CN115213545B - Solid-phase additive forming control device based on interlayer mechanical sensing - Google Patents
Solid-phase additive forming control device based on interlayer mechanical sensing Download PDFInfo
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- CN115213545B CN115213545B CN202210861055.6A CN202210861055A CN115213545B CN 115213545 B CN115213545 B CN 115213545B CN 202210861055 A CN202210861055 A CN 202210861055A CN 115213545 B CN115213545 B CN 115213545B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/1215—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding for other purposes than joining, e.g. built-up welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
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- 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
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Abstract
The invention discloses a solid-phase additive forming control device based on interlayer mechanical sensing, and belongs to the technical field of additive quality control. The invention adopts a plurality of force sensors to identify the forming condition of solid-phase material increase, uses force sensors at two sides of the advancing direction to identify the height difference between the front layer and the rear layer of the material increase, obtains the deposition height of the current layer through algorithm processing, and simultaneously uses force sensors at two sides to identify the side wall forming and lap joint condition of the current deposition layer, and adjusts welding speed, wire feeding speed and stirring pin rotating speed in real time to maintain the uniformity of deposition thickness, thereby realizing the stable control of solid-phase material increase forming. The invention realizes the control of the deposition layer by means of the two force sensors positioned at the front and back of the stirring head in the movement direction and the two force sensors positioned at the two sides of the deposition layer, can be applied to the manufacture of solid-phase material-adding components, and is particularly suitable for forming solid-phase material-adding components with higher requirements or applying solid-phase material-adding repairing components.
Description
Technical Field
The invention relates to a force sensor device, in particular to a device for carrying out solid-phase additive manufacturing by integrating real-time control and feedback of quality of a deposition layer of a plurality of groups of sensors, belonging to the field of solid-phase additive manufacturing equipment and quality control.
Background
Solid phase additive manufacturing refers to that heat is generated through high-speed friction between materials, so that deposited materials are softened to be in a molten state, then deposited, accumulated layer by layer, and finally a required component is obtained. Compared with the traditional metal material addition, the solid-phase material addition does not melt, the defect number of the material addition process is far smaller than that of the traditional metal material addition, and meanwhile, the solid-phase material addition processing process does not generate arc light and high temperature, so that the solid-phase material addition method is a green and efficient material addition manufacturing technology and has a very wide research prospect.
In the additive manufacturing process, the real-time quality control of the deposition layer is generally difficult to realize, the traditional additive manufacturing means has a large number of arc light, high temperature, plasma and other influencing factors, the accuracy degree of measurement data can be seriously influenced, and meanwhile, the effect of accurately controlling the deposition layer is difficult to achieve by using the measurement accuracy of some non-contact measurement means. Therefore, the quality of the deposited layer can be controlled by adopting a more accurate measurement means aiming at the arc-free high-temperature solid-phase additive manufacturing process, thereby achieving the purpose of accurately controlling the forming process of the component.
In summary, the quality control process of the conventional additive manufacturing technology is not accurate enough, and the quality control system of solid phase additive is not perfect. The invention creatively provides a solid-phase material-adding forming control device based on interlayer mechanical sensing, which can accurately control the quality control in the solid-phase material-adding process, reduce the defect generation in the material-adding process, realize the closed-loop control of the solid-phase material-adding process and realize the efficient and stable material-adding manufacture.
Disclosure of Invention
The invention provides a solid-phase additive forming control device based on interlayer mechanical sensing, which aims at the defects that the quality control process of the traditional additive manufacturing technology is not accurate enough, the existing solid-phase additive quality control system is not perfect and the like.
The technology of the invention is realized by the following technical scheme:
the solid-phase additive forming control device based on interlayer mechanical sensing is characterized by comprising a plurality of groups of force sensing systems, solid-phase additives and control systems thereof. The multi-group force sensing system comprises a sensor clamping module, a front force sensor, a rear force sensor and a side force sensor, wherein the sensor clamping module is positioned above the stirring pin coaxially. The solid phase material adding and control system thereof comprises a stirring pin, a wire feeding mechanism, a force sensing signal processing system, a robot control system and a related signal transmission system, wherein:
a) The multi-group force sensing system comprises at least four force sensors, wherein the force sensors are respectively used for respectively displacing the front part, the rear left side and the rear right side of the deposition direction and respectively detecting the deposition thickness, the sidewall deposition quality, the lap joint position forming condition and the like in the deposition process;
b) The sensor clamping module of the multi-group force sensing system is positioned above the stirring pin and is positioned at a coaxial position with the stirring pin, and the sensor clamping module consists of three parts, namely a front force sensor position adjusting disc, a rear force sensor position adjusting disc, a side force sensor position adjusting sliding rail and a movement device for controlling the vertical height of each sensor.
The solid phase material adding and control system thereof is characterized in that the solid phase material adding is friction stir material adding, the deposited material is standard wire provided by a wire feeding mechanism, the deposited material is converted into a molten state from a solid phase through high-speed friction of a stirring pin, deposited on the surface of a base material, accumulated layer by layer, and finally the required component shape is obtained;
the solid-phase additive forming control device based on interlayer mechanical sensing is characterized in that a stirring pin rotates at a high speed, four force sensors collect data and transmit the collected data to a force sensing signal processing system through a collecting signal input system while depositing, the data are analyzed and processed to obtain the layer thickness, surface forming quality and side wall forming condition of a current deposition layer, the current data are analyzed to find that the deposition process is required to be controlled, a robot control system is controlled through a control signal input system, related parameters are regulated, and closed-loop control of the quality of the deposition layer is completed;
the deposition layer control related parameters are characterized in that the related parameters comprise the rotation speed of a stirring pin, the pressing quantity of a shaft shoulder, the deposition speed, the wire feeding speed, the angle of the stirring pin and the like;
the sensor clamping module of the multi-group force sensing system is characterized in that the position adjusting discs of the front force sensor and the rear force sensor can be automatically adjusted according to the advancing direction of the stirring needle, so that the front force sensor is positioned in front of the depositing direction, the forming of a front layer or a substrate can be measured, the rear force sensor is positioned behind the depositing direction and used for measuring the surface quality after deposition, and the thickness of the deposited layer is obtained by utilizing the height difference of the front force sensor and the rear force sensor; the side force sensor position adjusting slide rail mainly detects the forming condition of the side wall of the deposition layer, and the angle of the side force sensor can be finely adjusted to meet the requirements of measuring the forming and lap joint conditions of the side wall; the control device for the vertical height of each sensor can adjust the height of the sensor according to the actual space position of the force sensor, so that the sensor is in an optimal working state; the solid-phase additive forming control device based on interlayer mechanical sensing is characterized in that the number of the force sensors is not less than 4.
The beneficial effects of the invention are as follows:
the multi-group force sensing system can accurately identify various parameter indexes of the deposition layer in the deposition process, can well judge the quality of the deposition layer through the signal processing system, finely adjust the deposition process through the robot control system, and ensure the quality of the deposition layer;
the sensor clamping modules of the multi-group force sensing system are linked with the robot, so that the advancing direction of the robot can be intelligently identified, the front sensor is always positioned right in front of the deposition direction through the control system, the rear sensor is always positioned right behind the deposition direction, the force sensors on two sides can adaptively adjust the measuring angle according to the side wall condition of the deposition layer to achieve the optimal measuring effect, and the measuring angle can be adjusted according to the height of the actual deposition layer;
the solid-phase additive forming control device has precise closed-loop control, performs data analysis according to the measurement data of the sensor to obtain the technological parameters to be adjusted, transmits the required technological parameters to the robot control cabinet, and controls the technological parameters of the deposition process so as to obtain the required deposition layer;
the solid-phase additive forming control device based on interlayer mechanical sensing can be applied to solid-phase additive and can also be applied to the quality control of friction stir welding.
Drawings
FIG. 1 shows a solid phase additive forming control device based on interlayer mechanical sensing
100-solid phase additive component;
20-multiple groups of sensor clamping modules, 21-front force sensors, 22-rear force sensors, 23, 24-side force sensors;
30-stirring needle, 31-wire feeding mechanism, 32-force sensing signal processing system, 33-robot control system;
41. 42-robot control signal input system, 43-sensor signal transmission system.
FIG. 2 multiple sensor clip module
2001-side force sensor position adjusting slide rail, 2002-front force sensor position adjusting disk, 2003-sensor vertical height movement device.
Description of the embodiments
The invention relates to a solid-phase additive forming control device based on interlayer mechanical sensing, which is used for making the purpose, effect and technical scheme of the invention clearer, and is described in detail by referring to the attached drawings and comparing examples. It should be understood that the detailed description is intended to illustrate the invention, and not to limit the invention.
The invention will now be described in detail by way of specific examples with reference to the accompanying drawings.
Fig. 1 is an embodiment of the present invention. Shown in the figure is a solid-phase additive forming control device based on interlayer mechanical sensing, which comprises a plurality of groups of force sensing systems, solid-phase additives and control systems thereof. Wherein the multiple force sensing system comprises a sensor clamping module 20 coaxially positioned above a stirring pin 30, a front force sensor 21, a rear force sensor 22 and side force sensors 23 and 24. The solid phase additive and its control system comprises a pin 30, a wire feeder 31, a force sensing signal processing system 32, a robotic control system 33 and related signal transmission systems. The multi-group force sensing system comprises four force sensors, which are respectively used for detecting the deposition thickness, the sidewall deposition quality, the lap joint position forming condition and the like in the deposition process, and respectively displacing the front part, the rear left side and the rear right side of the deposition direction; the sensor clamping module 20 of the multi-group force sensing system is positioned above the stirring pin 30 and is positioned at the coaxial position with the stirring pin, and the sensor clamping module 20 consists of three parts, namely a front force sensor position adjusting disc 2002, a rear force sensor position adjusting disc 2001, a side force sensor position adjusting sliding rail 2001 and a movement device 2003 for controlling the vertical height of each sensor.
The friction stir additive deposition material selected in the embodiment is a standard wire provided by a wire feeder 31, and the deposition material is converted from a solid phase to a molten state by high-speed friction of a stirring pin, deposited on the surface of a substrate, accumulated layer by layer, and finally the required component shape is obtained.
In the embodiment, the stirring pin rotates at a high speed, and four force sensors collect data and transmit the collected data to the force sensing signal processing system 32 through the collecting signal input system during deposition, the data are analyzed and processed to obtain the layer thickness, the surface forming quality and the side wall forming condition of the current deposition layer, the current data are analyzed to find that the deposition process needs to be controlled, the robot control system 33 is controlled through the control signal input system 42, relevant parameters are regulated, and the closed-loop control of the deposition layer quality is completed.
The control related parameters in the embodiment comprise the rotation speed of the stirring pin, the pressing amount of the shaft shoulder, the deposition speed, the wire feeding speed, the angle of the stirring pin and the like; the sensor clamping modules 20 of the multiple groups of force sensing systems in the embodiment, the front force sensor and the rear force sensor position adjusting disk 2002 can automatically adjust according to the advancing direction of the stirring pin, so that the front force sensor is positioned in front of the depositing direction and can measure the forming of a front layer or a substrate, the rear force sensor is positioned behind the depositing direction and is used for measuring the quality of the surface after the deposition, and the thickness of the deposited layer is obtained by utilizing the height difference of the front force sensor and the rear force sensor; the side force sensor position adjusting slide rail 2001 mainly detects the forming condition of the side wall of the deposition layer, and the angle of the side force sensor can be finely adjusted to meet the requirements of measuring the forming and lap joint condition of the side wall; the control device 2003 of the vertical height of each sensor can adjust the height of the sensor according to the actual space position of the force sensor, so that the sensor is in an optimal working state; the solid-phase additive forming control device based on interlayer mechanical sensing.
The number of force sensors in the embodiment is 4, and can be increased in groups in practical implementation.
The application method of the solid-phase additive forming control device based on interlayer mechanical sensing in the embodiment is as follows:
and heating the welding wire fed by the wire feeding system to a molten state by using the high-speed rotation of the stirring pin, and depositing the material in the molten state on the surface of the substrate to form a deposition layer. The initial positions and angles of the plurality of groups of force sensors are preset, and the deposited surface is measured under the clamping of the sensor clamping modules. When the stirring head moves forwards along the deposition direction, the acquisition parts of the multiple sensors move along the stirring head, meanwhile, the sensor clamping modules intelligently adjust the positions of the sensors, the measurement values of the sensors change, collected information enters the sensing information analysis system through the information transmission module, the current state of the deposition area and the deposition quality of the deposition layer are analyzed according to the information, relevant adjustment is carried out on deposition parameters, the adjusted parameters are transmitted to the control module of the deposition layer, and finally, the deposition layer with the composite requirement of the molding quality is obtained.
The foregoing is merely a preferred embodiment of the invention, and it should be noted that modifications could be made by those skilled in the art without departing from the principles of the invention, which modifications would also be considered to be within the scope of the invention.
Claims (5)
1. The solid-phase additive forming control device based on interlayer mechanical sensing is characterized by comprising a plurality of groups of force sensing systems, solid-phase additives and control systems thereof; the multi-group force sensing system comprises a sensor clamping module (20) which is positioned above the stirring pin (30) coaxially, a front force sensor (21), a rear force sensor (22) and a side force sensor; the solid phase material adding and control system thereof comprises a stirring needle (30), a wire feeding mechanism (31), a force sensing signal processing system (32), a robot control system (33) and a related signal transmission system, wherein:
a) The multi-group force sensing system comprises at least four force sensors, wherein the force sensors are respectively used for respectively displacing the front part, the rear left side and the rear right side of the deposition direction and respectively detecting the deposition thickness, the sidewall deposition quality and the lap joint position forming condition in the deposition process;
b) The sensor clamping module (20) of the multi-group force sensing system is positioned above the stirring pin (30) and is positioned at a coaxial position with the stirring pin, and the sensor clamping module (20) consists of three parts, namely a front force sensor position adjusting disc (2002), a rear force sensor position adjusting disc (2002), a side force sensor position adjusting sliding rail (2001) and a motion device (2003) for controlling the vertical height of each sensor.
2. The solid-phase additive forming control device based on interlayer mechanical sensing according to claim 1, wherein the solid-phase additive is friction stir additive, the deposited material is standard wire provided by the wire feeding mechanism (31), the deposited material is converted into a molten state from a solid phase through high-speed friction of the stirring pin (30), and deposited on the surface of a substrate, and the deposited materials are accumulated layer by layer to obtain the required component shape.
3. The solid-phase additive forming control device based on interlayer mechanical sensing according to claim 1, wherein the stirring pin (30) rotates at a high speed, four force sensors collect data and transmit the collected data to the force sensing signal processing system (32) while depositing, the data are analyzed to obtain the layer thickness, surface forming quality and side wall forming condition of the current deposition layer, the current data are analyzed to find that the deposition process needs to be controlled, the robot control system (33) is controlled through the control signal input system (42), and related parameters are adjusted to complete closed-loop control of the deposition layer quality.
4. The solid-phase additive forming control device based on interlayer mechanical sensing according to claim 1, wherein the front and rear force sensor position adjusting discs (2002) automatically adjust according to the advancing direction of the stirring pin (30) so that the front force sensor (21) is positioned in front of the depositing direction and can measure the forming of a front layer or a substrate, and the rear force sensor (22) is positioned behind the depositing direction and is used for measuring the surface quality after the deposition and obtaining the thickness of the deposited layer by utilizing the height difference of the front force sensor and the rear force sensor; the side force sensor position adjusting slide rail (2001) mainly detects the forming condition of the side wall of the deposition layer, and the angle of the side force sensor can be finely adjusted to meet the requirements of measuring the forming and lap joint conditions of the side wall; the control device (2003) of the vertical height of each sensor can adjust the height of the sensor according to the actual space position of the force sensor, so that the sensor is in the optimal working state.
5. A solid phase additive forming control device based on interlayer mechanical sensing according to claim 3, wherein the relevant parameters include: the stirring pin (30) is rotated at a speed, the pressing amount of the shaft shoulder, the deposition speed, the wire feeding speed and the angle of the stirring pin (30).
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| CN202210861055.6A CN115213545B (en) | 2022-07-22 | 2022-07-22 | Solid-phase additive forming control device based on interlayer mechanical sensing |
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| CN112620652A (en) * | 2020-11-27 | 2021-04-09 | 哈尔滨工业大学 | Self-adaptive control system and method for electric arc additive manufacturing process |
| CN114012210A (en) * | 2021-12-06 | 2022-02-08 | 上海交通大学 | Deposition quality judgment system and method in electric arc additive process |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10569522B2 (en) * | 2016-09-09 | 2020-02-25 | Formalloy, Llc | Dynamic layer selection in additive manufacturing using sensor feedback |
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Patent Citations (6)
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| CN104607795A (en) * | 2014-12-17 | 2015-05-13 | 昆山斯格威电子科技有限公司 | Robot stirring friction welding system and force position parallel loop hybrid control method thereof |
| CN104964922A (en) * | 2015-06-10 | 2015-10-07 | 南京航空航天大学 | Contact-friction force and contact charge synchronous measurement apparatus and method thereof |
| CN109202273A (en) * | 2018-03-21 | 2019-01-15 | 中国航空制造技术研究院 | A kind of silk filling agitating friction increasing material manufacturing device and increasing material manufacturing method |
| CN112439971A (en) * | 2019-08-28 | 2021-03-05 | 南京理工大学 | Continuous electric arc additive manufacturing method and device of self-adaptive non-flat surface |
| CN112620652A (en) * | 2020-11-27 | 2021-04-09 | 哈尔滨工业大学 | Self-adaptive control system and method for electric arc additive manufacturing process |
| CN114012210A (en) * | 2021-12-06 | 2022-02-08 | 上海交通大学 | Deposition quality judgment system and method in electric arc additive process |
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