Device and method for full-angle adjustment of plasma arc additive

Abstract

The present invention discloses a device for full-angle adjustment of plasma arc additive materials, comprising a central processing unit and a welding robot connected via a data line. A universal plasma welding gun is provided at the front end of the welding robot's mechanical arm; a clamp and a wire outlet nozzle are also provided, the wire outlet nozzle is connected to the universal plasma welding gun via the clamp and can rotate universally with the universal plasma welding gun; a working platform is provided below the universal plasma welding gun, a base plate and a full-angle adjustment wire feeding unit are provided on the table of the working platform, the full-angle adjustment wire feeding unit is connected to the wire outlet nozzle via a wire feeding guide tube to complete wire feeding; the full-angle adjustment wire feeding unit is connected to the central processing unit via wireless communication. This avoids the impact of lateral or backward wire feeding on the molten pool during welding, ensuring that the wire feeding mechanism always feeds wire in the forward direction. The present invention also provides a method for full-angle adjustment of plasma arc additive materials.

Description

Technical Field

[0001] The present invention belongs to the technical field of metal material forming, and in particular relates to a device for full-angle adjustment of plasma arc material addition, and also relates to a method for full-angle adjustment of plasma arc material addition. Background Art

[0002] Wire and Arc Additive Manufacturing (WAAM) uses an arc as the energy beam to create solid metal components through a layer-by-layer buildup welding process, resulting in fully welded parts. Plasma Arc Weld (PAW) uses a plasma arc as the heat source. The WAAM process involves creating a 3D model of the part, slicing the model, and planning the printing path. This path is then imported into the robot control system, which determines the robot's motion trajectory. The wire feed mechanism then delivers the wire, which is then melted using the plasma arc as the heat source. Finally, the part is built up layer by layer, from two-dimensional to three-dimensional, along the planned path.

[0003] Currently, plasma arc additive manufacturing differs from arc additive manufacturing using other heat sources. While it uses a metal wire as one of the power sources to achieve coaxial wire feeding, plasma arc additive manufacturing utilizes lateral wire feeding outside the arc. The wire does not serve as one of the power sources, but the plasma arc is used as the heat source for melting. The heat source and wire do not change synchronously and coaxially. In existing plasma arc additive manufacturing equipment, the wire feed fixture is fixed to the welding gun, unable to adjust the wire feed direction as the gun moves. This creates a certain positional and speed difference between the wire and the welding gun. As a result, the universal rotation of the welding gun not only causes the wire feed mechanism to feed sideways or backwards, affecting the molten pool and the quality of the weld, but also interferes with the robotic arm, impacting the entire welding process.

[0004] The invention patent (Electron beam fused wire additive device with vector wire feeding, application number: CN201710149564.5, publication number: CN106984894A) discloses an electron beam fused wire additive device with vector wire feeding. The device includes at least two wire feeders, a built-in control system that converts the layering and planned path data of the printed part into a software program, and a rotating mechanism controlled by the control system. The wire outlet nozzle is arranged on the rotating mechanism, and the printed part is divided into at least two additive molding ranges corresponding to each wire outlet nozzle. Each additive molding range includes multiple planned paths. The rotating mechanism controls each wire outlet nozzle to move to the front of the molten pool corresponding to the planned path.

[0005] Based on the above patent search and combined with the current technology, it is found that the above patented technology can achieve that the wire outlet nozzle is always in front of the molten pool of the planned path in electron beam additive manufacturing, avoiding the impact of the lateral or backward wire feeding of the wire feeding mechanism on the molten pool when the welding gun rotates universally, and improving the quality of additive manufacturing prints to a certain extent. However, its disadvantage is that it is necessary to set up multiple wire feeding mechanisms and rotating mechanisms at the same time, and the range of the planned path is limited, which leads to high equipment costs. In addition, if the setting of the wire feeding mechanism is applied to plasma arc additive, it will interfere with the welding robot during the printing process, and it is difficult to apply to plasma arc additive. On the other hand, the position of the rotating mechanism that controls the movement of the wire feeding mechanism is fixed, making it difficult to achieve the molding of parts with more complex structures and larger sizes. Summary of the Invention

[0006] The purpose of the present invention is to provide a device for full-angle adjustment of plasma arc additive manufacturing, which avoids the influence of lateral or backward wire feeding on the internal and external quality of the molten pool and the formed part during welding, and aims to ensure that the wire feeding mechanism always feeds the wire in the forward direction to ensure the stability of the molten pool and the internal and external quality of the workpiece.

[0007] The first technical solution adopted by the present invention is a device for full-angle adjustment of plasma arc additive manufacturing, which includes a central processing unit and a welding robot connected by data wires, and a universal plasma welding gun is provided at the front end of the welding robot's mechanical arm; it also includes a clamp and a wire outlet nozzle, the wire outlet nozzle is connected to the universal plasma welding gun through the clamp and can rotate with it in a universal direction, a working platform is provided under the universal plasma welding gun, and a base plate and a full-angle adjustment wire feeding unit are provided on the table top of the working platform, the full-angle adjustment wire feeding unit is connected to the wire outlet nozzle through a wire feeding duct to complete wire feeding; the full-angle adjustment wire feeding unit is connected to the central processing unit through wireless communication.

[0008] The present invention is also characterized in that

[0009] The full-angle adjustment wire feeding unit includes an electric drive rotating mechanism and a wire feeding mechanism; the electric drive rotating mechanism includes an annular sliding track with a spiral rack, a sliding platform is installed on the annular sliding track, and an industrial special power supply module, a drive motor and a motion controller are provided on the sliding platform, and the industrial special power supply module supplies power to the drive motor, the motion controller and the wire feeding mechanism; the drive motor is connected to the motion controller, the motion controller controls the rotation of the motor shaft of the drive motor, and the motion controller is wirelessly connected to the central processing unit; a helical gear is provided on the motor shaft of the drive motor, and a through hole is also provided on the sliding platform; the through hole is located directly below the helical gear, and the helical gear passes through the through hole to engage with the spiral rack of the annular sliding track, and the drive motor drives the helical gear to engage with the spiral rack on the annular sliding track to complete the movement; a supporting tray is installed on the outer edge of the sliding platform, and the wire feeding mechanism is installed on the supporting tray; the base plate is located on the table of the working platform at the center of the annular sliding track.

[0010] The wire feeding mechanism includes a wire feeder and a wire feeding reel installed on a supporting tray. The wire feeding mechanism is connected to an industrial-grade dedicated power supply. The wire in the wire feeder passes through the wire feeding reel, wire feeding tube, and wire outlet nozzle in sequence to complete the wire feeding.

[0011] The second technical solution adopted by the present invention is a method for full-angle adjustment of plasma arc material addition, using the above-mentioned device, and the specific steps are as follows:

[0012] Step 1: Turn on the central processing unit (CPU), import the 3D model of the printed part into the CPU, and then the CPU will plan the welding path. The planned welding path is transmitted to the welding robot via a data line. At the same time, the CPU will plan the movement instructions for the electric drive rotating mechanism based on the welding path and send the instructions wirelessly to the motion controller on the electric drive rotating mechanism.

[0013] Step 2: Turn on the welding robot, and the welding robot starts to print on the substrate according to the welding path described in step 1; turn on the power of the electric drive rotating mechanism, and the motion controller of the electric drive rotating mechanism receives the movement instruction described in step 1 and controls the drive motor. The drive motor drives the gear in the sliding platform to rotate and engage with the sliding track rack to start moving, and the wire feeder starts feeding wire;

[0014] Step 3: When the printing direction of the welding robot changes, the universal plasma welding gun will drive the wire nozzle of the welding robot to rotate together so that the wire nozzle always remains directly in front of the welding path. At this time, the electric drive rotation mechanism moves in coordination according to the movement instructions described in Step 2. During the movement, the height of the wire feed guide tube is always lower than the movement height of the robot arm to ensure that the various devices do not interfere with each other during the printing process.

[0015] Step 4: After printing is completed, the wire feeder stops feeding wire, the welding robot is turned off, and the substrate and the printed part are separated after the heat is completely dissipated to obtain the printed part.

[0016] The present invention is also characterized in that

[0017] In step 2, the welding speed of the welding robot is 1.9m / min-2.5m / min, the welding current of the welding robot is 120A-150A, the wire feeding speed of the wire feeder is 5m / min-13m / min, and the printing thickness of the welding robot can be set arbitrarily as needed.

[0018] In step 3, the rotational angular velocity of the universal plasma welding gun is 0.5 rad / s-1 rad / s, and the rotational frequency and rotational direction of the electric drive rotating mechanism are consistent with those of the universal plasma welding gun.

[0019] The beneficial effects of the present invention are:

[0020] (1) The device for full-angle adjustment of plasma arc additive manufacturing of the present invention can achieve smoothness of the plasma arc printing process through the universal plasma welding gun at the front end of the manipulator, thereby ensuring better surface quality and performance of printed parts and avoiding defects caused by a single path;

[0021] (2) The device for full-angle adjustment of plasma arc additive manufacturing of the present invention utilizes a cooperative sliding platform to carry the wire feeding mechanism to move with the universal plasma welding gun at the same angular velocity, thereby avoiding the influence of the sideways or backward feeding of the welding wire on the molten pool during welding, ensuring that the wire feeding mechanism always feeds the wire in the forward direction, and solving the problem of interference of the wire feeding mechanism caused by different displacements;

[0022] (3) The method for full-angle adjustment of plasma arc additive manufacturing in the present invention simplifies the molding process of printed parts. On the other hand, the welding robot and the electric drive rotation mechanism use the same central processing unit, which can achieve real-time and precise adjustment of the wire feed direction during printing, ensuring that the weld height of each layer is uniform and smooth, and the quality of the printed parts after molding is higher. The method of the present invention can solve the problem of interference between the plasma arc additive wire feed mechanism and the welding system when the welding gun rotates in a universal direction. While controlling equipment costs, it ensures a wider molding range and a smoother molding process, and obtains metal products with good surface quality and excellent performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of a device for full-angle adjustment of plasma arc material addition according to the present invention;

[0024] Figure 2 It is a schematic structural diagram of the entire wire feeding unit for full-angle adjustment in the device for full-angle adjustment of plasma arc material additive according to the present invention;

[0025] Figure 3 yes Figure 2 The enlarged structural diagram of point A in the full-angle adjustment wire feeding unit;

[0026] Figure 4 It is a schematic diagram of the structure of a portion of the electric drive rotating mechanism without a protective shell in the device for full-angle adjustment of plasma arc additive manufacturing according to the present invention.

[0027] In the figure, 1. CPU, 2. Data cable, 3. Welding robot, 4. Work platform, 5. Base plate, 6. Universal plasma welding gun, 7. Clamp, 8. Wire outlet nozzle, 9. Wire guide tube, 10. Electric drive rotation mechanism, 11. Wire feeding mechanism;

[0028] 10-1. Annular sliding track, 10-2. Industrial-grade dedicated power supply, 10-3. Drive motor, 10-4. Motion controller, 10-5. Sliding platform, 10-6. Support tray, 10-7. Helical gear, 10-5-1. Through hole, 11-1. Wire feeder, 11-2. Wire reel. DETAILED DESCRIPTION

[0029] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] The present invention provides a device for full-angle adjustment of plasma arc material addition, such as Figure 1-4 As shown, the system includes a central processing unit 1 and a welding robot 3 connected via a data cable 2. The central processing unit 1 plans the printing path and controls the printing process. A universal plasma welding gun 6 is provided at the front end of the welding robot 3's mechanical arm. The system also includes a fixture 7 and a wire nozzle 8. The wire nozzle 8 is connected to the universal plasma welding gun 6 via the fixture 7 and can rotate universally with the universal plasma welding gun 6. A work platform 4 is provided below the universal plasma welding gun 6. A base plate 5 and a fully adjustable wire feeding unit are provided on the work platform 4. The fully adjustable wire feeding unit is connected to the wire nozzle 8 via a wire feed guide 9 to facilitate wire feeding. The fully adjustable wire feeding unit is connected to the central processing unit 1 via wireless communication. The wire nozzle 8 is connected to the universal plasma welding gun 6 of the welding robot 3 via the fixture 7 and can rotate universally with the universal plasma welding gun 6.

[0031] The welding robot 3 is a six-axis collaborative intelligent robot.

[0032] The wire feed tube 9 is a graphite fiber wire feed tube.

[0033] The full-angle adjustment wire feeding unit includes an electric drive rotating mechanism 10 and a wire feeding mechanism 11; the central processing unit 1 sends wireless instructions to the electric drive rotating mechanism 10 to control its rotation; the wire outlet nozzle 8 is connected to the universal plasma welding gun 6 of the welding robot 3 through the clamp 7 and can rotate with it in the universal direction; the electric drive rotating mechanism 10 includes an annular sliding track 10-1 with a spiral rack, and a sliding platform 10-5 is installed on the annular sliding track 10-1. The sliding platform 10-5 is provided with an industrial-grade special power supply 10-2, a drive motor 10-3 and a motion controller 10-4. The industrial-grade special power supply 10-2 supplies power to the drive motor 10-3, the motion controller 10-4 and the wire feeding mechanism 11; the drive motor 10-3 is connected to the motion controller 10-4 (model DKC-Y220), and the motion controller 10- 4 controls the rotation of the motor shaft of the drive motor 10-3, and the motion controller 10-4 is connected to the central processing unit 1 through wireless communication; a helical gear 10-7 is provided on the motor shaft of the drive motor 10-3, and a protective shell is provided on the outer periphery of the helical gear, and a through hole 10-5-1 is also provided on the sliding platform 10-5; the through hole 10-5-1 is located directly below the helical gear 10-7, and the helical gear 10-7 passes through the through hole 10-5-1 and engages with the helical rack of the annular sliding track 10-1, and the drive motor 10-3 drives the helical gear 10-7 to engage with the helical rack on the annular sliding track 10-1 to complete the movement; a support tray 10-6 is installed on the outer edge of the sliding platform 10-5, and the wire feeding mechanism 11 is installed on the support tray 10-6; the base plate 5 is located on the table of the working platform 4 at the center of the annular sliding track 10-1.

[0034] The wire feeding mechanism 11 includes a wire feeder 11-1 and a wire feeding reel 11-2 installed on a supporting tray 10-6. The wire feeding mechanism 11 is connected to an industrial-grade dedicated power supply 10-2. The wire in the wire feeder 11-1 is fed sequentially through the wire feeding reel 11-2, the wire feeding tube 9, and the wire outlet nozzle 8.

[0035] A software program is built in to plan the path for the printed part and generate movement instructions for the electric-driven rotary mechanism that coordinates with this path. The software system in the central processing unit 1 adopts the AMSlicer Pro path software system. The central processing unit 1 first plans the printing path and transmits the planned path to the welding robot 3 via the data line 2. At the same time, it generates movement instructions for the electric-driven rotary mechanism 10 that coordinate with this path. The movement instructions are sent to the motion controller 10-4 in the electric-driven rotary mechanism, which is wirelessly connected to the central processing unit. The motion controller controls the drive motor 10-3, which drives the gear of the rotary mechanism to rotate and engage with the rack on the sliding track to complete the movement. This instruction ensures that the mobile device always moves at the same angular velocity as the plasma gun head, ensuring that the wire feeder 11-1 always moves at the same angular velocity as the universal plasma welding gun 6, and that the wire outlet nozzle always remains in front of the molten pool along the planned path.

[0036] The present invention also provides a method for full-angle adjustment of plasma arc material addition, using the above-mentioned device, and the specific steps are as follows:

[0037] Step 1: Turn on the central processing unit 1 and import the three-dimensional model of the printed part into the central processing unit 1. The central processing unit 1 plans the welding path and transmits the planned welding path to the welding robot 3 through the data line 2. At the same time, the central processing unit 1 plans the movement instructions for the electric drive rotating mechanism 10 according to the welding path and wirelessly sends the instructions to the motion controller 10-4 on the electric drive rotating mechanism 10;

[0038] Step 2: Turn on the welding robot 3, which starts printing on the substrate according to the welding path described in step 1; turn on the power of the electric drive rotating mechanism 10, and the motion controller 10-4 of the electric drive rotating mechanism 10 receives the movement instruction described in step 1 and controls the drive motor 10-3. The drive motor 10-3 drives the gear in the sliding platform 10-5 to rotate and engage with the rack of the sliding track 10-1 to start moving, and the wire feeder 11-1 starts feeding wire;

[0039] In step 2, the welding robot 3's welding speed is 1.9 m / min to 2.5 m / min, its welding current is 120 A to 150 A, its plasma gas flow rate is 1.5 L / min, its deposition rate is 5 mm / s, and its shielding gas flow rate is 20 L / min. The wire feeder 11-1's wire feed speed is 5 m / min to 13 m / min, and the printing thickness of the welding robot 3 can be set as needed. In step 2, the wire feeder and the electric drive rotary mechanism share the same power supply, namely, the industrial-grade dedicated power supply 10-2 (a switching power supply can also be used).

[0040] In step 3, when the printing direction of the welding robot 3 changes, the universal plasma welding gun 6 drives the wire nozzle 8 of the welding robot 3 to rotate together so that the wire nozzle 8 always remains directly in front of the welding path. At this time, the electric drive rotation mechanism 10 moves in coordination with the movement instruction described in step 2. During the movement, the height of the wire feed guide tube 9 is always lower than the movement height of the robot arm, ensuring that the various devices do not interfere with each other during the printing process.

[0041] In step 3, the rotational angular velocity of the universal plasma welding gun 6 is 0.5 rad / s-1 rad / s, the movement of the electric-driven rotating mechanism 10 maintains the same angular velocity as the universal plasma welding gun 6, and the rotational frequency and rotational direction of the electric-driven rotating mechanism are consistent with the rotational frequency and rotational direction of the universal plasma welding gun.

[0042] Step 4: After printing is completed, the wire feeder 11-1 stops feeding the wire, the welding robot 3 is turned off, and the substrate 5 and the printed part are separated after the heat is completely dissipated to obtain the printed part.

[0043] Example 1

[0044] Step 1: Turn on the central processing unit 1 and import the three-dimensional model of the printed part into the central processing unit 1. The central processing unit 1 plans the welding path and transmits the planned welding path to the welding robot 3 through the data line 2. At the same time, the central processing unit 1 plans the movement instructions for the electric drive rotating mechanism 10 according to the welding path and wirelessly sends the instructions to the motion controller 10-4 on the electric drive rotating mechanism 10;

[0045] Step 2: Turn on the welding robot 3, which starts printing on the substrate according to the welding path described in step 1. The welding speed is 1.9 m / min, the welding current is 120 A, the plasma gas flow rate is 1.5 L / min, the deposition speed is 5 mm / s, and the shielding gas flow rate is 20 L / min. Turn on the power supply of the electric drive rotating mechanism 10, and the motion controller 10-4 of the electric drive rotating mechanism 10 receives the movement instruction described in step 1 and controls the drive motor 10-3. The gear in the motor-driven moving device 10-5 rotates and engages with the rack of the sliding track 10-1 to start moving. The wire feeder 11-1 starts feeding wire at a wire feeding speed of 5 m / min and a printing thickness of 2 mm.

[0046] Step 3: When the printing direction of the welding robot 3 changes, the universal plasma welding gun 6 drives the wire nozzle 8 of the welding robot 3 to rotate together so that the wire nozzle 8 always remains directly in front of the welding path. The rotation angular velocity is 0.5 rad / s, and the distance between the wire nozzle and the center of the plasma welding gun is 2 mm. At this time, the electric drive rotation mechanism 10 moves in coordination with the movement instructions described in step 2. During the movement, the height of the wire feed guide tube 9 is always lower than the movement height of the robot arm to ensure that the various devices do not interfere with each other during the printing process. The rotation speed is 0.5 rad / s, and the rotation radius is the radius of the slide rail.

[0047] Step 4: After printing is completed, the wire feeder 11-1 stops feeding the wire, the welding robot 3 is turned off, and the substrate 5 and the printed part are separated after the heat is completely dissipated to obtain the printed part.

[0048] Example 2

[0049] The difference from Example 1 is that: in step 2, the welding speed of the welding robot 3 is 2 m / min, the welding current is 125 A, the wire feeding speed of the wire feeder 11-1 is 6 m / min, and the printing thickness is 2.5 mm; in step 3, the rotation speed of the universal plasma welding gun 6 is 0.6 rad / s, and the rotation angular velocity of the electric drive rotating mechanism 10 is 0.6 rad / s;

[0050] Example 3

[0051] The difference from Example 1 is that: in step 2, the welding speed of the welding robot 3 is 2.2 m / min, the welding current is 130 A, the wire feeding speed of the wire feeder 11-1 is 8 m / min, and the printing thickness is 3 mm; in step 3, the rotation speed of the universal plasma welding gun 6 is 0.7 rad / s, and the rotation angular velocity of the electric drive rotating mechanism 10 is 0.7 rad / s;

[0052] Example 4

[0053] The difference from Example 1 is that: in step 2, the welding speed of the welding robot 3 is 2.4 m / min, the welding current is 140 A, the wire feeding speed of the wire feeder 11-1 is 11 m / min, and the printing thickness is 3.5 mm; in step 3, the rotation speed of the universal plasma welding gun 6 is 0.8 rad / s, and the rotation angular velocity of the electric drive rotating mechanism 10 is 0.8 rad / s;

[0054] Example 5

[0055] The difference from Example 1 is that: in step 2, the welding speed of the welding robot 3 is 2.5 m / min, the welding current is 150 A, the wire feeding speed of the wire feeder 11-1 is 13 m / min, and the printing thickness is 4 mm; in step 3, the rotation speed of the universal plasma welding gun 6 is 1 rad / s, and the rotation angular velocity of the electric drive rotating mechanism 10 is 1 rad / s.

[0056] The device of the present invention arranges the wire feeding mechanism on the movable electric drive rotating mechanism so that the wire feeding mechanism and the welding robot operate in coordination, ensuring that the wire feeding is always at the front end of the molten pool of the plasma arc, and realizing always forward wire feeding; the central processing unit first plans the printing path, and transmits the planned path to the welding robot through the data line, and at the same time generates a movement instruction of the electric drive rotating mechanism coordinated with the path, and sends the movement instruction to the motion controller in the electric drive rotating mechanism that is wirelessly connected to the central processing unit, and the motion controller controls the drive motor, which drives the gear of the rotating mechanism to rotate and engage with the rack on the sliding track to complete the movement. The instruction enables the mobile device to always move at the same angular velocity as the plasma gun head, ensuring that the wire feeder always moves at the same angular velocity as the plasma gun head, so that the wire outlet nozzle always remains in front of the molten pool of the planned path; solves the problem of interference of the molten pool by side wire feeding or backward wire feeding of the welding wire due to the welding angle problem during surfacing welding of different structures, and solves the interference problem of the wire feeding mechanism caused by different displacements.

Claims

1. A device for full-angle adjustment of plasma arc additive, characterized in that: The invention comprises a central processing unit (1) and a welding robot (3) connected via a data conductor (2), wherein a universal plasma welding gun (6) is provided at the front end of the mechanical arm of the welding robot (3); further comprising a fixture (7) and a wire outlet nozzle (8), wherein the wire outlet nozzle (8) is connected to the universal plasma welding gun (6) via the fixture (7), a working platform (4) is provided below the universal plasma welding gun (6), a base plate (5) and a full-angle adjustment wire feeding unit are provided on the table of the working platform (4), and the full-angle adjustment wire feeding unit is connected to the wire outlet nozzle (8) via a wire feeding guide tube (9) to complete wire feeding; the full-angle adjustment wire feeding unit is connected to the central processing unit (1) via wireless communication; The full-angle adjustment wire feeding unit includes an electric drive rotating mechanism (10) and a wire feeding mechanism (11); the electric drive rotating mechanism (10) includes an annular sliding track (10-1) with a spiral rack, a sliding platform (10-5) is installed on the annular sliding track (10-1), and an industrial-grade dedicated power supply (10-2), a drive motor (10-3) and a motion controller (10-4) are provided on the sliding platform (10-5), the industrial-grade dedicated power supply (10-2) supplies power to the drive motor (10-3), the motion controller (10-4) and the wire feeding mechanism (11); the motion controller (10-4) controls the rotation of the motor shaft of the drive motor (10-3), and the motion controller (10-4) is wirelessly connected to the central processing unit (1); the drive motor (10-3) rotates in rotation, and the motion controller (10-4) is wirelessly connected to the central processing unit (1); A helical gear (10-7) is provided on the motor shaft of the driving motor (10-3), and a through hole (10-5-1) is also provided on the sliding platform (10-5); the through hole (10-5-1) is located directly below the helical gear (10-7), the helical gear (10-7) passes through the through hole (10-5-1) and engages with the helical rack of the annular sliding track (10-1), and the driving motor (10-3) drives the helical gear (10-7) to engage with the helical rack on the annular sliding track (10-1) to complete the movement; a support tray (10-6) is installed on the outer edge of the sliding platform (10-5), and the wire feeding mechanism (11) is installed on the support tray (10-6); the base plate (5) is located on the table of the working platform (4) at the center of the annular sliding track (10-1).

2. The device for full-angle adjustment of plasma arc additive according to claim 1, characterized in that: The wire feeding mechanism (11) comprises a wire feeding machine (11-1) and a wire feeding disc (11-2) mounted on a supporting tray (10-6). The wire feeding mechanism (11) is connected to an industrial-grade dedicated power supply (10-2).

3. A method for full-angle adjustment of plasma arc additive, characterized in that: Using the device as claimed in claim 2, the specific steps are as follows: Step 1: Turn on the central processing unit (1), import the three-dimensional model of the printed part into the central processing unit (1), the central processing unit (1) performs welding path planning, transmits the planned welding path to the welding robot (3) via the data line (2), and at the same time, the central processing unit (1) plans a movement instruction for the electric drive rotating mechanism (10) according to the welding path, and wirelessly transmits the instruction to the motion controller (10-4) on the electric drive rotating mechanism (10); Step 2, turning on the welding robot (3), the welding robot (3) starts to print on the substrate according to the welding path described in step 1; turning on the power of the electric drive rotating mechanism (10), the motion controller (10-4) of the electric drive rotating mechanism (10) receives the movement instruction described in step 1 and controls the drive motor (10-3), the drive motor (10-3) drives the gear in the sliding platform (10-5) to rotate and mesh with the rack of the sliding track (10-1) to start moving, and the wire feeder (11-1) starts to feed wire; Step 3, when the printing direction of the welding robot (3) changes, the universal plasma welding gun (6) drives the wire outlet nozzle (8) of the welding robot (3) to rotate together so that the wire outlet nozzle (8) always remains in front of the welding path. At this time, the electric drive rotating mechanism (10) moves in coordination with the movement instruction described in step 2. During the movement, the height of the wire feeding guide tube (9) is always lower than the movement height of the robot arm, ensuring that the various devices do not interfere with each other during the printing process; Step 4: After the printing is completed, the wire feeder (11-1) stops feeding the wire, the welding robot (3) is turned off, and the substrate (5) and the printed part are separated after the heat is completely dissipated to obtain the printed part.

4. The method for full-angle adjustment of plasma arc additive according to claim 3, characterized in that: In step 2, the welding speed of the welding robot (3) is 1.9 m / min-2.5 m / min, the welding current of the welding robot (3) is 120 A-150 A, the wire feeding speed of the wire feeder (11-1) is 5 m / min-13 m / min, and the printing thickness of the welding robot (3) can be set arbitrarily as needed.

5. The method for full-angle adjustment of plasma arc additive according to claim 3, characterized in that: In step 3, the rotational angular velocity of the universal plasma welding gun (6) is 0.5 rad / s -1 rad / s.

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