Integrated robot CMT welding and electric arc additive printing integrated system

Abstract

The invention discloses an integrated robot CMT welding and electric arc additive printing integrated system, and relates to the technical field of additive manufacturing, the integrated robot CMT welding and electric arc additive printing integrated system comprises a base, vertical plates are fixedly arranged on the periphery of the top of the base, a two-way lead screw is rotatably connected between the two vertical plates, and nuts are in threaded connection with the two ends of the two-way lead screw; a clamping plate is fixedly arranged between the two nuts at one end; a servo motor is started, the servo motor rotates to drive a pulley to rotate so as to drive a connecting shaft and a two-way lead screw to rotate together, two nuts on the two-way lead screw start to move relatively under rotation of the two-way lead screw and drive a clamping plate to move relatively, so that the surface of the clamping plate abuts against the surface of a workpiece, and the workpiece is clamped; and the stability of the workpiece during welding is ensured.

Description

Technical Field

[0001] The present invention relates to the field of additive manufacturing technology, and in particular to an integrated robot CMT welding and arc additive printing integrated system. Background Art

[0002] Currently, robotic CMT arc additive manufacturing (3D printing) technology has shown significant advantages in the manufacture of complex metal geometric components, but the existing system is mainly limited to a single arc printing and additive function. This project aims to develop an integrated robotic CMT welding and arc printing system, which can achieve seamless switching between welding, printing and additive functions through software upgrades and hardware module expansions to meet a wider range of production needs and improve equipment utilization and production flexibility.

[0003] The existing integrated robot CMT welding and arc additive printing system realizes the collaborative operation of printing and welding by integrating CMT welding power supply, ABB robot, workpiece positioning device, printing software and intelligent control system. However, during the welding process, the object is usually placed directly on the workbench. If the bottom surface of the object is uneven, it will affect the welding process and the welding quality.

[0004] To this end, we designed an integrated robotic CMT welding and arc additive printing system to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide an integrated robotic CMT welding and arc additive printing system to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the integrated robot CMT welding and arc additive printing integrated system provided by the present invention includes a base, and vertical plates are fixedly arranged around the top of the base, a bidirectional screw rod is rotatably connected between two of the vertical plates, and nuts are threadedly connected at both ends of the bidirectional screw rod, and a splint is fixedly arranged between the two nuts at one end.

[0007] Furthermore, both ends of the rear side of the clamping plate are fixedly provided with a fixing seat, the other end of the fixing seat is rotatably connected to a first connecting rod, and the other end of the first connecting rod is rotatably connected to a second connecting rod.

[0008] Furthermore, through holes are symmetrically arranged inside the clamping plate, and the other end of the second connecting rod is slidably connected to the through holes.

[0009] Furthermore, a circular ring is provided at the other end of the fixing seat, and a groove is fixedly provided at one end of the first connecting rod, and the groove is rotatably connected in the circular ring.

[0010] Furthermore, a pin shaft is fixedly provided at the other end of the first connecting rod, a pin hole is opened at one end of the second connecting rod, and the pin shaft is rotatably connected in the pin hole.

[0011] Furthermore, a slide groove is provided inside the nut, a slider is slidably connected inside the slide groove, the slider is fixedly connected to both ends of the clamp, a damping rod is fixedly connected to one end of the clamp, and the other end of the damping rod is fixedly connected to one end surface of the slide groove.

[0012] Furthermore, a connecting shaft is fixedly provided at one end of the bidirectional screw rod, a pulley is fixedly connected to the other end of the connecting shaft, and a sliding belt is overlapped on the surfaces of the two pulleys.

[0013] Furthermore, a bottom plate is fixedly disposed at one end of the base, a servo motor is fixedly disposed on the top of the bottom plate, and a driving end of the servo motor is fixedly connected to one end of the connecting shaft.

[0014] Compared with the prior art, the beneficial effect of the present invention is: by starting the servo motor, the rotation of the servo motor drives the pulley to rotate, thereby driving the connecting shaft and the bidirectional screw to rotate together, and the two nuts on the bidirectional screw begin to move relative to each other under the rotation of the bidirectional screw, and drive the clamping plate to move relative to each other so that the surface of the clamping plate is against the surface of the workpiece, thereby clamping the workpiece, ensuring the stability of the workpiece during welding.

[0015] Compared with the prior art, the beneficial effect of the present invention is: by setting the clamping plate into an arc shape, after the two ends of the workpiece contact the two ends of the clamping plate, the clamping plate continues to clamp the workpiece, causing the clamping plate to have a slight deformation, and the two ends of the clamping plate move backward, driving the fixed seat to move backward together, and the first connecting rod will rotate with the movement of the fixed seat, thereby driving one end of the second connecting rod to extend out of the through hole and resist against the surface of the workpiece, further clamping the workpiece, even when facing a workpiece with an uneven surface, the second connecting rod can be extended to resist against the surface of the workpiece, so that the workpiece can be completely clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the clamp structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the back structure of the splint of the present invention;

[0018] Figure 3 It is a schematic diagram of the side view structure of the nut of the present invention;

[0019] Figure 4 It is a side view structural schematic diagram of the present invention;

[0020] Figure 5 It is a schematic diagram of the overall structure of the present invention.

[0021] In the figure: 1. base; 2. vertical plate; 3. bidirectional screw rod; 4. nut; 5. splint; 6. fixed seat; 7. first connecting rod; 8. second connecting rod; 9. through hole; 10. ring; 11. groove; 12. pin shaft; 13. pin hole; 14. slide groove; 15. slider; 16. damping rod; 17. connecting shaft; 18. pulley; 19. slide belt; 20. bottom plate; 21. servo motor. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1-5 The present invention provides a technical solution: an integrated robot CMT welding and arc additive printing integrated system, comprising a base 1, vertical plates 2 are fixedly arranged around the top of the base 1, a bidirectional screw rod 3 is rotatably connected between the two vertical plates 2, nuts 4 are threadedly connected at both ends of the bidirectional screw rod 3, a clamping plate 5 is fixedly arranged between the two nuts 4 at one end, a fixing seat 6 is fixedly arranged at both ends of the rear side of the clamping plate 5, a first connecting rod 7 is rotatably connected to the other end of the fixing seat 6, a second connecting rod 8 is rotatably connected to the other end of the first connecting rod 7, a through hole 9 is symmetrically arranged inside the clamping plate 5, and the other end of the second connecting rod 8 is slidably connected to the second connecting rod 8. It is movably connected in the through hole 9, a ring 10 is provided at the other end of the fixed seat 6, a groove 11 is fixedly provided at one end of the first connecting rod 7, the groove 11 is rotatably connected in the ring 10, a pin 12 is fixedly provided at the other end of the first connecting rod 7, a pin hole 13 is provided at one end of the second connecting rod 8, the pin 12 is rotatably connected in the pin hole 13, a slide groove 14 is provided inside the nut 4, a slider 15 is slidably connected inside the slide groove 14, the slider 15 is fixedly connected to both ends of the splint 5, a damping rod 16 is fixedly connected to one end of the splint 5, and the other end of the damping rod 16 is fixedly connected to one end surface of the slide groove 14.

[0024] In specific implementation, when performing welding work, first start the servo motor 21. The rotation of the servo motor 21 drives the pulley 18 to rotate, thereby driving the connecting shaft 17 and the bidirectional screw 3 to rotate together. The two nuts 4 on the bidirectional screw 3 begin to move relative to each other under the rotation of the bidirectional screw 3, and drive the clamp 5 to move relative to each other so that the surface of the clamp 5 is against the surface of the workpiece, thereby clamping the workpiece, ensuring the stability of the workpiece during welding.

[0025] When the surface of the workpiece abuts against the surface of the clamp 5, since the clamp 5 is set to be arc-shaped, after the two ends of the workpiece contact the two ends of the clamp 5, the clamp 5 continues to clamp the workpiece, causing the clamp 5 to have a slight deformation, and the two ends of the clamp 5 move backward, driving the fixed seat 6 to move backward together, and the first connecting rod 7 will rotate with the movement of the fixed seat 6, thereby driving one end of the second connecting rod 8 to extend out from the through hole 9 and abut against the surface of the workpiece, further clamping the workpiece, even in the face of a workpiece with an uneven surface, the second connecting rod 8 can be extended to abut against the surface of the workpiece, so that the workpiece can be completely clamped.

[0026] When the clamping plate 5 clamps the workpiece, the sliders 15 arranged on both sides of the clamping plate 5 slide inside the slide groove 14 and squeeze the damping rod 16 to compress the damping rod 16. When the damping rod 16 is compressed to a certain extent, the clamping plate 5 will be deformed, so that one end of the second connecting rod 8 extends from the inside of the through hole 9. The setting of the damping rod 16 prevents the clamping plate 5 from being excessively deformed and thus broken.

[0027] See also Figure 1-5 As shown, a connecting shaft 17 is fixedly provided at one end of the bidirectional screw rod 3, a pulley 18 is fixedly connected to the other end of the connecting shaft 17, a sliding belt 19 is overlapped on the surfaces of the two pulleys 18, a bottom plate 20 is fixedly provided at one end of the base 1, a servo motor 21 is fixedly provided on the top of the bottom plate 20, and the driving end of the servo motor 21 is fixedly connected to one end of the connecting shaft 17.

[0028] During specific implementation, when the servo motor 21 is started, the servo motor 21 will drive the pulley 18 to rotate. When the pulley 18 rotates, the sliding belt 19 overlapped on the top of the pulley 18 will rotate. The rotation of the sliding belt 19 drives the other pulley 18 to rotate, thereby causing the two bidirectional screw rods 3 to rotate together. Through the setting of the pulley 18 and the sliding belt 19, only one servo motor 21 is needed to drive the two bidirectional screw rods 3 to rotate. Since the movement conditions of the nuts 4 at one end of the two bidirectional screw rods 3 are exactly the same, the setting of the connecting shaft 17 and the pulley 18 fully meets the movement conditions of the nut 4.

[0029] In addition, the integrated robot CMT welding and arc additive printing integrated system mainly consists of two parts: hardware and software. The hardware part includes CMT welding power supply, ABB robot, workpiece positioning device, wire feeder and other auxiliary equipment. The software part includes printing software, intelligent control system and I UNGOPNT software.

[0030] CMT welding power source plays a key role in the welding process. It has the advantages of low heat input and stable droplet transition, and can realize alternating hot and cold cycles. CMT welding power source digitally coordinates wire feeding movement and droplet transition process to realize alternating hot and cold cycles in the welding process, thereby reducing the generation of welding heat and heat conduction in the welded parts, while also improving welding quality. The application of CMT welding power source can greatly improve welding production capacity and effectively guarantee the welding quality of welded parts.

[0031] ABB robots are used to improve production efficiency and precision. ABB robots are advanced equipment in the field of industrial automation. They have six independent joints and can perform precise movement and positioning in three-dimensional space. They are suitable for various complex tasks and are used to complete assembly, handling, welding, spraying and other tasks to improve production efficiency and product quality.

[0032] The workpiece displacement device is mainly used to adjust the workpiece posture to meet the needs of multi-directional flipping adjustment and improve welding efficiency and quality. Through the rotation, flipping and tilting of the workpiece, the welding operation can be carried out at different angles and positions, which improves the flexibility and efficiency of the operation. At the same time, it ensures that the workpiece maintains the correct position and angle during the welding process, which helps to achieve accurate docking of the welding joint and uniform welding quality. It can also replace manual rotation, flipping and tilting operations of the workpiece, reduce the labor intensity of the welder, improve work efficiency, and is suitable for different types of welding tasks.

[0033] Auxiliary equipment such as wire feeders play a key role in the welding process. The wire feeder sequentially transfers the welding materials to the welding mechanism through the wire feed hose to achieve automatic filling, and the weld is beautiful and up to standard. The operator can adjust the wire feeding speed and direction according to the welding quality and process to ensure stable welding quality. The wire feeder can realize automatic welding according to the welding instructions, reduce the system reaction time, and respond quickly, thereby improving work efficiency. The user can choose the appropriate wire feeding method according to the workpiece material, welding parameters, wire type, etc., to achieve a stable wire feeding process and thus control costs.

[0034] The printing software mainly plays the role of path planning, dynamic simulation and height compensation. The printing software provides a variety of path planning algorithms, which can automatically plan the printing path to ensure the accuracy and efficiency of the printing process. The software has the function of dynamic printing path simulation, which can be simulated before actual printing, which helps to discover and solve possible problems in advance. Equipped with a laser camera, the printing software can detect the printing height in real time and automatically compensate to ensure accurate docking between printing layers.

[0035] The intelligent control system plays a core role in the integrated robot CMT welding and arc additive printing system. The system consists of CMT welding power supply, robot, workpiece displacement device, printing software and intelligent control system, etc. It realizes multi-axis linkage and high-precision printing, can perform task management and control, and is responsible for the task allocation, execution monitoring and dynamic adjustment of the entire printing process to ensure the efficient completion of printing tasks. It can collect and feedback data, collect various data in the printing process in real time, such as current, voltage, wire feeding speed, etc., and perform feedback control to ensure printing quality and stability. It can optimize process parameters. According to printing requirements and material characteristics, the intelligent control system can optimize printing parameters to achieve the best printing effect.

[0036] I UNGOPNT software plays a key role in the integrated robotic CMT welding and arc additive printing system. The software is based on arc additive manufacturing technology (WAAM) and industrial robots, which enables rapid conversion from design to programming, greatly shortens the programming development cycle, and reduces R&D costs. In the CMT welding and arc additive printing integrated system, I UNGOPNT software can accurately control the delivery and distribution of materials, ensure that the finished product has a uniform and fine structure, improve material utilization, and improve printing speed and finished product quality. In addition, the software also has real-time monitoring and automatic adjustment functions, which greatly improves the success rate of 3D printing and ensures the quality of the finished product.

[0037] In addition, the integrated robot CMT welding and arc additive printing integrated system uses arc as heat source, digitally controls and monitors the welding process, realizes the precise separation and transition of welding wire and molten droplet, the robot and displacement device can realize eight-axis linkage, and is equipped with a laser camera to automatically compensate the printing height. The system is highly intelligent and can realize precise control of the entire welding and additive printing process. The system is widely used in locomotive manufacturing, aerospace, bridges and steel structures.

[0038] In addition, the integrated robotic CMT welding and arc additive printing system uses various sensors, which play a vital role in the system. The sensors can monitor various parameters in the welding process in real time, such as the position, shape and size of the weld, and feed this information back to the control system. Through the analysis and processing of sensor data, the system can achieve precise control and optimization of the welding process, improve production efficiency, product quality, and reduce costs. Specifically, the visual sensor can detect the position of the weld, the mechanical sensor monitors the welding force, and the weld tracking sensor ensures the precise control of the weld by the welding gun, thereby improving the welding accuracy and quality. In summary, sensors are an indispensable key component in this integrated system and have made important contributions to improving industrial production efficiency and quality.

[0039] In addition, in the integrated robot CMT welding and arc additive printing integrated system, the motor mainly drives the welding gun and the positioner to achieve precise motion control. The motor drives the welding gun to move and position precisely to ensure that the path and speed during welding or printing are accurately controlled. The motor is also responsible for driving the workpiece positioner to achieve precise movement and positioning of the workpiece so as to obtain the best processing effect during welding or printing. Through the precise control of the motor, the integrated robot CMT welding and arc additive printing integrated system can realize three-dimensional additive manufacturing of large-size, high-precision and complex metal components, thereby improving production efficiency and processing quality.

[0040] In addition, the integrated robot CMT welding and arc additive printing integrated system is controlled by PLC, which mainly relies on the high reliability, strong adaptability and easy programming of PLC to achieve precise control of the robot. The specific control process includes: first, clarify the control requirements of the robot, such as motion trajectory, speed, etc.; second, select the appropriate PLC model and write the control program to achieve precise control of the robot; then, configure the input and output devices, and connect the PLC with the robot's sensors and actuators; finally, test and debug to ensure the correctness and reliability of the PLC program. In addition, PLC can also realize the collaborative control of multiple robots and improve the efficiency and stability of the entire welding system.

[0041] Working principle: When performing welding work, first start the servo motor 21. The rotation of the servo motor 21 drives the pulley 18 to rotate, thereby driving the connecting shaft 17 and the bidirectional screw 3 to rotate together. The two nuts 4 on the bidirectional screw 3 begin to move relative to each other under the rotation of the bidirectional screw 3, and drive the clamping plate 5 to move relative to each other so that the surface of the clamping plate 5 is against the surface of the workpiece, thereby clamping the workpiece, ensuring the stability of the workpiece during welding.

[0042] When the surface of the workpiece abuts against the surface of the clamp 5, since the clamp 5 is set to be arc-shaped, after the two ends of the workpiece contact the two ends of the clamp 5, the clamp 5 continues to clamp the workpiece, causing the clamp 5 to have a slight deformation, and the two ends of the clamp 5 move backward, driving the fixed seat 6 to move backward together, and the first connecting rod 7 will rotate with the movement of the fixed seat 6, thereby driving one end of the second connecting rod 8 to extend out from the through hole 9 and abut against the surface of the workpiece, further clamping the workpiece, even in the face of a workpiece with an uneven surface, the second connecting rod 8 can be extended to abut against the surface of the workpiece, so that the workpiece can be completely clamped.

[0043] When the clamping plate 5 clamps the workpiece, the sliders 15 arranged on both sides of the clamping plate 5 slide inside the slide groove 14 and squeeze the damping rod 16 to compress the damping rod 16. When the damping rod 16 is compressed to a certain extent, the clamping plate 5 will be deformed, so that one end of the second connecting rod 8 extends from the inside of the through hole 9. The setting of the damping rod 16 prevents the clamping plate 5 from being excessively deformed and thus broken.

Claims

1. An integrated robotic CMT welding and arc additive printing system, comprising a base (1), characterized in that: Vertical plates (2) are fixedly arranged around the top of the base (1), a bidirectional screw rod (3) is rotatably connected between the two vertical plates (2), nuts (4) are threadedly connected at both ends of the bidirectional screw rod (3), and a clamping plate (5) is fixedly arranged between the two nuts (4) at one end.

2. The integrated robotic CMT welding and arc additive printing system according to claim 1, characterized in that: A fixing seat (6) is fixedly provided at both ends of the rear side of the clamping plate (5); the other end of the fixing seat (6) is rotatably connected to a first connecting rod (7); the other end of the first connecting rod (7) is rotatably connected to a second connecting rod (8).

3. The integrated robotic CMT welding and arc additive printing system according to claim 2, characterized in that: Through holes (9) are symmetrically arranged inside the clamping plate (5), and the other end of the second connecting rod (8) is slidably connected to the through hole (9).

4. The integrated robotic CMT welding and arc additive printing system according to claim 2, characterized in that: A circular ring (10) is provided at the other end of the fixing seat (6), and a groove (11) is fixedly provided at one end of the first connecting rod (7), and the groove (11) is rotatably connected in the circular ring (10).

5. The integrated robotic CMT welding and arc additive printing system according to claim 4, characterized in that: A pin shaft (12) is fixedly provided at the other end of the first connecting rod (7), and a pin hole (13) is opened at one end of the second connecting rod (8), and the pin shaft (12) is rotatably connected in the pin hole (13).

6. The integrated robotic CMT welding and arc additive printing system according to claim 1, characterized in that: A slide groove (14) is provided inside the nut (4), and a slider (15) is slidably connected inside the slide groove (14). The slider (15) is fixedly connected to both ends of the clamping plate (5). A damping rod (16) is fixedly connected to one end of the clamping plate (5), and the other end of the damping rod (16) is fixedly connected to one end surface of the slide groove (14).

7. The integrated robotic CMT welding and arc additive printing system according to claim 1, characterized in that: A connecting shaft (17) is fixedly provided at one end of the bidirectional screw rod (3), a pulley (18) is fixedly connected to the other end of the connecting shaft (17), and a sliding belt (19) is overlapped on the surfaces of the two pulleys (18).

8. The integrated robotic CMT welding and arc additive printing system according to claim 7, characterized in that: A bottom plate (20) is fixedly disposed at one end of the base (1), a servo motor (21) is fixedly disposed at the top of the bottom plate (20), and a driving end of the servo motor (21) is fixedly connected to one end of the connecting shaft (17).

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