, comprising a gantry, a robot unit, an arc welding unit, a numerical control milling unit, a double-rotation working platform unit, a welding room unit and a master control unit; the portal frame is used for carrying the robot unit and the numerical control milling unit to realize up-down lifting and left-right moving; the robot unit is used for carrying the welding gun 5 and the wire feeder 9 to realize additive manufacturing; the arc welding unit is used for melting wires to weld; the numerical control milling unit is used for processing the additive parts; the double-rotary working platform unit is used for bearing the substrate to perform electric arc material increase of a product or machine processing of a blank product; the welding room unit is used for protecting welding smoke and arc light in the welding process; the main control unit is used for displaying the working states of the portal frame, the robot unit, the arc welding unit, the numerical control milling unit and the double-rotating working platform unit and realizing the control of each sub-unit in a man-machine interaction mode.
The portal frame 1 is composed of double columns, a top beam and N (N is more than or equal to 2) ram blocks 2. N ram blocks 2 are distributed on two sides of the top cross beam, and N is distributed on one side1Block ram, N1Not less than 1, on which robots are respectively hung, the robots can move up and down on the ram, and the moving directions are respectively considered as Z1 direction to Z directionN1The range of motion is 0-2.5m, N1The block ram can move left and right along the top cross beam, and the moving directions are respectively considered as Y1 to YN1The movement range is 0-3 m; the other side of the top beam is distributed with N2Block ram, N2Not less than 1, for suspending a numerical control milling unit, N2The block numerical control milling unit can move up and down on the ram, and the moving direction is divided into ZN1+1To ZN2The movement range is 0-2.5m, the ram can move left and right along the top cross beam, and the movement direction is regarded as YN1+1To YN2And the movement range is 0-3 m. Preferably, as shown in fig. 1 and 2, the gantry is a three-arm gantry, N1Is 2, N2Is 1.
The robot unit comprises a beam suspended on one side N1A robot at the end of the block ram 2; the robots can be cooperatively linked, and the robots are industrial six-axis robots. Preferably, two groups of robots in the robot unit are respectively a main robot 3 and a slave robot 4, and are suspended at the tail ends of two rams 2 on one side of a beam on the top of the gantry.
The arc welding unit comprises a welding gun 5 suspended at the tail end of six axes of the robot, a wire feeder 9 suspended at the base of the robot and a CMT welding power supply 8 suspended beside the gantry upright post.
The numerical control milling unit comprises a beam N suspended on one side2The milling machining head 10 at the tail end of the ram is a two-axis device, the milling machining head 10 mainly moves in a rotating mode, the rotating speed range is 0-10000rpm/min, a rotary working platform II 11 moves on a sliding rail in a feeding mode through a rail sliding block during machining, and the numerical control milling machining head 10 can conduct milling, drilling and boring machining on the additive parts.
The double-rotation working platform unit comprises a rotation working platform I6, a rotation working platform II 11, two guide rail sliding blocks and a sliding rail 13; the two rotary working platforms (6, 11) comprise a double-shaft servo position changing machine arranged on an independent guide rail sliding block and a table board on the double-shaft servo position changing machine, the two rotary working platforms move along the sliding rail 13 under the driving of the guide rail sliding block, and the central line of the guide rail sliding block is superposed with the central line of the portal frame 1. The two rotary working platforms (6, 11) can move independently under servo control to respectively perform electric arc material increase and material reduction by milling, and can also be linked into a large working platform to perform electric arc material increase together, or perform material reduction by milling together, or transfer from electric arc material increase to milling. The moving directions of the two rotary working platforms are respectively considered as an X1 direction and an X2 direction. The double-shaft servo positioner of the rotary working platform is provided with a central rotating shaft and a horizontal rotating shaft, and can drive a substrate on a table board to horizontally rotate infinitely and turn over by 90 degrees at two sides, so that the requirements of electric arc material increase and material reduction processes on various product positions are met.
By adjusting the X-direction positions of the two rotary working platforms (6 and 11), the two platforms in the horizontal state can be spliced into a large platform, after the electric arc material increase of the material increase part robot is finished, the blank product is moved to the material reduction part to be subjected to material reduction by adopting a milling unit, and the material increase/reduction forming of large-size parts is realized. Through adjusting the X of two biax servo machine of shifting to the position, carry out the electric arc vibration material disk with the robot unit on being fixed in a rotary working platform I6 with the base plate, place the blank product that vibration material disk formed on another rotary working platform II 11, the coordinated motion through numerical control milling unit and biax servo machine of shifting realizes the finish machining of product, the electric arc vibration material disk of two rotary working platforms (6, 11) with mill the processing and subtract material and can go on simultaneously, also can go on according to the precedence order, both mutually noninterfere, improve machining efficiency.
As shown in fig. 3 and 4, the welding room unit comprises a rigid cabin 14, a smoke purification device 17 and a safety door 16; observation windows 15 are reserved on the left side wall and the right side wall of the rigid cabin 14, arc light-proof organic glass is installed on the observation windows 15, and the top of the rigid cabin 14 is connected with a smoke dust purification device 17 through a pipeline and used for filtering smoke dust generated by welding; two safety doors 16 such as roller shutters are mounted on the front and rear sides of the rigid cabin 14 to facilitate loading and unloading of products by the two rotary work platforms.
The master control unit 12 comprises a master control PLC (programmable logic controller), an HMI (human machine interface) touch screen and a robot demonstrator, the master control PCL is used for acquiring the state of a robot, the real-time welding current and voltage of an arc welding unit, controlling the opening and closing of a safety door and processing a numerical control milling unit, and the PLC is S7-300 in model number; the HMI touch screen is used for displaying relevant processing parameters in real time, monitoring the movement of each unit and giving a fault alarm response; the robot control cabinet (7) is used for controlling the movement of the robot, the movement of the ram, the movement of the double-rotation working platform body and the movement along the slide rail.
According to a second aspect of the present invention, there is provided a fixed gantry arc additive and subtractive composite manufacturing method, which is implemented by the fixed gantry arc additive and subtractive composite manufacturing apparatus of the first aspect, comprising the following steps:
placing the substrate on a rotary working platform I6, carrying a welding gun 5 and a wire feeder 9 by a robot unit to carry out electric arc additive manufacturing;
after additive manufacturing is completed, the rotary working platform I6 and the rotary working platform II 11 are moved in opposite directions along the slide rail 13 and then are butted to form a large working platform, and a blank product is moved to the rotary working platform II 11;
and the rotary working platform I6 and the rotary working platform II 11 are reversely moved along the slide rail 13 to form two independent working platforms, the rotary working platform I6 continues to implement an additive manufacturing part, and the rotary working platform II 11 bearing blank products implements milling and material reduction.
Compared with the existing electric arc material increasing/reducing integrated equipment and method, the device and the method solve the problems that after electric arc material increasing is finished, subsequent blank machining is carried out on the same platform, equipment needs to wait for the machining of the material increasing product and then can manufacture the next product, and therefore the equipment utilization rate is low, and can effectively meet the urgent requirements of design departments on quick response of material increasing and manufacturing.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (10)

1. A fixed gantry electric arc material increase and material reduction composite manufacturing device is characterized by comprising a gantry 1, a robot unit, an arc welding unit, a numerical control milling unit, a double-rotation working platform unit, a welding room unit and a master control unit; the portal frame is used for carrying the robot unit and the numerical control milling unit to realize up-down lifting and left-right moving; the robot unit is used for carrying a welding gun (5) and a wire feeding mechanism (9) to realize additive manufacturing; the arc welding unit is used for melting wires to weld; the numerical control milling unit is used for processing the additive parts; the double-rotary working platform unit is used for bearing the substrate to perform electric arc material increase of a product or machine processing of a blank product; the welding room unit is used for protecting welding smoke and arc light in the welding process; the main control unit is used for displaying the working states of the portal frame, the robot unit, the arc welding unit, the numerical control milling unit and the double-rotating working platform unit and realizing the control of each sub-unit in a man-machine interaction mode.
2. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 1, wherein said gantry (1) is comprised of double columns, a top beam and N ram (2), N ≥ 2; n ram blocks (2) are distributed on two sides of the top beam, and N is distributed on one side1Block ram, N1More than or equal to 1, respectively suspending a robot thereon, wherein the robot can move up and down on the ram, and N is1The block ram can move left and right along the top cross beam; the other side of the top beam is distributed with N2Block ram, N2Not less than 1, is used for hanging the numerical control milling unit, and the numerical control milling unit can move up and down on the ram, and N is2The block ram is capable of side-to-side movement along the top rail.
3. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 1, wherein the robotic unit comprises a single N suspended from a beam1A robot at the tail end of the block ram (2).
4. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 1, wherein said arc welding unit comprises a welding gun (5) suspended at the six-axis end of the robot, a wire feeder (9) suspended at the base of the robot, and a welding power supply (8) suspended beside the gantry column.
5. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 1, wherein said numerically controlled milling unit comprises a beam suspended from a single side N2And a milling head (10) at the tail end of the ram, wherein the milling head (10) is used for milling, drilling and boring the additive part.
6. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 1, wherein said dual rotary work platform unit comprises a rotary work platform I (6), a rotary work platform II (11), two rail blocks and a slide rail (13); two rotary working platforms all include the platform surface of placing the biax servo machine of shifting on independent guide rail slider, and biax servo machine of shifting on, rotary working platform I (6), rotary working platform II (11) both can follow slide rail (13) independent motion under servo control, implement electric arc vibration material disk and mill processing respectively and subtract material, also can link to become a big working platform and implement electric arc vibration material disk jointly, or implement jointly and mill processing and subtract material, or electric arc vibration material disk to the transfer of milling processing after.
7. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 6, wherein said rotary working platform I (6) and rotary working platform II (11) have a central axis of rotation and a horizontal axis of rotation for driving the substrate to rotate horizontally indefinitely and to turn 90 ° on both sides.
8. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 1, wherein said welding room unit comprises a rigid nacelle (14), a fume cleaning device (17) and a safety door (16); the novel multifunctional electric arc welding cabin is characterized in that observation windows (15) are reserved on the left side wall and the right side wall of the rigid cabin body (14), arc light-proof organic glass is installed on the observation windows (15), the top of the rigid cabin body (14) is connected with a smoke dust purification device (17) through a pipeline and used for filtering smoke dust generated by welding, and two safety doors (16) are installed on the front side and the rear side of the rigid cabin body (14) and used for enabling two rotary working platforms to pass in and out products to be loaded and unloaded.
9. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 1, wherein said master control unit (12) comprises a master PLC, HMI touch screen and robot control cabinet (7); the master control PCL is used for acquiring the state of the robot, the real-time welding current and voltage of the arc welding unit, controlling the opening and closing of the safety door and processing the numerical control milling unit; the HMI touch screen is used for displaying relevant processing parameters in real time, monitoring the movement of each unit and giving a fault alarm response; the robot control cabinet (7) is used for controlling the movement of the robot, the movement of the ram, the movement of the double-rotation working platform body and the movement along the slide rail.
10. A fixed gantry arc additive and subtractive composite manufacturing method implemented by a fixed gantry arc additive and subtractive composite manufacturing apparatus according to any one of claims 1 to 9, comprising the steps of:
placing the substrate on a rotary working platform I (6), carrying a welding gun (5) and a wire feeding mechanism (9) by a robot unit to carry out electric arc additive manufacturing;
after additive manufacturing is finished, the rotary working platform I (6) and the rotary working platform II (11) move in opposite directions along the sliding rail (13) and then are butted into a large working platform, and a blank product is moved to the rotary working platform II (11);
and (3) moving the rotary working platform I (6) and the rotary working platform II (11) along the slide rail (13) in the reverse direction to form two independent working platforms, continuously implementing an additive manufacturing part on the rotary working platform I (6), and implementing milling and material reduction on the rotary working platform II (11) bearing blank products.
CN202111327969.6A 2021-11-10 2021-11-10 Fixed gantry arc additive and subtractive composite manufacturing device and method Pending CN114043240A (en)

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CN202111327969.6A CN114043240A (en) 2021-11-10 2021-11-10 Fixed gantry arc additive and subtractive composite manufacturing device and method

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Application Number Priority Date Filing Date Title
CN202111327969.6A CN114043240A (en) 2021-11-10 2021-11-10 Fixed gantry arc additive and subtractive composite manufacturing device and method

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10272570A (en) * 1997-03-31 1998-10-13 Nkk Corp Welding robot device for large structure
CN205201022U (en) * 2015-12-10 2016-05-04 河北昊昱机电设备研究所有限公司 Nine flexible welding of planer -type robot, brills mill integrated production line
US20170136540A1 (en) * 2015-11-17 2017-05-18 General Electric Company Combined Additive Manufacturing and Machining System
CN109351967A (en) * 2017-08-06 2019-02-19 江苏尤尼特激光智能装备有限公司 A kind of increase and decrease material laser process machine and its application method
CN110695707A (en) * 2019-11-11 2020-01-17 机械科学研究总院海西(福建)分院有限公司 Laser automatic welding composite machine tool for gantry milling machine
EP3608082A1 (en) * 2018-08-08 2020-02-12 Homag Bohrsysteme GmbH Method for finishing workpieces
US20200130267A1 (en) * 2018-12-29 2020-04-30 Huazhong University Of Science And Technology Method for controlling deformation and precision of parts in parallel during additive manufacturing process

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10272570A (en) * 1997-03-31 1998-10-13 Nkk Corp Welding robot device for large structure
US20170136540A1 (en) * 2015-11-17 2017-05-18 General Electric Company Combined Additive Manufacturing and Machining System
CN205201022U (en) * 2015-12-10 2016-05-04 河北昊昱机电设备研究所有限公司 Nine flexible welding of planer -type robot, brills mill integrated production line
CN109351967A (en) * 2017-08-06 2019-02-19 江苏尤尼特激光智能装备有限公司 A kind of increase and decrease material laser process machine and its application method
EP3608082A1 (en) * 2018-08-08 2020-02-12 Homag Bohrsysteme GmbH Method for finishing workpieces
US20200130267A1 (en) * 2018-12-29 2020-04-30 Huazhong University Of Science And Technology Method for controlling deformation and precision of parts in parallel during additive manufacturing process
CN110695707A (en) * 2019-11-11 2020-01-17 机械科学研究总院海西(福建)分院有限公司 Laser automatic welding composite machine tool for gantry milling machine

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