CN114043240B - 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
CN114043240B
CN114043240B CN202111327969.6A CN202111327969A CN114043240B CN 114043240 B CN114043240 B CN 114043240B CN 202111327969 A CN202111327969 A CN 202111327969A CN 114043240 B CN114043240 B CN 114043240B
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unit
working platform
welding
robot
arc
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CN114043240A (en
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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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/04—Machines 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C1/00—Milling machines not designed for particular work or special operations
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/25—Process efficiency

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 movement; 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 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 part; the double-rotation 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 along the slide rail in opposite directions and then are butted to form 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 increase and material reduction 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 additive in an equipment bay;
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-a ram; 3-a main robot; 4-from the 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 enclosure; 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 part; the double-rotation 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 side 1 Block ram, N 1 More than or equal to 1, respectively hung with a robot, the robot can move up and down on the ram, the moving directions are respectively regarded as Z1 direction to Z N1 The range of motion is 0-2.5m, N 1 The block ram can move left and right along the top cross beam, and the moving directions are respectively regarded as Y1 to Y N1 The movement range is 0-3m; the other side of the top beam is distributed with N 2 Block ram, N 2 Not less than 1, for suspending a numerical control milling unit, N 2 The block numerical control milling unit can move up and down on the ram, and the moving direction is divided into Z N1+1 To Z N2 The 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 Y N1+1 To Y N2 And the movement range is 0-3m. Preferably, as shown in fig. 1 and 2, the gantry is a three-arm gantry, N 1 Is 2,N 2 Is 1.
The robot unit comprises a beam suspended on one side N 1 A 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 the robots are suspended at the tail ends of the two rams 2 on one side of the 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 side 2 The 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 milling material reduction, and can also be linked into a large working platform to perform electric arc material increase together, or perform milling material reduction together, or transfer from electric arc material increase to milling. The moving directions of the two rotary working platforms are respectively regarded 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 the substrate on the table to horizontally rotate infinitely and turn 90 degrees on two sides, so that the requirements of electric arc material increase and machining 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 the robot, the real-time welding current and voltage of an arc welding unit, controlling the opening and closing of the safety door and processing the numerical control milling unit, and the PLC is S7-300 in model; the HMI touch screen is used for displaying relevant processing parameters in real time, monitoring the movement of each unit and alarming and responding to faults; 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 (3) moving the rotary working platform I6 and the rotary working platform II 11 reversely along the slide rail 13 to form two independent working platforms, continuously implementing an additive manufacturing part on the rotary working platform I6, and implementing milling and material reduction on the rotary working platform II 11 for bearing blank products.
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 not particularly limited to the specific examples described herein.

Claims (8)

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 part; 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) consists of double columns, a top cross beam and N rams (2), wherein N is more than or equal to 2; n ram blocks (2) are distributed on the front side and the rear side of the top cross beam, and N is distributed on one side 1 The block of the ram is used for sliding the ram,N 1 not less than 1, on which robot units are respectively suspended, the robot units can move up and down on the ram, and N is 1 The block ram can move left and right along the top cross beam; the other side of the top beam is distributed with N 2 Block ram, N 2 Not 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 is 2 The block ram can move left and right along the top cross beam;
the double-rotation working platform unit comprises a rotation working platform I (6), a rotation working platform II (11), two guide rail sliding blocks and a sliding rail (13); two rotary working platform all including placing the biax servo machine of shifting on independent guide rail slider, and the mesa on the biax servo machine of shifting, rotary working platform I (6), rotary working platform II (11) can enough follow slide rail (13) independent motion under servo control, implement electric arc vibration material disk and mill processing respectively and subtract the 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 the material, or electric arc vibration material disk to the transfer of milling processing after.
2. 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 beam 1 A robot at the tail end of the block ram (2).
3. 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 from the end of the robot, a wire feeder (9) suspended from the base of the robot, and a welding power supply (8) suspended from the side of the gantry column.
4. 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 N 2 A milling head (10) at the end of the block ram, the milling head (10) being intended for carrying out milling, drilling and boring operations on an additive part。
5. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 1, 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.
6. 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 rigid 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 safety doors (16) are installed on the front side and the rear side of the rigid cabin body (14) respectively and used for enabling two rotary working platforms to pass in and out for loading and unloading products.
7. The fixed gantry arc additive and subtractive composite manufacturing apparatus according to claim 6, wherein said master control unit (12) comprises a master PLC, HMI touch screen and robot control cabinet (7); the master control PLC is used for acquiring the state of the robot unit, 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; and the robot control cabinet (7) is used for controlling the movement of the robot unit, the movement of the ram, the movement of the double-rotation working platform body and the movement along the slide rail.
8. 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 7, 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) are moved in opposite directions along the slide 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 Active CN114043240B (en)

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