CN104607639B - A surface repair and shaping device for metal 3D printing - Google Patents

Abstract

The invention discloses a surface repairing and shaping device for metal 3D printing, which includes a first omnidirectional six-degree-of-freedom mechanical arm, a housing, a space scanning camera device, a processed workpiece, a workpiece lifting tray, a metal 3D printing and shaping device and The second omnidirectional six-degree-of-freedom mechanical arm; the first omnidirectional six-degree-of-freedom mechanical arm and the second omnidirectional six-degree-of-freedom mechanical arm are symmetrically installed on the inner wall of the housing; the metal 3D printing shaping device and space scanning camera The devices are respectively installed at the end positions of the first omnidirectional six-degree-of-freedom mechanical arm and the second omnidirectional six-degree-of-freedom mechanical arm; the workpiece lifting tray is arranged at the bottom of the shell; the processed workpiece is arranged on the workpiece lifting tray. The invention can shape the surface of the molten metal during the 3D printing process, and at the same time can monitor and shoot the whole process of the 3D printing process, identify and record the defective parts, and use metal 3D printing to repair them.

Description

A surface repair and shaping device for metal 3D printing

technical field

The invention belongs to the technical field of metal 3D printing, and in particular relates to a surface repairing and shaping device for metal 3D printing.

Background technique

3D printing technology is also called "additive manufacturing" technology (Additive Manufacturing). A process in which materials are stacked, usually layer-by-layer, based on a 3D digital model, as opposed to traditional material removal methods. The first 3D printer was produced in 1984. After nearly 30 years of development, 3D printing technology has gradually become one of the most viable advanced manufacturing technologies.

3D printing technology uses CAD software to design the three-dimensional solid model of the part, and then according to the specific process requirements, the model is layered and sliced according to a certain thickness, and it is discretized into a series of two-dimensional layers, and then the two-dimensional layer information Perform data processing and add processing parameters, generate NC codes and input them into the molding machine, control the movement sequence of the molding machine to complete the molding and manufacturing at all levels, until the prototype or parts consistent with the CAD model is processed.

At present, the 3D printing technologies that can really manufacture precision metal parts include selective laser melting and selective laser sintering. Among them, selective laser melting uses laser to irradiate the conveyed powder flow. The laser and conveyed powder work at the same time, and the strength of the manufactured parts reaches or even exceeds the parts produced by conventional processing methods. It has a good application prospect and is the main direction of current research and development.

Plastic processing technology is a basic metal processing technology that causes metal to undergo plastic deformation under the action of external force (usually pressure) to obtain products of desired shape, size, structure and performance. It was often called pressure processing in the past. Shaping processing technology not only consumes less raw materials, has high production efficiency and stable product quality, but also can effectively improve the structure and properties of metals. These technical and economical unique features and advantages make it one of the most important means in metal processing, so it occupies a very important position in the national economy, and the jet shaping technology is still in the technical field at the present stage. It is relatively advanced, and there is relatively little research on the use of spraying inert gas to shape workpieces in China.

In the process of 3D printing in the prior art, the processed molten metal material, due to the surface error caused by the surface tension of the liquid metal or the metal stacking between layers in the 3D printing process, at the same time, because the surface of the molten metal is easily oxidized and deteriorated, It affects the reliability of the processed workpiece, changes the properties of the processed material during the processing, or has a certain deviation between the actual processed workpiece and the ideally designed workpiece.

Contents of the invention

The problem to be solved by the present invention is to provide a surface repair and shaping device for metal 3D printing. Surface errors caused by metal stacking between layers during the printing process; the device can monitor and shoot the entire process of 3D printing, identify and record defective parts at the same time, and use metal 3D printing to repair them.

The present invention adopts the following technical scheme: a surface repair and shaping device for metal 3D printing, including a first omnidirectional six-degree-of-freedom mechanical arm, a casing, a space scanning camera device, a processed workpiece, a workpiece lifting tray, a metal 3D printing plastic The shape device and the second omnidirectional six-degree-of-freedom mechanical arm; the first omnidirectional six-degree-of-freedom mechanical arm and the second omnidirectional six-degree-of-freedom mechanical arm are symmetrically installed on the inner wall of the housing; the metal 3D printing shaping device and The space scanning camera device is respectively installed at the end positions of the first omni-directional six-degree-of-freedom mechanical arm and the second omni-directional six-degree-of-freedom mechanical arm; the workpiece lifting tray is arranged at the bottom of the shell; the processed workpiece is arranged on the workpiece lifting tray .

The interior of the metal 3D printing shaping device is sequentially provided with a spiral coolant circulation channel, an inert gas channel, a material injection channel and a laser beam channel from the outside to the center.

The space scanning camera device includes a camera device bracket, a high-precision camera, a mechanical arm connection structure and a combined light source. The camera device bracket is concave, and the mechanical arm connection structure is arranged in the middle of the camera device bracket. The precision camera and the combined light source are respectively arranged on both sides of the camera bracket.

The structures of the first omnidirectional six-degree-of-freedom mechanical arm and the second omnidirectional six-degree-of-freedom mechanical arm are the same.

Compared with the prior art, the present invention uses a metal 3D printing shaping device for 3D printing processing, and performs surface shaping on surface errors caused by liquid metal surface tension or metal stacking between layers in the 3D printing process, improving 3D printing. Printing surface processing quality, at the same time, inert gas protection, so that the molten metal material will not be oxidized, can also repair the defects on the surface of the processed workpiece, improve the surface quality of the workpiece, compensate and repair the defects on the processed surface, and make the workpiece more Close to the ideal shape, the nozzle of the metal 3D printing shaping device is composed of a series of small equidistant evenly distributed through holes, which can make the ejected gas more uniform. The metal 3D printing shaping device can also adjust the jet according to the processing requirements. The speed, flow, temperature, main processing, auxiliary processing, cold processing, hot processing, etc., the process is convenient and efficient, providing a new method for the surface treatment of workpieces.

The metal 3D printing and shaping device can reach any position in the processing area with the assistance of a six-degree-of-freedom robot arm in all directions, complete feeding and shaping processing at any angle in space, and realize the repair of defects in processed parts. Space scanning camera The use of combined light sources on the device reduces the difficulty of capturing images of surface shapes such as bumps, S-shaped, and grooves. The high-precision camera can easily collect images of any surface of the workpiece, allowing free shooting of the processed workpiece surface under any conditions. Leave any blind spots to make the processed workpiece as close as possible to the designed shape.

The basic structures of the two omnidirectional space six-degree-of-freedom robotic arms are similar. The metal 3D printing shaping device and the scanning camera device are installed on the two robotic arms respectively. The two omnidirectional space six-degree-of-freedom robotic arms are arranged obliquely The cloth is installed on the inner wall of the shell, which is beneficial to the movement of the six-degree-of-freedom robotic arm in each omnidirectional space, ensuring that the movement does not interfere, and enables the metal 3D printing shaping device and scanning camera device to reach any position in the space where the workpiece is processed, and at the same time , to ensure that the surface of the workpiece at any angle is scanned and photographed to achieve the desired purpose.

Description of drawings

The advantages and implementation methods of the present invention will be more obvious by referring to the accompanying drawings and describing the present invention in conjunction with examples below, wherein the content shown in the accompanying drawings is only used for explaining the present invention, and does not constitute any sense of the present invention The constraints, in the attached image:

Fig. 1 is a schematic structural view of the surface repair shaping device for metal 3D printing according to the present invention;

Fig. 2 is the top view of the metal 3D printing shaping device in the present invention;

Fig. 3 is the A-A sectional view of the metal 3D printing shaping device in the present invention;

Fig. 4 is a structural schematic diagram of a space scanning camera device in the present invention;

Fig. 5 is a structural schematic diagram of the combined light source on the space scanning camera device in the present invention;

Fig. 6 is a structural schematic diagram of the omnidirectional six-degree-of-freedom mechanical arm in the present invention.

detailed description

As shown in Figure 1, the present invention is a surface repair and shaping device for metal 3D printing, including a first omnidirectional six-degree-of-freedom mechanical arm 1, a housing 2, a metal 3D printing and shaping device 3, and a space scanning camera device 4 , a workpiece lifting tray 5, a workpiece 6 and a second omnidirectional six-degree-of-freedom mechanical arm 7; On the inner wall; the metal 3D printing shaping device 3 and the space scanning camera device 4 are respectively installed at the end positions of the first omnidirectional six-degree-of-freedom mechanical arm 1 and the second omnidirectional six-degree-of-freedom mechanical arm 7; the workpiece lifts The pallet 5 is arranged at the bottom of the shell 2; the workpiece 6 is arranged on the lifting pallet of the workpiece.

The first omni-directional six-degree-of-freedom mechanical arm 1 can drive the metal 3D printing shaping device 3 to any position in the processing area, so that the metal 3D printing shaping device 3 can process and protect the processed workpiece 6 or the surface of the processed workpiece 6 At the same time, the second omnidirectional six-degree-of-freedom mechanical arm 7 drives the space scanning camera device 4 to monitor the machining process of the workpiece in real time, scans and shoots the external shape of the processed workpiece 6, and the high-precision camera 4-2 collects The image is preprocessed by visual processing software, matched with the standard image, the defective part is identified, and the spatial coordinate value is recorded to provide a reference for surface repair and shaping. The first full-scale fixed metal 3D printing shaping device The six-degree-of-freedom robot arm 1 in the azimuth space drives the metal 3D printing shaping device 3 to repair the processing defects under the command of the computer.

Figures 2 and 3 show a top view and a cross-sectional view of a metal 3D printing shaping device 3, which includes a spiral cooling liquid circulation channel 3-1 arranged in sequence from the outside to the center, an inert gas Channel 3-2, material injection channel 3-3, laser beam channel 3-4. Different from the general air injection device, the nozzle of the metal 3D printing shaping device 3 of the present invention is composed of a series of tiny evenly spaced through holes, which can make the ejected gas more uniform, and the metal 3D printing shaping device 3 can be in accordance with According to the requirements of processing, adjust the speed, flow and temperature of the air jet for main processing, auxiliary processing, cold processing, hot processing, etc. The material injection channel 3-3 can spray adjustable metal wire materials as required with the help of laser beams Compensate and repair the surface pits of the workpiece. Coolant can be passed into the spiral coolant circulation channel 3-1 to take away excess heat generated by long-term laser irradiation, reduce the temperature of the metal 3D printing shaping device 3, and prolong its service life.

What Fig. 4 shows is the schematic diagram of space scanning camera device 4, and space scanning camera device 4 comprises camera device bracket 4-1, high-precision camera 4-2, and mechanical arm connection structure 4-3, combined light source 4-4, so The camera device bracket 4-1 is concave, the connection structure 4-3 with the mechanical arm is arranged in the middle of the camera device bracket 4-1, and the high-precision camera 4-2 and the combined light source 4-4 are respectively arranged on Both sides of the camera device bracket 4-1. Combined light source 4-4 is composed of coaxial light, ring light and reflected light, which can be freely combined according to the surface shape to improve the shooting effect of surface defects. The space scanning camera device 4 reaches any position on the surface of the workpiece 6 under the assistance of the second omni-directional six-degree-of-freedom mechanical arm 7, and scans and shoots. Due to the use of the combined light source 4-4, the impact on the concave-convex, S-shaped, and grooves is reduced. It is difficult to capture images of surface morphology, and the high-precision camera can easily collect images of any surface of the workpiece.

Figure 6 is a schematic view of the first omnidirectional six-degree-of-freedom mechanical arm 1 and the second omnidirectional six-degree-of-freedom mechanical arm 7. In the present invention, the first omnidirectional six-degree-of-freedom mechanical arm 1 and the second omnidirectional six-degree-of-freedom mechanical arm The structure of mechanical arm 7 is identical.

The working principle of the present invention is: use the mutual assistance of the metal 3D printing shaping device 3 and the space scanning camera device 4 respectively installed on two omnidirectional space six-degree-of-freedom mechanical arms to perform surface restoration and surface treatment functions on the workpiece, The first omnidirectional six-degree-of-freedom mechanical arm 1 can drive the metal 3D printing shaping device 3 to any position in the processing area. The space scanning camera device 4 is equipped with a high-precision camera 4-2 and a combined light source 4-4, which can control the processing Capture and locate any defect at any time and any position of the workpiece 6. The image collected by the high-precision camera 4-2 is preprocessed by the visual processing software, matched with the standard image, and the defective part is identified, and the spatial coordinate value is recorded , to provide a reference basis for surface repair and shaping, the computer transmits the information to the metal 3D printing shaping device 3, drives the metal 3D printing shaping device 3 to modify the defects of the processed workpiece 6, and achieves the designed workpiece shape and the processed workpiece Consistent shape. In actual work, add this device during the 3D printing process to protect and monitor the 3D printing process, scan and repair the 3D printed workpiece, and repair the surface defects of the processed workpiece separately in real time , or use the metal 3D printing shaping device alone to shape the workpiece.

The embodiments of the present invention have been described in detail above, but the described content is only a preferred embodiment of the present invention, and cannot be considered as limiting the scope of the present invention. All equivalent changes and improvements made according to the scope of the present invention, etc., All should still belong to the scope covered by this patent.

Claims (1)

1. the surface reconditioning forming devices printed for metal 3D, it is characterised in that: include the first full side Position sixdegree-of-freedom simulation, shell, spacescan camera head, processing workpiece, workpiece lifting pallet, Metal 3D prints forming devices and the second comprehensive sixdegree-of-freedom simulation；Described first comprehensive six certainly It is symmetrically mounted on outer casing inner wall by degree mechanical arm and the second comprehensive sixdegree-of-freedom simulation；Described metal 3D prints forming devices and spacescan camera head is separately mounted to the first comprehensive six degree of freedom machinery Arm and the terminal position of the second comprehensive sixdegree-of-freedom simulation；Described workpiece lifting pallet is arranged on shell Bottom；Described processing workpiece setting is on workpiece lifting pallet；Described metal 3D prints in forming devices Portion is disposed with spiral type coolant circulation passage, noble gas passage, material spray by outside to center Penetrate passage and laser beam passway；Described spacescan camera head includes that camera head support, high accuracy are taken the photograph As head, mechanical arm attachment structure and combined light source；Described camera head support is concave；Described mechanical arm Attachment structure is arranged at the centre position of camera head support；Described high accuracy photographic head and combined light source divide It is not arranged on the both sides of camera head support；Described first comprehensive sixdegree-of-freedom simulation and the second full side The structure of position sixdegree-of-freedom simulation is identical.