Apparatus and method for additive manufacturing of amorphous alloys based on dynamic in-situ heat treatment

Abstract

The application discloses an amorphous alloy additive manufacturing device and method based on dynamic in-situ heat treatment. The amorphous alloy additive manufacturing device comprises a control device, a dynamic in-situ heat treatment device, a forming mechanical arm and a forming work head; the dynamic in-situ heat treatment device comprises a guide rail and a pre-cooling arm and a melt channel cooling arm respectively mounted on the guide rail. The application controls the pre-cooling arm, the forming mechanical arm and the melt channel cooling arm through the control device, so that the temperature of the solidified area is lower than the glass transition temperature, the cooling speed of the deposition area exceeds the critical cooling rate of the material, and the temperature gradient of the melt pool solidification front is increased by maintaining the temperature of the first deposited layer and the substrate at a low level during the deposition process, thereby effectively reducing the heat accumulation phenomenon, keeping a large temperature gradient at the melt pool boundary, accelerating the cooling speed, and obtaining an amorphous component with a high proportion of amorphous phase and better plasticity.

Description

Technical Field

[0001] This invention belongs to the field of 3D printing technology for metal components, and particularly relates to an additive manufacturing device and method for amorphous alloys based on dynamic in-situ heat treatment, which is suitable for manufacturing bulk amorphous alloys that require high cooling rates and high requirements for the heat-affected zone during the forming process. Background Technology

[0002] Amorphous alloys, also known as metallic glasses and amorphous alloys, are a new type of metallic material developed in the mid-20th century. They possess the dual properties of metals and glasses and are considered a new structural material poised to usher in the third industrial revolution in materials after steel and plastics. Unlike the periodic, long-range ordered atomic structure of traditional metallic materials, amorphous alloys exhibit short-range order and long-range disorder, thus possessing a series of mechanical, physical, and chemical properties significantly superior to traditional crystalline alloys. These include high strength (>1500 MPa), high elasticity (elastic limit >2%), and high toughness (Kq > 100 MPa·m). 1 / 2 ) and excellent corrosion resistance (in Cl) -1 With its corrosion resistance in the environment being more than 100 times that of stainless steel and its soft magnetic properties (iron loss being only 1 / 4 that of silicon steel), the bulk amorphous alloy has broad application prospects in fields such as intelligent machinery, energy and chemical industry, aerospace, sports, and medicine.

[0003] Amorphous materials are metastable and require sufficiently high cooling rates to prevent the formation of crystalline phases during solidification from the melt. With the development of various amorphous alloy systems in recent years, copper mold casting (cooling rate of approximately 500–600 °C / s) has been able to meet the critical cooling rates of many amorphous alloys. For example, Liquidmetal has successfully commercialized bulk amorphous alloy parts using die casting technology. However, the rapid cooling rate of copper mold casting severely affects the fluidity of the alloy melt, posing a challenge to the forming and manufacturing of complex parts.

[0004] Thermoplastic forming technology utilizes the superplasticity of the supercooled liquid phase of amorphous alloys. It involves heating the amorphous alloy to this supercooled liquid phase and then pressure forming it. This method produces components with high precision and good forming quality. However, due to the narrow thermoplastic forming temperature range of supercooled liquid bulk amorphous alloys, while lower forming temperatures allow for a longer amorphous crystallization incubation period, the high viscosity makes the material difficult to flow. Increasing the forming temperature can reduce viscosity and improve its forming ability, but it greatly increases the risk of crystallization. Therefore, this method is only suitable for the stamping of micro-parts and is difficult to use for forming large-sized, complex structural parts.

[0005] 3D printing technology can efficiently form complex metal components in one piece. Unlike traditional subtractive and equal-material forming methods, laser additive manufacturing utilizes a high-energy beam to rapidly melt and solidify metal powder, periodically melting and solidifying the two-dimensional cross-section of the component and then metallurgically bonding it along the forming direction to form a three-dimensional component. Based on the 3D-2D-3D forming principle, it can maximize the one-piece forming of complex components. Therefore, laser additive manufacturing technology can produce components with any complex structure; simultaneously, due to the highly concentrated energy of the laser, the cooling rate of the molten pool can reach 10... 3 ~10 5 At ℃ / s, which is higher than the critical cooling rate of most amorphous material systems, laser additive manufacturing technology can be used to prepare bulk amorphous alloys.

[0006] The high strength and hardness of amorphous alloys at room temperature make them difficult to machine using conventional methods. Although laser additive manufacturing technology can form complex bulk amorphous alloy components, the complex thermal cycling process during laser-directed energy deposition (LDED) causes the pre-deposited amorphous layer to undergo several heating processes. Once the temperature exceeds the glass transition temperature of the system while the cooling rate is less than the critical cooling rate, the pre-deposited layer will crystallize, reducing the overall amorphous proportion of the component. Furthermore, due to the heat accumulation effect, as the number of deposited layers increases during layer-by-layer processing, the temperature of both the substrate and the pre-deposited layer rises, leading to a decrease in the overall temperature gradient and a further expansion of the heat-affected zone of the molten pool. All of these factors are extremely detrimental to the formation of the amorphous phase. Meanwhile, in the LDED method, the deposited area solidifies first and then cools naturally in the air. This creates a lateral temperature gradient inside the molten pool. As a result, the heat in the molten pool flows outwards while also flowing from the melting front to the solidification front. This uneven heat flow reduces the soft spots and free volume of the formed amorphous alloy, resulting in extremely poor plasticity of the formed amorphous alloy component and limiting the engineering applications of the printed component. Summary of the Invention

[0007] Purpose of the invention: In view of the problems and shortcomings of the above-mentioned laser additive manufacturing technology for forming bulk amorphous alloys, the present invention provides an amorphous alloy additive manufacturing device and method based on dynamic in-situ heat treatment, so as to achieve the forming of amorphous alloy components with a high amorphous ratio and a certain plasticity.

[0008] Technical Solution: To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0009] An additive manufacturing apparatus for amorphous alloys based on dynamic in-situ heat treatment includes a control device, a dynamic in-situ heat treatment device, a forming robotic arm, and a forming working head connected to the power output end of the forming robotic arm; the dynamic in-situ heat treatment device includes a guide rail and a pre-cooling arm and a melt channel cooling arm respectively mounted on the guide rail; wherein:

[0010] The front cooling arm includes a front cooling robotic arm and a front cooling nozzle connected to the power output end of the front cooling robotic arm; the melt channel cooling arm includes a melt channel cooling robotic arm and a melt channel cooling nozzle connected to the power output end of the melt channel cooling robotic arm; the forming robotic arm, the front cooling robotic arm, and the melt channel cooling robotic arm are all connected to the control device through corresponding control signals.

[0011] The control device plans corresponding motion trajectories ac for the pre-cooling robotic arm, the forming robotic arm, and the melt channel cooling robotic arm, respectively; motion trajectory b includes several sequentially processed deposition points Bi, each deposition point Bi being planned by the control device according to the morphological characteristics of the component to be formed; motion trajectory a includes several sequentially cooled pre-cooling points Ai, and each pre-cooling point Ai is ahead of the corresponding deposition point Bi by a dynamic time difference Δt. 1i And move forward a distance Δd1 along the direction of movement of trajectory b; trajectory c includes several sequentially cooled melt channel cooling points Ci, and each melt channel cooling point lags behind the corresponding deposition point Bi by a dynamic time difference Δt. 2i And move a distance Δd2 along the direction of movement of trajectory b; i represents the processing step number, which takes a positive integer value;

[0012] Under the control of the control device, the pre-cooling robotic arm drives the pre-cooling nozzles to move along the preset motion trajectory b in the processing area and delivers cooling medium to each pre-cooling point Ai one by one until the temperature of the corresponding pre-cooling point Ai is lower than the glass transition temperature T of the material to be formed. g ;

[0013] Under the control of the control device, the forming robotic arm drives the forming head to move in the processing area according to the preset motion trajectory a, and successively at each temperature below the glass transition temperature T. g The deposition point Bi is formed by spreading powder with a forming working head and laser melting the printing powder to form a molten pool at the corresponding deposition point Bi.

[0014] Under the control of the control device, the melt channel cooling robotic arm drives the melt channel cooling nozzles to move in the processing area according to the preset motion trajectory c, and delivers cooling medium through the melt channel cooling nozzles one by one at the corresponding melt channel cooling point Ci where the melt pool is formed, so that the cooling rate R of the melt pool at the melt channel cooling point Ci exceeds the critical cooling rate R of the material to be formed.c .

[0015] Preferably, the air delivery rate V0 of the cooling medium output from the pre-cooling nozzle is the same as the air delivery rate V of the cooling medium output from the melt channel cooling nozzle. c satisfy:

[0016]

[0017]

[0018] In the formula: R represents the cooling rate at the solidification front of the molten pool; R c G represents the critical cooling rate of the material to be formed; T The temperature gradient along the laser scanning direction is represented by v, and the laser scanning speed is v. T represents the temperature of the molten pool, which is obtained in real time by an infrared thermometer installed on the cooling nozzle of the molten channel. T0 represents the boundary temperature of the molten pool, which is the melting point T of the component to be formed. m L represents the distance from the boundary of the molten pool to the deposition point Bi, which is the distance Δd2 between the cooling point Ci of the molten channel and the deposition point Bi.

[0019] Preferably, both the pre-cooling robotic arm and the melt channel cooling robotic arm include a primary robotic arm and a secondary robotic arm. One end of the primary robotic arm is movably mounted on a guide rail via a base, and the other end is connected to one end of the secondary robotic arm. The other end of the secondary robotic arm is equipped with the aforementioned pre-cooling nozzle / melt channel cooling nozzle.

[0020] Preferably, both the front cooling nozzle and the melt channel cooling nozzle are equipped with infrared thermometers.

[0021] Preferably, the pre-cooling nozzle and the melt channel cooling nozzle are respectively connected to a cooling bottle filled with cooling medium.

[0022] Preferably, the guide rail is a ring-shaped guide rail; the processing area is set within the area surrounded by the ring-shaped guide rail.

[0023] Another technical objective of this invention is to provide an additive manufacturing method for amorphous alloys based on dynamic in-situ heat treatment, achieved through the aforementioned amorphous alloy additive manufacturing apparatus based on dynamic in-situ heat treatment, comprising the following steps:

[0024] Step 1: Construct the motion trajectory of the forming robotic arm (b)

[0025] The motion trajectory b of the forming robot arm is planned based on the morphological characteristics of the component to be formed; the motion trajectory b includes several sequentially processed deposition points Bi(x) bi ,y bi ,z bi ,t bi );x bi y biz bi The X-axis, Y-axis, and Z-axis data for deposition point Bi are shown below. bi This indicates the processing time corresponding to each deposition point Bi;

[0026] Step 2: Construct the motion trajectory a of the front-cooling robotic arm and the motion trajectory c of the melt-channel cooling robotic arm.

[0027] The deposition points Bi(x) along trajectory b bi ,y bi ,z bi ,t bi Based on the morphological characteristics and material properties of the component to be formed, the motion trajectory 'a' of the pre-cooling robotic arm and the motion trajectory 'c' of the melt channel cooling robotic arm are constructed respectively, and the trajectory shapes of the constructed motion trajectories 'a' and 'c' are consistent with the trajectory shape of motion trajectory 'b'; motion trajectory 'a' includes several sequentially cooled pre-cooling points Ai(x) ai ,y ai ,z ai ,t ai The motion trajectory c includes several sequentially cooled melt channel cooling points Ci(x). ci ,y ci ,z ci ,t ci );in:

[0028] x ai =x bi -Δx1

[0029] y ai =y bi -Δy1

[0030] z ai =z bi

[0031] t ai =t bi -Δt1

[0032] x ci =x bi +Δx2

[0033] y ci =y ci +Δy2

[0034] z ci =z bi

[0035] t ci =t ci +Δt2

[0036] In the formula: i represents the processing sequence point, which takes the value of a positive integer; Δx1, Δy1, Δt1, Δx2, Δy2, and Δt2 are all positive numbers;

[0037] Step 3: Print the component to be formed

[0038] Step 3.1: Based on the motion trajectory b of the forming robot arm obtained in Step 1 and the motion trajectory a of the cooling robot arm and the motion trajectory c of the melt channel cooling robot arm obtained in Step 2, the control device adjusts the forming working head, the front cooling nozzle, and the melt channel cooling nozzle to their respective initial positions. The center of the laser spot emitted by the forming working head at the initial position coincides with the deposition point B1 on the substrate, the center of the cooling medium sprayed by the front cooling nozzle at the initial position coincides with the front cooling point A1 on the substrate, and the center of the cooling medium sprayed by the melt channel cooling nozzle at the initial position coincides with the melt channel cooling point C1 on the substrate.

[0039] Step 3.2: Start the front cooling nozzle through the control device to spray the cooling medium onto the front cooling point A1 on the substrate placed in the processing area until the temperature of the front cooling point A1 reaches the preset temperature T1. Then, control the front cooling robot arm to reach the next processing position according to the motion trajectory a, so that the center of the cooling medium sprayed by the front cooling robot arm coincides with the front cooling point A2 on the substrate.

[0040] Step 3.3: After the front cooling nozzle has been working for Δt1 time, start the forming head, spread powder on the deposition point B1 on the substrate in the processing area and then perform laser melting to form a molten pool. Then, control the forming robot arm to reach the next processing position according to the motion trajectory b so that the center of the laser spot emitted by the forming head coincides with the deposition point B2 on the substrate.

[0041] Step 3.4: After the forming head has been working for Δt2 hours, the melt cooling nozzle is activated to spray cooling medium onto the melt cooling point C1 on the substrate until the molten pool at melt cooling point C1 solidifies. Then, the melt cooling robotic arm is controlled to move to the next processing position according to the motion trajectory c, so that the center of the cooling medium sprayed by the melt cooling robotic arm coincides with the melt cooling point C2 on the substrate. In this step, the cooling rate R of melt cooling point C1 needs to be controlled by controlling the amount of cooling medium sprayed from the melt cooling nozzle, ensuring that the cooling rate R exceeds the critical cooling rate R of the material to be formed. c This increases the proportion η of the amorphous phase in the component to be formed.

[0042] Repeat steps 3.2-3.4 until the printing of each deposition point Bi is completed, and the component to be formed is obtained.

[0043] Preferably, in step three, the air delivery rate V0 of the cooling medium output from the pre-cooling nozzle and the air delivery rate V of the cooling medium output from the melt channel cooling nozzle are...c satisfy:

[0044]

[0045]

[0046] In the formula: R represents the cooling rate at the solidification front of the molten pool; R c G represents the critical cooling rate of the material to be formed; T The temperature gradient along the laser scanning direction is represented by v, and the laser scanning speed is v. T represents the temperature of the molten pool, which is obtained in real time by an infrared thermometer installed on the cooling nozzle of the molten channel. T0 represents the boundary temperature of the molten pool, which is the melting point T of the component to be formed. m L represents the distance from the boundary of the molten pool to the deposition point Bi, which is the distance Δd2 between the cooling point Ci of the molten channel and the deposition point Bi.

[0047] Preferably, both the pre-cooling robotic arm and the melt channel cooling robotic arm include a primary robotic arm and a secondary robotic arm. One end of the primary robotic arm is movably mounted on a guide rail via a base, and the other end is connected to one end of the secondary robotic arm. The other end of the secondary robotic arm is equipped with the aforementioned pre-cooling nozzle / melt channel cooling nozzle.

[0048] Preferably, both the front cooling nozzle and the melt channel cooling nozzle are equipped with infrared thermometers.

[0049] Based on the above-mentioned technical objectives, the present invention has the following advantages compared with the prior art:

[0050] 1. The amorphous alloy additive manufacturing apparatus based on dynamic in-situ heat treatment described in this invention optimizes existing laser-directed energy deposition (LDED) equipment. With the assistance of the dynamic in-situ heat treatment apparatus provided by this invention, the forming head analyzes the morphological characteristics of the component to be formed and the motion trajectory b of the LDED laser head (i.e., the aforementioned forming head). It then automatically programs the motion trajectory of the robotic arms (including the pre-cooling robotic arm and the melt channel cooling robotic arm) of the dynamic in-situ heat treatment apparatus, automatically generating a motion trajectory with a dynamic time difference from the motion trajectory b of the forming robotic arm. This allows for precise delivery of the cooling medium to the required location, ensuring that the temperature of the solidified region is lower than the glass transition temperature T of the material of the component to be formed. g The cooling rate of the deposition zone exceeds the critical cooling rate R of the material of the component to be formed. cFurthermore, by maintaining a low temperature between the pre-deposited layer and the substrate during deposition, and increasing the temperature gradient at the solidification front of the molten pool, heat accumulation can be effectively reduced, ensuring a large temperature gradient at the molten pool boundary and accelerating its cooling rate. This results in an amorphous phase ratio of 60-70%. Simultaneously, its typical heat flow pattern makes the molten pool solidification process similar to static quenching (SQ), thus enabling the production of amorphous components with a high amorphous phase ratio and superior plasticity. Therefore, the amorphous alloy additive manufacturing apparatus and method based on dynamic in-situ heat treatment described in this invention provide a solution for forming bulk amorphous alloy components. This is achieved by optimizing existing LDED forming processes by reducing the impact of thermal cycling and increasing the plasticity of the amorphous phase. Compared to existing methods of machining amorphous alloy components at high temperatures, this invention significantly reduces the cost of component forming and improves its performance.

[0051] 2. This invention increases the temperature gradient at the boundary of the molten pool and reduces the length of the molten pool, making the solidification process of the molten pool approximate a static quenching process. This results in more free volume being generated during the cooling process, ultimately improving the plasticity of the component.

[0052] 3. The present invention uses a movable robotic arm that can adapt to the forming of components of various forms and shapes.

[0053] 4. In conventional LDED processes, as the number of deposited layers increases during continuous deposition, the temperature of the overall component gradually rises. The reduction in temperature gradient is not conducive to the formation of amorphous phase. However, by co-cooling the substrate and the first deposited layer, the deposition state of the subsequent melt channels during the deposition process can be the same as that during the deposition of the first layer, saving the extra time required for cooling and thus accelerating the forming efficiency of amorphous components. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the dynamic in-situ heat treatment device designed according to the present invention;

[0055] Figure 2 The diagram shows the heat flow of static quenching and the heat flow of conventional casting.

[0056] Figure 3 for Figure 1 Schematic diagram of the structure of the central nozzle;

[0057] Figure 4 for Figure 1 A schematic diagram of the structure of the robotic arm;

[0058] Figure 5The figures show cross-sectional views of the heat-affected zone of the molten pool involved. In the figures: (a) shows the cross-sectional view of the heat-affected zone of the molten pool involved before dynamic in-situ heat treatment, and (b) shows the cross-sectional view of the heat-affected zone of the molten pool involved after dynamic in-situ heat treatment.

[0059] Figure 6 The figure shows a schematic diagram of the temperature gradient of the molten pool involved in the deposition process. In the figure: (a) shows the temperature gradient of the molten pool involved in the deposition process before dynamic in-situ heat treatment, and (b) shows the temperature gradient of the molten pool involved in the deposition process after dynamic in-situ heat treatment.

[0060] Figure 7 This is a schematic diagram of the molten pool microstructure under a scanning electron microscope after LDED forming. In the figure: (a) shows the original molten pool microstructure under a scanning electron microscope after LDED forming, and (b) shows the molten pool microstructure after dynamic in-situ heat treatment under a scanning electron microscope after LDED forming.

[0061] In the diagram: 1. Guide rail; 2-1. Base of the melt channel cooling arm; 2-2. First-level robotic arm of the melt channel cooling arm; 2-3. Second-level robotic arm of the melt channel cooling arm; 2-4. Melt channel cooling nozzle; 3-1. Base of the front cooling arm; 3-2. First-level robotic arm of the front cooling arm; 3-3. Second-level robotic arm of the front cooling arm; 3-4. Front cooling nozzle. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. Unless otherwise specifically stated, the relative arrangement, expressions, and values ​​of components and steps set forth in these embodiments do not limit the scope of the present invention. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0063] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used here to describe the spatial positional relationship of a device or feature as shown in the figure with other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figure. For example, if the device in the figure is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0064] When forming amorphous alloy components using existing LDED equipment, the forming robotic arm is controlled to move the forming head along a planned trajectory to deposit amorphous alloy powder layer by layer onto the substrate. Due to the high energy density of the laser, the cooling rate of the molten pool can reach 10. 3 ~10 4 The temperature is ℃ / s, so a high proportion of amorphous phase can be obtained when depositing a single pass. However, for multi-layer and multi-pass situations when forming components, not only will the heat accumulation effect reduce the cooling rate of the molten pool, but the thermal cycling process in the heat-affected zone will also have an extremely adverse effect on the amorphous phase of the first deposited layer.

[0065] Based on the aforementioned technical facts, this invention provides a method such as Figure 1 The dynamic in-situ heat treatment device shown is actually a high-efficiency heat dissipation in-situ cooling device to assist the forming worktable in the existing LDED equipment in forming amorphous alloy components. On the one hand, it can avoid the heat accumulation effect of the previous deposited layer as much as possible, so that the cooling rate of the current molten pool can always be maintained at a high level. On the other hand, it can also minimize the heat-affected zone of the current molten pool, so that the amorphous phase of the previous deposited layer will not be adversely affected by the thermal cycle of the current molten pool.

[0066] The aforementioned dynamic in-situ heat treatment device, such as Figure 1 , Figure 3-4As shown, the system includes a guide rail 1 and a front cooling arm and a melting channel cooling arm respectively mounted on the guide rail 1. The front cooling arm includes a front cooling robotic arm and a front cooling nozzle 3-4 connected to the power output end of the front cooling robotic arm. The melting channel cooling arm includes a melting channel cooling robotic arm and a melting channel cooling nozzle 2-4 connected to the power output end of the melting channel cooling robotic arm. In the attached diagram, both the front cooling robotic arm and the melting channel cooling robotic arm include a primary robotic arm and a secondary robotic arm. One end of the primary robotic arm is movably mounted on the guide rail 1 via a base, and the other end is connected to one end of the secondary robotic arm. The other end of the secondary robotic arm is equipped with the aforementioned front cooling nozzle 3-4 / melting channel cooling nozzle 2-4. Both the front cooling nozzle 3-4 and the melting channel cooling nozzle 2-4 are equipped with infrared thermometers and are connected to cooling bottles filled with cooling medium. The base can move independently along the guide rail 1. The primary robotic arm can adjust its operating height by controlling its extension, retraction, and elevation angle via a motor. The secondary robotic arm can adjust its elevation angle independently of the primary robotic arm. Infrared thermometers are mounted on the front cooling nozzles 3-4 and the melt channel cooling nozzles 2-4 to monitor the temperature of the molten pool in real time during LDED processing. Thus, the front cooling robotic arm and the melt channel cooling robotic arm can rotate independently along guide rail 1. Combined with two motor-driven arm joints (one joint located at the connection point between the primary robotic arm and the base, and the other at the connection point between the secondary robotic arm and the primary robotic arm), liquid nitrogen (the cooling medium) can be sprayed from all angles and directions. Simultaneously, by inputting the motion trajectory of the LDED laser head (forming worktable) into the compilation software, the motion trajectories of the two robotic arms are automatically generated to precisely deliver liquid nitrogen to the required locations, thereby achieving dynamic in-situ heat treatment during the printing process.

[0067] When the cross-section of the component to be formed is annular, the guide rail 1 is an annular guide rail 1, and the processing area is set within the area surrounded by the annular guide rail 1.

[0068] In this invention, in order to realize the intelligent movement of the forming robot arm, the front cooling robot arm, and the melt cooling robot arm, the forming robot arm, the front cooling robot arm, and the melt cooling robot arm are all connected to the control device through corresponding control signals. The control device plans corresponding motion trajectories ac for the front cooling robot arm, the forming robot arm, and the melt cooling robot arm, respectively.

[0069] The motion trajectory b includes several sequentially processed deposition points Bi, each deposition point Bi being planned and formed by a control device according to the morphological characteristics of the component to be formed; the motion trajectory a includes several sequentially cooled pre-cooling points Ai, and each pre-cooling point Ai is ahead of the corresponding deposition point Bi by a dynamic time difference Δt. 1iAnd move forward a distance Δd1 along the direction of movement of trajectory b; trajectory c includes several sequentially cooled melt channel cooling points Ci, and each melt channel cooling point lags behind the corresponding deposition point Bi by a dynamic time difference Δt. 2i And move a distance Δd2 along the direction of movement trajectory b; i represents the processing step number, which is a positive integer. In the actual processing, the present invention fixes the distance between the front cooling arm and the processing robot arm, that is, the distance Δd1 between the deposition point Bi and the front cooling point Ai, to a specific value, such as 20mm, while the distance between the melt channel cooling arm and the processing robot arm (that is, the distance Δd2 between the deposition point Bi and the melt channel cooling point Ci) is adjusted according to the material properties. The value of distance Δd2 satisfies the following formula:

[0070]

[0071]

[0072] In the above formula, T m T is the melting point of the material of the component to be formed. g The glass transition temperature is the temperature of the material of the component to be formed.

[0073] Under the control of the control device, the pre-cooling robotic arm drives the pre-cooling nozzles 3-4 to move along the preset motion trajectory b in the processing area and delivers cooling medium to each pre-cooling point Ai through the pre-cooling nozzles 3-4 until the temperature of the corresponding pre-cooling point Ai is lower than the glass transition temperature T of the material to be formed. g Under the control of the control device, the forming robotic arm drives the forming head to move in the processing area according to the preset motion trajectory a, and successively at each temperature below the glass transition temperature T. g The deposition point Bi is formed by spreading powder with the forming head and laser melting the printing powder to create a molten pool at the corresponding deposition point Bi. Under the control of the control device, the melt channel cooling robotic arm drives the melt channel cooling nozzles 2-4 to move in the processing area according to the preset motion trajectory c and deliver cooling medium through the melt channel cooling nozzles 2-4 to the corresponding melt channel cooling points Ci where the molten pool is formed, so that the cooling rate R of the molten pool at the melt channel cooling point Ci exceeds the critical cooling rate R of the material to be formed. c .

[0074] To ensure that the cooling rate R of the molten pool at the cooling point Ci of the melt channel exceeds the critical cooling rate R of the material to be formed. c The air delivery volume V0 of the cooling medium output from the pre-cooling nozzles 3-4 and the air delivery volume V of the cooling medium output from the melt channel cooling nozzles 2-4 of the present invention c satisfy:

[0075]

[0076]

[0077] In the formula: R represents the cooling rate at the solidification front of the molten pool; R c G represents the critical cooling rate of the material to be formed; T The temperature gradient is denoted by v in the laser scanning direction, and v is the laser scanning speed. T represents the temperature of the molten pool, which is obtained in real time by an infrared thermometer installed on the cooling nozzles 2-4 of the molten channel. T0 represents the boundary temperature of the molten pool, which is the melting point T of the component to be formed. m L represents the distance from the boundary of the molten pool to the deposition point Bi, which is the distance Δd2 between the cooling point Ci of the molten channel and the deposition point Bi.

[0078] Specifically, during the forming process, the dynamic in-situ heat treatment device described in this invention is used to spray liquid nitrogen onto the depositing melt channel and the pre-deposited layer, so that the temperature of the overall component is always kept at a low level. Since the overall temperature of the substrate and the pre-deposited layer is low during deposition, there is a large temperature gradient at the melt pool boundary, the existence time of the melt pool becomes extremely short, and the range of the heat-affected zone is also limited, thereby promoting the formation of amorphous phase and inhibiting the crystallization of amorphous phase in the pre-deposited layer.

[0079] Liquid nitrogen is ejected from the nozzle through internal piping, providing synergistic cooling to the deposited layer. This shortens the molten pool's existence time and length, resulting in a large temperature gradient at the pool boundary while the lateral temperature gradient within the pool is smaller. This causes the solidification process to resemble static quenching (SQ), where heat flows only outwards during solidification, with no heat flow within the pool. In contrast, during the solidification of a normal LDED (Liquid-Layered Electrode Refractory) pool, heat flows not only from the inside of the pool to the outside but also from the melting front to the solidification front within the pool, similar to the heat flow pattern in casting. Compared to cast alloys prepared by static quenching, bulk amorphous alloys prepared by traditional casting have a more uniform liquid metal composition distribution and less free volume, resulting in amorphous alloys with poorer plasticity. Cooling with liquid nitrogen makes the solidification process of the molten pool approximate a static quenching process, which can improve the plasticity of the formed bulk amorphous alloy. At the same time, the large temperature gradient at the boundary of the molten pool will reduce the influence range of the heat-affected zone, thereby reducing the area of ​​thermal cycling of the first deposited layer and increasing the amorphous proportion of the deposited amorphous alloy.

[0080] Compared to the normal LDED process, the approximate static quenching process will generate more soft spots inside the molten pool. This means that there will be more free volumes in the printed components. These free volumes can serve as the initial locations for shear band formation when subjected to external loads. These shear bands interact to form multiple shear bands, which improves plasticity. At the same time, more soft spots or free volumes also reduce the resistance to atomic movement, which also improves plasticity.

[0081] Therefore, this invention employs a pre-cooling robotic arm to cool the substrate and the pre-deposited layer, thereby reducing the influence range of the heat-affected zone of the molten pool and allowing an equal amount of amorphous phase to be retained in the pre-deposited layer. The invention utilizes a pre-cooling robotic arm and synergistic cooling with it to increase the temperature gradient at the molten pool boundary, which reduces the volume and duration of the molten pool, further improving the cooling rate and making it easier for the amorphous phase to form. More importantly, this invention uses a dynamic in-situ heat treatment process, causing the interior of the molten pool to undergo an approximate static quenching process. This results in an amorphous phase with better plasticity compared to that obtained by the normal LDED process, further enhancing its value in the engineering field.

[0082] During the design process, by connecting the dynamic in-situ heat treatment device to the control cabinet of the LDED equipment, and inputting the information of the component to be formed and the movement trajectory of the forming head, the corresponding motion trajectory of the robotic arm of the dynamic in-situ heat treatment device can be automatically generated. At the same time, the infrared temperature detector at the nozzle will monitor the temperature of different printing areas in real time, thereby controlling the amount of cooling gas ejected. When the control cabinet controls the start of the processing program, the dynamic in-situ heat treatment device will also automatically start working in coordination after receiving the signal, thereby realizing automatic trajectory planning and achieving real-time dynamic in-situ heat treatment during printing.

[0083] When using this device, first place it in the work area, then connect it to an external power source and a cooling gas cylinder to provide the necessary electrical energy and cooling gas.

[0084] Connect the high-efficiency heat dissipation in-situ cooling device to the control cabinet of the LDED equipment, input the slice data of the three-dimensional model of the component and the generated laser head trajectory data, and the system will generate the corresponding motion trajectory of the robotic arm. After the component processing program is started, the cooling device will also start the cooling process at the same time.

[0085] Based on the aforementioned LDED equipment matched with a dynamic in-situ heat treatment device, this invention provides an amorphous alloy additive manufacturing method based on dynamic in-situ heat treatment, specifically including the following steps:

[0086] Step 1: Construct the motion trajectory of the forming robotic arm (b)

[0087] The motion trajectory b of the forming robot arm is planned based on the morphological characteristics of the component to be formed; the motion trajectory b includes several sequentially processed deposition points Bi(x) bi ,y bi ,z bi ,t bi );x bi y bi z bi These represent the X-axis, Y-axis, and Z-axis data of deposition point Bi in the O-XYZ coordinate system, respectively. bi This indicates the processing time corresponding to each deposition point Bi. This embodiment provides a way to establish a coordinate system O-XYZ: the origin O is set at the center of the annular guide rail 1, the Y-axis is set along the line connecting the initial processing position of the dynamic in-situ heat treatment device and the origin O, the X-axis is set in the plane of the annular guide rail 1 and is perpendicular to the Y-axis, and the Z-axis is set perpendicular to the plane of the annular guide rail 1 and upward.

[0088] Step 2: Construct the motion trajectory a of the front-cooling robotic arm and the motion trajectory c of the melt-channel cooling robotic arm.

[0089] The deposition points Bi(x) along trajectory b bi ,y bi ,z bi ,t bi Based on the morphological characteristics and material properties of the component to be formed, the motion trajectory 'a' of the pre-cooling robotic arm and the motion trajectory 'c' of the melt channel cooling robotic arm are constructed respectively, and the trajectory shapes of the constructed motion trajectories 'a' and 'c' are consistent with the trajectory shape of motion trajectory 'b'; motion trajectory 'a' includes several sequentially cooled pre-cooling points Ai(x) ai ,y ai ,z ai ,t ai The motion trajectory c includes several sequentially cooled melt channel cooling points Ci(x). ci ,y ci ,z ci ,t ci );in:

[0090] x ai =x bi -Δx1

[0091] y ai =y bi -Δy1

[0092] z ai =z bi

[0093] t ai =t bi -Δt1

[0094] x ci =x bi +Δx2

[0095] y ci =y ci +Δy2

[0096] z ci =z bi

[0097] t ci =t ci +Δt2

[0098] In the formula: i represents the processing sequence point, which takes the value of a positive integer; Δx1, Δy1, Δt1, Δx2, Δy2, and Δt2 are all positive numbers;

[0099] Step 3: Print the component to be formed

[0100] Step 3.1: Based on the motion trajectory b of the forming robotic arm obtained in Step 1 and the motion trajectory a of the cooling robotic arm and the motion trajectory c of the melt channel cooling robotic arm obtained in Step 2, the control device adjusts the forming working head, the front cooling nozzle 3-4, and the melt channel cooling nozzle 2-4 to their respective initial positions. The center of the laser spot emitted by the forming working head at the initial position coincides with the deposition point B1 on the substrate. The center of the cooling medium sprayed by the front cooling nozzle 3-4 at the initial position coincides with the front cooling point A1 on the substrate. The center of the cooling medium sprayed by the melt channel cooling nozzle 2-4 at the initial position coincides with the melt channel cooling point C1 on the substrate. The distance between the front cooling point A1 and the deposition point B1 is Δd1, and the distance between the deposition point B1 and the melt channel cooling point C1 is Δd2.

[0101] Step 3.2: Start the front cooling nozzle 3-4 through the control device to spray cooling medium onto the front cooling point A1 on the substrate placed in the processing area until the temperature of the front cooling point A1 detected by the infrared thermometer mounted on the front cooling nozzle 3-4 reaches the preset temperature T1. Then, control the front cooling robot arm to reach the next processing position according to the motion trajectory a so that the center of the cooling medium sprayed by the front cooling robot arm coincides with the front cooling point A2 on the substrate.

[0102] Step 3.3: After the pre-cooling nozzles 3-4 have been working for Δt1 hours, start the forming head, spread powder onto the deposition point B1 on the substrate placed in the processing area, and then perform laser melting to form a molten pool. Then, control the forming robot arm to reach the next processing position according to the motion trajectory b, so that the center of the laser spot emitted by the forming head coincides with the deposition point B2 on the substrate.

[0103] Step 3.4: After the forming head has been working for Δt2 hours, activate the melt cooling nozzles 2-4 to spray cooling medium onto the melt cooling point C1 on the substrate until the molten pool at melt cooling point C1 solidifies. Then, control the melt cooling robotic arm to move to the next processing position according to the motion trajectory c, so that the center of the cooling medium sprayed by the melt cooling robotic arm coincides with the melt cooling point C2 on the substrate. In this step, the cooling rate R of melt cooling point C1 needs to be controlled by controlling the amount of cooling medium sprayed by melt cooling nozzles 2-4, so that the cooling rate R exceeds the critical cooling rate R of the material to be formed. c This increases the proportion η of the amorphous phase in the component to be formed.

[0104] Repeat steps 3.2-3.4 until the printing of each deposition point Bi is completed, and the component to be formed is obtained.

[0105] Preferably, in step three, the air delivery rate V0 of the cooling medium output from the pre-cooling nozzle 3-4 is the same as the air delivery rate V of the cooling medium output from the melt channel cooling nozzle 2-4. c satisfy:

[0106]

[0107]

[0108] In the formula: R represents the cooling rate at the solidification front of the molten pool; R c G represents the critical cooling rate of the material to be formed; T The temperature gradient along the laser scanning direction is obtained in real time by an infrared thermometer installed on the front cooling nozzle 3-4 and the melt channel cooling nozzle 2-4, and v is the laser scanning speed.

[0109] Figure 3 As a nozzle for a high-efficiency in-situ cooling device, after laser deposition begins, the infrared probe at the nozzle of the robotic arm monitors the real-time temperature at its location. The amount of cooling gas ejected is controlled by the real-time temperature to avoid ineffective spraying of cooling gas.

[0110] Figure 4 The robotic arm for the efficient heat dissipation in-situ cooling device includes two robotic arms, namely a front cooling arm and a melt channel cooling arm; one end of each robotic arm is mounted on the guide rail 1 via a base, and the other end is equipped with the nozzle.

[0111] As the deposition process proceeds, the joint motors of the robotic arms will cooperate with the guide rail 1 of the base. One robotic arm (melt cooling arm) regulates the temperature around the melt channel to control the size of the melt pool and the temperature gradient at the melt pool boundary. The other robotic arm (front cooling arm) regulates the temperature of the overall pre-deposited layer and the substrate. The two robotic arms work together to regulate the temperature of the printing process, thereby improving the plasticity of the component while increasing the overall amorphous phase ratio.

[0112] Figure 5 The figures show cross-sectional views of the heat-affected zone (HAZ) of the molten pool. In the figures: (a) shows the cross-sectional view of the HAZ before dynamic in-situ heat treatment, and (b) shows the cross-sectional view of the HAZ after dynamic in-situ heat treatment. Analysis shows that after in-situ cooling, the area of ​​the HAZ with a temperature higher than the glass transition temperature is significantly reduced, while the size of the molten pool changes little. This ensures deposition efficiency while increasing the temperature gradient within the molten pool, resulting in a higher proportion of amorphous phases.

[0113] Figure 6 The diagram illustrates the temperature gradient of the molten pool involved in the deposition process. In the diagram: (a) shows the temperature gradient of the molten pool before dynamic in-situ heat treatment, and (b) shows the temperature gradient of the molten pool after dynamic in-situ heat treatment. Analysis shows that after in-situ cooling treatment, the temperature gradient at the solidification front of the molten pool increases, thereby accelerating the cooling rate and ensuring the formation of the amorphous phase.

[0114] Figure 7 This is a schematic diagram of the molten pool microstructure under a scanning electron microscope after LDED forming. In the figure: (a) shows the original molten pool microstructure under a scanning electron microscope after LDED forming, and (b) shows the molten pool microstructure after dynamic in-situ heat treatment under a scanning electron microscope after LDED forming. Analysis shows that after in-situ cooling treatment, the crystallization behavior during the solidification process of the molten pool is significantly suppressed, and the crystallization phenomenon only occurs at the bottom of the molten pool, resulting in a significantly increased proportion of amorphous phase.

[0115] Example 1

[0116] Zr50 (Zr) with a particle size of 53–106 μm was used. 50 Ti5Cu 27 Ni 10Using Al8,at%) powder as raw material and 10mm thick 45# steel as substrate, the metal powder is rapidly melted and solidified using a high-energy beam. The two-dimensional cross-section of the periodically melted and solidified component is then metallurgically bonded along the forming direction to form a barrel-shaped component with an outer diameter of 50mm, a thickness of 5mm, and a height of 50mm. The laser scanning speed is 1000mm / min, the laser power is 800W, the spot diameter is 2mm, and the powder feeding speed is 10g / min.

[0117] The melting point of this amorphous alloy is approximately 892℃, and its glass transition temperature is T0. g The temperature is approximately 420℃, and the critical cooling rate Rc is 793℃ / s. The area within the 420℃ range of the heat-affected zone will be adversely affected. Before printing begins, the high-efficiency heat dissipation in-situ cooling device is placed in the processing area, connected to the LDED equipment control cabinet, and the trajectory file is input to obtain the motion trajectory file of the robotic arm of the high-efficiency heat dissipation in-situ cooling device. The oxide film on the substrate surface is then sanded off. Preparations before printing are complete.

[0118] The dimensional information of the formed structure G is a cylindrical component with an outer diameter D of 50 mm, a wall thickness N of 5 mm, a deposition height H of 40 mm, a laser scanning speed of 1000 mm / min, a deposition direction of clockwise, and a deposition height of 0.8 mm per layer. Therefore, the movement speed of the gas delivery center positions of the front cooling arm and the melt channel cooling arm is 1000 mm / min, and the movement direction is clockwise. The gas delivery center position of the front cooling arm is located L1 = 20 mm ahead of the laser spot on the substrate surface along the forward direction. The gas delivery center position of the melt channel cooling arm... Located at L2 = 17.79 mm behind the molten pool on the substrate surface, with a component thickness of 6 mm, the deposition number of each layer is 4. The gas supply center positions of the pre-cooling arm and the molten pool cooling arm move outward by 1.5 mm every 9.42 s, move inward by 6 mm every 37.7 s, and rise upward by 0.8 mm. The gas supply rate V0 of the pre-cooling arm is set to 3 L / min to cool the substrate before laser generation. The initial gas supply rate of the molten pool cooling arm is 0 L / min, and the subsequent gas supply rate will be adjusted in real time according to the temperature gradient at the solidification front of the molten pool.

[0119] When the program runs, all the devices in the LDED start operating, and the high-efficiency heat dissipation in-situ cooling device will also start operating simultaneously. The pre-cooling arm and the melt channel cooling arm will reach the designated location along the trajectory generated by the system. The pre-cooling arm will start spraying liquid nitrogen to cool the 45# steel substrate. Then the powder feeder will start the powder feeding process, and the laser generator will emit a laser to start the deposition of the first melt channel. During the movement of the laser head, the melt channel cooling arm will cool the melt channel along the trajectory. In this way, the temperature gradient between the melt pool and the substrate and the solidified melt channel will be increased, thereby increasing the cooling rate of the melt pool and increasing the amount of amorphous phase obtained.

[0120] According to the simulation results, after liquid nitrogen cooling, the temperature of the heat-affected zone (HAZ) is greatly reduced in the portion with a temperature higher than Tg. This reduces the time and number of adverse thermal cycles experienced by the amorphous phase region of the pre-deposited layer, thus accelerating the cooling rate of the molten pool and effectively reducing the adverse effects of the HAZ on the amorphous phase in the pre-deposited layer.

[0121] As the deposition layer increases, the robotic arm of the cooling device continuously repeats this process. The front robotic arm cools the substrate and the pre-deposited layer, while the melt channel cooling arm cools the melt channel, reducing the heat-affected zone of the melt pool, i.e., reducing the area of ​​the region with a temperature above 420°C. This reduces the impact on the amorphous phase in the pre-deposited layer. At the same time, it ensures that the heat flow in the melt pool during solidification is from the inside of the melt pool to the outside, suppressing or eliminating the heat flow from the melting front to the solidification front within the melt pool. This makes the solidification process approximate a static quenching process, increasing the free volume. As a result, the plasticity of the amorphous phase will be improved, ultimately obtaining LDED amorphous alloy components with a high amorphous phase ratio and superior plasticity.

[0122] After printing is complete, operators should wait for a period of time or wear protective gloves before touching the printed components to prevent frostbite caused by excessively low temperatures in certain areas of the contact surface.

[0123] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An additive manufacturing apparatus for amorphous alloys based on dynamic in-situ heat treatment, comprising a control device, a forming robotic arm, and a forming working head connected to the power output end of the forming robotic arm; characterized in that, It also includes a dynamic in-situ heat treatment device; the dynamic in-situ heat treatment device includes a guide rail and a front cooling arm and a melt channel cooling arm respectively mounted on the guide rail; wherein: The front cooling arm includes a front cooling robotic arm and a front cooling nozzle connected to the power output end of the front cooling robotic arm; the melt channel cooling arm includes a melt channel cooling robotic arm and a melt channel cooling nozzle connected to the power output end of the melt channel cooling robotic arm; the forming robotic arm, the front cooling robotic arm, and the melt channel cooling robotic arm are all connected to the control device through corresponding control signals. The control device plans corresponding motion trajectories ac for the pre-cooling robotic arm, the forming robotic arm, and the melt channel cooling robotic arm, respectively; motion trajectory b includes several sequentially processed deposition points Bi, each deposition point Bi being planned by the control device according to the morphological characteristics of the component to be formed; motion trajectory a includes several sequentially cooled pre-cooling points Ai, and each pre-cooling point Ai is ahead of the corresponding deposition point Bi by a dynamic time difference. And move forward a certain distance along the direction of movement trajectory b. The motion trajectory c includes several sequentially cooled melt channel cooling points Ci, and each melt channel cooling point lags behind the corresponding deposition point Bi by a dynamic time difference. And move a certain distance behind along the direction of movement trajectory b. ; i represents the processing step number, which takes a positive integer value; distance The value of satisfies the following formula: ； ； In the above formula, The melting point of the material of the component to be formed. The glass transition temperature of the material of the component to be formed; Under the control of the control device, the pre-cooling robotic arm drives the pre-cooling nozzles to move along the preset motion trajectory b in the processing area and delivers cooling medium to each pre-cooling point Ai one by one through the pre-cooling nozzles until the temperature of the corresponding pre-cooling point Ai is lower than the glass transition temperature of the material to be formed. ; Under the control of the control device, the forming robotic arm drives the forming head to move in the processing area according to the preset motion trajectory a, and successively moves at each temperature below the glass transition temperature. The deposition point Bi is formed by spreading powder with a forming working head and laser melting the printing powder to form a molten pool at the corresponding deposition point Bi. Under the control of the control device, the melt channel cooling robotic arm drives the melt channel cooling nozzles to move along the preset motion trajectory c in the processing area and delivers cooling medium through the melt channel cooling nozzles at the corresponding melt channel cooling points Ci forming the melt pool, so as to increase the cooling rate of the melt pool at the melt channel cooling point Ci. Exceeding the critical cooling rate of the material to be formed .

2. The amorphous alloy additive manufacturing apparatus based on dynamic in-situ heat treatment according to claim 1, characterized in that, The air volume of the cooling medium output from the pre-cooling nozzle The air volume of the cooling medium output from the melt channel cooling nozzle satisfy: ； ； In the formula: This indicates the cooling rate at the solidification front of the molten pool; Indicates the critical cooling rate of the material of the component to be formed; The temperature gradient along the laser scanning direction. This refers to the laser scanning speed; The temperature of the molten pool is obtained in real time by an infrared thermometer installed on the cooling nozzles of the molten channel. The boundary temperature of the molten pool is the melting point of the component to be formed. ; This represents the distance from the boundary of the molten pool to the deposition point Bi, which is the distance between the cooling point Ci of the molten channel and the deposition point Bi. .

3. The amorphous alloy additive manufacturing apparatus based on dynamic in-situ heat treatment according to claim 1, characterized in that, Both the pre-cooling robotic arm and the melt channel cooling robotic arm include a primary robotic arm and a secondary robotic arm. One end of the primary robotic arm is movably mounted on a guide rail via a base, and the other end is connected to one end of the secondary robotic arm. The other end of the secondary robotic arm is equipped with the aforementioned pre-cooling nozzle / melt channel cooling nozzle.

4. The amorphous alloy additive manufacturing apparatus based on dynamic in-situ heat treatment according to claim 3, characterized in that, Both the front cooling nozzle and the melt channel cooling nozzle are equipped with infrared thermometers.

5. The amorphous alloy additive manufacturing apparatus based on dynamic in-situ heat treatment according to claim 4, characterized in that, The pre-cooling nozzle and the melt channel cooling nozzle are respectively connected to a cooling bottle filled with cooling medium.

6. The amorphous alloy additive manufacturing apparatus based on dynamic in-situ heat treatment according to claim 1, characterized in that, The guide rail is a ring-shaped guide rail; the processing area is set within the area surrounded by the ring-shaped guide rail.

7. A method for additive manufacturing of amorphous alloys based on dynamic in-situ heat treatment, implemented using the amorphous alloy additive manufacturing apparatus based on dynamic in-situ heat treatment as described in claim 1, characterized in that... Includes the following steps: Step 1: Construct the motion trajectory of the forming robotic arm (b) The motion trajectory b of the forming robot arm is planned based on the morphological characteristics of the component to be formed; the motion trajectory b includes several sequentially processed deposition points Bi ( ); The data are the X-axis, Y-axis, and Z-axis data for deposition point Bi, respectively. This indicates the processing time corresponding to each deposition point Bi; Step 2: Construct the motion trajectory a of the front-cooling robotic arm and the motion trajectory c of the melt-channel cooling robotic arm: The deposition points Bi (based on the motion trajectory b) Based on the morphological characteristics and material properties of the component to be formed, the motion trajectory a of the front cooling robot arm and the motion trajectory c of the melting channel cooling robot arm are constructed respectively, and the trajectory shapes of the constructed motion trajectories a and c are consistent with the trajectory shape of motion trajectory b. The motion trajectory a includes several sequentially cooled pre-cooling points Ai ( The motion trajectory c includes several sequentially cooled melt channel cooling points Ci ( );in: ； ； ； ； ； ； ； ； In the formula: i represents the processing sequence point, and its value is a positive integer; , , , , All are positive numbers; Step 3: Print the component to be formed: Step 3.1: Based on the motion trajectory b of the forming robot arm obtained in Step 1 and the motion trajectory a of the cooling robot arm and the motion trajectory c of the melt channel cooling robot arm obtained in Step 2, the control device adjusts the forming working head, the front cooling nozzle, and the melt channel cooling nozzle to their respective initial positions. The center of the laser spot emitted by the forming working head at the initial position coincides with the deposition point B1 on the substrate, the center of the cooling medium sprayed by the front cooling nozzle at the initial position coincides with the front cooling point A1 on the substrate, and the center of the cooling medium sprayed by the melt channel cooling nozzle at the initial position coincides with the melt channel cooling point C1 on the substrate. Step 3.2: Start the front cooling nozzle through the control device to spray the cooling medium onto the front cooling point A1 on the substrate placed in the processing area until the temperature of the front cooling point A1 reaches the preset temperature T1. Then, control the front cooling robot arm to reach the next processing position according to the motion trajectory a, so that the center of the cooling medium sprayed by the front cooling robot arm coincides with the front cooling point A2 on the substrate. Step 3.3: Working with the pre-cooling nozzle After a certain period of time, the forming head is started, and powder is spread onto the deposition point B1 on the substrate placed in the processing area and then laser melting is performed to form a molten pool. Then, the forming robot arm is controlled to reach the next processing position according to the motion trajectory b, so that the center of the laser spot emitted by the forming head coincides with the deposition point B2 on the substrate. Step 3.4: Working in the forming head After a certain period, the melt cooling nozzle is activated, spraying cooling medium onto the melt cooling point C1 on the substrate until the molten pool at melt cooling point C1 solidifies. Then, following the motion trajectory c, the melt cooling robotic arm is controlled to move to the next processing position, ensuring that the center of the cooling medium sprayed by the robotic arm coincides with the melt cooling point C2 on the substrate. In this step, the cooling rate of melt cooling point C1 needs to be controlled by adjusting the amount of cooling medium sprayed from the melt cooling nozzle. This makes the cooling rate Exceeding the critical cooling rate of the material to be formed This increases the proportion of amorphous phase in the component to be formed. ; Repeat steps 3.2-3.4 until the printing of each deposition point Bi is completed, and the component to be formed is obtained.

8. The amorphous alloy additive manufacturing method based on dynamic in-situ heat treatment according to claim 7, characterized in that, In step three, the air volume of the cooling medium output from the pre-cooling nozzle... The air volume of the cooling medium output from the melt channel cooling nozzle satisfy: ； ； In the formula: This indicates the cooling rate at the solidification front of the molten pool; Indicates the critical cooling rate of the material of the component to be formed; The temperature gradient along the laser scanning direction. This refers to the laser scanning speed; The temperature of the molten pool is obtained in real time by an infrared thermometer installed on the cooling nozzles of the molten channel. The boundary temperature of the molten pool is the melting point of the component to be formed. ; This represents the distance from the boundary of the molten pool to the deposition point Bi, which is the distance between the cooling point Ci of the molten channel and the deposition point Bi. .

9. The amorphous alloy additive manufacturing method based on dynamic in-situ heat treatment according to claim 7, characterized in that, Both the pre-cooling robotic arm and the melt channel cooling robotic arm include a primary robotic arm and a secondary robotic arm. One end of the primary robotic arm is movably mounted on a guide rail via a base, and the other end is connected to one end of the secondary robotic arm. The other end of the secondary robotic arm is equipped with the aforementioned pre-cooling nozzle / melt channel cooling nozzle.

10. The amorphous alloy additive manufacturing method based on dynamic in-situ heat treatment according to claim 7, characterized in that, Both the front cooling nozzle and the melt channel cooling nozzle are equipped with infrared thermometers.

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