CN206253789U - Gas metal-arc welding 3D increases material repair apparatus - Google Patents
Gas metal-arc welding 3D increases material repair apparatus Download PDFInfo
- Publication number
- CN206253789U CN206253789U CN201620896896.0U CN201620896896U CN206253789U CN 206253789 U CN206253789 U CN 206253789U CN 201620896896 U CN201620896896 U CN 201620896896U CN 206253789 U CN206253789 U CN 206253789U
- Authority
- CN
- China
- Prior art keywords
- defect
- welding
- vision sensor
- mobile unit
- consumable electrode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Laser Beam Processing (AREA)
Abstract
Increase material repair apparatus the utility model discloses a kind of gas metal-arc welding 3D, the device includes controller, four-axle linked platform, laser vision sensor, infrared vision sensor, fixture and consumable electrode welding torch；The method for repairing and mending includes：Defect workpiece is arranged on patch work platform；Laser vision sensor is driven to scan the three-D profile of defect；Controller rebuilds the three-D profile of defect；It is determined that specific welding parameter；Controller drives near infrared vision sensing device to be scanned molten bath, obtains the time and frequency parameter of crater image, and according to the time and frequency parameter of crater image generation compensation control routine, the welding parameter of amendment setting in real time；After repairing terminates, drive laser vision sensor to scan the three-D profile of defect again, it is determined that whether the workpiece after repairing is up to standard, if not up to standard, defect is repaired again, untill defect mending is up to standard.Simple structure of the present utility model, easy to operate, reliability are high, strong adaptability.
Description
Technical field
The utility model is related to increase material repairing technique field, more particularly to a kind of 3D for gas metal-arc welding increases
Material repair apparatus.
Background technology
Existing increasing material method for repairing and mending mainly have laser melt cover, arc surfacing, electropaining plating, plasma spray technology etc..Laser melts
Coating technique is the method that the consolidation together with substrate surface thin layer is allowed to using the laser beam of high-energy-density, substrate surface formed with
It is the filling cladding layer of metallurgical binding.Arc surfacing is to be deposited over substrate surface using welding rod or electrode to carry out built-up welding.Electropaining
There is electrochemical reaction in coating technology, realize that metal is deposited on plating piece surface when being and utilizing direct current by electrolyte.Thermal spraying
It is that powdered or thread metal or nonmetallic materials are heated to melting or semi-molten state using certain thermal source, deposits and shape
Into a kind of technology of the face coat with various functions.
Above method for repairing and mending has certain limitation, and wherein laser melts coating technique can cause transition region stress concentration；Electricity
Coating technology has that anchoring strength of coating and intensity itself are not enough；The heat affecting of arc surfacing technology and plasma spray technology
Qu great, easily causes workpiece deformation.In addition, above-mentioned repairing technique fails to be accurately obtained defect profile parameter before repairing, cause
Workpiece after repairing is still present certain defect, and repair efficiency is undesirable.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of easy to operate, reliability is high, adaptation
Property strong gas metal-arc welding 3D increase material repair apparatus.
Another object of the present utility model is, there is provided a kind of method for repairing and mending based on above-mentioned repair apparatus.
The purpose of this utility model is achieved through the following technical solutions：
A kind of gas metal-arc welding 3D increases material repair apparatus, and it is mainly including controller, positioned at reparation station top
Four-axle linked platform and be arranged in linkage platform be used for obtain workpiece defect profile three-dimensional information laser vision pass
Sensor, the infrared vision sensor for obtaining molten bath status information, fixture and consumable electrode welding torch.The controller and four axles join
Moving platform, laser vision sensor, infrared vision sensor and consumable electrode welding torch connection, for controlling each unit coordinates to work.
Specifically, the controller is connected with four-axle linked platform, the movement in three directions of control consumable electrode welding torch
And the rotation of horizontal direction, consumable electrode welding torch is repaired to defect with most suitable position and angle on jig.
The controller is connected with laser vision sensor, for driving laser vision sensor and obtaining the three-D profile of defect, control
Device processed is rebuild according to the data for obtaining to the three-D profile of defect, generates optimum control code.The controller with it is infrared
Vision sensor is connected, for driving infrared vision sensor and obtaining the realtime graphic time and frequency parameter in molten bath, in mending course
In, according to molten bath state real-time adjustment Repair Parameters, obtain more preferable repair efficiency.The controller is electrically connected with consumable electrode welding torch
Connect, for controlling the size of current of consumable electrode welding torch and the flow of protective gas.One end of the fixture and four-axle linked platform
Connection, the other end is fixed with consumable electrode welding torch, and four-axle linked platform drives consumable electrode welding torch to move and rotate by fixture, adjustment
To suitable welding position.
Specifically, the consumable electrode welding torch includes torch body, wire reel, wire pushing roller, ignition tip and protective cover.It is described
Torch body is fixedly mounted on fixture.The wire reel is arranged on the end of torch body, and wire pushing roller is arranged on wire reel
Between torch body, the filler wire being wrapped on wire reel sequentially passes through wire pushing roller, torch body and ignition tip, and from
Protruded in ignition tip.The protective cover is arranged on the other end of torch body, and the ignition tip is arranged in protective cover, with protection
Gap is left between cover, protective gas flows through from the gap, in welding molten metal can be avoided to be oxidized, influence weldering
Connect effect.In welding, protective gas enters gap from top to bottom, and the covering of ignition tip, filler wire and welding position is formed
Protection zone.Electric arc is formed by discharge type between filler wire and workpiece, the metal near filler wire and defective locations exists
Melted in the presence of electric arc, form molten bath, filler wire becomes the part for workpiece after molten bath cools down, and completes workpiece, defect
Increasing material repairing.
Preferably, the thickness of the protective cover is less than the thickness of ignition tip, so can mitigate welding with material-saving
Weight.
As preferred scheme of the present utility model, because the welding current of arc welding is larger, in order to avoid causing to external world
Interference is injured, and the protective cover is made of plastic material, and plastic material can make the tip that consumable electrode is welded exhausted with the external world
Edge, plays a protective role.
Specifically, the four-axle linked platform is used to control the position of consumable electrode welding torch and adjusts the welding of consumable electrode welding torch
Angle, the main X-axis mobile unit for including moving in the X-axis direction of its composition, the Y-axis mobile unit moved along Y direction, along Z
The Z axis mobile unit of direction of principal axis motion and the A axle rotating units rotated around the rotating shaft perpendicular to workpiece.The X-axis mobile unit
It is fixed on repairing platform, positioned at the top of repairing station, Y-axis mobile unit is arranged in X-axis mobile unit, and Z axis movement is single
Unit is arranged in Y-axis mobile unit, and A axles rotating unit is arranged in Z axis mobile unit, can be turned with respect to Z axis mobile unit level
It is dynamic.The A axles rotating unit is fixedly connected with fixture, horizontally rotates with consumable electrode welding torch, for adjusting consumable electrode welding torch
Soldering angle.
Used as preferred scheme of the present utility model, the infrared vision sensor is using the shorter near infrared ray conduct of wavelength
The light source of vision sensor.Compared with far infrared, the depth of near infrared ray detection is deeper, and the information content of acquisition is more.Due to
Arc welding can produce the radiant light of electric arc to disturb in welding process, and the arc of electric arc can be filtered off near infrared vision sensing device
Light is disturbed, and improves the image quality of crater image.Preferably, the utility model is preferentially about 950 nanometers near red using wavelength
Outer light source.
Used as preferred scheme of the present utility model, the controller is using strong antijamming capability, stable and reliable in work, continuous
The industrial control computer of longevity of service.
Another object of the present utility model is achieved through the following technical solutions：
A kind of consumable electrode protection weldering 3D increases the method for repairing and mending of material repair apparatus, and the method for repairing and mending mainly comprises the following steps：
Step S1:Defect workpiece is arranged on patch work platform；
Laser vision sensor, near infrared vision sensing device are arranged on the Z of four axles (X-Y-Z-A axles) coordinated signals platform
In axle mobile unit, consumable electrode protective gas welding torch is arranged on A axle rotary units.
Step S2:Laser vision sensor is driven to scan the three-D profile of defect；
After installing, coordinate four-axle linked platform that consumable electrode welding torch is moved into relevant position first, in controller
Under control, laser vision sensor scanning defect (complex geometric shapes) profile is driven to obtain structure optical signal.
Step S3:Controller receives the feedback signal of laser vision sensor, rebuilds the three-D profile of defect；
According to the operation principle of laser vision sensor, semiconductor laser emission source sends and a branch of parallel swashs in sensor
Light.On the contour surface of workpiece, defect, its surface source of light information is arrived by the CMOS camera calibrations in sensor for the laser beam,
Using principle of triangulation, accurate defect profile structure optical signal can be obtained in the controller.Controller obtains laser video
Feel the defect profile structure optical signal of sensor feedback, defect threedimensional model is set up using the method for three-dimensional reconstruction.
Step S4:Three-D profile data genaration control routine according to defect, it is determined that specific welding parameter；
Controller compares the defect threedimensional model of reconstruction with original part model parameter, it is determined that to be repaired is specific
Parameter simultaneously generates corresponding control routine.Controller drives four-axle linked platform courses consumable electrode weldering according to the control routine of generation
Torch moves to the position specified, and the welding parameter of melting pole gas shielded welding torch is then determined by control routine.The welding
Parameter mainly includes position, welding current, speed of welding and wire feed rate of welding etc..
Step S5:In mending course, controller drives near infrared vision sensing device to be scanned molten bath, obtains molten bath figure
The time and frequency parameter (including time domain, frequency domain information) of picture, and according to crater image time and frequency parameter generation compensation control routine, repair in real time
The welding parameter of positive setting.
During welding, controller determines mending option according to the defect three-D profile rebuild, and drives four-axle linked platform positioning
To the position of welding, and the patcher of special, complicated defect is completed by the soldering angle of A axles rotating unit adjustment welding torch
Make.
Step S6:For the thermal deformation that surface of test piece occurs is repaired after arc surfacing, after first repairing is completed, drive again
Dynamic laser vision sensor scans the three-D profile of defect, it is determined that whether the workpiece after repairing is up to standard, if not up to standard, to defect
Repaired again, untill defect mending is up to standard.
As preferred scheme of the present utility model, in welding, when the location and shape of defect are complex, can pass through
Drive the welding angle of A axles rotating unit adjustment consumable electrode welding torch to complete defect mending, can further be carried using the method
Repairing efficiency high, overcomes the deficiencies in the prior art.
Repair apparatus provided by the utility model may be mounted in the frame of robot end or portal frame, coordinate machine
The motion positions of device people or portal frame to relevant position, for repairing the defect test specimen under different occasions or needing repair maintenance
Equipment.
Working process and principle of the present utility model are：The utility model is using on laser vision sensor scanning workpiece
Defect, sends the three-D profile optical signal of acquisition to controller；Three-dimensional wheel of the controller according to structure light signal reconstruction defect
Exterior feature, and corresponding control routine is generated, it is determined that the technical parameter of welding；In welding process, controller drives near-infrared vision
Sensor is scanned to molten bath, obtains the time and frequency parameter of crater image, generates corresponding compensation control routine, and correct in real time
The welding parameter for setting before, makes final welding effect more preferable；After first welding is finished, laser vision sensor can be to defect
Position is scanned again, it is determined that repairing situation and evaluation repair efficiency, if repair efficiency does not reach the standard of setting, control
Device drives four-axle linked platform, laser vision sensor and infrared vision sensor to repair the defect after repairing again,
Untill repair efficiency is up to standard.Simple structure provided by the utility model, easy to operate, reliability is high, strong adaptability.
Compared with prior art, the utility model has further the advantage that：
(1) it is three-dimensional the utility model proposes four-axle linked platform measuring part defect is combined using laser vision sensor
Profile, obtains the dynamic structure optical signal of defect profile, and the side of defect threedimensional model is re-established by computer control
Method, accurately defect model can be obtained by the method, and the effectively wrong situation of the scarce weldering of reduction, solder skip, weldering occurs, hence it is evident that raising
Welding efficiency and welding effect.
(2) the utility model proposes the new of remanufacturing that gas metal-arc welding and 3D increased into material method for repairing and mending combined
Method, by the utility model provide increasing material repair apparatus be attached on robot or portal frame, can be used for repairing workpiece or
The defect of equipment, effectively improves the usage cycles of equipment, and it is reused by repairing write-off equipment, plays maximum valency
Value, embodies the theory of energy-conserving and environment-protective.
(3) method for repairing and mending that the utility model is provided not only introduces near infrared vision sensing device and obtains molten bath shape in welding
State and online real-time adjustment welding current and wire feed rate, are also swept again with laser vision sensor in postwelding to defect
Retouch, with ensure defect obtain farthest repair mend and repair efficiency reach it is best.By contrasting intact piece surface
Parameter, generation repairing defects controlling code determines the motion ginseng of consumable electrode welding torch on four axes motion platform using the code
Number and consumable electrode welding torch melt the parameter covered, and can make welding more precisely in place, obtain more preferable welding effect.
(4) molten bath state is scanned the utility model proposes using near infrared vision sensing device, real-time adjustment welding
Parameter, can at utmost reduce the stress concentration after workpiece, defect reparation and the thermal deformation for causing.
(5) the utility model all carries out laser scanning after repairing every time to defective locations, for evaluating this repairing
Effect, and repair efficiency is evaluated, it is determined whether need to repair again, the process can significantly improve the reliable journey of repairing
Degree, obtains preferable repair efficiency.
(6) increasing material repair apparatus provided by the utility model can be applied on robot end or portal frame to defect
Part or equipment carry out repair operation, practicality and strong applicability.
(7) compared with laser melts coating technique, the utility model does not result in stress concentration after part defect is repaired；With electropaining
Coating technology is compared, and the parts reliability after the utility model is repaired is high, easy to operate；Compared with plasma spray technology, this practicality is new
Type environmental protection, strong applicability；Compared with traditional arc surfacing technology, the utility model combines the vision of laser sensor
System, overcomes thermal deformation and stress concentration that conventional art is caused.
Brief description of the drawings
Fig. 1 is the overall structure diagram of repair apparatus provided by the utility model.
Fig. 2 is the stereogram of four-axle linked platform provided by the utility model.
Fig. 3 is the front view of four-axle linked platform provided by the utility model.
Fig. 4 is the right view of four-axle linked platform provided by the utility model.
Fig. 5 is the top view of four-axle linked platform provided by the utility model.
Fig. 6 is the fundamental diagram of laser vision sensor provided by the utility model.
Fig. 7 is view of the consumable electrode welding torch provided by the utility model in welding.
Fig. 8 is workpiece, defect top view provided by the utility model.
Fig. 9 is workpiece, defect sectional view provided by the utility model.
Figure 10 is method for repairing and mending flow chart provided by the utility model.
Label declaration in above-mentioned accompanying drawing：100- controllers, 210-X axle mobile units, 220-Y axle mobile units, 230-Z
Axle mobile unit, 240-A axle rotating units, 300- laser vision sensors, the infrared vision sensors of 400-, the weldering of 510- consumable electrodes
Torch, 520- fixtures, 530- filler wires, 540- wire reels；
1- ignition tips, 2- protective covers, 3- wire pushing rollers, 4- protective gas, 5- electric arcs, 6- molten baths.
Specific embodiment
To make the purpose of this utility model, technical scheme and advantage clearer, clear and definite, develop simultaneously implementation referring to the drawings
The utility model is described in further detail for example.
Embodiment 1：
Gas metal-arc welding is a kind of using wire melting electrode, when using inert gas (Ar or Ar+He) conduct
It is referred to as metal inert gas arc welding, abbreviation MIG welderings during protective gas；And work as protective gas based on Ar, add few
Amount active gases (O2Or CO2) when, referred to as consumable electrode metal active gas arc welding, abbreviation MAG welderings.The utility model discloses one
Planting repair apparatus and its method for repairing and mending is used to solve the deficiency of prior art presence.
Wherein, as shown in figure 1, the repair apparatus are a kind of gas metal-arc welding 3D increases material repair apparatus, main bag
Including controller 100, the four-axle linked platform above reparation station and being arranged in linkage platform is used to obtain workpiece
The laser vision sensor 300 of defect profile three-dimensional information, the infrared vision sensor 400 for obtaining molten bath status information,
Fixture 520 and consumable electrode welding torch 510.The controller 100 and four-axle linked platform, laser vision sensor 300, infrared vision
Sensor 400 and consumable electrode welding torch 510 are connected.
Specifically, the controller 100 is connected with four-axle linked platform, control consumable electrode welding torch 510 is in three directions
Movement and horizontal direction rotation, make consumable electrode welding torch 510 on jig with most suitable position and angle to defect
Repaired.The controller 100 is connected with laser vision sensor 300, for driving laser vision sensor 300 and obtaining
The three-D profile of defect, controller 100 is rebuild according to the data for obtaining to the three-D profile of defect, generates optimum control generation
Code.The controller 100 is connected with infrared vision sensor 400, for driving infrared vision sensor 400 and obtaining molten bath
Realtime graphic time and frequency parameter, in mending course, according to molten bath state real-time adjustment Repair Parameters, obtains preferably repairing effect
Really.The controller 100 is electrically connected with consumable electrode welding torch 510, size of current and protection gas for controlling consumable electrode welding torch 510
The flow of body.One end of the fixture 520 is connected with four-axle linked platform, and the other end is fixed with consumable electrode welding torch 510, four axles connection
Moving platform drives consumable electrode welding torch 510 to move and rotate by fixture 520, is adjusted to suitable welding position.
Specifically, with reference to shown in Fig. 1 and Fig. 7, the consumable electrode welding torch includes torch body, wire reel 540, wire pushing roller
3rd, ignition tip 1 and protective cover 2.The torch body is fixedly mounted on fixture.The wire reel 540 is arranged on torch body
End, wire pushing roller 3 is arranged between wire reel 540 and torch body, be wrapped in filler wire 530 on wire reel 540 according to
It is secondary through wire pushing roller 3, torch body and ignition tip 1, and protruded from ignition tip 1.The protective cover 2 is arranged on torch body
The other end, the ignition tip 1 be arranged on protective cover 2 in, gap is left between protective cover 2, protective gas 4 is from the gap
Flow through, in welding molten metal can be avoided to be oxidized, influence welding effect.In welding, protective gas 4 is from top to bottom
Into gap, by the covering of ignition tip 1, filler wire 530 and welding position, protection zone is formed.Between filler wire 530 and workpiece
Electric arc 5 is formed by discharge type, the metal near filler wire 530 and defective locations melts in the presence of electric arc 5, formed
Molten bath 6, filler wire 530 becomes the part for workpiece after molten bath 6 cools down, and completes the increasing material repairing of workpiece, defect.
Specifically, with reference to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the four-axle linked platform is used to control consumable electrode to weld
The position of torch 510 simultaneously adjusts the soldering angle of consumable electrode welding torch 510, and its composition is main to include the X-axis movement for moving in the X-axis direction
Unit 210, the Y-axis mobile unit 220 moved along Y direction, the Z axis mobile unit 230 moved along Z-direction and around perpendicular to
The A axles rotating unit 240 of the rotating shaft rotation of workpiece.The X-axis mobile unit 210 is fixed on repairing platform, positioned at patcher
The top of position, Y-axis mobile unit 220 is arranged in X-axis mobile unit 210, and Z axis mobile unit 230 is arranged on Y-axis mobile unit
On 220, A axles rotating unit 240 is arranged in Z axis mobile unit 230, can be horizontally rotated with respect to Z axis mobile unit 230.The A
Axle rotating unit 240 is fixedly connected with fixture 520, horizontally rotates with consumable electrode welding torch 510, for adjusting consumable electrode welding torch
510 soldering angle.
Used as preferred scheme of the present utility model, the infrared vision sensor 400 is using the shorter near infrared ray of wavelength
As the light source of vision sensor.Compared with far infrared, the depth of near infrared ray detection is deeper, and the information content of acquisition is more.
Due to arc welding the radiant light of electric arc can be produced to disturb in welding process, electric arc can be filtered off near infrared vision sensing device
Arc light interference, improve crater image image quality.Preferably, the utility model is preferentially about 950 nanometers using wavelength
Near-infrared light source.
As preferred scheme of the present utility model, the controller 100 using strong antijamming capability, it is stable and reliable in work,
Stream time industrial control computer long.
Wherein, the method for repairing and mending is the method for repairing and mending that a kind of consumable electrode protection weldering 3D increases material repair apparatus, the method for repairing and mending
Can for different workpiece materials to be repaired using corresponding filler wire 530 as the filler for filling up defect, with reference to Fig. 1 and
Shown in Figure 10, the method for repairing and mending mainly comprises the following steps：
Step S1:Defect workpiece is arranged on patch work platform；
Laser vision sensor 300, near infrared vision sensing device 400 are arranged on four axles (X-Y-Z-A axles) coordinated signals
In the Z axis mobile unit 230 of platform, consumable electrode protective gas welding torch 510 is arranged on A axle rotary units.
Step S2:Laser vision sensor 300 is driven to scan the three-D profile of defect；
After installing, coordinate four-axle linked platform that consumable electrode welding torch 510 is moved into relevant position first, in controller
Under 100 control, scanning defect (complex geometric shapes) profile of laser vision sensor 300 is driven to obtain structure optical signal.
Step S3:Controller 100 receives the feedback signal of laser vision sensor 300, rebuilds the three-D profile of defect；
As shown in fig. 6, according to the operation principle of laser vision sensor 300, semiconductor laser emission source hair in sensor
Go out a branch of parallel laser.On the contour surface of workpiece, defect, its surface source of light information is by sensor for the laser beam
CMOS camera calibrations are arrived, and using principle of triangulation, accurate defect profile structure light letter can be obtained in controller 100
Number.Controller 100 obtains the defect profile structure optical signal of the feedback of laser vision sensor 300, using the method for three-dimensional reconstruction
Set up defect threedimensional model.
Step S4:Three-D profile data genaration control routine according to defect, it is determined that specific welding parameter；
Controller 100 compares the defect threedimensional model of reconstruction with original part model parameter, it is determined that to be repaired
Design parameter simultaneously generates corresponding control routine.Controller 100 drives four-axle linked platform courses according to the control routine of generation
Consumable electrode welding torch 510 moves to the position specified, and the weldering of melting pole gas shielded welding torch 510 is then determined by control routine
Connect parameter.The welding parameter mainly includes position, welding current, speed of welding and wire feed rate of welding etc..
Step S5:In mending course, controller 100 drives near infrared vision sensing device 400 to be scanned molten bath, obtains
The time and frequency parameter (including time domain, frequency domain information) of crater image, and according to crater image time and frequency parameter generation compensation control routine,
The welding parameter of amendment setting in real time.It is illustrated in figure 7 for the complex workpiece, defect of geometry, in consumable electrode gas
Protection repair welding answers droplet transfer during defect.
When workpiece defect some under surface of test piece when, with reference to shown in Fig. 1, Fig. 8 and Fig. 9, due to A axles with fusing
There is certain angle between pole welding torch 510, controller 100 can drive A axles rotary shaft to adjust consumable electrode welding torch 510 on workpiece
Welding position so that the defect mending under completing surface of test piece.
Step S6:For the thermal deformation that surface of test piece occurs is repaired after arc surfacing, after first repairing is completed, drive again
Dynamic laser vision sensor 300 scans the three-D profile of defect, it is determined that whether the workpiece after repairing is up to standard, it is right if not up to standard
Defect is repaired again, untill defect mending is up to standard.
As preferred scheme of the present utility model, in welding, when the location and shape of defect are complex, can pass through
Drive the welding angle of the adjustment consumable electrode of A axles rotating unit 240 welding torch 510 to complete defect mending, can be entered using the method
One step improves repairing efficiency, overcomes the deficiencies in the prior art.
Repair apparatus provided by the utility model may be mounted in the frame of robot end or portal frame, coordinate machine
The motion positions of device people or portal frame to relevant position, for repairing the defect test specimen under different occasions or needing repair maintenance
Equipment.
Working process and principle of the present utility model are：The utility model scans workpiece using laser vision sensor 300
On defect, send the three-D profile optical signal of acquisition to controller 100；Controller 100 lacks according to structure light signal reconstruction
Sunken three-D profile, and corresponding control routine is generated, it is determined that the technical parameter of welding；In welding process, controller 100 drives
Dynamic near infrared vision sensing device 400 is scanned to molten bath, obtains the time and frequency parameter of crater image, generates corresponding compensation control
Code, and the welding parameter for being set before amendment in real time, make final welding effect more preferable；After first welding is finished, laser video
Feel that sensor 300 can again be scanned to defective locations, it is determined that repairing situation and evaluation repair efficiency, if repair efficiency is not up to
To setting standard, then controller 100 drive four-axle linked platform, laser vision sensor 300 and infrared vision sensor 400
Defect after repairing is repaired again, untill repair efficiency is up to standard.Simple structure provided by the utility model, behaviour
Facilitate, reliability is high, strong adaptability.
Embodiment 2：
As shown in figure 1, laser vision sensor 300, near infrared vision sensing device 400 are arranged on into four axle (X-Y-Z-A
Axle) Motion Control Platform Z axis motion platform on, by consumable electrode protective gas welding torch 510 be arranged on A axle rotation platforms on.
The device may be mounted in robot end or portal frame frame, coordinate robot or portal frame move to relevant position with
Repair defect test specimen or equipment under different occasions.
The course of work that 3D provided by the utility model increases material repair apparatus is as follows：Cooperation four axes motion platform first will
Consumable electrode welding torch 510 moves to relevant position, under the control of computer control 100, drives laser vision sensor 300 to scan
Defect (complex geometric shapes) profile obtains structure optical signal.
Then, semiconductor laser emission source sends a branch of parallel laser in laser vision sensor 300, and the laser beam is beaten
On the contour surface of workpiece, defect, its surface source of light information is arrived by the CMOS camera calibrations in sensor, using triangulation
Principle, can obtain accurate defect profile structure optical signal in computer control 100.(Fig. 6 is laser vision sensor
300 fundamental diagram)
Then, the defect profile structure optical signal that defect is obtained, computer controls are scanned according to laser vision sensor 300
Device 100 sets up defect threedimensional model using the method for three-dimensional reconstruction.The model of reconstruction is compared with original Parameters of The Parts, really
The design parameter of periodical repair benefit simultaneously generates control routine.
Then, four axes motion platform courses consumable electrode welding torch 510 is driven to move to relevant position, it is then true with control routine
The parameters such as the speed of filler wire 530, the striking size of current of melting pole gas shielded welding torch 510 are determined, to defective locations heap
The mode of weldering melt covers repairing.As shown in fig. 7, droplet transfer when being gas metal-arc welding reparation defect, filling weldering
Through ignition tip 1 and outwardly, wire pushing roller 3 clips filler wire 530 and conveys downwards silk 530.Protective cover 2 is by ignition tip cover
Firmly, with external insulation.Protective gas 4 flows downward from the surrounding of filler wire 530, the metal for protecting high temperature melting, prevents
Only metal is oxidized.Form between filler wire 530 and workpiece by discharging forms electric arc 5, and is melted in the presence of electric arc 5
Change forms molten bath 6, and filler wire 530 becomes the part for workpiece after cooling.When running into workpiece, defect shape and position more
During complicated situation, for the defect mending (as shown in Figure 8 and Figure 9, defect some under surface of test piece) of this situation,
Because A axles and consumable electrode welding torch 510 have certain angle, the welding position of A axles rotation axial adjustment consumable electrode welding torch 510 is driven, can
To complete the defect mending under surface of test piece.
Then, the schematic diagram of weld pool resonance when obtaining weldering near infrared vision sensing device 400 as shown in Figure 1, in heap repair welding
The defect crater image obtained during benefit contains the real-time repairing situation of defect, and molten bath is obtained by methods such as image procossings
Image time and frequency parameter, and then compensate control routine.
Finally, for the thermal deformation that surface of test piece occurs is repaired after arc surfacing, after first repairing is completed, laser video is used
Feel the scanning defect profile of sensor 300.The control routine repaired again after being processed through computer, so as to flat with four axes motion
Platform drives consumable electrode welding torch 510 and determines that corresponding melting covers parameter repairing defect.It is three-dimensional that laser vision sensor 300 obtains defect
Profile, near infrared vision sensing device 400 obtains the state of repairing in real time.Many heat transfer agent (laser, near infrared vision sensing devices
400) fusion generation optimal control algorithm, including welding position, welding current, speed of welding, wire feed rate it is isoparametric
Line is adjusted.Figure 10 is the workflow diagram of the utility model, and the operation (i.e. vision-based detection, weld deposit repairing) is repeated several times, until
Defect profile form is up to standard.
Above-described embodiment is the utility model preferably implementation method, but implementation method of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from the change made under Spirit Essence of the present utility model and principle, modify, replace
Generation, combination, simplification, should be equivalent substitute mode, be included within protection domain of the present utility model.
Claims (4)
1. a kind of gas metal-arc welding 3D increases material repair apparatus, it is characterised in that including controller, on reparation station
Side four-axle linked platform and be arranged in linkage platform be used for obtain workpiece defect profile three-dimensional information laser vision
Sensor, the infrared vision sensor for obtaining molten bath status information, fixture and consumable electrode welding torch；The controller respectively with
The connection of four-axle linked platform, laser vision sensor, infrared vision sensor and consumable electrode welding torch；One end of the fixture and four
Axle linkage platform is connected, and the other end is fixed with consumable electrode welding torch；
The consumable electrode welding torch includes torch body, wire reel, wire pushing roller, ignition tip and protective cover；The torch body peace
On fixture, the wire reel is arranged on one end of torch body, and wire pushing roller is located between wire reel and torch body, institute
The other end of the protective cover installed in torch body is stated, ignition tip is arranged in protective cover, and gap is left between protective cover.
2. gas metal-arc welding 3D according to claim 1 increases material repair apparatus, it is characterised in that the four axles connection
Moving platform includes X-axis mobile unit, Y-axis mobile unit, Z axis mobile unit and A axle rotating units；The X-axis mobile unit position
In repairing station top, Y-axis mobile unit is arranged in X-axis mobile unit, and Z axis mobile unit is arranged in Y-axis mobile unit,
A axles rotating unit is arranged in Z axis mobile unit, can be horizontally rotated with respect to Z axis mobile unit；The A axles rotating unit and folder
Tool is fixedly connected, the soldering angle for adjusting consumable electrode welding torch.
3. gas metal-arc welding 3D according to claim 1 increases material repair apparatus, it is characterised in that described infrared to regard
Feel sensor is near infrared vision sensing device.
4. gas metal-arc welding 3D according to claim 1 increases material repair apparatus, it is characterised in that the controller
Using industrial control computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620896896.0U CN206253789U (en) | 2016-08-17 | 2016-08-17 | Gas metal-arc welding 3D increases material repair apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620896896.0U CN206253789U (en) | 2016-08-17 | 2016-08-17 | Gas metal-arc welding 3D increases material repair apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206253789U true CN206253789U (en) | 2017-06-16 |
Family
ID=59022900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620896896.0U Expired - Fee Related CN206253789U (en) | 2016-08-17 | 2016-08-17 | Gas metal-arc welding 3D increases material repair apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206253789U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112207A (en) * | 2016-08-17 | 2016-11-16 | 广东工业大学 | Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending |
| CN108247177A (en) * | 2018-01-18 | 2018-07-06 | 燕山大学 | The extrusion device of metal wire material electric arc increasing material manufacturing |
| CN108544063A (en) * | 2018-07-03 | 2018-09-18 | 广东工业大学 | Gas metal-arc welding increases the device and method of material repairing |
| CN111246964A (en) * | 2017-10-17 | 2020-06-05 | Lg电子株式会社 | Welding system and method of operating the same |
| CN113231637A (en) * | 2021-04-30 | 2021-08-10 | 南昌大学 | 3D forming repair device and forming repair method |
| CN113453440A (en) * | 2021-06-29 | 2021-09-28 | 广东炬森智能装备有限公司 | PCB real-time repairing method and system based on 3D vision |
-
2016
- 2016-08-17 CN CN201620896896.0U patent/CN206253789U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112207A (en) * | 2016-08-17 | 2016-11-16 | 广东工业大学 | Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending |
| CN111246964A (en) * | 2017-10-17 | 2020-06-05 | Lg电子株式会社 | Welding system and method of operating the same |
| CN108247177A (en) * | 2018-01-18 | 2018-07-06 | 燕山大学 | The extrusion device of metal wire material electric arc increasing material manufacturing |
| CN108247177B (en) * | 2018-01-18 | 2020-07-24 | 燕山大学 | Extrusion device for metal wire electric arc additive manufacturing |
| CN108544063A (en) * | 2018-07-03 | 2018-09-18 | 广东工业大学 | Gas metal-arc welding increases the device and method of material repairing |
| CN113231637A (en) * | 2021-04-30 | 2021-08-10 | 南昌大学 | 3D forming repair device and forming repair method |
| CN113453440A (en) * | 2021-06-29 | 2021-09-28 | 广东炬森智能装备有限公司 | PCB real-time repairing method and system based on 3D vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106141435B (en) | Laser-arc hybrid welding process 3D increases material repair apparatus and method for repairing and mending | |
| CN206253789U (en) | Gas metal-arc welding 3D increases material repair apparatus | |
| CN106112207A (en) | Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending | |
| CN106141436A (en) | Wire filling laser welding increases material repair apparatus and method for repairing and mending | |
| CN106141374A (en) | Non-consumable gas shielded arc welding 3D increases material repair apparatus and method for repairing and mending | |
| CN206253808U (en) | Wire filling laser welding increases material repair apparatus | |
| Cook | Robotic arc welding: Research in sensory feedback control | |
| CN106001926B (en) | The laser of view-based access control model sensing-real-time automaton of electric arc combined welding and its welding method | |
| KR102134045B1 (en) | Adaptable rotating arc welding method and system | |
| CN104651832B (en) | Surface remediation process for large-size metallic component | |
| CN102652046B (en) | A welding process and a welding arrangement | |
| CN108115282A (en) | A kind of electric arc-laser compound machine people's increasing material manufacturing system | |
| US20120305532A1 (en) | System and Method for High-Speed Robotic Cladding of Metals | |
| CN111906416B (en) | Blind area visible welding equipment and welding method thereof | |
| US20200324356A1 (en) | Method and apparatus for manufacturing layered model | |
| CN108856991A (en) | A kind of fully automatic molten electrode gas shield down hill welding suitable for diversion penstock connects method | |
| KR101334671B1 (en) | Horizontal direction welding submerged arc welding system of rail drive method | |
| CN110293276A (en) | A kind of Al alloy parts welding method | |
| CN112584957B (en) | Welding control device, display control device, welding system, welding control method, and program | |
| CN108544063A (en) | Gas metal-arc welding increases the device and method of material repairing | |
| CN114799424A (en) | Welding method for inner hole of cylindrical part of underwater Christmas tree | |
| CN213827435U (en) | Laser tracking servo-controlled inner longitudinal weld submerged arc equipment | |
| JP2553915B2 (en) | Automatic welding method for cylindrical containers | |
| CN107350625A (en) | The processing method that a kind of electric arc combined energy field of low power laser induction is repaired | |
| US20170036287A1 (en) | Horizontal butt joint high deposition welding apparatus and method therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170616 Termination date: 20190817 |