CN116727807A - Welding gun height dynamic adjustment method, system and medium based on arc additive manufacturing - Google Patents
Welding gun height dynamic adjustment method, system and medium based on arc additive manufacturing Download PDFInfo
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- CN116727807A CN116727807A CN202310521290.3A CN202310521290A CN116727807A CN 116727807 A CN116727807 A CN 116727807A CN 202310521290 A CN202310521290 A CN 202310521290A CN 116727807 A CN116727807 A CN 116727807A
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- 238000003466 welding Methods 0.000 title claims abstract description 171
- 239000000654 additive Substances 0.000 title claims abstract description 127
- 230000000996 additive effect Effects 0.000 title claims abstract description 127
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 126
- 238000000034 method Methods 0.000 title claims abstract description 44
- 239000002184 metal Substances 0.000 claims abstract description 45
- 238000009825 accumulation Methods 0.000 claims abstract description 17
- 238000003860 storage Methods 0.000 claims description 9
- 230000001174 ascending effect Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 3
- 241000282376 Panthera tigris Species 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000005253 cladding Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 239000011261 inert gas Substances 0.000 description 1
- 238000001465 metallisation Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
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- 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
- B23K9/095—Monitoring or automatic control of welding parameters
-
- 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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
-
- 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
- B23K9/32—Accessories
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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 application discloses a welding gun height dynamic adjustment method, a system and a medium based on arc additive manufacturing, wherein the method comprises the following steps: controlling a welding gun to perform constant-current additive manufacturing on an additive manufacturing platform; when a first layer of metal is piled up, a first arc voltage signal between a welding gun and an additive manufacturing platform is obtained in real time, and initial equivalent arc voltage is determined according to the first arc voltage signal; when the metal accumulation of the current layer is finished, controlling the welding gun to move upwards according to a preset lifting height, carrying out metal accumulation of the next layer, and acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time; and comparing the second arc voltage signal with the initial equivalent arc voltage, and adjusting the height of the welding gun in real time according to the comparison result. The application can dynamically adjust the height of the welding gun in real time in the process of arc additive manufacturing so as to ensure that the arc length of the arc tends to be consistent, improve the stability of the additive manufacturing process and the quality of the additive manufactured product, and can be widely applied to the technical field of arc additive manufacturing.
Description
Technical Field
The application relates to the technical field of arc additive manufacturing, in particular to a method, a system and a medium for dynamically adjusting the height of a welding gun based on arc additive manufacturing.
Background
The arc additive manufacturing technology (Wire Arc Additive Manufacture, WAAM) is an advanced digital manufacturing technology which uses a layer-by-layer cladding principle, adopts an arc generated by a consumable electrode inert gas shielded welding machine as a heat source, and gradually forms metal parts from a line-surface-body according to a three-dimensional digital model under the control of a software program through the addition of wires. The arc additive manufacturing technology has the advantages of high deposition efficiency, high wire utilization rate, short overall manufacturing period, low cost, less limitation on the size of parts, easiness in repairing the parts and the like, and also has the capabilities of in-situ composite manufacturing and forming large-size parts.
In the prior art, in the process of carrying out layered stacking manufacturing by adopting an arc additive manufacturing technology, after each layer is printed, a welding gun is lifted upwards by a certain size and then the next layer is printed, and the lifting height of the welding gun is always a fixed value. With the increase of the number of printing layers, the stacking height of each layer is not a fixed value, so that the arc length in the welding process of each layer can be inconsistent due to the fact that the welding gun is lifted by adopting the fixed lifting height, the stability of the additive manufacturing process is affected, and the quality of additive manufactured products is affected.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art to a certain extent.
Therefore, an object of the embodiments of the present application is to provide a method for dynamically adjusting the height of a welding gun based on arc additive manufacturing, which can dynamically adjust the height of the welding gun in real time during the arc additive manufacturing process to ensure that the arc lengths of the arcs tend to be consistent, thereby improving the stability of the additive manufacturing process and the quality of the additive manufactured product.
It is another object of an embodiment of the present application to provide a welding gun height dynamic adjustment system based on arc additive manufacturing.
In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the application comprises the following steps:
in a first aspect, an embodiment of the present application provides a method for dynamically adjusting a height of a welding gun based on arc additive manufacturing, including the steps of:
controlling a welding gun to perform constant-current additive manufacturing on an additive manufacturing platform;
when a first layer of metal is piled up, a first arc voltage signal between the welding gun and the additive manufacturing platform is obtained in real time, and initial equivalent arc voltage is determined according to the first arc voltage signal;
when the metal accumulation of the current layer is finished, controlling the welding gun to move upwards according to a preset lifting height, carrying out metal accumulation of the next layer, and acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time;
and comparing the second arc voltage signal with the initial equivalent arc voltage, and adjusting the height of the welding gun in real time according to a comparison result.
Further, in one embodiment of the present application, the step of constant-current additive manufacturing is performed by the control welding gun on the additive manufacturing platform, which specifically includes:
a constant-current additive manufacturing instruction is sent to a robot and a digital arc welding power supply through a control cabinet, so that the digital arc welding power supply provides constant-current signals for the welding gun and the additive manufacturing platform, and the welding gun is controlled by the robot to perform additive manufacturing on the additive manufacturing platform;
the welding gun is arranged on the robot, the positive electrode output end of the digital arc welding power supply is electrically connected with the welding gun, the negative electrode output end of the digital arc welding power supply is electrically connected with the additive manufacturing platform, and the robot and the digital arc welding power supply are both in signal connection with the control cabinet.
Further, in one embodiment of the present application, the step of acquiring a first arc voltage signal between the welding gun and the additive manufacturing platform in real time, and determining an initial equivalent arc voltage according to the first arc voltage signal specifically includes:
acquiring the first arc voltage signal between the welding gun and the additive manufacturing platform in real time through a wavelet analyzer;
performing curve fitting according to the first arc voltage signals at different moments to generate an arc voltage fluctuation curve, and calculating average arc welding power when a first layer of metal is piled up according to the arc voltage fluctuation curve and the constant current signal;
and determining the initial equivalent arc voltage according to the average arc welding power and the constant current signal.
Further, in an embodiment of the present application, the step of controlling the welding gun to move upwards according to a preset elevation to perform a next metal stacking and obtain a second arc voltage signal between the welding gun and the additive manufacturing platform in real time specifically includes:
the welding gun is controlled by the robot to move upwards according to the lifting height, and the next layer of metal is stacked;
and acquiring the second arc voltage signal between the welding gun and the additive manufacturing platform in real time through a wavelet analyzer.
Further, in an embodiment of the present application, the step of comparing the second arc voltage signal with the initial equivalent arc voltage and adjusting the height of the welding gun in real time according to the comparison result specifically includes:
comparing the second arc voltage signal with the initial equivalent arc voltage;
when the second arc voltage signal is larger than the initial equivalent arc voltage, determining a first adjustment height according to the second arc voltage signal, the initial equivalent arc voltage and the elevation height, and controlling the welding gun to descend according to the first adjustment height;
and when the second arc voltage signal is smaller than the initial equivalent arc voltage, determining a second adjustment height according to the second arc voltage signal, the initial equivalent arc voltage and the elevation height, and controlling the welding gun to ascend according to the second adjustment height.
Further, in one embodiment of the application, the first adjustment height is determined by:
wherein d 1 Representing the first adjustment height, U 2 Representing the second arc voltage signal, U 0 Representing the initial equivalent arc voltage, wherein h represents the elevation height, and sigma represents a preset height adjustment coefficient;
the second adjustment height is determined by:
wherein d 2 Representing the second adjustment height.
In a second aspect, an embodiment of the present application provides a welding gun height dynamic adjustment system based on arc additive manufacturing, including:
the constant-current additive manufacturing control module is used for controlling the welding gun to perform constant-current additive manufacturing on the additive manufacturing platform;
the initial equivalent arc voltage determining module is used for acquiring a first arc voltage signal between the welding gun and the additive manufacturing platform in real time when a first layer of metal is piled up, and determining initial equivalent arc voltage according to the first arc voltage signal;
the second arc voltage signal acquisition module is used for controlling the welding gun to move upwards according to a preset lifting height when the metal accumulation of the current layer is completed, carrying out metal accumulation of the next layer, and acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time;
and the welding gun height real-time adjustment module is used for comparing the second arc voltage signal with the initial equivalent arc voltage and adjusting the height of the welding gun in real time according to a comparison result.
Further, in an embodiment of the present application, the welding gun height real-time adjustment module specifically includes:
the numerical value comparison unit is used for performing numerical value comparison on the second arc voltage signal and the initial equivalent arc voltage;
the welding gun descending control unit is used for determining a first adjustment height according to the second arc voltage signal, the initial equivalent arc voltage and the lifting height when the second arc voltage signal is larger than the initial equivalent arc voltage, and controlling the welding gun to descend according to the first adjustment height;
and the welding gun ascending control unit is used for determining a second adjusting height according to the second arc voltage signal, the initial equivalent arc voltage and the elevation height when the second arc voltage signal is smaller than the initial equivalent arc voltage, and controlling the welding gun to ascend according to the second adjusting height.
In a third aspect, an embodiment of the present application provides a welding gun height dynamic adjustment device based on arc additive manufacturing, including:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement a method for dynamically adjusting torch height based on arc additive manufacturing as described above.
In a fourth aspect, embodiments of the present application also provide a computer readable storage medium having stored therein a processor executable program, which when executed by a processor, is configured to perform a method for dynamically adjusting a torch height based on arc additive manufacturing as described above.
The advantages and benefits of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
According to the embodiment of the application, the welding gun is controlled to perform constant-current additive manufacturing on the additive manufacturing platform, a first arc voltage signal between the welding gun and the additive manufacturing platform is obtained in real time when a first layer of metal is stacked, an initial equivalent arc voltage is determined according to the first arc voltage signal, when the metal stacking of the current layer is completed, the welding gun is controlled to move upwards according to a preset lifting height, a next layer of metal stacking is performed, a second arc voltage signal between the welding gun and the additive manufacturing platform is obtained in real time, the second arc voltage signal is compared with the initial equivalent arc voltage, and further the height of the welding gun is adjusted in real time according to a comparison result. According to the embodiment of the application, the initial equivalent arc voltage when the first layer of metal is piled up is firstly determined, and then the second arc voltage signal acquired in real time is compared with the initial equivalent arc voltage to dynamically adjust the height of the welding gun in real time, so that the arc length of the arc tends to be consistent in the whole additive manufacturing process, and the stability of the additive manufacturing process and the quality of additive manufactured products are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will refer to the drawings that are needed in the embodiments of the present application, and it should be understood that the drawings in the following description are only for convenience and clarity to describe some embodiments in the technical solutions of the present application, and other drawings may be obtained according to these drawings without any inventive effort for those skilled in the art.
FIG. 1 is a flow chart of steps of a method for dynamically adjusting the height of a welding gun based on arc additive manufacturing according to an embodiment of the present application;
FIG. 2 is a block diagram of a system for dynamically adjusting the height of a welding gun based on arc additive manufacturing according to an embodiment of the present application;
fig. 3 is a block diagram of a welding gun height dynamic adjustment device based on arc additive manufacturing according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
In the description of the present application, the plurality means two or more, and if the description is made to the first and second for the purpose of distinguishing technical features, it should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the precedence of the indicated technical features. Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art.
Referring to fig. 1, an embodiment of the application provides a method for dynamically adjusting the height of a welding gun based on arc additive manufacturing, which specifically comprises the following steps:
s101, controlling a welding gun to conduct constant-current additive manufacturing on an additive manufacturing platform.
Further as an optional embodiment, the step of controlling the welding gun to perform constant-current additive manufacturing on the additive manufacturing platform specifically comprises the following steps:
the method comprises the steps that a constant-current additive manufacturing instruction is sent to a robot and a digital arc welding power supply through a control cabinet, so that the digital arc welding power supply provides constant-current signals for a welding gun and an additive manufacturing platform, and the robot controls the welding gun to perform additive manufacturing on the additive manufacturing platform;
the welding gun is arranged on the robot, the positive electrode output end of the digital arc welding power supply is electrically connected with the welding gun, the negative electrode output end of the digital arc welding power supply is electrically connected with the additive manufacturing platform, and the robot and the digital arc welding power supply are both in signal connection with the control cabinet.
Specifically, the arc additive manufacturing system of the embodiment of the application comprises a control cabinet, a robot, a digital arc welding power supply, a welding gun and an additive manufacturing platform, wherein the control cabinet is used for issuing an additive manufacturing instruction, and the arc additive manufacturing system is a constant-current additive manufacturing instruction in the embodiment of the application; the digital arc welding power supply is used for providing a constant current signal and generating certain voltage between the welding gun and the additive manufacturing platform so as to form an arc; the robot is used for controlling the movement of the welding gun.
S102, when a first layer of metal is stacked, a first arc voltage signal between the welding gun and the additive manufacturing platform is obtained in real time, and initial equivalent arc voltage is determined according to the first arc voltage signal.
Further as an optional implementation manner, the step of acquiring a first arc voltage signal between the welding gun and the additive manufacturing platform in real time and determining an initial equivalent arc voltage according to the first arc voltage signal specifically includes:
s1021, acquiring a first arc voltage signal between a welding gun and an additive manufacturing platform in real time through a wavelet analyzer;
s1022, performing curve fitting according to the first arc voltage signals at different moments to generate an arc voltage fluctuation curve, and calculating average arc welding power when the first layer of metal is piled up according to the arc voltage fluctuation curve and the constant current signal;
s1023, determining initial equivalent arc voltage according to the average arc welding power and the constant current signal.
Specifically, a robot is used for controlling a welding gun to carry out first-layer metal accumulation on the additive manufacturing platform, and a wavelet analyzer is used for collecting first arc voltage signals between the welding gun and the additive manufacturing platform in real time according to preset frequency in the metal accumulation process. It will be appreciated that the first arc voltage signal changes in real time as the height of the deposited metal changes during the metal deposition process.
After the first layer of metal is piled up, curve fitting is carried out according to the first arc voltage signals at each collection time, so that an arc voltage fluctuation curve in the whole first layer of metal piling up process can be obtained; integrating and calculating the product of the first arc voltage signal and the constant current signal at each moment in time according to the arc voltage fluctuation curve to obtain the total arc welding energy in the first metal layer stacking process, and further calculating to obtain the average arc welding power; dividing the average arc welding power by the constant current signal to obtain the initial equivalent arc voltage.
And S103, when the metal accumulation of the current layer is completed, controlling the welding gun to move upwards according to a preset lifting height, carrying out metal accumulation of the next layer, and acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time.
Further as an optional implementation manner, the step of controlling the upward movement of the welding gun according to a preset elevation to perform the next metal accumulation and acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time specifically comprises the following steps:
s1031, controlling a welding gun to move upwards according to the lifting height through a robot, and stacking the next layer of metal;
s1032, acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time through a wavelet analyzer.
Specifically, after the first layer of metal is piled up, the welding gun is controlled by the robot to move upwards according to the preset lifting height and start the metal piling up of the next layer, and a second arc voltage signal between the welding gun and the additive manufacturing platform is collected in real time according to the preset frequency in the piling up process.
S104, comparing the second arc voltage signal with the initial equivalent arc voltage, and adjusting the height of the welding gun in real time according to the comparison result.
Further as an optional implementation manner, the step of comparing the second arc voltage signal with the initial equivalent arc voltage and adjusting the height of the welding gun in real time according to the comparison result specifically includes:
s1041, comparing the second arc voltage signal with the initial equivalent arc voltage;
s1042, when the second arc voltage signal is greater than the initial equivalent arc voltage, determining a first adjustment height according to the second arc voltage signal, the initial equivalent arc voltage and the elevation height, and controlling the welding gun to descend according to the first adjustment height;
s1043, when the second arc voltage signal is smaller than the initial equivalent arc voltage, determining a second adjustment height according to the second arc voltage signal, the initial equivalent arc voltage and the elevation height, and controlling the elevation of the welding gun according to the second adjustment height.
Specifically, if the second arc voltage signal is greater than the initial equivalent arc voltage, the arc length of the arc is excessively long, and the welding gun needs to be reduced according to the proportion of the difference value of the second arc voltage signal and the initial equivalent arc voltage; if the second tiger tooth signal is smaller than the initial equivalent arc voltage, the arc length of the arc is too short, and the welding gun needs to be increased according to the proportion of the difference value of the second tiger tooth signal and the initial equivalent arc voltage. According to the embodiment of the application, the arc length of the arc can be ensured to be consistent by dynamically adjusting the height of the welding gun when each layer of metal is stacked later.
Further as an alternative embodiment, the first adjustment height is determined by:
wherein d 1 Representing a first adjustment height, U 2 Representing a second arc voltage signal, U 0 Representing initial equivalent arc voltage, h represents elevation height, and sigma represents a preset height adjustment coefficient;
the second adjustment height is determined by:
wherein d 2 Representing a second adjustment height.
Specifically, the height adjustment coefficient may be calibrated in advance by an experiment.
The method steps of the embodiments of the present application are described above. It can be understood that the embodiment of the application firstly determines the initial equivalent arc voltage when the first layer of metal is piled up, then compares the second arc voltage signal acquired in real time with the initial equivalent arc voltage to dynamically adjust the height of the welding gun in real time, thereby ensuring that the arc length of the arc tends to be consistent in the whole additive manufacturing process, and improving the stability of the additive manufacturing process and the quality of the additive manufactured product.
Referring to fig. 2, an embodiment of the present application provides a welding gun height dynamic adjustment system based on arc additive manufacturing, including:
the constant-current additive manufacturing control module is used for controlling the welding gun to perform constant-current additive manufacturing on the additive manufacturing platform;
the initial equivalent arc voltage determining module is used for acquiring a first arc voltage signal between the welding gun and the additive manufacturing platform in real time when the first layer of metal is piled up, and determining initial equivalent arc voltage according to the first arc voltage signal;
the second arc voltage signal acquisition module is used for controlling the welding gun to move upwards according to a preset lifting height when the metal accumulation of the current layer is completed, carrying out the metal accumulation of the next layer, and acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time;
and the welding gun height real-time adjustment module is used for comparing the second arc voltage signal with the initial equivalent arc voltage and adjusting the height of the welding gun in real time according to the comparison result.
Further as an optional implementation manner, the welding gun height real-time adjustment module specifically includes:
the numerical value comparison unit is used for performing numerical value comparison on the second arc voltage signal and the initial equivalent arc voltage;
the welding gun descending control unit is used for determining a first adjusting height according to the second arc voltage signal, the initial equivalent arc voltage and the lifting height when the second arc voltage signal is larger than the initial equivalent arc voltage, and controlling the welding gun to descend according to the first adjusting height;
and the welding gun ascending control unit is used for determining a second adjusting height according to the second arc voltage signal, the initial equivalent arc voltage and the elevation height when the second arc voltage signal is smaller than the initial equivalent arc voltage, and controlling the ascending of the welding gun according to the second adjusting height.
The content in the method embodiment is applicable to the system embodiment, the functions specifically realized by the system embodiment are the same as those of the method embodiment, and the achieved beneficial effects are the same as those of the method embodiment.
Referring to fig. 3, an embodiment of the present application provides a welding gun height dynamic adjustment device based on arc additive manufacturing, including:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement a method of dynamically adjusting a weld gun height based on arc additive manufacturing as described above.
The content in the method embodiment is applicable to the embodiment of the device, and the functions specifically realized by the embodiment of the device are the same as those of the method embodiment, and the obtained beneficial effects are the same as those of the method embodiment.
The embodiment of the application also provides a computer readable storage medium, wherein a program executable by a processor is stored, and the program executable by the processor is used for executing the welding gun height dynamic adjustment method based on arc additive manufacturing.
The computer readable storage medium of the embodiment of the application can execute the method for dynamically adjusting the height of the welding gun based on arc additive manufacturing, can execute any combination implementation steps of the embodiment of the method, and has the corresponding functions and beneficial effects of the method.
Embodiments of the present application also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, to cause the computer device to perform the method shown in fig. 1.
In some alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of a larger operation are performed independently.
Furthermore, while the present application has been described in the context of functional modules, it should be appreciated that, unless otherwise indicated, one or more of the functions and/or features described above may be integrated in a single physical device and/or software module or one or more of the functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary to an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be apparent to those skilled in the art from consideration of their attributes, functions and internal relationships. Accordingly, one of ordinary skill in the art can implement the application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative and are not intended to be limiting upon the scope of the application, which is to be defined in the appended claims and their full scope of equivalents.
The above functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or a part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above-described method of the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium upon which the program described above is printed, as the program described above may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the foregoing description of the present specification, reference has been made to the terms "one embodiment/example", "another embodiment/example", "certain embodiments/examples", and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the application, the scope of which is defined by the claims and their equivalents.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the above embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present application, and these equivalent modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (10)
1. The welding gun height dynamic adjustment method based on arc additive manufacturing is characterized by comprising the following steps of:
controlling a welding gun to perform constant-current additive manufacturing on an additive manufacturing platform;
when a first layer of metal is piled up, a first arc voltage signal between the welding gun and the additive manufacturing platform is obtained in real time, and initial equivalent arc voltage is determined according to the first arc voltage signal;
when the metal accumulation of the current layer is finished, controlling the welding gun to move upwards according to a preset lifting height, carrying out metal accumulation of the next layer, and acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time;
and comparing the second arc voltage signal with the initial equivalent arc voltage, and adjusting the height of the welding gun in real time according to a comparison result.
2. The method for dynamically adjusting the height of a welding gun based on arc additive manufacturing according to claim 1, wherein the step of controlling the welding gun to perform constant-current additive manufacturing on the additive manufacturing platform is specifically as follows:
a constant-current additive manufacturing instruction is sent to a robot and a digital arc welding power supply through a control cabinet, so that the digital arc welding power supply provides constant-current signals for the welding gun and the additive manufacturing platform, and the welding gun is controlled by the robot to perform additive manufacturing on the additive manufacturing platform;
the welding gun is arranged on the robot, the positive electrode output end of the digital arc welding power supply is electrically connected with the welding gun, the negative electrode output end of the digital arc welding power supply is electrically connected with the additive manufacturing platform, and the robot and the digital arc welding power supply are both in signal connection with the control cabinet.
3. The method for dynamically adjusting the height of a welding gun based on arc additive manufacturing according to claim 2, wherein the step of acquiring a first arc voltage signal between the welding gun and the additive manufacturing platform in real time and determining an initial equivalent arc voltage according to the first arc voltage signal specifically comprises the steps of:
acquiring the first arc voltage signal between the welding gun and the additive manufacturing platform in real time through a wavelet analyzer;
performing curve fitting according to the first arc voltage signals at different moments to generate an arc voltage fluctuation curve, and calculating average arc welding power when a first layer of metal is piled up according to the arc voltage fluctuation curve and the constant current signal;
and determining the initial equivalent arc voltage according to the average arc welding power and the constant current signal.
4. The method for dynamically adjusting the height of a welding gun based on arc additive manufacturing according to claim 2, wherein the step of controlling the welding gun to move upwards according to a preset elevation height, performing the next metal stacking, and acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time specifically comprises the following steps:
the welding gun is controlled by the robot to move upwards according to the lifting height, and the next layer of metal is stacked; and acquiring the second arc voltage signal between the welding gun and the additive manufacturing platform in real time through a wavelet analyzer.
5. The method for dynamically adjusting the height of a welding gun based on arc additive manufacturing according to claim 1, wherein the step of comparing the second arc voltage signal with the initial equivalent arc voltage and adjusting the height of the welding gun in real time according to the comparison result specifically comprises the steps of:
comparing the second arc voltage signal with the initial equivalent arc voltage;
when the second arc voltage signal is larger than the initial equivalent arc voltage, determining a first adjustment height according to the second arc voltage signal, the initial equivalent arc voltage and the elevation height, and controlling the welding gun to descend according to the first adjustment height;
and when the second arc voltage signal is smaller than the initial equivalent arc voltage, determining a second adjustment height according to the second arc voltage signal, the initial equivalent arc voltage and the elevation height, and controlling the welding gun to ascend according to the second adjustment height.
6. The method of claim 5, wherein the first adjustment height is determined by:
wherein d 1 Representing the first adjustment height, U 2 Representing the second arc voltage signal, U 0 Representing the initial equivalent arc voltage of the device,h represents the elevation height, sigma represents a preset height adjustment coefficient;
the second adjustment height is determined by:
wherein d 2 Representing the second adjustment height.
7. Welding gun height dynamic adjustment system based on arc additive manufacturing, characterized by comprising:
the constant-current additive manufacturing control module is used for controlling the welding gun to perform constant-current additive manufacturing on the additive manufacturing platform;
the initial equivalent arc voltage determining module is used for acquiring a first arc voltage signal between the welding gun and the additive manufacturing platform in real time when a first layer of metal is piled up, and determining initial equivalent arc voltage according to the first arc voltage signal;
the second arc voltage signal acquisition module is used for controlling the welding gun to move upwards according to a preset lifting height when the metal accumulation of the current layer is completed, carrying out metal accumulation of the next layer, and acquiring a second arc voltage signal between the welding gun and the additive manufacturing platform in real time;
and the welding gun height real-time adjustment module is used for comparing the second arc voltage signal with the initial equivalent arc voltage and adjusting the height of the welding gun in real time according to a comparison result.
8. The welding gun height dynamic adjustment system based on arc additive manufacturing of claim 7, wherein the welding gun height real-time adjustment module specifically comprises:
the numerical value comparison unit is used for performing numerical value comparison on the second arc voltage signal and the initial equivalent arc voltage;
the welding gun descending control unit is used for determining a first adjustment height according to the second arc voltage signal, the initial equivalent arc voltage and the lifting height when the second arc voltage signal is larger than the initial equivalent arc voltage, and controlling the welding gun to descend according to the first adjustment height;
and the welding gun ascending control unit is used for determining a second adjusting height according to the second arc voltage signal, the initial equivalent arc voltage and the elevation height when the second arc voltage signal is smaller than the initial equivalent arc voltage, and controlling the welding gun to ascend according to the second adjusting height.
9. Welding gun height dynamic adjustment device based on arc additive manufacturing, which is characterized by comprising:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement a method of arc additive manufacturing-based gun height dynamic adjustment as recited in any one of claims 1 to 6.
10. A computer readable storage medium, in which a processor executable program is stored, characterized in that the processor executable program, when executed by a processor, is adapted to perform a method for dynamically adjusting the height of a welding gun based on arc additive manufacturing as claimed in any one of claims 1 to 6.
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