Robot wire-filling friction stir welding and solid-phase additive manufacturing device

Abstract

A robot wire-filling friction stir welding and solid-phase additive manufacturing device, comprising: a robot (1), a robot friction stir welding main shaft (4) arranged on the robot (1), a main-shaft control device (2), an industrial control computer (3), a robot control device (5), a welding worktable (6) and a push-pull wire feeder (7), wherein the robot friction stir welding main shaft (4) comprises a stir welding main shaft (8), an adapter sleeve (9), a cutting tool shank (10), a locking fixing sleeve (13) and a stirring head, there being two types of stirring head: a wire-filling welding stirring head and a wire-filling additive stirring head. On the basis of a heavy-duty robot, the device drives the friction stir welding main shaft to perform a welding motion, and a spiral milling cutter (11-3) of the stirring head crushes and granulates a wire fed in by the push-pull wire feeder (7), and granular wires are conveyed to a welding region / additive region by means of a material guide thread on a stirring pin, thus realizing robot wire-filling friction stir welding and robot wire-filling solid-phase additive manufacturing, and solving the problems of solid-phase friction stir welding for the connection of small-batch and multi-variety lightweight alloy welding members and high-efficiency additive manufacturing of large-sized lightweight alloy structural members in the aerospace industry.

Description

A robot-assisted wire-filled friction stir welding and solid-phase additive manufacturing device Technical Field

[0001] The present invention relates to a robot-wire-filled friction stir welding and solid-phase material adding device, and in particular to a robot-wire-filled friction stir welding and solid-phase material adding device for digital and intelligent manufacturing industry. Background Art

[0002] Friction stir welding primarily involves friction between a stirring head equipped with a stirring pin and a shoulder and the workpiece being welded, generating a large amount of frictional heat that softens the weld material, thereby reaching a thermoplastic state and causing plastic flow to achieve a solid-phase connection. For fillet welds, the rotating shoulder interferes with the material on either side of the weld, preventing welding. In static shoulder friction stir welding, the shoulder and the stirring pin are separate structures. During welding, the shoulder does not rotate, while the rotating stirring pin rubs against the material being welded. Therefore, by designing a specially designed static shoulder and stirring pin, friction stir welding of fillet welds can be achieved.

[0003] Existing static shoulder friction stir welding is primarily used for flat welds, for example, with the primary purpose of reducing welding heat input, eliminating arc marks, and improving surface finish. However, this shoulder has a relatively large diameter and cannot meet the welding requirements of fillet welds. Friction stir welding of T-joints can be achieved through lap joints, but this remains a conventional friction stir welding method, resulting in large weld sizes and high heat input, making full penetration difficult to achieve. This results in low weld quality and joint strength, and places stringent requirements on the assembly form and thickness of the workpiece.

[0004] For the friction stir welding of the inner corner weld of the T-joint, the patent application with publication number CN109202271A discloses a static shoulder wire filler friction stir welding device and a corner weld additive manufacturing method, CN107160030A discloses a static shoulder device and an additive manufacturing method for static shoulder friction stir welding, and CN114619054A discloses a friction additive device and its method and product. These three patents directly stir the welding wire into the weldment, and do not realize robot stir welding. The corresponding additive manufacturing is also limited to the corner weld, and the relevant stirring head is not designed in detail, nor is a solid phase additive method proposed. The inventor found through experiments that the direct use of welding wire for additive friction stir welding is prone to defects, and wire blockage is prone to occur when used for corner welds, which is not suitable for promotion and use.

[0005] Friction stir additive manufacturing (FSAM) is a new additive manufacturing technology derived from friction stir welding. Currently, FSM is divided into three typical modes based on the characteristics of the manufacturing process: plate stacking, friction surfacing deposition, and hollow rod friction deposition. CN114799480A discloses a fully solid-phase FSM method and device with synchronous and uninterrupted wire feeding. This patent involves synchronously and uninterruptedly feeding filamentary additive raw material through multiple wire feed channels into the space between the internal storage chamber of the wire feed device and the crushing blades on the FSM. The filamentary raw material is then crushed into granular form by the crushing blades on the FSM, which then moves downward along the screw to accumulate. As the FSM rotates, the granular additive material is continuously thermoplasticized. The thermoplasticized additive material is then stirred and mixed by multiple boss structures below the FSM, achieving solid-phase additive manufacturing. This patent does not provide an additive stir friction welding structure, nor does it reflect any information about the wire feeding structure. The material storage chamber of this patent is very small and directly connected to the front section of the stirring needle, which cannot achieve an additive effect at all. It does not integrate a robot welding unit. This patent does not reflect the principle of synchronization, and directly uses a push-pull wire feeding mechanism for wire feeding, which is more stable and convenient. The inventor found through experiments that only a boss cannot achieve additive manufacturing, and a spiral groove needs to be provided on the end face of the stirring needle to gather the material.

[0006] The use of robots for welding and additive manufacturing is now very common, but stir friction welding additive manufacturing based on heavy-duty robots is rare. CN115467569A discloses a robot continuous wire feeding stir friction additive device and a curved surface additive method. The patent only gives the general framework of the device and does not carry out detailed design in combination with the actual production of aerospace parts. No detailed engineering design is carried out for the selection of wire feeders, wire feeding methods, fixation of wire feeding mechanisms, wire cutting and feeding. A push-pull wire feeder is not selected based on actual tests. For aerospace aluminum alloy welding and additive manufacturing, the robot's load is at least greater than 1 ton. The additive manufacturing device does not propose an additive stir friction welding function, and compared with actual engineering applications, it does not provide a corresponding reasonable structural invention design.

[0007] In summary, for the manufacturing of lightweight aluminum alloy parts for aerospace, existing technologies cannot solve the problems of small-batch and multi-variety friction stir welding and solid-phase additive manufacturing.

[0008] Summary of the Invention

[0009] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a robot wire-filled friction stir welding and solid phase additive device to achieve high-performance clean manufacturing in aerospace and solve the problem of small-batch flexible friction stir welding.

[0010] In order to achieve the above object, the present invention adopts the following technical solutions:

[0011] A robotic friction stir welding and solid-phase material addition device includes a robot, a robotic friction stir welding spindle mounted on the robot, a spindle control device, an industrial computer, a robot control device, a welding workbench, and a push-pull wire feeder. The spindle control device is used to control the robotic friction stir welding spindle. The robot control device is used to control the robot. The industrial computer is used to program robotic friction stir welding, set welding parameters, monitor welding process data, store and retrieve welding data, receive and deliver tasks, provide guidance on welding process errors, provide abnormality reminders, and provide solutions. The robotic friction stir welding spindle includes a stir welding spindle, an adapter sleeve, a tool holder, a locking sleeve, and a stirring head.

[0012] The stirring head includes a stirring needle and a static shaft shoulder. The stirring needle is mounted on a knife handle. The static shaft shoulder is fixed on an adapter sleeve. The adapter sleeve is fixed to the outer shell of the stirring welding spindle by screws. The knife handle is mounted on the central rotating shaft of the stirring welding spindle. The stirring welding spindle drives the stirring needle to rotate and weld through the knife handle. A crushing ring cavity is formed between the static shaft shoulder and the stirring needle.

[0013] The stirring head is selected from a wire-filled welding stirring head or a wire-filled additive stirring head, and the stirring needle of the wire-filled additive stirring head includes an end face spiral groove and high-temperature alloy teeth;

[0014] A wire feeding hole is provided on the side of the static shaft shoulder, through which the welding wire enters the crushing ring cavity. In the crushing ring cavity, the welding wire is crushed by the spiral milling cutter of the stirring needle, and the fine particle welding wire is sent to the stirring needle head welding working area of ​​the stirring needle through the guide thread of the stirring needle.

[0015] As a preferred method, a wire feeding head is fixed on the outer shell of the stirring welding spindle, the wire feeding head is connected to the wire feeding pipeline, the welding wire is fed into the crushing ring cavity through the wire feeding head and the wire feeding pipeline, the wire feeding head is fixed on the outer shell of the stirring welding spindle through a clamp bracket, the angle between the wire feeding head and the clamp bracket is adjusted according to the characteristics of the wire feeding hole of the static shaft shoulder, and then fastened with bolts.

[0016] As a preferred embodiment, the stirring head includes a stirring needle, a material guide thread, a spiral milling cutter, a shoulder and a tool rod arranged in sequence, the tool rod is connected to the tool handle, the shoulder is used to limit the axial position of the stirring head, the material guide thread is used to guide the welding wire in a fine particle state to the welding area through the thread, and the stirring needle is used for welding stirring.

[0017] As a preferred embodiment, the push-pull wire feeder is installed on the second axis arm of the robot.

[0018] As a preferred embodiment, an adjusting gasket is provided between the adapter sleeve and the static shaft shoulder. The thickness of the adjusting gasket is 0.1 mm, and the length of the stirring needle protruding from the static shaft shoulder is adjusted.

[0019] As a preferred embodiment, the static shoulder is a fillet weld static shoulder, and the fillet weld static shoulder is provided with a fillet weld static shoulder wire feeding hole. The forward side chamfer of the fillet weld static shoulder is Ra, and the rear side chamfer is Rb. Ra is determined according to the size of the welding fillet. The Ra of the 90° fillet is 0.5mm, and Rb is determined according to the requirements of the weldment drawing: when the weldment requires a chamfer of C2, Rb is C2.

[0020] As a preferred embodiment, three end surface spiral grooves are evenly distributed, 4 to 6 high-temperature alloy teeth are evenly distributed, and the high-temperature alloy teeth are welded to the stirring needle body by brazing.

[0021] As a preferred embodiment, the robot is a heavy-load robot, and the rated load of the robot is greater than or equal to 1 ton.

[0022] As a preferred method, when friction stir welding is performed on a fillet weld of 2219 aluminum alloy with a thickness of 6 mm and a chamfered corner radius R2, the robot friction stir welding spindle pressure is set to 0.9 KN, the welding speed is 120 mm / min, the stirring needle speed is 1500 rpm, the welding wire diameter is 3 mm, and the wire feeding speed is 5 m / min; when friction stir welding is performed on a fillet weld of 6 mm in thickness and a chamfered corner radius C2, the robot friction stir welding spindle pressure is set to 0.9 KN, the welding speed is 120 mm / min, the stirring needle speed is 1500 rpm, the welding wire diameter is 3 mm, and the wire feeding speed is 6 mm / s.

[0023] As a preferred method, during the solid phase additive manufacturing of 2219 aluminum alloy, the robot stir friction welding spindle pressure is set to 0.9KN, the welding speed is 100mm / min, the stirring needle speed is 1300rpm, the welding wire diameter is 3mm, and the wire feeding speed is 12m / min.

[0024] The present invention has the following advantages:

[0025] (1) The present invention solves the problem of upgraded use of robot stir friction welding, and filler wire stir welding solves the problem of stir friction welding with larger welds, thereby realizing stir friction welding with large weld gaps; (2) The present invention realizes uneven weld welding and stir friction welding of heterogeneous spatial structures through robot control and spindle integrated control; (3) The present invention can realize stir friction solid phase additive manufacturing while realizing robot stir friction welding; (4) The present invention is a robot flexible manufacturing unit, with a wider range of welding structures, more additive structures, and fewer and simpler welding tools required for welding and additive manufacturing; (5) The filler wire welding stirring head and the filler wire additive stirring head of the present invention have simple and reasonable structures, high installation accuracy, and easy maintenance; (6) The wire feeding adopted by the present invention is more direct, and after physical test acceptance, the welding and additive effects are detailed, and the adjustment of process parameters is more convenient; (7) The present invention provides a fast and low-cost manufacturing method for the subsequent connection of aerospace lightweight alloy welded parts and large-scale lightweight alloy additive manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG1 is a schematic structural diagram of the present invention.

[0027] FIG2 is a three-dimensional schematic diagram of the present invention.

[0028] FIG3 is a schematic diagram of a robot friction stir welding spindle according to the present invention.

[0029] FIG4 is a partial enlarged view of the robot friction stir welding spindle.

[0030] FIG5 is a schematic diagram of a wire-filling stirring needle according to the present invention.

[0031] FIG6 is a schematic diagram of a fillet weld robot's wire-filling friction stir welding spindle according to the present invention.

[0032] FIG7 is a cross-sectional view of the main shaft of the fillet weld robot friction stir welding of the present invention.

[0033] FIG8 is a schematic diagram of a fillet weld robot performing friction stir welding with a fillet wire according to the present invention.

[0034] FIG9 is a schematic diagram of the static shoulder and the static shoulder of the fillet weld of the present invention.

[0035] FIG10 is a cross-sectional view of the spindle of the robot for filling wire and stirring solid-phase additive manufacturing according to the present invention.

[0036] FIG11 is a schematic diagram of a wire-filled stirring needle for solid-phase additive manufacturing according to the present invention.

[0037] FIG12 is a schematic diagram of the present invention's robot wire-stir friction solid-phase additive manufacturing.

[0038] Figure: 1. Robot, 2. Friction stir welding spindle control device, 3. Industrial computer, 4. Robot friction stir welding spindle, 5. Robot control device, 6. Welding table, 7. Push-pull wire feeder, 8. Stir welding spindle, 9. Adapter sleeve, 10. Tool holder, 11. Filler wire stirring needle, 11-1. Stirring needle head, 11-2. Material guide thread, 11-3. Spiral milling cutter, 11-4. Shoulder, 11-5. Tool shank, 12. Spacer, 13. Locking sleeve, 14. Static shoulder, 14-a. Static shoulder wire feed hole, 15. Clamp support Frame, 16. Locking screw, 17. Welding wire, 18. Wire feed head, 19. Wire feed line, 20. Crushing ring cavity, 21. Fillet weld static shoulder, 21-a. Fillet weld static shoulder wire feed hole, 22. Fillet weld, 23. T-shaped fillet plate, 24. Additive stirring needle, 24-1. Additive stirring needle, 24-2. Guide thread, 24-3. Spiral milling cutter, 24-4. Shoulder, 24-5. Tool shank, 24-6. End face spiral groove, 25. Additive plate, 25-1. Additive layer, 25-2 Additive base layer, 26. High-temperature alloy tooth. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below with reference to the accompanying drawings.

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] Example:

[0042] A robot stir friction welding and solid phase additive device with filled wire includes a robot 1, a stir friction welding spindle control device 2, an industrial computer 3, a robot stir friction welding spindle 4, a robot control device 5, a welding workbench 6, and a push-pull wire feeder 7. In order to meet the functions of stir friction welding and solid phase additive, the robot 1 is a heavy-duty robot, and the rated load of the robot 1 is greater than or equal to 1 ton; the robot stir friction welding spindle 4 includes a stir welding spindle 8, an adapter sleeve 9, a tool handle 10, a locking fixing sleeve 13 and a stirring head. The stirring head is divided into a filler wire welding stirring head and a filler wire additive stirring head. The filler wire welding stirring head is composed of a filler wire stirring needle 11 and a static shaft shoulder 14. The filler wire stirring needle 11 is installed on the tool handle 10 by a locking screw 16. The static shaft shoulder 14 is pressed and fixed on the adapter sleeve 9 by a locking fixing sleeve 13. The adapter sleeve 9 and the locking fixing sleeve 13 are threadedly connected, and the adapter sleeve 9 is fixed to the stir welding spindle by a screw connection. The outer shell of 8 and the tool handle 10 are installed on the central rotating axis of the stirring welding spindle 8. The stirring welding spindle 8 drives the filling wire stirring needle 11 to rotate and weld through the tool handle 10. The static shaft shoulder 14 is installed on the outer shell of the spindle. During the welding process, the static shaft shoulder 14 does not rotate. An annular crushing ring cavity 20 is formed between the static shaft shoulder 14 and the filling wire stirring needle 11. A wire feeding hole 14-a is set on the side of the static shaft shoulder 14. The welding wire 17 enters the crushing ring cavity 20 through the wire feeding hole 14-a. In the crushing ring cavity 20, the welding wire 17 is crushed by the spiral milling cutter 11-3 of the filling wire stirring needle 11. The filling wire stirring needle 11 mills the fed welding wire 17 into a fine particle state. Through the robot static shaft shoulder friction stir welding method, the fine particle welding wire 17 is sent to the welding working area of ​​the stirring needle head 11-1 of the filling wire stirring needle 11 through the guide thread 11-2 of the filling wire stirring needle 11, thereby realizing the robot filling wire stir friction welding technology, which can realize stir friction welding with larger butt welds.

[0043] The wire-filling additive stirring head includes an additive stirring needle 24 and a static shoulder 14. The installation method and wire feeding principle of the wire-filling additive stirring head are the same as those of the wire-filling welding stirring head. The difference lies in the stirring additive needle head 24-1 of the additive stirring needle 24. The stirring additive needle head 24-1 of the additive stirring needle 24 includes an end face spiral groove 24-6 and a high-temperature alloy tooth 26. The stirring additive needle head 24-1 of the additive stirring needle 24 is the core of realizing the robot wire-filling stir friction welding solid phase additive technology. The height increased by each additive movement is determined by the height of the high-temperature alloy tooth 26 and the amount of wire fed.

[0044] The welding wire 17 is fed into the crushing ring cavity 20 through the wire feeding head 18 and the wire feeding pipeline 19. The wire feeding head 18 is fixed to the outer shell of the stirring welding spindle 8 through the clamp bracket 15. The wire feeding head 18 and the clamp bracket 15 are connected by bolts. The angle between the wire feeding head 18 and the clamp bracket 15 is adjusted according to the characteristics of the wire feeding hole 14-a of the static shaft shoulder 14, and they are tightened with bolts. The angle of the wire feeding hole 14-a corresponding to each different static shaft shoulder 14 is different, and the angle is determined according to the manufacturing object of the two methods of welding and additive manufacturing.

[0045] The wire-filling welding stirring head 11 consists of a stirring needle head 11-1, a guide thread 11-2, a spiral milling cutter 11-3, a shoulder 11-4 and a tool rod 11-5. The tool rod 11-5 is used to connect the tool handle 10 of the robot 1. The shoulder 11-4 is used to limit the axial position of the wire-filling welding stirring head 11. The spiral milling cutter 11-3 is used to crush the fed welding wire 17 into fine particles. The guide thread 11-2 is used to guide the welding wire in the fine particle state to the welding area through the thread. The stirring needle head 11-1 is used for welding stirring, thereby realizing wire-filling stir friction welding.

[0046] The push-pull wire feeder 7 is installed on the second axis arm of the robot 1 and fixed by screw connection. The wire feeding pipeline 19 is installed and extended to the stirring needle through a cable tube.

[0047] The friction stir welding spindle control device 2 is used for integrated control of the robot friction stir welding spindle 4, including the integration of spindle rotation, spindle cooling, spindle pressure control, spindle displacement control, weld seam tracking and wire feeder control.

[0048] An adjusting spacer 12 is provided between the adapter sleeve 9 and the static shaft shoulder 14. The thickness of each adjusting spacer 12 is 0.1 mm, and it is mainly used to adjust the length of the stirring needle protruding from the static shaft shoulder to reduce the tolerance of the stirring head processing and assembly.

[0049] When the robot device is used to weld fillet welds, the T-shaped fillet plate 23 adopts filler wire stir welding, and the static shoulder 14 is used to achieve the two sides of the fillet weld fitting. The structure of the static shoulder 14 is a fillet weld static shoulder 21, and the fillet weld static shoulder 21 is provided with a fillet weld static shoulder wire feeding hole 21-a. The forward side chamfer Ra of the fillet weld static shoulder 21 is chamfered, and the rear side chamfer Rb. Ra is determined according to the size of the welding fillet. The Ra of the 90° fillet is 0.5mm, and Rb is determined according to the requirements of the welding part drawing. When the weldment requires a chamfer of C2, Rb is C2. When the weldment drawing requires a chamfer of R1, Rb is R1. This stir friction welding method ensures the uniformity and consistency of the chamfer of the fillet joint, improves the weld penetration relative to fusion welding, and greatly improves the strength of the fillet welded part.

[0050] When the device is used for solid-phase additive manufacturing, the stirring needle used is an additive stirring needle 24, which is composed of a stirring additive needle head 24-1, a guide thread 24-2, a spiral milling cutter 24-3, a shoulder 24-4 and a tool rod 24-5. The tool rod 24-5 is used to connect the tool handle 10 of the robot 1, the shoulder 24-4 is used to limit the axial position of the additive stirring needle 24, the spiral milling cutter 24-3 is used to crush the fed welding wire 17 into fine particles, and the guide thread 24-2 is used to guide the welding wire 17 in a fine particle state to the welding line through the thread. In the additive area, the stirring additive needle 24-1 is composed of a characteristic end face spiral groove 24-6 and a high-temperature alloy tooth 26. The end face spiral groove 24-6 realizes the central convergence of the welding wire 17 in a fine particle state and the material in a plastic state during the stirring process. The high-temperature alloy tooth 26 realizes the additive high-temperature plastic stirring. The particle state welding wire 17 fed in is solid-phase additively manufactured by stirring and extruding to realize the manufacturing of the additive plate 25. The additive layer 25-1 is printed on the base layer 25-2 in a solid-phase connection manner. The above actions are fully combined to realize the robot solid-phase additive manufacturing.

[0051] The additive stirring needle 24 has three evenly distributed characteristic end face spiral grooves 24-6, and the spiral manner is opposite to the rotation direction of the stirring needle during additive welding; the additive stirring needle 24 has three evenly distributed high-temperature alloy teeth 26 installed on the additive stirring needle 24-1, and the high-temperature alloy teeth are welded to the body of the additive stirring needle 24 by brazing.

[0052] When performing friction stir welding of 2219 aluminum alloy fillet weld with thickness 6mm and chamfer radius R2, the robot friction stir welding spindle pressure is set to 0.9KN, the welding speed is 120mm / min, the stirring needle speed is 1500rpm, the welding wire diameter is 3mm, and the wire feeding speed is 5m / min. When performing friction stir welding of 2219 aluminum alloy fillet weld with thickness 6mm and chamfer radius C2, the robot friction stir welding spindle pressure is set to 0.9KN, the welding speed is 120mm / min, the stirring needle speed is 1500rpm, the welding wire diameter is 3mm, and the wire feeding speed is 6mm / s, and qualified welded parts can be obtained.

[0053] When using the device for solid-phase additive manufacturing of 2219 aluminum alloy, the robot stir friction welding spindle pressure is set to 0.9 kN, the welding speed is 100 mm / min, the stirring needle speed is 1300 rpm, the welding wire diameter is 3 mm, and the wire feeding speed is 12 m / min, and qualified additive parts can be obtained.

[0054] The present invention is not limited to the aforementioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. A robot wire-stirring friction welding and solid phase additive device, characterized in that: It includes a robot, a robot stir friction welding spindle arranged on the robot, a spindle control device, an industrial computer, a robot control device, a welding workbench, and a push-pull wire feeder. The spindle control device is used to control the robot stir friction welding spindle, the robot control device is used to control the robot, and the industrial computer is used to compile a stir friction welding welding program and set welding parameters; the robot stir friction welding spindle includes a stir welding spindle, an adapter sleeve, a tool handle, a locking sleeve and a stirring head. The stirring head comprises a stirring needle and a static shaft shoulder, the stirring needle is mounted on a knife handle, the static shaft shoulder is fixed on an adapter sleeve, the adapter sleeve is fixed to an outer shell of a stirring welding spindle by screws, the knife handle is mounted on a central rotating shaft of the stirring welding spindle, the stirring welding spindle drives the stirring needle to rotate and weld through the knife handle, and a crushing ring cavity is formed between the static shaft shoulder and the stirring needle; The stirring head is selected from a wire-filled welding stirring head or a wire-filled additive stirring head, and the stirring needle of the wire-filled additive stirring head includes an end face spiral groove and high-temperature alloy teeth; A wire feeding hole is provided on the side of the static shaft shoulder, and the welding wire enters the crushing ring cavity through the wire feeding hole. In the crushing ring cavity, the welding wire is crushed by the spiral milling cutter of the stirring needle, and the fine particle welding wire is sent to the stirring needle head welding working area of ​​the stirring needle through the guide thread of the stirring needle.

2. A robot-based friction stir welding and solid phase material addition device according to claim 1, characterized in that: A wire feeding head is fixed on the outer shell of the stirring welding main shaft, the wire feeding head is connected to the wire feeding pipeline, the welding wire is fed into the crushing ring cavity through the wire feeding head and the wire feeding pipeline, the wire feeding head is fixed on the outer shell of the stirring welding main shaft through a clamp bracket, the angle between the wire feeding head and the clamp bracket is adjusted according to the characteristics of the wire feeding hole of the static shaft shoulder, and is fastened with bolts.

3. The robot wire-stir friction welding and solid phase material addition device according to claim 1, characterized in that: The stirring head includes a stirring needle, a material guide thread, a spiral milling cutter, a shoulder and a tool rod arranged in sequence. The tool rod is connected to the tool handle, the shoulder is used for axial limitation of the stirring head, the material guide thread is used to guide the welding wire in a fine particle state to the welding area through the thread, and the stirring needle is used for welding stirring.

4. The robot-wire-filled friction stir welding and solid phase additive manufacturing device according to claim 1, characterized in that: The push-pull wire feeder is installed on the second shaft arm of the robot.

5. The robot-wire-filled friction stir welding and solid phase additive manufacturing device according to claim 1, characterized in that: An adjusting gasket is arranged between the adapter sleeve and the static shaft shoulder. The thickness of the adjusting gasket is 0.1 mm, and the length of the stirring needle protruding from the static shaft shoulder is adjusted.

6. The robot wire-stir friction welding and solid phase additive manufacturing device according to claim 1, characterized in that: The static shoulder is the static shoulder of the fillet weld, and the static shoulder of the fillet weld is provided with a static shoulder wire feeding hole. The forward side chamfer of the static shoulder of the fillet weld is Ra, and the rear side chamfer is Rb. Ra is determined according to the size of the welding fillet. The Ra of the 90° fillet is 0.5mm, and Rb is determined according to the requirements of the welding part drawing: when the welding part requires a chamfer of C2, Rb is C2.

7. The robot-wire-filled friction stir welding and solid phase additive manufacturing device according to claim 1, characterized in that: The end surface spiral grooves are evenly distributed with three, the high-temperature alloy teeth are evenly distributed with 4 to 6, and the high-temperature alloy teeth are welded to the stirring needle matrix by brazing.

8. The robot-wire-filled friction stir welding and solid phase additive manufacturing device according to claim 1, characterized in that: The robot is a heavy-duty robot, and the rated load of the robot is greater than or equal to 1 ton.

9. The robot wire-stir friction welding and solid phase additive manufacturing device according to claim 1, characterized in that: When friction stir welding of 2219 aluminum alloy fillet weld with thickness 6mm and chamfer radius R2, the robot friction stir welding spindle pressure is set to 0.9KN, welding speed is 120mm / min, stirring needle speed is 1500rpm, wire diameter is 3mm, and wire feeding speed is 5m / min; when friction stir welding of fillet weld with thickness 6mm and chamfered right angle C2, the robot friction stir welding spindle pressure is set to 0.9KN, welding speed is 120mm / min, stirring needle speed is 1500rpm, wire diameter is 3mm, and wire feeding speed is 6mm / s.

10. The robot-wire-filled friction stir welding and solid phase additive manufacturing device according to claim 1, characterized in that: During the solid phase additive manufacturing of 2219 aluminum alloy, the robot stir friction welding spindle pressure was set to 0.9 KN, the welding speed was 100 mm / min, the rotation speed of the stirring needle was 1300 rpm, the welding wire diameter was 3 mm, and the wire feeding speed was 12 m / min.

Images