基于双机器人的增减材复合制造平台设计

Design of Additive/Subtractive Hybrid Manufacturing Platform Based on Dual Robots

增减材复合制造技术是为解决增材制造成形件表面质量差、精度低这一问题而发展起来的新技术,为适应航天、模具等领域功能零件的快速高精度制造与现场修复需求、发挥机器人在增减材复合制造领域的优势,设计了一套基于双机器人的增减材复合制造平台。平台通过一台轻载20 kg定向能量沉积增材机器人与一台重载165 kg铣削减材机器人协同完成增减材制造加工,成形尺寸800 mm×800 mm×500 mm,成形效率可达500 cm^(3)/h。通过气动系统,增材机器人可快速完成激光/等离子不同能量源的切换与送粉/送丝不同材料输送方式的切换,减材机器人可通过自动换刀装置完成不同铣刀的切换。平台的控制系统由西门子S7-1200PLC作为总控,通过HMI人机界面对机器人、激光器、送粉器等设备进行控制并监控其运行状态,实现了控制系统一体化。平台高效率、高精度、高稳定性与高自动化的特点使其在复杂结构件快速高精度制造与现场修复方面展现出巨大应用价值。

Additive/subtractive hybrid manufacturing technology is a new technology developed to solve the problems of poor surface quality and low accuracy of formed parts in additive manufacturing.In order to meet the needs of rapid and high-precision manufacturing and on-site repair of functional parts in aerospace,molds and other fields,and to leverage the advantages of robots in the field of additive/subtractive hybrid manufacturing,a set of additive/subtractive hybrid manufacturing platform is designed based on dual robots.The platform relies on a light-duty 20 kg directed energy deposition additive manufacturing robot and a heavy-duty 165 kg milling subtractive manufacturing robot to work together to complete additive and subtractive manufacturing processes.The forming size can reach 800 mm×800 mm×500 mm,and the forming efficiency can reach 500 cm^(3)/h.Through the pneumatic system,the additive manufacturing robot can quickly switch between different energy sources such as laser/plasma and different material delivery methods such as powder/wire.The subtractive manufacturing robot can switch between different milling cutters through an automatic tool changing device.The control system of the platform uses Siemens S7-1200 PLC as the central control,and through the HMI human-machine interface,it can control and monitor the robots,laser,powder feeder,and other equipment to achieve integrated monitoring.The high efficiency,high precision,high stability,and high automation of the platform make it exhibit great application value in the rapid and high-precision manufacturing and on-site repair of complex structural parts.