Robotic deformation driven solid phase additive manufacturing method, apparatus and composite armor

Abstract

The application discloses a robot deformation driving solid-phase additive manufacturing method and device and a composite armor, and relates to the technical field of additive manufacturing. The robot deformation driving solid-phase additive manufacturing method comprises the following steps: step S1, centering and preforming a hole, and conveying raw material powder into the preformed hole; step S2, solid-phase sintering the raw material powder through friction stirring treatment, and metallurgical connection with a to-be-processed plate, and completing single-layer additive manufacturing; step S3, according to actual needs, repeating steps S1 and S2 to complete multi-layer additive manufacturing until the additive manufacturing material in the preformed hole is flush with the plate surface of the to-be-processed plate; and step S4, conveying raw material powder to the intersection of the preformed hole and the plate surface, and repeating step S2 until the surface of the preformed hole is compacted. The application improves the rigidity and secondary anti-ballistic performance of the armor structure, and the method has low processing difficulty and can be applied to the preparation of components in vertical working conditions or multi-surface three-dimensional structures.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of additive manufacturing technology, in particular to a robot deformation driving solid-phase additive manufacturing method, device and composite armor. BACKGROUND

[0002] Aluminum alloy-ceramic composite lightweight armor has good impact resistance and processing performance, and can effectively balance the dual requirements of lightweight and ballistic performance of armored vehicles in modern warfare due to its high mass protection and space protection coefficients.

[0003] The existing aluminum alloy-ceramic composite armor has two typical structures: one is an "aluminum alloy-ceramic-aluminum alloy" layered structure, which meets the lightweight demand of the armor, but the whole brittle ceramic layer is prone to brittle fracture after being impacted by a projectile. The broken ceramic pieces directly reduce the secondary ballistic resistance of the armor; the other is a ceramic column array arrangement structure based on aluminum armor, that is, after array arrangement of prefabricated holes is processed on the aluminum armor plate, ceramic columns are inserted, and finally surface packaging treatment is performed. Although this structure solves the problem of whole ceramic layer breaking, the connection strength between the ceramic column and the aluminum substrate is poor. The large number of prefabricated holes on the aluminum armor weaken the overall stiffness of the armor, and the prefabricated hole is prone to stress concentration and becomes a crack source after being impacted by a projectile, accelerating the failure of the armor. The process of inserting ceramic columns into prefabricated holes and then packaging is also more complicated, and the processing automation is difficult. In addition, it is difficult to realize the preparation of vertical working conditions or multi-face three-dimensional structure components by using pouring or cover plate welding packaging method. SUMMARY

[0004] The present application solves the problems of insufficient structural stiffness, poor secondary ballistic performance, difficult processing automation and inability to realize the preparation of vertical working conditions or multi-face three-dimensional structure components of aluminum-ceramic composite armor.

[0005] To solve the above problems, the present application provides a robot deformation driving solid-phase additive manufacturing method, which comprises the following steps:

[0006] Step S1: centering the prefabricated hole, and conveying raw material powder into the prefabricated hole;

[0007] Step S2: solid-phase sintering of the raw material powder by friction stirring treatment, and metallurgical connection with the to-be-processed plate to complete single-layer additive manufacturing;

[0008] Step S3: according to actual needs, repeating steps S1 and S2 to complete multi-layer additive manufacturing until the additive manufacturing material in the prefabricated hole is flush with the surface of the to-be-processed plate;

[0009] Step S4: conveying raw material powder to the intersection of the prefabricated hole and the plate surface, and repeating step S2 until the surface of the prefabricated hole is compacted.

[0010] Further, in step S1, the raw material powder comprises aluminum and reinforcing phase particles; the reinforcing phase particles comprise SiC particles, TiC particles, B4C particles and corresponding whiskers thereof, and graphene, carbon nanotubes; the proportion of the reinforcing phase particles in the raw material powder is 5%-98%.

[0011] Further, in step S2, the stir friction treatment comprises: stirring and frictionally treating the raw material powder by a stirring needle to cause high-value strain of the raw material powder.

[0012] Further, in step S4, the intersection of the prefabricated hole and the plate surface comprises: a circumferential array point position at an interval of at least 90° on the circumference of the prefabricated hole.

[0013] The robot deformation driving solid phase additive manufacturing method provided by the application can solid phase sinter the raw material powder by stir friction treatment, and can be metallurgically connected with the plate to be processed, thereby improving the overall stability of the plate, avoiding the brittle fracture of the whole hard and brittle ceramic layer in the prior art after being impacted by a projectile, improving the rigidity and secondary anti-ballistic performance of the armor structure, and providing greater freedom for the comprehensive design of lightweight and toughening of the armor plate. Meanwhile, the method has low processing difficulty and can be applied to vertical working conditions or the preparation of multi-surface three-dimensional structures.

[0014] To solve the above problems, the application further provides a robot deformation driving solid phase additive manufacturing device, comprising:

[0015] A displacement driving module is used for centering or reaching a preset position, and the preset position comprises a prefabricated hole or an intersection of a prefabricated hole and a plate surface.

[0016] A raw material conveying module is used for conveying raw material powder to the preset position.

[0017] A deformation driving module is used for stir friction treatment of the raw material powder in the preset position to cause solid phase sintering and metallurgical connection with the plate to be processed.

[0018] Further, the displacement driving module comprises a flexible serial robot and a variable-distance guiding storage part, the working end of the flexible serial robot is provided with an electric spindle, the variable-distance guiding storage part is connected with the electric spindle, and the flexible serial robot controls the variable-distance guiding storage part to center or reach a preset position.

[0019] Further, the raw material conveying module comprises a powder feeding pipe, a laser control pulse switch, a sensor window, and a powder feeder; the laser control pulse switch and the sensor window are used to open or close the powder feeder, so that the raw material powder reaches the preset position through the powder feeding pipe.

[0020] Further, the deformation driving module comprises a tool holder and a stirring needle, and the stirring needle is connected with the electric spindle through the tool holder and is used to stir and rub the raw material powder at the preset position.

[0021] The robot deformation driving solid-phase additive manufacturing device provided by the application can stir and rub the raw material powder through the deformation driving module, so that the raw material powder is solid-phase sintered and metallurgically connected with the plate to be processed, the overall stability of the plate is improved, the brittle fracture of the whole hard and brittle ceramic layer after being impacted by a projectile is avoided, the rigidity and secondary ballistic performance of the armor structure are improved, the composition gradient additive manufacturing of the ceramic column is realized through the displacement driving module and the regulation and control of the powder type and ratio in the raw material conveying module, and greater freedom is provided for the comprehensive design of the lightweight and toughening of the armor plate; meanwhile, the additive manufacturing device has low difficulty and can be applied to the preparation of vertical working conditions or multi-surface three-dimensional structures.

[0022] To solve the above problems, the application further provides a robot deformation driving solid-phase additive manufacturing composite armor, and the armor plate of the composite armor is arrayed with additive manufacturing ceramic columns.

[0023] Further, the structure of the composite armor comprises a planar structure or a multi-surface three-dimensional structure.

[0024] The robot deformation driving solid-phase additive manufacturing composite armor provided by the application has the same advantages as the robot deformation driving solid-phase additive manufacturing method relative to the prior art, and details are not repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 A robot deformation driving solid-phase additive manufacturing method flow chart in the application;

[0026] Figure 2 A robot deformation driving solid-phase additive manufacturing device structure schematic diagram in the application;

[0027] Figure 3 A variable-distance guide storage structure schematic diagram in the application;

[0028] Figure 4 A stirring needle structure schematic diagram in the application;

[0029] Figure 5 is the bottom view of the stirring needle in the application;

[0030] Figure 6 is the top view of the flange plate in the application;

[0031] Figure 7 is the front view of the storage static shaft shoulder in the application;

[0032] Figure 8 is the top view of the storage static shaft shoulder in the application;

[0033] 1, flexible series robot; 101, end shaft; 2, deformation driving module; 201, tool handle; 202, stirring needle; 20201, stirring needle clamping surface; 20202, lower end surface of stirring needle; 20203, working profile; 3, variable distance guiding storage part; 301, flange plate; 30101, flange plate through hole; 30102, lug; 30103, guiding through hole; 30104, lug threaded hole; 30105, inner diameter threaded hole; 302, storage static shaft shoulder; 30201, upper end surface of storage static shaft shoulder; 30202, threaded hole of storage static shaft shoulder; 30203, through hole of storage static shaft shoulder; 30204, lower end surface of storage static shaft shoulder; 4, raw material conveying module; 401, powder feeding pipe; 402, laser control pulse switch; 403, inductor window; 404, powder feeder. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the specific embodiments of the application will be described in detail below with reference to the drawings. The application will be further described in detail below: the embodiment is implemented on the premise of the technical scheme of the application, and a detailed implementation manner is given, but the protection scope of the application is not limited to the following embodiments.

[0035] Specifically, as shown in Figure 1 , the embodiment of the application provides a robot deformation driving solid phase additive manufacturing method, which comprises the following steps:

[0036] Step S1: centering the prefabricated hole, and conveying the raw material powder into the prefabricated hole;

[0037] Step S2: solid phase sintering of the raw material powder by friction stirring treatment, and metallurgical connection with the to-be-processed plate, to complete single-layer additive manufacturing;

[0038] Step S3: according to actual needs, repeating steps S1 and S2 to complete multi-layer additive manufacturing until the additive manufacturing material in the prefabricated hole is flush with the plate surface of the to-be-processed plate;

[0039] Step S4: delivering the raw material powder into the preformed hole at the junction with the plate surface, repeating step S2 until the surface of the preformed hole is compacted.

[0040] The robot deformation driving solid-phase additive manufacturing method provided in the embodiment of the present application can improve the overall stability of the plate by stirring and rubbing the raw material powder to make it solid-phase sintering and metallurgical connection with the plate to be processed, avoid the brittle fracture of the whole hard and brittle ceramic layer in the prior art after being impacted by a projectile, and improve the rigidity and secondary ballistic performance of the armor structure. The embodiment of the present application can realize the gradient additive manufacturing of the ceramic column by repeating the single-layer additive manufacturing and adjusting the powder type and ratio, and provide greater freedom for the comprehensive design of lightweight and toughening of the armor plate. At the same time, the method of the embodiment has low processing difficulty and can be applied to the preparation of components with vertical working conditions or multi-surface three-dimensional structures.

[0041] Specifically, in view of the problem of the prior art that the preformed hole aluminum armor plate has no metallurgical connection between the ceramic column and the aluminum base plate, and the connection strength is poor, the embodiment of the present application changes the ceramic raw material powder into the preformed hole, and then makes the raw material powder solid-phase sintering by stirring and rubbing to make the raw material powder solid-phase sintering and metallurgical connection with the plate to be processed, improves the bonding degree of the ceramic material in the preformed hole and the aluminum armor plate, and further improves the overall rigidity of the armor while avoiding stress concentration.

[0042] In order to improve the bonding degree and material stability, in step S4, for the junction between the preformed hole and the plate surface, the embodiment ensures that the entire surface of the preformed hole is effectively compacted and effectively combined with the surrounding plate surface by additive manufacturing, further improving the overall rigidity of the armor.

[0043] In some embodiments, in step S1, the raw material powder includes aluminum and reinforcing phase particles; the reinforcing phase particles include SiC particles, TiC particles, and B4C particles and their corresponding whiskers, as well as graphene and carbon nanotubes; the proportion of the reinforcing phase particles in the raw material powder is 5%-98%. In this way, the gradient design of the ceramic column in the axial direction can be realized by adjusting the type and adding ratio of the reinforcing phase particles, meeting the comprehensive design requirements of lightweight and toughening of the armor plate.

[0044] In some embodiments, in step S2, the stirring and rubbing treatment includes: stirring and rubbing the raw material powder by the stirring needle 202 to make the raw material powder have a high strain value.

[0045] Specifically, the stirring needle 202 is pressed into the raw material powder and rotates at high speed, and large heat and high strain are generated by the friction between the stirring needle working surface 20203 and the raw material powder and the friction between the raw material powder itself, so that the layer of raw material powder is completed solid phase sintering and metallurgical connection with the side wall of the prepared hole of the plate to be processed, realizing the combination of additive manufacturing material and the plate, and improving the overall rigidity of the material.

[0046] In some embodiments, in step S4, the prepared hole and the plate surface intersection includes: a circumferential array point position at an interval of at least 90° on the circumference of the prepared hole. Thus, the compaction of the additive manufacturing material in the prepared hole and the effective combination with the plate surface around the prepared hole are effectively realized.

[0047] The embodiment of the present application also provides a robot deformation driving solid phase additive manufacturing device, comprising:

[0048] A displacement driving module is used to center or reach a preset position, and the preset position includes a prepared hole or a prepared hole and a plate surface intersection;

[0049] A raw material conveying module 4 is used to convey raw material powder to the preset position;

[0050] A deformation driving module 2 is used to stir and rub the raw material powder in the preset position to make it solid phase sintering and metallurgical connection with the plate to be processed.

[0051] The robot deformation driving solid phase additive manufacturing device provided by the embodiment of the present application can make the raw material powder solid phase sintering and metallurgical connection with the plate to be processed through the deformation driving module 2, improve the overall stability of the plate, avoid the brittle fracture of the whole hard and brittle ceramic layer in the prior art after being impacted by a projectile, and improve the rigidity and secondary anti-ballistic performance of the armor structure; the embodiment of the present application also realizes the additive manufacturing of the composition gradient of the ceramic column by repeatedly performing single-layer additive manufacturing through the displacement driving module and adjusting and controlling the powder type and ratio in the raw material conveying module 4, and provides greater freedom for the comprehensive design of lightweight and toughening of the armor plate; meanwhile, the additive manufacturing device has low difficulty and can be applied to vertical working conditions or the preparation of components with multi-surface three-dimensional structure.

[0052] In some embodiments, as shown in Figure 2 and Figure 3 The displacement driving module includes a flexible serial robot 1 and a variable-distance guiding storage part 3, the working end of the flexible serial robot 1 is provided with an electric spindle, the variable-distance guiding storage part 3 is connected with the electric spindle, and the flexible serial robot 1 controls the variable-distance guiding storage part 3 to center or reach the preset position.

[0053] The flexible serial robot 1 in the embodiment is suitable for five-axis or six-axis structure, improves the flexibility of additive manufacturing, the axial load is greater than 500kg, the empty load repeat positioning error is less than 0.10mm, the rotation speed range of the electric spindle is 0rpm-15000rpm, and the rotation circumferential runout is less than 0.10mm, thereby improving the operation precision. Figures 6 to 8 As shown, the variable distance guiding and storing part 3 in the embodiment includes a flange plate 301, a storing stationary shaft shoulder 302, bolts 303, a shrink nut 304, and a strong spring 305; the flange plate 301 is installed at the end of the robot terminal shaft 101 through an inner diameter threaded hole 30105, four flange plate through holes 30101 are opened at equal angles in the circumference of the flange plate 301, and the flange plate 301 is used for installing the bolts 303. A lug 30102 is designed on one side of the flange plate 301, a guiding through hole 30103 and a lug threaded hole 30104 are opened on the lug 30102, and the guiding through hole 30103 and the lug threaded hole 30104 are respectively used for installing the powder feeding pipe 401 and the laser control pulse switch 402. Four storing stationary shaft shoulder threaded holes 30202 are opened at equal angles in the circumference of the upper end surface 30201 of the storing stationary shaft shoulder, the storing stationary shaft shoulder 302 is installed on the lower side of the flange plate 301 by 4 sets of bolts 303 and the shrink nut 304, and a strong spring 305 is sleeved on the outside of each bolt 303. The relative distance between the storing stationary shaft shoulder 302 and the flange plate 301 can be controlled by the number of turns of the shrink nut 304. The material of the strong spring 305 can be selected from carbon spring steel, low-manganese spring steel, silicon-manganese spring steel, and high-carbon alloy steel, and the number of alternating loads that can be borne should be greater than 10 6 A storing stationary shaft shoulder through hole 30203 is opened on one side of the lower end surface 30204 of the storing stationary shaft shoulder, and the storing stationary shaft shoulder through hole 30203 is used for connecting the powder feeding pipe 401. The inner diameter of the lower end surface 30204 of the storing stationary shaft shoulder should be slightly larger than the pre-prepared hole 501, and the maximum difference should be less than 0.2mm, so as to prevent interference with the stirring needle 202 and ensure that the storing stationary shaft shoulder 302 effectively stamps the material around the pre-prepared hole 501, thereby preventing the material around the pre-prepared hole 501 from being turned up during the operation of the stirring needle 202.

[0054] In some embodiments, the raw material conveying module 4 includes a powder feeding pipe 401, a laser control pulse switch 402, an inductor window 403, and a powder feeder 404; the laser control pulse switch 402 and the inductor window 403 are used for opening or closing the powder feeder 404, so as to realize that the raw material powder passes through the powder feeding pipe 401 to reach the preset position.

[0055] Specifically, as Figure 3As shown, the powder feeding tube 401 passes through the guide through hole 30103 on the lug 30102 of the flange 301, and the end is inserted into the powder storage stationary shaft hole 30203 near the lower end surface 30204 of the powder storage stationary shaft. The laser control pulse switch 402 is installed on the flange 301 through the lug threaded hole 30104, and the inductor window 403 is flush with the upper end surface 30201 of the powder storage stationary shaft in the idle suspended state. When powder feeding is needed, as the deformation driving module 2 is further slowly pressed down, the inductor window 403 of the laser control pulse switch 402 moves out of the outer edge of the powder storage stationary shaft 302, the laser return signal disappears, and the powder feeder 404 in the normally closed state is activated to perform a pulse powder feeding.

[0056] In some embodiments, the deformation driving module 2 includes a tool holder 201 and a stirring needle 202, and the stirring needle 202 is connected with the electric spindle through the tool holder 201 for stirring and friction processing of the raw material powder at a preset position.

[0057] Specifically, in combination with Figure 4 and Figure 5 As shown, the tool holder 201 is installed on the electric spindle, and the stirring needle 202 is installed at the end of the tool holder 201 through the stirring needle clamping surface 20201. The material of the tool holder 201 can be selected from stainless steel or titanium alloy. The lower end working profile 20203 of the stirring needle includes cross groove type and spiral groove type topological structure to increase the friction with the raw material powder during the working process, promote the plastic flow and solid phase sintering of the raw material powder; preferably, the hardness and melting point of the material of the stirring needle 202 are higher than those of the powder to be processed, and high-speed tool steel, hot work die steel, hard alloy, polycrystalline cubic boron nitride and tungsten-rhenium alloy can be selected.

[0058] The embodiment of the present application also provides a robot deformation driving solid phase additive manufacturing composite armor, and the armor plate of the composite armor is arrayed with additive manufacturing ceramic columns, which are prepared by the robot deformation driving solid phase additive manufacturing method. In some embodiments, the structure of the composite armor includes a planar structure or a multi-faceted three-dimensional structure.

[0059] Therefore, the robot deformation driving solid phase additive manufacturing composite armor prepared by the robot deformation driving solid phase additive manufacturing method solves the problems of aluminum-ceramic composite armor rigidity, secondary anti-ballistic performance and processing automation, realizes flexible preparation of vertical working conditions or multi-faceted three-dimensional structure components, and effectively improves the protection ability, service life, design freedom and structural adaptability of the armor, and lays a technical and equipment foundation for the development of light armored vehicles in China.

[0060] The robot deformation driving solid-phase additive manufacturing composite armor has other advantages relative to the prior art, which are the same as the advantages of the robot deformation driving solid-phase additive manufacturing method relative to the prior art, and will not be described here.

[0061] The above merely describes preferred specific embodiments of the present application, which are different implementations based on the overall concept of the present application, and the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A robotic deformation-driven solid freeform fabrication method, characterized by, The method comprises the following steps: Step S1: A preformed hole is formed on a plate to be processed, the plate to be processed is an aluminum armor plate, and a circumferential array point is arranged at an interval on the circumference of the preformed hole, the preformed hole is centered, and raw material powder is delivered into the preformed hole; Step S2: The lower end surface of a robot deformation driving solid-phase additive manufacturing device is pressed on the material on the outer periphery of the preformed hole to prevent the material around the preformed hole from being turned up by the stirring needle during the working process, the raw material powder is solid-phase sintered through friction stirring treatment, and metallurgical bonding occurs between the raw material powder and the plate to be processed, a single-layer additive manufacturing is completed, the raw material powder comprises aluminum and reinforcing phase particles, and the proportion of the reinforcing phase particles in the raw material powder is 5%-98%; Step S3: According to actual needs, steps S1 and S2 are repeated to complete multiple single-layer additive manufacturing in the preformed hole, and the powder type and ratio in the raw material delivery module are repeated and controlled to realize composition gradientization of columnar additive manufacturing until the additive manufacturing material is flush with the plate surface of the plate to be processed, so that the ceramic column formed in the preformed hole has a gradient structure along the axial direction and achieves the effect of light weight and high toughness after being combined with the plate surface; Step S4: Raw material powder is delivered to the junction of the preformed hole and the plate surface, the junction comprises: circumferential array points arranged at an interval on the circumference of the preformed hole, and step S2 is repeated to realize compaction of the additive manufacturing material in the preformed hole, and the compaction is completed on the surface of the preformed hole and effectively combined with the surrounding plate surface.

2. The robotic, shape-shifting, drive solid, additive manufacturing method of claim 1, wherein, In step S2, the reinforcing phase particles comprise: graphene, carbon nanotubes, SiC particles, TiC particles, B4C particles, SiC whiskers, TiC whiskers or B4C whiskers.

3. The robotic, shape-shifting, drive, solid, additive manufacturing method, as recited in claim 1, c h a r a c t e r i z e d i n t h a t, In step S2, the friction stirring treatment comprises: high-value strain of the raw material powder is caused by stirring and friction of the raw material powder.

4. The robotic, shape-shifting, drive, solid, additive manufacturing method, as recited in claim 1, c h a r a c t e r i z e d i n t h a t, In step S4, the circumferential array points are arranged at an interval of at least 90° on the circumference of the preformed hole.

5. A robotic shape morphing drive solid freeform fabrication apparatus, characterized by, Comprise: A displacement driving module is used for centering or reaching a preset position, the preset position comprises a preformed hole or a junction of a preformed hole and a plate surface, and the displacement driving module comprises a flexible series robot (1) and a variable-distance guide storage part (3), the flexible series robot (1) controls the variable-distance guide storage part (3) to center or reach the preset position; The raw material conveying module (4) is used for conveying raw material powder to the preset position, and comprises a powder feeding pipe (401), a laser control pulse switch (402), an inductor window (403) and a powder feeder (404). The laser control pulse switch (402) is matched with the inductor window (403) to open or close the powder feeder (404). The variable-distance guiding and storing part (3) comprises a flange (301), a storing stationary shaft shoulder (302) for pressing the outer periphery of the prefabricated hole (51) and communicating with the powder feeding pipe (401), and a strong spring (305) sleeved outside a bolt (303). The flange (301) is installed at the end of the robot tail shaft (101). The powder feeding pipe (401) and the laser control pulse switch (402) are both installed on the flange (301). The relative distance between the storing stationary shaft shoulder (302) and the flange (301) can be adjusted by the number of turns of the bolt (303) and the locking nut (304). The deformation driving module (2) is used for stirring and friction processing the raw material powder at the preset position to make it solid phase sintering and metallurgical connection with the plate to be processed. The deformation driving module (2) comprises a stirring needle (202) connected with the working end of the flexible series robot (1) through a tool holder (201) to stir and friction process the raw material powder at the preset position. When powder feeding is needed, the inductor window (403) of the laser control pulse switch (402) moves out of the outer edge of the storing stationary shaft shoulder (302) with the downward pressing of the deformation driving module (2). The inductor window (403) is displaced from the storing stationary shaft shoulder (302) to activate the powder feeder (404) to work. Pulse is used to realize that the raw material powder passes through the powder feeding pipe (401) to reach the preset position. When the empty load is suspended, the inductor window (403) is flush with the upper end of the storing stationary shaft shoulder (302).

6. The robotic deformation-driven solid freeform fabrication apparatus of claim 5, wherein, The working end of the flexible series robot (1) is provided with an electric spindle. The variable-distance guiding and storing part (3) is connected with the electric spindle.

7. A robotically morphed drive solid phase additive manufacturing composite armor characterized by, The armor plate of the composite armor is arranged with additive manufacturing ceramic columns in an array, which are prepared by the robot deformation driving solid phase additive manufacturing method according to any one of claims 1-4.

8. The robotic morphing drive solid-phase additive manufacturing composite armor of claim 7, wherein, The structure of the composite armor comprises a planar structure or a multi-faceted three-dimensional structure.

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