基于关节机器人的电弧熔丝焊锻复合增材再制造热锻模修复  

Repair of hot forging die for arc fusion welding forging compound additive remanufacturing based on joint robot

作　　者：洪小英[1,2] 肖贵乾 HONG Xiao-ying;XIAO Gui-qian(Insitute of Modern Facturing,Sichuan Vocational College of Information Technology,Guangyuan 628017,China;School of Materials Science and Engineering,Chongqing University,Chongqing 400044,China;Chongqing Forgestamp Inteligent Equipment Co.,Ltd.,Chongqing 400000,China)

机构地区：[1]四川信息职业技术学院现代制造学院,四川广元628017 [2]重庆大学材料科学与工程学院,重庆400044 [3]重庆佛思坦智能装备有限公司,重庆400000

出　　处：《塑性工程学报》2022年第1期119-125,共7页Journal of Plasticity Engineering

基　　金：国家重点研发计划(2018YFB1106504);广元市科技支撑计划(2019ZCZDYF005)。

摘　　要：为了降低失效热锻模修复成本、提高修复效率,基于ABB工业关节机器人,开发了电孤熔丝焊锻复合增材再制造算法和装备,并用曲轴热锻模具进行再制造修复,以验证算法和装备的有效性。首先,提出增材制造目标模型的分层切片、截面复合填充算法;随后,提出满足增材再制造工艺所需的关节机器人TCP姿态控制算法,以达到控制焊枪与焊接路径夹角的目的,从而提高焊接成形质量;最后,选用失效曲轴热锻模进行了修复实验。结果表明,相较于人工修复,采用该工艺可大幅节约焊接材料并显著降低修复时间。人工修复和自动修复后的热锻模在相同条件下服役后,自动修复的热锻模表面光滑,微裂纹和塌陷缺陷少,比人工修复的热锻模具有更好的表面形貌,模具服役寿命得到显著提高。To reduce the repair cost of failed hot forging die and improve the repair efficiency,based on ABB industrial joint robot,the algorithm and equipment of arc fusion welding forging compound additive remanufacturing were developed,and the crankshaft hot forging die was used for remanufacturing repair to verify the effectiveness of algorithm and equipment.Firstly,the algorithm of slicing and cross section compound filling for additive manufacturing target model was proposed.Then,a joint robot transmission control protoco(TCP) attitude control algorithm was proposed to meet the requirements of additive manufacturing process,so as to control the angle between the welding gun and the welding path and improve the welding quality.Finally,the experiment of hot forging die of the failed wankshaft was carried out.The results show that compared with the manual-repaired,the welding material can be greatly saved and the repair time can be significantly reduced using this process.After serving under the same conditions of manual-repaired and automatic-repaired hot forging die,the surface of the hot forging die repaired by automatic-repair is smooth,microcracks and collapse defects are fewer.Compared with the manual-repaired hot forging die,the surface morphology of the automatic-repaired hot forging die is better,and the service life of the die is significantly improved.

关 键 词：电弧熔丝增材制造 焊锻复合 关节机器人 分层切片 

分 类 号：TG315.2[金属学及工艺—金属压力加工]