Device and method for controlling stress deformation of main body structure of electric arc additive unmanned vehicle

Abstract

The invention belongs to the technical field of electric arc additive manufacturing and unmanned vehicle production and manufacturing, and discloses a device and method for controlling stress deformation of a main body structure of an electric arc additive manufacturing unmanned vehicle, and the device comprises a robot controlled electric arc additive manufacturing system, an additive manufacturing accompanying stress relief annealing system, a substrate auxiliary symmetric heating system, a process monitoring system and a control system; a controlled electric arc additive gun body in the robot controlled electric arc additive system is fixed to the tail end of a six-axis mechanical arm. An induction coil in the additive accompanying stress relief annealing system is fixed at the tail end of the six-axis mechanical arm; and an induction coil in the substrate auxiliary symmetric heating system is fixed on the transmission control mechanism. Through the additive accompanying stress relief annealing system, stress relief annealing treatment is carried out on a large-stress area in the main body structure of the unmanned vehicle in time, and the risk of failure and cracking caused by stress concentration is reduced; the substrate auxiliary symmetrical heating system is used for heating and correcting the deformed substrate in time, so that the deformation of the substrate is reduced, and the manufacturing quality of the main body structure of the unmanned vehicle is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of arc additive manufacturing and unmanned vehicle production, and in particular relates to a device and method for controlling stress deformation of a main structure of an arc additive unmanned vehicle. Background Art

[0002] Special vehicles such as unmanned vehicles have special advantages in performing dangerous and long-duration tasks in complex and harsh environments due to their high mobility and rapid deployment advantages. The main structure is an important component of unmanned vehicles, which determines the mobility and load-bearing performance of unmanned vehicles. With the development of arc additive manufacturing technology, new processes and methods are provided for the manufacturing of the main structure of unmanned vehicles. The main structure of unmanned vehicles manufactured by arc additive manufacturing has the advantages of high production efficiency, low cost, and the ability to form large and complex structures, and has great development prospects.

[0003] The current mainstream additive manufacturing for vehicle main structures is carried out during arc additive manufacturing. Due to continuous heat input and repeated "heating expansion-cooling contraction", large stress is generated in the matrix of the unmanned vehicle main structure, and there is a risk of cracking of the additive matrix. In addition, multiple thermal cycles and matrix stress will cause deformation of the substrate, resulting in the subsequent additive deviation from the model size, resulting in unqualified additive parts. Summary of the invention

[0004] The technical problem to be solved by the present invention is that multiple thermal cycles and matrix stress may cause cracking and deformation of the substrate, resulting in the subsequent additive manufacturing deviating from the model size and causing the additive manufacturing parts to be unqualified.

[0005] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows:

[0006] A device for controlling stress deformation of the main structure of an arc additive unmanned vehicle comprises a robot controlled arc additive system, an additive accompanying stress relief annealing system, a substrate auxiliary symmetrical heating system, a process monitoring system and a control system; the controlled arc additive gun body in the robot controlled arc additive system is fixed at the end of a six-axis mechanical arm; the induction coil in the additive accompanying stress relief annealing system cooperates with a protective frame and is fixed at the end of the six-axis mechanical arm; the induction coil in the substrate auxiliary symmetrical heating system cooperates with a protective frame and is fixed to a transmission control mechanism; the robot controlled arc additive system, the additive accompanying stress relief annealing system, the substrate auxiliary symmetrical heating system and the process monitoring system are respectively connected to the control system.

[0007] Furthermore, the induction coil in the additive stress relief annealing system is wound by a copper coil, the material of the copper coil is T3 copper, and the wall thickness is 2 to 6 mm.

[0008] Furthermore, the induction coil in the substrate auxiliary symmetrical heating system is wound by a copper coil.

[0009] Furthermore, the induction coils in the substrate auxiliary symmetrical heating system are disk-shaped and distributed in a 3×3 array.

[0010] Furthermore, the process monitoring system includes an infrared thermometer for real-time monitoring of the temperature field of the main structure of the unmanned vehicle and the substrate and feeding back the monitoring data to the control system.

[0011] Furthermore, the process monitoring system includes a laser displacement monitoring module, which is used to sense the macroscopic deformation of the main structure of the unmanned vehicle and the substrate in real time and feed back the monitoring data to the control system.

[0012] Furthermore, the control system adopts the inherent strain method to simulate the stress field of the arc additive process of the main structure of the unmanned vehicle, and corrects the simulation results in real time based on the data fed back by the infrared thermometer and the laser displacement monitoring module.

[0013] Furthermore, when the local stress in the simulation results reaches 0.6 times the yield strength of the material used for the main structure of the unmanned vehicle, the additive manufacturing stress relief annealing system is started, and the stress reaching threshold area in the main structure of the unmanned vehicle is subjected to online stress relief annealing according to the preset heating temperature, and the induction power supply heating output frequency and power are adjusted according to the local stress value; when the deformation of the substrate reaches 1 mm in the simulation results, the substrate auxiliary symmetrical heating system is started, and the back of the substrate is heated according to the preset heating temperature, and the induction power supply heating output frequency and power are adjusted according to the local deformation.

[0014] The present invention also provides a method for controlling stress deformation of the main structure of an arc additive unmanned vehicle, comprising the following steps:

[0015] Step 1: First, partition and layer modeling is performed based on the geometric model of the main structure of the unmanned vehicle, and the robot's additive path, posture, and process are reasonably planned;

[0016] Step 2: Grind the substrate surface to remove the oxide film, and clean the substrate surface with acetone reagent;

[0017] Step 3: Use a fixture to assemble and fix the substrate on the workbench; the infrared temperature measuring device and the laser displacement monitoring system are fixed on one side of the workbench through the fixture, and the position is adjusted to monitor the temperature field and measurement of the main structure of the unmanned vehicle and the substrate;

[0018] Step 4: Use the inherent strain method to simulate the stress field of the arc additive process of the main structure of the unmanned vehicle;

[0019] Step 5: Call the program, set the additive process parameters and the reciprocating additive path, and additively manufacture the main structure of the unmanned vehicle;

[0020] Step 6: Use an infrared temperature measuring device to obtain the temperature field of the main structure and substrate of the unmanned vehicle, and feed back the detection results to the control system in real time;

[0021] Step 7: Use a laser displacement monitoring system to obtain the macroscopic deformation of the main structure and substrate of the unmanned vehicle, and feed back the detection results to the control system in real time;

[0022] Step 8: The control system corrects the simulation results in real time according to the feedback of the temperature field and macro deformation of the main structure and substrate of the unmanned vehicle;

[0023] Step 9: When the local stress in the main structure of the unmanned vehicle reaches 0.6 times the yield strength of the material used in the simulation results, the additive stress relief annealing system is started to perform stress relief annealing on the area according to the pre-set heating temperature and heating time;

[0024] Step 10: When the deformation of the substrate reaches 1 mm in the simulation results, the substrate auxiliary symmetrical heating system is started, and the back of the substrate is heated according to the preset heating temperature, and the heating output frequency and power of the induction power supply are adjusted according to the local deformation;

[0025] Step 11: Repeat steps 5 to 10 until the overall additive manufacturing of the unmanned vehicle main structure is completed.

[0026] The present invention has the following advantages: through the additive accompanying stress relief annealing system, stress relief annealing treatment is carried out in time on the stress-relieving area in the main structure of the unmanned vehicle, thereby reducing the risk of failure and cracking caused by stress concentration; through the substrate auxiliary symmetrical heating system, the deformed substrate is heated and corrected in time, thereby reducing the deformation of the substrate and improving the manufacturing quality of the main structure of the unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A simplified diagram of the arc-controlled material-additive structure stress deformation device of the present invention;

[0028] Figure 2 Schematic diagram of the method for controlling the stress and deformation of the main structure of the arc additive unmanned vehicle. DETAILED DESCRIPTION

[0029] In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0030] like Figure 1 As shown, the present invention provides a device for controlling stress deformation of the main structure of an arc additive unmanned vehicle, including a robot-controlled arc additive system, an additive accompanying stress relief annealing system, a substrate auxiliary symmetrical heating system, and a process monitoring and control system;

[0031] Among them, the robot controlled arc additive system includes: a six-axis robot arm 1, an additive power supply 2, a controlled arc additive gun body 3, a wire feeder 4, a protective gas device 5, a workbench and a control cabinet 6;

[0032] The additive material accompanying stress relief annealing system comprises: a six-axis robot arm 2 7, an induction heating power supply 8, an induction coil and a protective frame 9;

[0033] The substrate auxiliary symmetrical heating system comprises: a transmission control mechanism 10, an induction heating power supply 11, an array distributed induction coil and a protection frame 12;

[0034] The process monitoring and control system includes: infrared thermometer 13, laser displacement monitoring system 14, simulation workstation and control system 15;

[0035] The device connection method is as follows: the controlled arc additive gun body in the robot controlled arc additive system is fixed at the end of the six-axis robot arm; the induction coil and the protective frame in the additive accompanying stress relief annealing system are matched and fixed at the end of the six-axis robot arm; the induction coil and the protective frame in the substrate auxiliary symmetrical heating system are matched and fixed on the transmission control mechanism; the robot controlled arc additive system, the additive accompanying stress relief annealing system, the substrate auxiliary symmetrical heating system, and the process monitoring system are respectively connected to the control system.

[0036] The induction coil in the additive stress relief annealing system is made of copper coil, the material of the copper coil is T3 copper, and the wall thickness is 2 to 6 mm; the induction heating speed is adjustable within 0℃ / s to 50℃ / s, and the power is adjustable from 0 to 60kW. The output power makes the local temperature of the additive workpiece reach the required stress relief annealing temperature within 10 seconds; the induction coil used is disc-shaped, and the disc diameter is selected and adjusted according to the specific shape and size of the additive workpiece.

[0037] The induction coil of the substrate auxiliary symmetrical heating system is wound by a copper coil, the material of the copper coil is T3 copper, and the wall thickness is 2 to 4 mm; the induction heating speed is adjustable within 0°C / s to 20°C / s, and the power is adjustable from 0 to 40kW. The output power makes the local temperature of the additive substrate reach the required heating temperature within 60 seconds; the induction coil used is disc-shaped and distributed in a 3×3 array. The disc diameter and array spacing are selected and adjusted accordingly according to the size of the additive substrate.

[0038] The infrared thermometer in the process monitoring and control system has a temperature measurement range of 0℃~2000℃ and a temperature measurement accuracy of ±10℃. It can monitor the temperature field of the main structure and substrate of the unmanned vehicle in real time and feed back the monitoring data to the control system.

[0039] The laser displacement monitoring system in the process monitoring and control system has a ranging range of 0 to 1m and a ranging accuracy of ±0.01mm. It can sense the macroscopic deformation of the main structure and substrate of the unmanned vehicle in real time and feed the monitoring data back to the control system.

[0040] Furthermore, the process monitoring and control system is characterized in that the control system uses the inherent strain method to simulate the stress field of the arc additive process of the main structure of the unmanned vehicle, and corrects the simulation results in real time based on the data fed back by the infrared thermometer and the laser displacement monitoring system. When the local stress in the simulation result reaches 0.6 times the yield strength of the material used in the main structure of the unmanned vehicle, the additive accompanying stress relief annealing system is started, and the stress reaching the threshold area in the main structure of the unmanned vehicle is subjected to online stress relief annealing according to the preset heating temperature, and the induction power supply heating output frequency and power are adjusted according to the local stress value; when the substrate deformation in the simulation result reaches 1mm, the substrate auxiliary symmetrical heating system is started, and the back of the substrate is heated according to the preset heating temperature, and the induction power supply heating output frequency and power are adjusted according to the local deformation.

[0041] Furthermore, a method for controlling the stress deformation of the main structure of an arc-added unmanned vehicle comprises the following steps:

[0042] Step (1): First, partition and layer modeling is performed based on the geometric model of the main structure of the unmanned vehicle, and the robot's additive path, posture, and process are reasonably planned;

[0043] Step (2): polishing the substrate surface to remove the oxide film, and cleaning the substrate surface with acetone reagent;

[0044] Step (3): Use a fixture to assemble and fix the substrate on the workbench; the infrared temperature measuring device and the laser displacement monitoring system are fixed on one side of the workbench through the fixture, and the position is adjusted to monitor the temperature field and measurement of the main structure of the unmanned vehicle and the substrate;

[0045] Step (4): using the inherent strain method to simulate the stress field of the arc additive process of the main structure of the unmanned vehicle;

[0046] Step (5): calling the program to additively manufacture the main structure of the unmanned vehicle according to the following additive process parameters and reciprocating additive path;

[0047] Table 1 Arc additive process for the main structure of unmanned vehicle

[0048]

[0049]

[0050] Step (6): using an infrared temperature measuring device to obtain the temperature field of the main structure and substrate of the unmanned vehicle, and feeding back the detection results to the control system in real time;

[0051] Step (7): using a laser displacement monitoring system to obtain the macroscopic deformation of the main structure and substrate of the unmanned vehicle, and feeding the detection results back to the control system in real time;

[0052] Step (8): the control system corrects the simulation results in real time according to the feedback of the temperature field and macro deformation of the main structure of the unmanned vehicle and the substrate;

[0053] Step (9): When the local stress in the main structure of the unmanned vehicle reaches 0.6 times the yield strength of the material used in the simulation results, the additive stress relief annealing system is started to perform stress relief annealing on the area according to the pre-set heating temperature and heating time;

[0054] Step (10): When the deformation of the substrate reaches 1 mm in the simulation result, the substrate auxiliary symmetrical heating system is started, and the back side of the substrate is heated according to a preset heating temperature, and the heating output frequency and power of the induction power supply are adjusted according to the local deformation;

[0055] Step (11): Repeat steps (5) to (10) until the overall additive manufacturing of the unmanned vehicle main structure is completed.

[0056] The key points of the present invention are: first, to provide a method and device for controlling the stress deformation of the main structure of an unmanned vehicle using arc additive, which can greatly improve the manufacturing quality after additive stress relief annealing and substrate auxiliary symmetrical heating treatment. Second, to provide a method and device for controlling the stress deformation of the main structure of an unmanned vehicle using arc additive, which uses the inherent stress method to simulate the stress distribution of the main structure of the unmanned vehicle, and timely corrects the simulation results based on the temperature field of the main structure of the unmanned vehicle and the additive process of the substrate and the macro deformation value fed back in real time by the process monitoring system, so as to accurately predict the stress distribution of the main structure of the unmanned vehicle, and accurately alleviate and eliminate it.

[0057] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, it is apparent to those skilled in the art that several modifications and improvements may be made without departing from the principles of the present invention, and these modifications and improvements should also be considered to fall within the scope of protection of the present invention.

Claims

1. A device for controlling the stress deformation of the main structure of an arc-added unmanned vehicle, characterized in that: It includes a robot-controlled arc additive system, an additive accompanying stress relief annealing system, a substrate-assisted symmetrical heating system, a process monitoring system and a control system; the controlled arc additive gun body in the robot-controlled arc additive system is fixed at the end of a six-axis robotic arm; the induction coil in the additive accompanying stress relief annealing system cooperates with a protective frame and is fixed at the end of the six-axis robotic arm; the induction coil in the substrate-assisted symmetrical heating system cooperates with a protective frame and is fixed to a transmission control mechanism; the robot-controlled arc additive system, the additive accompanying stress relief annealing system, the substrate-assisted symmetrical heating system and the process monitoring system are respectively connected to the control system.

2. The device for controlling the stress deformation of the main structure of an arc-added unmanned vehicle according to claim 1, characterized in that: The induction coil in the additive stress relief annealing system is made of copper coil.

3. The device for controlling stress deformation of the main structure of an arc-added unmanned vehicle according to claim 2, characterized in that: The material of the copper coil is T3 copper with a wall thickness of 2 to 6 mm.

4. The device for controlling stress deformation of the main structure of an arc-added unmanned vehicle according to claim 1, characterized in that: The induction coil in the substrate auxiliary symmetrical heating system is wound by a copper coil.

5. The device for controlling stress deformation of the main structure of an arc-added unmanned vehicle according to claim 1, characterized in that: The induction coils in the substrate auxiliary symmetrical heating system are disk-shaped and distributed in a 3×3 array.

6. The device for controlling stress deformation of the main structure of an arc-added unmanned vehicle according to claim 1, characterized in that: The process monitoring system includes an infrared thermometer, which is used to monitor the temperature field of the main structure and substrate of the unmanned vehicle in real time and feed the monitoring data back to the control system.

7. The device for controlling stress deformation of the main structure of an arc-added unmanned vehicle according to claim 6, characterized in that: The process monitoring system includes a laser displacement monitoring module, which is used to sense the macroscopic deformation of the main structure and substrate of the unmanned vehicle in real time and feed the monitoring data back to the control system.

8. The device for controlling stress deformation of the main structure of an arc-added unmanned vehicle according to claim 7, characterized in that: The control system adopts the inherent strain method to simulate the stress field of the arc additive process of the main structure of the unmanned vehicle, and corrects the simulation results in real time according to the data fed back by the infrared thermometer and the laser displacement monitoring module.

9. The device for controlling stress deformation of the main structure of an arc-added unmanned vehicle according to claim 8, characterized in that: When the local stress in the simulation results reaches 0.6 times the yield strength of the material used for the main structure of the unmanned vehicle, the additive manufacturing stress relief annealing system is started, and the stress reaching threshold area in the main structure of the unmanned vehicle is subjected to online stress relief annealing according to the preset heating temperature, and the induction power supply heating output frequency and power are adjusted according to the local stress value; when the deformation of the substrate reaches 1mm in the simulation results, the substrate auxiliary symmetrical heating system is started, and the back of the substrate is heated according to the preset heating temperature, and the induction power supply heating output frequency and power are adjusted according to the local deformation.

10. A method for controlling the stress deformation of the main structure of an arc-added unmanned vehicle, characterized in that: The steps include: Step 1: First, partition and layer modeling is performed based on the geometric model of the main structure of the unmanned vehicle, and the robot's additive path, posture, and process are reasonably planned; Step 2: Grind the substrate surface to remove the oxide film, and clean the substrate surface with acetone reagent; Step 3: Use a fixture to assemble and fix the substrate on the workbench; the infrared temperature measuring device and the laser displacement monitoring system are fixed on one side of the workbench through the fixture, and the position is adjusted to monitor the temperature field and measurement of the main structure of the unmanned vehicle and the substrate; Step 4: Use the inherent strain method to simulate the stress field of the arc additive process of the main structure of the unmanned vehicle; Step 5: Call the program, set the additive process parameters and the reciprocating additive path, and additively manufacture the main structure of the unmanned vehicle; Step 6: Use an infrared temperature measuring device to obtain the temperature field of the main structure and substrate of the unmanned vehicle, and feed back the detection results to the control system in real time; Step 7: Use a laser displacement monitoring system to obtain the macroscopic deformation of the main structure and substrate of the unmanned vehicle, and feed back the detection results to the control system in real time; Step 8: The control system corrects the simulation results in real time according to the feedback of the temperature field and macro deformation of the main structure and substrate of the unmanned vehicle; Step 9: When the local stress in the main structure of the unmanned vehicle reaches 0.6 times the yield strength of the material used in the simulation results, the additive stress relief annealing system is started to perform stress relief annealing on the area according to the pre-set heating temperature and heating time; Step 10: When the deformation of the substrate reaches 1 mm in the simulation results, the substrate auxiliary symmetrical heating system is started, and the back of the substrate is heated according to the preset heating temperature, and the heating output frequency and power of the induction power supply are adjusted according to the local deformation; Step 11: Repeat steps 5 to 10 until the overall additive manufacturing of the unmanned vehicle main structure is completed.

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