CN214815626U - Device for multi-filament multi-plasma-arc and CMT double-robot collaborative material increase - Google Patents
Device for multi-filament multi-plasma-arc and CMT double-robot collaborative material increase Download PDFInfo
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- CN214815626U CN214815626U CN202120629931.3U CN202120629931U CN214815626U CN 214815626 U CN214815626 U CN 214815626U CN 202120629931 U CN202120629931 U CN 202120629931U CN 214815626 U CN214815626 U CN 214815626U
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Abstract
The utility model discloses a device for the cooperative material increase of a multi-filament multi-plasma arc and a CMT double robot, which mainly comprises a motion execution system and a material increase system; the motion execution system comprises two mechanical arms, a variable-position material adding platform, a control cabinet and the like; the material increase system comprises a CMT electric arc material increase gun, a multi-wire multi-plasma arc material increase gun, a material increase power supply, a wire feeder, a water cooling machine, a protective gas cylinder and the like which correspond to the CMT electric arc material increase gun and the multi-wire multi-plasma arc material increase gun, wherein the CMT electric arc material increase gun and the multi-wire multi-plasma arc material increase gun are respectively installed on connecting flanges at the tail ends of two mechanical arms, and the mechanical arms are arranged on different sides of a variable position material increase platform. Utilize the device provided by the utility model can synthesize plasma arc and CMT electric arc vibration material disk's technical advantage to vibration material disk profile region and inside zone subregion vibration material disk, realize high-quality high-efficient vibration material disk.
Description
Technical Field
The utility model relates to an additive manufacturing technical field especially involves a device of many plasma arcs of multifilament and two robots of CMT in coordination material increase, has integrated plasma arc and the respective advantage of CMT electric arc material increase, realizes high-quality high-efficient additive manufacturing.
Background
In the metal additive manufacturing process, the adopted method mainly comprises arc fuse wire/powder additive, laser fuse wire/powder additive, electron beam fuse wire/powder additive and the like, and compared with the arc fuse wire/powder additive, the laser and electron beam additive forming precision is higher, but the additive cladding efficiency is lower under the general condition. CMT electric arc additive manufacturing and plasma arc additive manufacturing are electric arc additive manufacturing methods which are applied more at present, and because the plasma arc is non-consumable electrode electric arc, the independent control of wire and electric arc energy can be realized, and an additive component with thin layer thickness, good forming and high quality can be obtained, but the additive cladding efficiency is often lower. When the additive is added to the profile area of the additive model, the problem that the deposition body collapses due to excessive heat of the plasma arc often occurs. The CMT electric arc additive belongs to a cold metal transition welding method, has low heat input amount and high additive efficiency, and has generally lower additive forming and structure performance than a plasma arc additive method under the same condition.
For the additive manufacturing of large components, the efficiency of plasma arc additive manufacturing is too low, and the forming precision and performance requirements of CMT arc additive manufacturing are not easy to meet, so a new additive technology is needed to solve the problem. The utility model discloses a device of many plasma arcs of multifilament and CMT double robot in coordination increase material, the advantage of integrated plasma arc and CMT electric arc increase material technology carries out subregion path planning to model profile area and inner zone, adopts many plasma arcs of multifilament and CMT double robot in coordination increase material respectively, and the high-quality high efficiency makes the increase material component.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a device of many plasma arcs of multifilament and two robots of CMT in coordination increase material.
A device for multi-filament multi-plasma arc and CMT double-robot collaborative additive comprises a motion execution system and an additive system; the motion execution system comprises two mechanical arms, a variable material adding platform, a control cabinet of the variable material adding platform and the like; the additive system comprises a CMT electric arc additive gun, a multi-wire multi-plasma arc additive gun, and an additive power supply, a wire feeder, a water cooling machine, a protective gas cylinder and the like which correspond to the CMT electric arc additive gun and the multi-wire multi-plasma arc additive gun; the CMT electric arc additive gun and the multi-wire multi-plasma arc additive gun are respectively arranged on two mechanical arm end connecting flanges, and the mechanical arms are arranged on different sides of the variable-position additive platform.
Preferably, the mechanical arm is a robot with at least six joint axes, and can be mounted on a fixed or movable robot base and hung upside down on a C-shaped frame or a gantry mechanism.
Preferably, the variable-position additive platform is an additive platform at least provided with a two-axis position changing machine, is arranged in a working space shared by the two mechanical arms, and is communicated with the two mechanical arms through a control cabinet to realize cooperative motion.
Preferably, the multi-filament multi-plasma arc additive gun comprises a plurality of plasma arc additive guns, a multi-gun water-cooling mounting seat and an adjustable-angle external wire feeding bracket, and the spacing of the plasma arc additive guns can be adjusted or customized. The angle-adjustable external wire feeding bracket can be provided with a plurality of wire feeding guide pipes, the number of the wire feeding guide pipes is consistent with that of the plasma arc additive guns, and the wire feeding extension lines point to the center of a molten pool below the corresponding plasma arc additive guns; the multi-gun water-cooling mounting seat is internally provided with a water return channel which is externally connected with a water cooling machine, so that each additive gun can work at normal temperature.
Preferably, the material increase power supply comprises a CMT material increase power supply and a group of multi-filament multi-plasma-arc material increase power supply, the control cabinet is communicated with the motion system, and the material increase position can be controlled by cooperatively controlling the arc retracting time sequence and the material increase time length of each plasma arc material increase gun according to the structural characteristics of the material increase model.
The utility model discloses a device of many plasma arcs of multifilament and two robots of CMT in coordination increase material at the during operation:
the method comprises the following steps: consumable selection and equipment installation. Selecting proper wire materials and types and specifications of a substrate, determining the number of plasma arc additive guns according to model characteristics and additive efficiency requirements, installing or integrating each plasma arc additive gun and a corresponding additive power supply, a wire feeder, a water cooling machine, a protective gas cylinder and the like to a first robot, and installing or integrating a CMT electric arc additive gun and a corresponding additive power supply, a wire feeder, a protective gas cylinder and the like to a second robot;
step two: model optimization and path planning. Performing optimization design on the additive model, such as adding supports, reserving machining allowance, and performing smooth transition design on a deformed structure; determining slice thickness according to the optimal additive forming layer height data, and carrying out layered slice processing on the additive model; firstly, extracting characteristic paths of the inner and outer profiles of the model, determining the number of turns of profile additive according to profile thickness requirements and additive track width data, and generating a path program of a second robot; and planning the parallel additive material paths of the road in the area to be filled according to the structural characteristics of the additive material model and the additive material forming size parameters. And the structural characteristics of the multi-wire multi-plasma additive gun are combined, the scanning path of the robot is simplified, the path program of the first robot corresponding to the internal filling area is finally determined, and the path program is transmitted to the first robot. Meanwhile, in the material increase process, the material increase position can be controlled by adjusting the arc starting and stopping time sequence and the material increase time length of each plasma arc material increase gun in real time at the part which does not need material increase on the multi-wire multi-plasma gun scanning path;
step three: the process is debugged and matched, and the optimal additive process parameters of the multi-wire multi-plasma arc and CMT arc additive are respectively adapted to corresponding robot programs;
step four: and (4) performing material increase, namely increasing the inner and outer contours of the component by using a CMT electric arc material increase gun according to the planned material increase path, and then filling and increasing the material inside the contours by using a multi-filament multi-plasma arc material increase gun. And cleaning and polishing the surface after the material increase of one layer is finished, and performing material increase of the next layer in the same way when the temperature of the material increase layer is cooled to a set interlayer temperature interval until the material increase of the model is finished.
The utility model discloses a device of many plasma arcs of multifilament and two robots of CMT in coordination increase material, compared with the prior art, the utility model discloses following beneficial effect has:
one is as follows: the utility model discloses combined plasma arc fuse vibration material disk and the advantage of CMT electric arc vibration material disk, carried out subregion path planning to vibration material disk profile region and interior region, utilized the regional heat accumulation of effectively avoiding of CMT vibration material disk profile to lead to the scheduling problem that collapses, utilized plasma arc fuse vibration material disk interior region, the shaping precision is high and the organizational performance is good. Different paths and different material increasing methods are adopted by regions according to requirements, and the advantages and the disadvantages of the two methods are complemented;
the second step is as follows: the multi-wire multi-plasma-arc additive gun improves the cladding amount in unit time, improves the additive efficiency by multiple times compared with the traditional single-plasma-arc additive gun, and improves the additive efficiency of components;
and thirdly: the utility model discloses a method realizes the face scanning vibration material disk through combining the structural feature of many plasma vibration material disk guns of multifilament to vibration material disk path planning, has simplified the vibration material disk scanning route of robot, has greatly improved vibration material disk efficiency.
Drawings
FIG. 1 is a schematic view showing the composition and layout of a multi-filament multi-plasma arc and CMT dual-robot cooperative material-adding device of the present invention;
fig. 2 is the structural schematic diagram of the multi-filament multi-plasma arc additive gun of the present invention.
In the figure: 1-1 to 1-2 mechanical arms; 2. a variable additive platform; 3. a control cabinet; 4. a multi-filament multi-plasma arc additive gun; 401. a multi-gun water-cooling mounting seat; 402. a wire feed conduit; 403. a water inlet pipe of a water cooling base; 404. a plasma arc additive gun; 405. a water outlet pipe of the water cooling seat; 406. the angle-adjustable wire feeding support is used for feeding wires; 5, CMT arc additive gun; 6-1 to 6-4. a material increase power supply; 7-1 to 7-4. a wire feeder; 8. a water cooling machine; 9-1 to 9-4. protecting the gas cylinder; 10. and connecting the flanges.
Detailed Description
The embodiments of the present invention will be described in detail below, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1 to 2, the utility model discloses a device for multi-filament multi-plasma arc and CMT dual-robot collaborative material increase, which comprises a motion execution system and a material increase system; the motion execution system comprises two mechanical arms 1-2, a variable-position material adding platform 2, a control cabinet 3 and the like; the additive system comprises a multi-wire multi-plasma arc additive gun 4, a CMT electric arc additive gun 5, a corresponding additive power supply, a wire feeder, a water cooling machine 8, a protective gas cylinder and the like; in the figure 1, 7-2, 7-3 and 7-4 are wire feeders, 9-1, 9-2, 9-3 and 9-4 are protective gas cylinders, wherein a CMT arc additive gun 5 and a multi-wire multi-plasma arc additive gun 4 are respectively installed on a connecting flange 10 at the tail ends of two mechanical arms 1-1 and 1-2, and the mechanical arms 1-1 and 1-2 are arranged on different sides of a variable-position additive platform 2.
Further, the multi-wire multi-plasma-arc additive gun 2 is connected with the tail end of the mechanical arm 1-1 through a connecting flange 10, the multi-wire multi-plasma-arc additive gun 4 is respectively connected with additive power supplies 6-1, 6-2 and 6-3 and a plasma arc controller, a wire feeding guide pipe 402, an angle-adjustable external wire feeding support 406 and a wire feeder are matched to feed wires of the multi-wire multi-plasma-arc additive gun 4, the multi-wire multi-plasma-arc additive gun 4 is fixed on a multi-gun water-cooling mounting seat 401, gas is heated by electric arcs to be dissociated and is compressed when passing through a water-cooling nozzle at a high speed to increase the energy density and the dissociation degree to form plasma arcs, the CMT electric arc additive gun 5 is connected with the tail end of the mechanical arm 1-2 through the connecting flange 10, and the wire feeder 7-4 is responsible for feeding wires of the CMT electric arc additive gun 5.
Further, the mechanical arm is a robot with at least six joint shafts, and can be mounted on a fixed or movable robot base and hung upside down on a C-shaped frame or a gantry mechanism.
Furthermore, the material increase platform 2 with at least two axis displacement machines is arranged in a working space shared by the two mechanical arms and is communicated with the two mechanical arms through the control cabinet 3 to realize cooperative motion.
Further, the multi-filament multi-plasma arc additive gun 4 mainly comprises three parts, namely a plasma additive gun 404, a multi-gun water-cooling mounting seat 401 and an adjustable-angle external wire feeding bracket 406, wherein the distance between the multi-filament plasma arc additive gun 4 is adjustable or customizable, a plurality of wire feeding guide pipes 402 can be mounted on the adjustable-angle external wire feeding bracket 403, the number of the wire feeding guide pipes is consistent with that of the plasma arc additive guns 404, and the wire feeding extension lines point to the center of a molten pool below the corresponding plasma arc additive gun 404; a water-return-shaped water channel is designed in the multi-gun water-cooling mounting seat 401, and a water outlet pipe 405 of the water-cooling seat is connected with an external water-cooling machine 8, so that each additive gun can work at normal temperature.
Further, as shown in fig. 1, the additive power supply comprises a CMT additive power supply 9-4 and multi-filament multi-plasma-arc additive power supplies 9-1, 9-2, and 9-3, the control cabinet 3 is communicated with the motion system, the arc retracting time of each plasma-arc additive gun can be cooperatively controlled according to the structural characteristics of the additive model, and the additive power supplies 9-1, 9-2, 9-3, and 9-4 are respectively electrically connected with the controller.
The following are specific embodiments of the present invention:
utilize the utility model provides a device preparation size does: 180mm x 150mm x 30mm high nitrogen steel additive block, require: the layer height is controlled to be 0.8-1.5 mm, the material increase processing time is not more than 8h, and the interior is free of defects.
The method comprises the following steps: consumable selection and equipment installation. Selecting consumable materials: selecting a carbon steel plate with the size of 250mm by 200mm by 20mm, installing the carbon steel plate on a variable material adding platform, and selecting an HNS6 high nitrogen steel welding wire with the diameter of 1.2 mm; equipment installation: and considering model characteristics, production efficiency and quality requirements, and setting the number of the plasma arc additive guns to be 3 to meet the requirements. Mounting or integrating each plasma arc additive gun, the additive power supply, the wire feeder, the water cooling machine, the protective gas cylinder and the like corresponding to the plasma arc additive gun to the first robot; then mounting or integrating the CMT electric arc additive gun and the corresponding additive power supply, the wire feeder, the protective gas cylinder and the like to a second robot;
step two: model optimization and path planning. The optimal additive forming parameters obtained by pre-testing are as follows: the layer height is 1.1mm, the track width is 12mm, and the lap joint amount is 6 mm; optimally designing the additive model, determining the slice thickness to be 1.5mm according to the optimal additive forming layer height data, and carrying out layered slice processing on the additive model; firstly, extracting the profile characteristic path of each layer of the model, and generating a path program of a second robot (the profile boundary only needs one circle of material increase); and planning parallel material increase paths of the channels for the area to be filled in the interior according to the structural characteristics of the material increase model and the material increase forming size parameters (the channel width is 12mm, the lap joint amount is 6mm), specifically 24 parallel line segments with the channel interval of 6mm and the length of 180 mm. And combining the structural characteristics of the multi-filament multi-plasma arc additive gun (the center distance of the plasma arc additive gun is 48mm), finally, the scanning path of the first robot can be simplified into 7 parallel line segments with the track distance of 6mm and the length of 180mm, a path program corresponding to the first robot is generated, and the path program is transmitted to the first robot. Meanwhile, in the material adding process, the material adding position can be controlled by adjusting the arc starting and stopping time sequence and the material adding duration of the plasma arc material adding gun in real time at the part which does not need material adding on the multi-wire multi-plasma gun scanning path;
step three: and (5) debugging and matching the process. Respectively adapting the optimal additive process parameters of the multi-wire multi-plasma arc and CMT arc additive to corresponding robot programs; the multi-filament multi-plasma arc optimal additive process comprises the following steps: the plasma arc additive current is 145A, the wire feeding speed is 1.2m/min, the scanning speed of the multi-wire multi-plasma arc additive gun is 10cm/min, the flow of plasma gas (99.99% Ar) is 0.6L/min, and the flow of protective gas (99.99% Ar) is 15L/min; the CMT electric arc additive optimal process comprises the following steps: CMT additive current is 90-110A, voltage: the wire feeding speed is 6m/min, the scanning speed of the CMT additive gun is 35cm/min, the swing amplitude is 6mm, pure argon shielding gas is adopted, and the flow is 15L/min;
step four: and (4) performing material increase, namely increasing the inner and outer contours of the component by using a CMT electric arc material increase gun according to the planned material increase path, and then filling and increasing the material inside the contours by using a multi-filament multi-plasma arc material increase gun. And cooling for 60s after the additive layer is finished, and cleaning and polishing the surface. And (3) lifting the multi-filament multi-plasma arc additive gun for 1.1mm, and performing additive on the next layer in the same manner to increase the number of the materials by 31.
To sum up, compare in prior art, the utility model provides a vibration material disk device has adopted two robot systems, carries out the subregion vibration material disk to vibration material disk profile region and inner zone, synthesizes plasma arc and CMT electric arc vibration material disk's technical advantage, realizes high-quality high-efficient vibration material disk.
Above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the design of the present invention, equivalent replacement or change should be covered within the protection scope of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (5)
1. The device for the multi-filament multi-plasma arc and CMT double-robot collaborative additive is characterized by comprising a motion execution system and an additive system;
the motion execution system comprises two mechanical arms, a variable material adding platform and a control cabinet thereof;
the additive system comprises a CMT electric arc additive gun, a multi-wire multi-plasma arc additive gun, and an additive power supply, a wire feeder, a water cooling machine and a protective gas cylinder which correspond to the CMT electric arc additive gun and the multi-wire multi-plasma arc additive gun;
the CMT electric arc additive gun and the multi-wire multi-plasma arc additive gun are respectively arranged on two mechanical arm end connecting flanges, and the mechanical arms are arranged on different sides of the variable-position additive platform.
2. The multi-filament multi-plasma arc and CMT dual-robot collaborative additive apparatus of claim 1, wherein the robotic arm is a robot with at least six joint axes, mountable on a fixed or movable robot base or overhead hung on a C-frame or gantry mechanism.
3. The device for the cooperative additive of the multi-filament multi-plasma arc and CMT double robot as claimed in claim 1, wherein the variable additive platform is an additive platform with at least two axis displacement machines, is arranged in a working space shared by two mechanical arms, and is communicated with the two mechanical arms through a control cabinet to realize cooperative motion.
4. The device for the collaborative additive of the multi-filament multi-plasma arc and CMT dual robot as claimed in claim 1, wherein the multi-filament multi-plasma arc additive gun comprises a plurality of plasma arc additive guns, a multi-gun water-cooling mounting seat and an adjustable angle external wire feeding bracket, the spacing of the plasma arc additive guns is adjustable or customizable, a plurality of wire feeding conduits are mounted on the adjustable angle external wire feeding bracket, the number of the wire feeding conduits is consistent with the number of the plasma arc additive guns, and the wire feeding extension lines point to the center of a molten pool below the corresponding plasma arc additive guns; a water-return-shaped water channel is designed in the multi-gun water-cooling mounting seat and is externally connected with a water cooling machine, so that each additive gun can work at normal temperature.
5. The device for the cooperative additive of the multi-filament multi-plasma arc and CMT double robots of claim 1, wherein the additive power supply comprises a CMT additive power supply and a group of multi-filament multi-plasma arc additive power supplies, and the additive position can be controlled by cooperatively controlling the arc retracting time sequence and the additive time length of each plasma arc additive gun according to the structural characteristics of the additive model through communication between the control cabinet and the motion system.
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| CN202120629931.3U CN214815626U (en) | 2021-03-29 | 2021-03-29 | Device for multi-filament multi-plasma-arc and CMT double-robot collaborative material increase |
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| CN202120629931.3U CN214815626U (en) | 2021-03-29 | 2021-03-29 | Device for multi-filament multi-plasma-arc and CMT double-robot collaborative material increase |
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