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悬空特征结构件电弧增材制造成形及算法优化
王天琪, 杨壮, 李亮玉, 何俊杰
天津工业大学 天津市现代机电装备技术重点实验室, 天津 300387
摘要:
将增材制造技术与弧焊机器人相结合,针对具有悬空特征预制件增材制造焊接工艺进行研究. 首先针对预制件成形尺寸预测进行算法优化,实现对成形高度及宽度预测;针对悬空焊缝下淌现象,研究焊枪倾斜角度对焊缝成形影响,确定最优焊枪倾斜角度范围,并设计试验对成形方法进行验证,有效改善悬空焊缝表面成形质量,然后在此基础上提出焊枪倾斜角度预测算法,实现对悬空焊过程中焊枪倾斜角度的预测. 最后焊制具有悬空特征预制件验证预测算法及成形方法的准确性. 结果表明,预制件表面成形质量较好,成形尺寸误差小于1 mm.
关键词:  弧焊机器人  增材制造  悬空特征  尺寸预测  焊枪倾斜角度
DOI:10.12073/j.hjxb.2019400317
分类号:TG455
基金项目:国家自然科学基金资助项目(U1733125);国家自然科学基金资助项目(51875408);天津市自然科学基金项目(18JCYBJC18700);天津市教委科研计划项目(2017KJ080)
Research on forming and welding technology of thick wall structure arc added material manufacturing
WANG Tianqi, YANG Zhuang, LI Liangyu, HE Junjie
Advanced Mechatronics Equipment Technology Tianjin Area Laboratory, Tianjin Polytechnic University, Tianjin 300387, China
Abstract:
The welding technology of prefabricated parts with suspension characteristics was studied by combining the augmented material manufacturing with arc welding robot technology. Firstly, the algorithm of prefabricated parts forming dimension prediction is optimized to realize the prediction of forming height and width. Aiming at the phenomenon of downward flow of suspended weld, the influence of inclination angle of welding torch on weld formation was studied, the optimum inclination angle range of welding torch was determined, and the forming method was validated by design and experiment. The forming quality of suspended weld surface is effectively improved. Based on this, an algorithm for predicting inclination angle of welding torch was proposed to realize the prediction of inclination angle of welding torch in suspended weld process. Finally, welding prefabricated parts with suspension characteristics verifies the accuracy of prediction algorithm and forming method. The test results showed that the surface forming quality of prefabricated parts is good and the forming size error is less than 1 mm.
Key words:  arc welding robot  additive manufacturing  suspended feature  size prediction  inclination angle of welding torch