WO2021248653A1 - Poste de travail d'impression 3d à arc électrique à double robot du type à transfert pour trou de traitement de poutre de traverse de rail à grande vitesse et procédé de fonctionnement associé - Google Patents

Poste de travail d'impression 3d à arc électrique à double robot du type à transfert pour trou de traitement de poutre de traverse de rail à grande vitesse et procédé de fonctionnement associé Download PDF

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Publication number
WO2021248653A1
WO2021248653A1 PCT/CN2020/104939 CN2020104939W WO2021248653A1 WO 2021248653 A1 WO2021248653 A1 WO 2021248653A1 CN 2020104939 W CN2020104939 W CN 2020104939W WO 2021248653 A1 WO2021248653 A1 WO 2021248653A1
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WIPO (PCT)
Prior art keywords
workstation
robot
welding
fixed
corbel
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PCT/CN2020/104939
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English (en)
Chinese (zh)
Inventor
李鹏一
吴晓
程远
唐凯
董巍
胡冬双
徐龙
徐楠华
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南京英尼格玛工业自动化技术有限公司
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Publication of WO2021248653A1 publication Critical patent/WO2021248653A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
    • B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/04—Welding for other purposes than joining, e.g. built-up welding
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/25—Process efficiency

Definitions

  • the invention relates to the field of electric arc additive materials, in particular to a transferable dual-robot electric arc 3D printing workstation for high-speed rail bolster process holes and a working method thereof.
  • additive manufacturing technology is also known as “physical free manufacturing”, “3D printing technology”, etc., compared to the traditional subtractive manufacturing (cutting) technology, it is a “bottom-up”
  • the material accumulation manufacturing method is based on mathematical modeling, based on the discrete-stacking principle, a new manufacturing technology that stacks materials layer by layer to produce solid parts.
  • additive manufacturing technology has realized the rapid manufacturing of organic materials, inorganic non-metallic materials, and metal materials.
  • the additive manufacturing technology is classified by heat source, which can be divided into: laser additive manufacturing, arc additive manufacturing, electron beam additive manufacturing and other technologies.
  • the raw materials generally have two forms of welding wire and metal powder.
  • Designing a set of workstations for the process holes of high-speed rail corbels has significant advantages compared with traditional manual welding.
  • automated equipment for processing process holes usually uses a single welding gun robot to perform welding according to a preset trajectory, and transfers to subsequent cleaning and other processes after the welding is completed. This way of working has limited efficiency improvements and cannot adapt to the actual defects of the workpiece to automatically make up for it.
  • the purpose of the invention is to provide a transferable dual-robot arc 3D printing workstation for high-speed rail bolster process holes, and further provide a working method based on the above-mentioned workstation to solve the above-mentioned problems in the prior art.
  • a transferable dual-robot arc 3D printing workstation for high-speed rail bolster process holes including a transplanting workstation, and an arc additive workstation arranged on one side of the middle section of the transplanting workstation; the arc additive workstation Integrate the three processes of reverse reconstruction, arc welding and laser cleaning.
  • the transplanting workstation includes a transplanting track capable of bidirectional feeding, and a corbel fixing seat is provided on the transplanting track, and the head and tail of the corbel are positioned and clamped at a predetermined interval on the fixed Seated.
  • the transplanting track controls the bolster to advance according to the preset warp rhythm. After completing a complete reverse reconstruction, arc welding, and laser cleaning, the processed bolster will be sent out of the arc additive workstation, and the next one will be waiting. The processed corbels are sent to the arc additive workstation.
  • each corbel is pressed by a plurality of lower pressing plates, and the lower pressing plates are pressed on the head and tail of the corbel and at multiple sections avoiding the corbel craft hole.
  • the arc additive workstation includes a safety protection room enclosing a designated work area, the safety protection room is located on both sides of the transplanting track with rolling shutter doors, and the transplanting track passes through the rolling door
  • a position close to the rolling door is respectively provided with a robot tool quick change device, the robot tool quick change device is located on one side of the transplanting track, and the robot tool quick change device is arranged between the robot tool quick change devices.
  • the rolling shutter door is closed. After the processing is completed, the rolling shutter door is opened, and the bolster is sent out through the transplanting track.
  • a welding machine connected to an industrial robot, a laser cleaning power supply, a master control cabinet, and a robot control cabinet are arranged on one side of the arc additive workstation.
  • the robot tool quick change device includes a support frame, a quick change plate fixed on the upper side of the support frame, and a fixing seat respectively provided on the quick change plate; the fixing seat Rotating cylinders are respectively fixed on both sides of the rotary cylinder, the output end of the rotary cylinder is fixed with an extended rotating part, and the end of the rotating part is fixed with a contact part that directly contacts the corresponding quick change tool.
  • the robot tool quick change device can make the welding gun, laser cleaning head, and 3D camera cooperate with the additive manufacturing process to realize automatic switching.
  • the welding torch head, laser cleaning head, and 3D camera are respectively arranged on the fixing seats, and one side of the welding torch head, laser cleaning head and 3D camera is fixed with a section
  • the movable seat adapted to the fixed seat is not exchanged, the welding torch head, the laser cleaning head, and the 3D camera are clamped on the fixed seat by the movable seat, and the rotating part of the rotating cylinder is laterally Compression; the movable seat is fixed with a quick-change lock, and the end of the mechanical arm of the industrial robot is also fixed with a quick-change lock.
  • the above locking structure can protect the welding gun, laser cleaning head, and 3D camera from being taken out at the wrong time, ensuring process reliability.
  • a working method of a transferable dual-robot arc 3D printing workstation for high-speed rail corbel process holes including the following steps:
  • Step 1 Manually hoist the bolster to the transplanting station, position and clamp the bolster on the fixed seat, and press the bolster by multiple lower pressure plates;
  • Step 2 After the corbel is clamped, the transplanting workstation is started, and the transplanting track transfers the positioned and fixed corbel to the work area;
  • Step 3 Set the current workpiece coordinates.
  • the industrial robot is first driven to the robot tool quick changer, and then accurately driven to the 3D camera when it is in place.
  • the robot arm of the industrial robot is directly above the 3D camera, it continues to descend slowly until The two quick-change locks are engaged.
  • the rotating cylinder drives the rotating part to rotate away from the movable part.
  • the industrial robot continues to start, so that the 3D camera is separated from its fixed part and continues to drive to the top of the corbel;
  • Step 4 The 3D camera starts to visually scan the part, analyzes the contour data and compensates for defects, then reconstructs the model in reverse, and then the computer sets the slicing parameters and generates the robot trajectory path, and sets the printing welding process parameters at the same time;
  • Step 5 The industrial robot drives the 3D camera back to the robot tool quick changer, repeats the content of step 3 to place the 3D camera back on the fixed part, switch to the welding torch head, and continue to return to the top of the corbel;
  • Step 6 Start the laser welding. After the welding is completed, repeat the content of step 3 to place the welding torch head back on the fixed part, switch to the laser cleaning head, and continue to return to the top of the corbel for interlayer laser cleaning;
  • Step 7 After the welding is completed, the workpiece is manually hoisted out of the workstation for heat treatment, and at the same time, steps 1 to 6 are repeated to complete other industrial processing.
  • step 6 laser welding uses a welding machine as a heat source and a metal wire as a forming material to plan a continuous spirally ascending slicing path for cladding printing.
  • the process is as follows:
  • Step 6-1 Determine the process parameters required for forming specific metal structural parts, including welding procedure, wire feeding speed, printing speed, slice layer height, shielding gas type and flow rate.
  • the relationship between the parameters is as follows:
  • V represents the welding speed
  • F represents the cross-sectional area of the welding seam
  • v represents the wire feeding speed
  • f represents the cross-sectional area of the welding wire
  • Step 6-2 the weld cross section of the workpiece is equivalent to a rectangle, and the following relationship is satisfied at this time:
  • l represents the equivalent rectangular weld width
  • d represents the weld height, that is, the layer height
  • Step 6-3 According to the two formulas of step 6-2 and step 6-3, the relationship between wire feeding speed and layer height is obtained:
  • V represents the welding speed
  • l represents the equivalent rectangular weld width
  • d represents the weld height, that is, the layer height
  • f represents the cross-sectional area of the welding wire
  • Step 6-4 Read the current and voltage values through the wire feeding speed, and then calculate the heat input per 1mm of welding wire consumed at the wire feeding speed:
  • U is the arc voltage
  • I is the welding current
  • V is the welding speed
  • k is the relative thermal conductivity
  • step 4 the computer sets the slicing parameters and generates a continuous spirally ascending slicing path.
  • the process is as follows:
  • Step 4-1 Perform slicing processing on the model of the printed workpiece, and divide the model into several planes along the Z-axis direction;
  • Step 4-2. Find the adjacent layer, use the layer with the higher relative position to subtract the layer with the lower relative position to get the layer height; then randomly select a point on the first layer slice as the starting point (that is, the welding arc point), and then use The following formula finds the offset height in the Z direction between two adjacent points:
  • d is the vertical height between the starting point and the end point in the same layer
  • X is the number of slice points in each layer
  • z is the offset height between each point in the Z direction
  • Step 4-3 Find the starting point of the next layer. It is required that the distance between this point and the end point of the previous layer is the closest, and the end point of the previous layer is connected with the starting point of this layer;
  • Step 4-4 Repeat step 4-1 to step 4-3 in sequence until all the path points of the entire workpiece are connected to generate a continuous spiral path.
  • step 4-1 further includes:
  • Step 4-1a Divide the model into several triangles along the Z axis to obtain the maximum and minimum values of the three-dimensional model in the Z axis. Consider the reserved machining allowance, and calculate the total number of layers:
  • Z max represents the maximum value of the three-dimensional model in the Z-axis direction
  • Z min represents the minimum value of the three-dimensional model in the Z-axis direction
  • ⁇ z represents the layer height
  • k is the adjustment coefficient
  • ⁇ z+k is the preset value
  • the adjustment factor is added on the basis of the layering height to ensure the machining allowance
  • Step 4-1b Store each triangle face of each layer in the n layer in a dynamic array, and query the information of each triangle face Value if Then store the current triangle patch in the j-th group of the dynamic array; if Store the current triangle face in the j-1th group of the dynamic array; if Then store the current triangle patch in the j+1th group of the dynamic array;
  • h j represents the height of the j-th group
  • h j+1 represents the height of the j+1-th group.
  • the height is taken from the middle value of the minimum and maximum values of the three-dimensional model in the Z-axis direction plus the layer height
  • the product of the number of groups gives:
  • Z min represents the minimum value of the three-dimensional model in the Z-axis direction
  • Z max represents the maximum value of the three-dimensional model in the Z-axis direction
  • ⁇ z represents the layer height
  • j represents the number of groups
  • Step 4-4 further includes the optimization of the trajectory of the continuous spiral path:
  • Step 4-4a Set the linear velocity v c of the spiral path:
  • ⁇ represents the angular velocity of the torch rotation
  • L represents the distance between the interpolation starting point and the origin
  • v 0 represents the radial velocity
  • Lv 0 t obtains the real-time radius of the workpiece
  • t represents the welding time
  • the angular velocity ⁇ of the torch rotation satisfies the following relationship:
  • D represents the distance between the weld beads that the welding gun moves radially when the heat source cooperates with the platform to complete a weld forming process, Means the radial velocity of the welding torch is averaged;
  • Step 4-4b Calculate the welding torch's deposition speed v r :
  • v c represents the linear velocity of the spiral ascending path
  • v 0 represents the radial velocity
  • Step 4-4c Calculate the weld bead spacing.
  • the welding gun moves radially by one weld bead spacing, and the heat source cooperates with the platform to complete a weld formation.
  • the expression for the weld bead spacing D is as follows:
  • n represents the number of welding torches
  • v 0 represents the radial velocity
  • t represents the welding time
  • ⁇ represents the angular velocity of the torch rotation
  • d represents the compensation height
  • the compensation height d is determined by the interpolation accuracy and satisfies the following relationship:
  • Step 4-4d calculate the modified welding speed v r repair :
  • n represents the number of welding torches
  • v 0 represents the radial velocity
  • ⁇ represents the angular velocity of the torch rotation
  • d represents the compensation height
  • It represents the average value of the radial velocity of the welding torch
  • D represents the distance of the weld bead that the welding torch moves in the radial direction when the heat source cooperates with the platform to complete the formation of a weld seam.
  • the present invention relates to a transferable dual-robot arc 3D printing workstation for high-speed rail bolster process holes and its working method.
  • the workbench integrates three processes of reverse reconstruction, arc welding, and laser cleaning, and the three processes correspond to
  • the robot tool quick change device enables automatic switching of welding torches, laser cleaning heads, and 3D cameras in conjunction with the additive manufacturing process, and protects the welding torches, laser cleaning heads, and 3D cameras through the locking structure. Take out the wrong time to ensure the reliability of the process.
  • the transplanting track controls the bolster to advance according to the preset rhythm of the warp.
  • the processed bolster will be processed.
  • the corbel is sent out of the arc additive workstation, and the next corbel to be processed is sent to the arc additive workstation to optimize execution efficiency.
  • Fig. 1 is a perspective view of the three-dimensional view of the present invention.
  • Figure 2 is another perspective view of the three-dimensional view of the present invention.
  • Figure 3 is a top view of the present invention.
  • Figure 4 is a three-dimensional view of the arc additive workstation in the present invention.
  • Fig. 5 is a perspective view of the industrial robot and the robot tool quick change device in the present invention.
  • Fig. 6 is a partial enlarged view of the robot tool quick change device in the present invention.
  • Fig. 7 is a schematic diagram of the structure of the processed work-piece corbel in the present invention.
  • Fig. 8 is a working flow chart of the present invention.
  • Fig. 9 is a point cloud diagram of the model reconstructed in the reverse direction in the present invention.
  • transplanting workstation 1 corbel 101, lower pressing plate 102, rolling door 2, safety protection room 3, welding 4, robot tool quick change device 5, support frame 501, quick change plate 502, fixed seat 503, rotating cylinder 504, rotating part 505, master control cabinet 6, robot control cabinet 7, industrial robot 8, quick-change lock 801, welding gun head 9, laser cleaning head 10, and 3D camera 11.
  • the present invention relates to a transferable dual-robot arc 3D printing workstation for process holes of high-speed rail bolster 101 and its working method.
  • the workstation includes a transplanting workstation 1 and an arc additive workstation.
  • the arc additive workstation integrates reverse reconstruction and arc welding. 4. Three processes of laser cleaning.
  • the transplanting workstation 1 includes a transplanting track capable of bidirectional feed.
  • the transplanting track is provided with a corbel 101 fixing seat 503, and the head and tail of the corbel 101 are positioned and clamped on the fixing seat 503 at a predetermined interval. superior.
  • Each corbel 101 is pressed together by a plurality of lower pressing plates 102, which are pressed together at the head and tail of the corbel 101, and at multiple sections avoiding the process hole of the corbel 101.
  • the transplanting track controls the corbel 101 to advance according to the preset warp rhythm. After completing a complete reverse reconstruction, arc welding 4, and laser cleaning, the processed corbel 101 will be sent out of the arc additive workstation. The next corbel 101 to be processed is sent to the arc additive workstation.
  • the arc additive workstation includes a safety protection room 3 that encloses a designated working area.
  • the safety protection room 3 is located on both sides of the transplanting track and is provided with rolling shutter doors 2, and the transplanting track passes through the rolling door 2, and the safety protection
  • a robot tool quick change device 5 is respectively arranged in the interior of the room 3 near the rolling shutter door 2.
  • the robot tool quick change device 5 is located on one side of the transplanting track, and the robot tool quick change device 5 is provided between There are multiple industrial robots8.
  • the robot tool quick change device 5 includes a support frame 501, a quick change plate 502 fixed on the upper side of the support frame 501, and a fixing seat 503 respectively arranged on the quick change plate 502; two of the fixing seat 503 Rotating cylinders 504 are respectively fixed on the sides.
  • An extended rotating part 505 is fixed at the output end of the rotating cylinder 504, and a contact part that directly contacts the corresponding quick change tool is fixed at the end of the rotating part 505.
  • the robot tool quick change device 5 can make the welding gun, the laser cleaning head 10, and the 3D camera 11 cooperate with the additive manufacturing process to realize automatic switching.
  • There are three fixing bases 503, the welding torch head 9, the laser cleaning head 10, and the 3D camera 11 are respectively arranged on the fixing base 503.
  • One side of the welding torch head 9, the laser cleaning head 10, and the 3D camera 11 is fixed with a section and
  • the welding torch head 9, the laser cleaning head 10, and the 3D camera 11 are clamped on the fixed seat 503 by the movable seat, and are fixed on the fixed seat 503 by the movable seat.
  • the rotating part 505 of the rotating cylinder 504 is pressed laterally; a quick-change lock 801 is fixed on the movable seat, and a quick-change lock 801 is also fixed at the end of the mechanical arm of the industrial robot 8.
  • the above locking structure can protect the welding gun, the laser cleaning head 10, and the 3D camera 11 from being taken out at the wrong time, ensuring process reliability.
  • the rolling shutter door 2 When the work area is being processed, the rolling shutter door 2 is closed. After the processing is completed, the rolling shutter door 2 is opened, and the bolster 101 is sent out through the transplanting track.
  • a welding machine, a laser cleaning power supply, a master control cabinet 6 and a robot control cabinet 7 connected to the industrial robot 8 are arranged on one side of the arc additive workstation.
  • the specific working process of the present invention is as follows: first, the bolster 101 is manually hoisted to the transplanting workstation 1, the bolster 101 is positioned and clamped on the fixed seat 503, and the bolster 101 is pressed by a plurality of lower pressing plates 102.
  • the transplanting workstation 1 After the corbel 101 is clamped, the transplanting workstation 1 is started, and the transplanting track transfers the positioned and fixed corbel 101 to the work area;
  • the industrial robot 8 is first driven to the robot tool quick changer 5, and then accurately driven to the 3D camera 11 when it is in place.
  • the robot arm of the industrial robot 8 is directly above the 3D camera 11, continue Slowly descend until the two quick-change lock heads 801 are engaged.
  • the rotating cylinder 504 drives the rotating part 505 to rotate away from the movable part.
  • the industrial robot 8 continues to start, so that the 3D camera 11 is separated from its fixed part and continues to drive to the top of the corbel 101 .
  • the 3D camera 11 starts to visually scan the part, analyzes the contour data and compensates for defects, and then reconstructs the model in reverse, and then the computer sets the slice parameters and generates the robot trajectory path. At the same time, the printing and welding 4 process parameters are set.
  • the industrial robot 8 drives the 3D camera 11 back to the robot tool quick changer 5, places the 3D camera 11 back on the fixed part, and switches to the welding torch head 9, and continues to return to the top of the bolster 101.
  • the laser welding 4 is started. After the welding 4 is completed, the welding torch head 9 is placed back on the fixed part, and the laser cleaning head 10 is switched to continue to return to the top of the bolster 101 for interlayer laser cleaning.
  • the workpiece is manually hoisted out of the workstation for heat treatment, and the other industrial processing is completed at the same time.
  • laser welding uses a welding machine as a heat source and a metal wire as a forming material to plan a continuous spirally ascending slice path for cladding printing.
  • the process is as follows:
  • the welding speed is proportional to the wire feeding speed, which can be expressed by the relation (1)
  • the welding seam section of the workpiece is equivalent to a rectangle
  • l equivalent rectangular weld width
  • the current and voltage values can be read on the control panel, and then the heat input of each 1mm welding wire consumed at the wire feeding speed can be calculated:
  • U arc voltage
  • the control of heat input is extremely important. If the heat is too low, the weld will not be formed, the workpiece will not be fused, and the heat will cause the workpiece to collapse. Therefore, combining various wire properties with the printing process
  • the relationship of temperature can be inferred suitable for the heat input of the wire, and then the process parameters, such as wire feeding speed, welding speed and layer height can be determined.
  • the STL model of the workpiece to be printed is sliced.
  • STL model slicing algorithms There are many existing STL model slicing algorithms. We use the STL slicing algorithm based on the geometric characteristics of the triangle to process the STL model, and divide the model into several planes along the Z axis;
  • d is the vertical height between the starting point and the end point in the same layer
  • X is the number of points per slice
  • z is the offset height in the Z direction between each point.
  • Z max represents the maximum value of the three-dimensional model in the Z-axis direction
  • Z min represents the minimum value of the three-dimensional model in the Z-axis direction
  • ⁇ z represents the layer height
  • k is the adjustment coefficient
  • ⁇ z+k is the preset value
  • the adjustment factor is added on the basis of the layering height to ensure the machining allowance
  • h j represents the height of the j-th group
  • h j+1 represents the height of the j+1-th group.
  • the height is taken from the middle value of the minimum and maximum values of the three-dimensional model in the Z-axis direction plus the layer height
  • the product of the number of groups gives:
  • Z min represents the minimum value of the three-dimensional model in the Z-axis direction
  • Z max represents the maximum value of the three-dimensional model in the Z-axis direction
  • ⁇ z represents the layer height
  • j represents the number of groups.
  • This method is used in turn to connect all path points of the entire workpiece to generate a continuous spiral path to realize continuous arc additive manufacturing of the workpiece.
  • the welding gun is driven by the robot to move according to the generated continuous spiral path.
  • the process parameters are determined according to the method of step 1), and a single weld seam is printed on the substrate.
  • the height of the welding gun from the substrate during the printing process according to the continuous spiral path is gradually Elevated.
  • the combination of the continuous spiral path and the process parameters calculated according to the heat input in 1) can ensure that the dry elongation of the welding wire remains unchanged during the printing process, and the arc will not be extinguished during the entire printing process, and finally a metal structure with good structural performance is formed.
  • the central control unit also optimizes the trajectory of the continuous spiral path:
  • ⁇ represents the angular velocity of the torch rotation
  • L represents the distance between the interpolation starting point and the origin
  • v 0 represents the radial velocity
  • Lv 0 t obtains the real-time radius of the workpiece
  • t represents the welding time
  • the angular velocity ⁇ of the torch rotation satisfies the following relationship:
  • D represents the distance between the weld beads that the welding gun moves radially when the heat source cooperates with the platform to complete a weld forming process, Means the radial velocity of the welding torch is averaged;
  • v c represents the linear velocity of the spiral ascending path
  • v 0 represents the radial velocity
  • weld bead spacing D is as follows:
  • n represents the number of welding torches
  • v 0 represents the radial velocity
  • t represents the welding time
  • ⁇ represents the angular velocity of the torch rotation
  • d represents the compensation height
  • the compensation height d is determined by the interpolation accuracy and satisfies the following relationship:
  • n represents the number of welding torches
  • v 0 represents the radial velocity
  • ⁇ represents the angular velocity of the torch rotation
  • d represents the compensation height
  • It represents the average value of the radial velocity of the welding torch
  • D represents the distance of the weld bead that the welding torch moves in the radial direction when the heat source cooperates with the platform to complete the formation of a weld seam.
  • the minimum diameter of the original welding torch nozzle is 22mm. Due to the narrow space at the bottom of the workpiece, the welding torch nozzle is specially made from 22mm to the current 13mm; this measure avoids the problem of inaccessibility of the root torch, because the workpiece is multi-layer and multi-pass welding , When welding to the upper layers, there will be collisions and arc deviations. Therefore, the welding torch needs to monitor the welding torch collision radius where its trajectory goes.
  • the welding torch trajectory avoidance is avoided by adding eight avoidance surfaces, divided by the outer contour, and the virtual surface is controlled by software.
  • the principle is to detect the collision radius of the welding torch, and the reference is the center line of the gun head.
  • the virtual surface is created, and the virtual surface is created in different positions.
  • the avoidance angle can be set for avoidance, and the automatic avoidance angle is based on the distance to the outer edge of the workpiece.
  • the welding torch change angle is 5-15°.

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  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
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Abstract

La présente invention concerne un poste de travail d'impression 3D à arc électrique du type à transfert pour un trou de traitement de poutre de traverse de rail à grande vitesse et un procédé de fonctionnement associé. Le poste de travail intègre trois procédures de reconstruction inverse, de soudage à l'arc électrique et de nettoyage laser, et les trois procédures correspondent à une caméra 3D, à une tête de pistolet de soudage et à une tête de nettoyage laser. Au moyen d'un dispositif de changement rapide d'outil robotisé, un pistolet de soudage, la tête de nettoyage laser et la caméra 3D peuvent être automatiquement commutés dans un processus de fabrication additive d'une manière coopérative ; et le pistolet de soudage, la tête de nettoyage laser et la caméra 3D sont protégées contre un retrait au mauvais moment au moyen d'une structure de verrouillage, de sorte que la fiabilité de procédure est garantie. Une poutre de traverse est positionnée et fixée sur un siège fixé, la poutre de traverse est commandée, selon un rythme prédéfini, pour se déplacer vers l'avant au moyen d'une voie de transfert, après les trois procédures de reconstruction inverse, le soudage à l'arc électrique et le nettoyage laser sont terminés de manière complète, la poutre de traverse usinée est envoyée hors d'un poste de travail d'additif d'arc électrique, et une poutre de traverse devant être usinée est envoyée dans le poste de travail d'additif d'arc électrique, de sorte que l'efficacité d'exécution est optimisée.
PCT/CN2020/104939 2020-06-10 2020-07-27 Poste de travail d'impression 3d à arc électrique à double robot du type à transfert pour trou de traitement de poutre de traverse de rail à grande vitesse et procédé de fonctionnement associé WO2021248653A1 (fr)

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