A robotic wire-filled friction stir welding and solid-phase additive device

Abstract

This invention discloses a robotic friction stir welding and solid-state additive manufacturing device, comprising a robot, a robotic friction stir welding spindle mounted on the robot, a spindle control device, an industrial computer, a robot control device, a welding worktable, and a push-pull wire feeder. The robotic friction stir welding spindle includes a welding spindle, an adapter sleeve, a tool holder, a locking sleeve, and a stirring head. The stirring head is divided into two types: a wire-filled welding stirring head and a wire-filled additive manufacturing stirring head. This invention is based on a heavy-duty robot driving the friction stir welding spindle for welding motion. The spiral end mill of the stirring head pulverizes the wire fed by the push-pull wire feeder into particles, which are then fed to the welding zone and the additive manufacturing zone through the guide thread of the stirring needle. This achieves robotic wire-filled friction stir welding and robotic wire-filled solid-state additive manufacturing, solving the problems of solid-state friction stir welding for small-batch, multi-variety lightweight alloy welded parts in aerospace applications, and efficient additive manufacturing of large-size lightweight alloy structural parts.

Description

Technical Field

[0001] This invention relates to a robotic wire-filled friction stir welding and solid-phase additive manufacturing device, and more particularly to a robotic wire-filled friction stir welding and solid-phase additive manufacturing device for digital and intelligent manufacturing industries. Background Technology

[0002] Friction stir welding primarily utilizes the friction between a stirring head equipped with a stirring pin and a shoulder and the workpiece to generate significant frictional heat, softening the weld material and bringing it to a thermoplastic state. This allows for plastic flow and solid-state bonding. For fillet welds, the rotating shoulder interferes with the material on either side of the weld, making welding impossible. In stationary shoulder friction stir welding, the shoulder and stirring pin are separate structures. During welding, the shoulder does not rotate; instead, the rotating stirring pin rubs against the workpiece. Therefore, by designing a specially structured stationary shoulder and stirring pin, friction stir welding of fillet welds can be achieved.

[0003] Existing static shoulder friction stir welding technology is mainly used for planar welds, primarily to reduce welding heat input, eliminate welding arc marks, and improve surface finish. However, the shoulder diameter is relatively large, making it unsuitable for fillet welds. While T-joint friction stir welding can be achieved through lap joints, this remains a conventional method. It results in larger weld sizes, higher heat input, difficulty in achieving full penetration, lower weld quality and joint strength, and stringent requirements regarding workpiece assembly and thickness.

[0004] For friction stir welding of the inner fillet weld of T-joints, patent application CN109202271A discloses a static shoulder fillet wire friction stir welding device and a fillet weld additive manufacturing method; CN107160030A discloses a static shoulder device and additive manufacturing method for static shoulder friction stir welding; and CN114619054A discloses a friction additive manufacturing equipment, method and product. These three patents directly stir the welding wire into the welded parts, without realizing robotic stirring welding. The corresponding additive manufacturing is also limited to fillet welds, without detailed design of the relevant stirring head, and without proposing a solid-phase additive manufacturing method. The inventors found through experiments that direct use of welding wire additive friction stir welding is prone to defects, and wire blockage is likely to occur when used for fillet welds, making it unsuitable for widespread use.

[0005] Friction stir additive manufacturing (FSM), as a new additive manufacturing technology, is derived from friction stir welding. Currently, FSM is divided into three typical modes according to the characteristics of the manufacturing process: plate stacking, friction surfacing deposition, and friction deposition of hollow rods. CN114799480A discloses a synchronous uninterrupted wire feeding method and apparatus for solid-phase friction stir additive manufacturing. This patent involves synchronously and uninterruptedly feeding filamentous additive raw materials into the space between the internal storage chamber of the wire feeding device and the crushing blades on the friction stir device through multiple wire feeding channels. Subsequently, the filamentous additive raw materials are crushed into granular additive raw materials by the crushing blades on the friction stir device and move downwards along the screw to accumulate. As the friction stir device rotates continuously, the granular additive raw materials are continuously thermoplasticized. The thermoplasticized additive raw materials are stirred and mixed by multiple boss structures below the friction stir device to achieve solid-phase additive manufacturing. The patent does not provide an additive friction stir welding structure, nor does it describe the wire feeding structure. The material storage chamber in this patent is very small and directly connected to the front of the stirring needle, which cannot achieve the additive effect at all. It does not integrate the use of a robotic welding unit. The patent does not reflect the principle of synchronization and directly uses a push-pull wire feeding mechanism for wire feeding, which is more stable and convenient. The inventor found through experiments that only the boss can achieve additive manufacturing, and a spiral groove needs to be provided on the end face of the stirring needle to collect the material.

[0006] While the use of robots for welding and additive manufacturing is now common, additive manufacturing based on heavy-duty robots using friction stir welding is rare. CN115647569A discloses a robotic continuous wire feeding friction stir additive manufacturing device and a curved surface additive manufacturing method. This patent only provides the general framework of the device and does not provide detailed design for actual aerospace component production. It does not provide detailed engineering design for the selection of the wire feeder, the wire feeding method, the fixing of the wire feeding mechanism, the cutting of welding wire, and the feeding of materials. It does not select a push-pull wire feeder based on actual tests. For aerospace aluminum alloy welding and additive manufacturing, the robot's load is at least greater than 1 ton. This additive manufacturing device does not propose an additive friction stir welding function and does not provide a corresponding reasonable structural invention design compared to actual engineering applications.

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

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robotic wire-filled friction stir welding and solid-phase additive manufacturing device to achieve high-performance clean manufacturing in aerospace and solve the problem of small-batch flexible friction stir welding.

[0009] To achieve the above objectives, the present invention employs the following technical solutions:

[0010] A robotic friction stir welding and solid-state additive manufacturing device includes a robot, a robotic friction stir welding spindle mounted on the robot, a spindle control device, an industrial computer, a robot control device, a welding worktable, and a push-pull wire feeder. The spindle control device controls the robotic friction stir welding spindle, and the robot control device controls the robot. The industrial computer is used for robotic friction stir welding program creation, welding parameter setting, welding process data monitoring, welding data storage and retrieval, task reception and delivery, welding process error guidance, anomaly alerts, and providing solutions. The robotic friction stir welding spindle includes a welding spindle, an adapter sleeve, a tool holder, a locking sleeve, and a stirring head.

[0011] The stirring head includes a stirring needle and a stationary shoulder. The stirring needle is mounted on the tool holder, and the stationary shoulder is pressed and fixed on the adapter sleeve by a locking and fixing sleeve. The adapter sleeve is fixed to the outer housing of the stirring welding spindle by screws. The tool holder is mounted on the central rotating shaft of the stirring welding spindle. The stirring welding spindle drives the stirring needle to rotate and weld through the tool holder. A crushing annular cavity is formed between the stationary shoulder and the stirring needle.

[0012] The stirring head is selected from a wire-filled welding stirring head or a wire-filled additive stirring head. The stirring needle of the wire-filled additive stirring head includes an end face spiral groove and a high-temperature alloy tooth.

[0013] The side of the stationary shoulder is provided with a wire feeding hole. The welding wire enters the crushing ring cavity through the wire feeding hole. In the crushing ring cavity, the welding wire is crushed by the spiral end mill of the stirring needle. The fine welding wire particles are fed to the welding working area of ​​the stirring needle head through the guide thread of the stirring needle.

[0014] As a preferred embodiment, a wire feed head is fixed on the outer housing of the stir welding spindle. The wire feed head is connected to a wire feed line. The welding wire is fed into the crushing ring cavity through the wire feed head and the wire feed line. The wire feed head is fixed on the outer housing of the stir welding spindle by a clamp bracket. The angle between the wire feed head and the clamp bracket is adjusted according to the characteristics of the wire feed hole of the stationary shaft shoulder and then tightened with bolts.

[0015] In a preferred embodiment, the stirring head includes a stirring needle, a guide thread, a spiral milling cutter, a shoulder, and a tool holder arranged in sequence. The tool holder is connected to a tool shank. The shoulder is used for axial positioning of the stirring needle. The guide thread is used to guide the welding wire in the form of fine particles to the welding area through the thread. The stirring needle is used for welding stirring.

[0016] As a preferred embodiment, the push-pull wire feeder is mounted on the second axis arm of the robot.

[0017] As a preferred embodiment, an adjustment shim is provided between the adapter sleeve and the stationary shaft shoulder, the thickness of the adjustment shim being 0.1mm, to adjust the length of the stirring needle protruding from the stationary shaft shoulder.

[0018] As a preferred embodiment, when the stirring head is a fillet weld stirring head, the stationary shoulder is a fillet weld stationary shoulder, the fillet weld stationary shoulder is provided with a fillet weld stationary shoulder wire feeding hole, the forward chamfer of the fillet weld stationary shoulder is Ra, and the rear chamfer is Rb, Ra is determined according to the size of the welded corner; when the welded part requires a chamfer of C2, Rb is C2.

[0019] As a preferred embodiment, three spiral grooves are evenly distributed on the end face, and three high-temperature alloy teeth are evenly distributed. The spiral grooves and the high-temperature alloy teeth are spaced apart on the end face of the stirring additive needle, and the high-temperature alloy teeth are brazed onto the stirring needle body.

[0020] As a preferred approach, the robot is a heavy-duty robot with a rated load of 1 ton or more.

[0021] As a preferred method, when welding fillet welds of 2219 aluminum alloy with a thickness of 6mm and a chamfered radius of R2 using wire-filled friction stir welding, the spindle pressure of the robot friction stir welding is set to 0.9KN, the welding speed is 120mm / min, the stirring needle speed is 1500 rpm, the wire diameter is 3mm, and the wire feed speed is 5m / min; when welding fillet welds of 6mm thickness and a chamfered right angle of C2 using wire-filled friction stir welding, the spindle pressure of the robot friction stir welding is set to 0.9KN, the welding speed is 120 mm / min, the stirring needle speed is 1500 rpm, the wire diameter is 3mm, and the wire feed speed is 6mm / s.

[0022] As a preferred method, when manufacturing solid-phase additive products of 2219 aluminum alloy, the spindle pressure of the robot friction stir welding is set to 0.9KN, the welding speed is 100mm / min, the rotation speed of the stirring needle is 1300rpm, the welding wire diameter is 3mm, and the wire feeding speed is 12m / min.

[0023] The present invention has the following advantages:

[0024] (1) This invention solves the problem of upgrading and using robot friction stir welding, and filler wire friction stir welding solves the problem of large weld gap friction stir welding, realizing friction stir welding of large weld gap; (2) This invention realizes non-uniform weld welding and friction stir welding of heterogeneous spatial structures through robot control and spindle integrated control; (3) This invention realizes robot friction stir welding and friction stir solid phase additive manufacturing at the same time; (4) This invention is a robot flexible manufacturing unit, with a wider range of welded structures and more additive structures, and fewer and simpler welding tooling required for welding and additive manufacturing; (5) The filler wire welding stirring head and filler wire additive stirring head of this invention have simple and reasonable structures, high installation accuracy, and convenient maintenance; (6) The wire feeding method adopted in this invention is more direct. After physical test and acceptance, the welding and additive effects are clear, and the process parameters are more convenient to adjust; (7) This invention provides a fast and low-cost manufacturing method for the connection of subsequent aerospace lightweight alloy welded parts and large-size lightweight alloy additive manufacturing. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention.

[0026] Figure 2 This is a three-dimensional schematic diagram of the present invention.

[0027] Figure 3 This is a schematic diagram of the robotic friction stir welding spindle of the present invention.

[0028] Figure 4 This is a magnified view of a portion of the spindle of a robotic friction stir welding system.

[0029] Figure 5 This is a schematic diagram of the wire-filling stirring needle of the present invention.

[0030] Figure 6 This is a schematic diagram of the main spindle of the fillet weld robot for friction stir welding according to the present invention.

[0031] Figure 7 This is a cross-sectional view of the spindle of the fillet weld robot for friction stir welding according to the present invention.

[0032] Figure 8 This is a schematic diagram of the fillet weld robot wire-filled friction stir welding of the present invention.

[0033] Figure 9 This is a schematic diagram of the stationary shoulder and fillet weld stationary shoulder of the present invention.

[0034] Figure 10 This is a cross-sectional view of the spindle of the robot-assisted wire-filling and stirring solid-phase additive manufacturing system of the present invention.

[0035] Figure 11 This is a schematic diagram of the wire-filled stirring solid-phase additive stirring needle of the present invention.

[0036] Figure 12 This is a schematic diagram of the robot-assisted wire-filling stirring friction solid-phase additive manufacturing of the present invention.

[0037] In the diagram: 1. Robot, 2. Friction stir welding spindle control device, 3. Industrial computer, 4. Robot friction stir welding spindle, 5. Robot control device, 6. Welding table, 7. Push-pull wire feeder, 8. Friction stir welding spindle, 9. Adapter sleeve, 10. Tool holder, 11. Wire feeding and stirring needle, 11-1. Stirring needle head, 11-2. Guide thread, 11-3. Spiral end mill, 11-4. Shoulder, 11-5. Tool holder, 12. Adjustment shim, 13. Locking sleeve, 14. Stationary shaft shoulder, 14-a. Stationary shaft shoulder wire feed hole, 15. Clamp support 16. Frame, 17. Locking screw, 18. Welding wire, 19. Wire feed head, 20. Wire feed line, 21. Crushing ring cavity, 22. Fillet weld stationary shoulder, 21-a. Fillet weld stationary shoulder wire feed hole, 23. Rounded fillet weld, 24. T-shaped corner plate, 25. Additive stirring needle, 24-1. Stirring additive needle head, 24-2. Guide thread, 24-3. Spiral end mill, 24-4. Shoulder, 24-5. Tool holder, 24-6. End face spiral groove, 25. Additive plate, 25-1. Additive layer, 25-2. Additive base layer, 26. High temperature alloy tooth. Detailed Implementation

[0038] The present invention will now be described in detail with reference to the accompanying drawings.

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0040] Example:

[0041] A robotic friction stir welding and solid-state additive manufacturing device includes a robot 1, a friction stir welding spindle control device 2, an industrial computer 3, a robotic friction stir welding spindle 4, a robot control device 5, a welding worktable 6, and a push-pull wire feeder 7. The robot 1 is a heavy-duty robot with a rated load of at least 1 ton to meet the functions of friction stir welding and solid-state additive manufacturing. The robotic friction stir welding spindle 4 includes a welding spindle 8, an adapter sleeve 9, a tool holder 10, a locking sleeve 13, and a stirring head. The stirring head is divided into two types: a wire-filled welding stirring head and a wire-filled additive manufacturing stirring head. The wire-filled welding stirring head consists of a wire-filled stirring needle 11 and a stationary shoulder 14. The wire-filled stirring needle 11 is mounted on the tool holder 10 by a locking screw 16, and the stationary shoulder 14 is pressed and fixed to the adapter sleeve 9 by the locking sleeve 13. The adapter sleeve 9 and the locking sleeve 13 are connected by threads, and the adapter sleeve 9 is fixed to the welding spindle by screws. The outer shell of the 8 has a tool holder 10 mounted on the central rotating shaft of the stir welding spindle 8. The stir welding spindle 8 drives the filler stirring needle 11 to rotate and weld via the tool holder 10. The stationary shoulder 14 is mounted on the outer shell of the spindle. During the welding process, the stationary shoulder 14 does not rotate. An annular crushing chamber 20 is formed between the stationary shoulder 14 and the filler stirring needle 11. A wire feeding hole 14-a is provided on the side of the stationary shoulder 14. The welding wire 17 enters the crushing chamber 20 through the wire feeding hole 14-a. In the crushing chamber 20, the welding wire 17 is crushed by the spiral milling cutter 11-3 of the filler stirring needle 11. The filler stirring needle 11 mills the fed welding wire 17 into fine particles. Through the robot stationary shoulder stir friction welding method, the fine particles of welding wire 17 are fed to the stirring needle head 11-1 welding working area of ​​the filler stirring needle 11 through the guide thread 11-2 of the filler stirring needle 11, thereby realizing the robot filler wire stir friction welding technology. This technology can realize stir friction welding of larger butt welds.

[0042] The aforementioned wire-filled additive mixing head includes an additive mixing needle 24 and a stationary shoulder 14. The installation method and wire feeding principle of the wire-filled additive mixing head are the same as those of the wire-filled welding mixing head. The difference lies in the mixing additive needle 24-1 of the additive mixing needle 24. The mixing additive needle 24-1 of the additive mixing needle 24 includes an end face spiral groove 24-6 and a high-temperature alloy tooth 26. The mixing additive needle 24-1 of the additive mixing needle 24 is the core of realizing the robotic wire-filled friction stir welding solid phase additive technology. The height increase for each additive movement is determined by the height of the high-temperature alloy tooth 26 and the amount of wire fed.

[0043] The welding wire 17 is fed into the crushing ring cavity 20 through the wire feed head 18 and the wire feed line 19. The wire feed head 18 is fixed to the outer housing of the stir welding spindle 8 by the clamp bracket 15. The wire feed head 18 and the clamp bracket 15 are connected by bolts. The angle between the wire feed head 18 and the clamp bracket 15 is adjusted according to the characteristics of the wire feed hole 14-a of the stationary shaft shoulder 14 and tightened with bolts. The angle of the wire feed hole 14-a is different for each different stationary shaft shoulder 14. The angle is determined according to the manufacturing object of both welding and additive manufacturing methods.

[0044] The filler wire welding stirring head 11 consists of a stirring needle 11-1, a guide thread 11-2, a spiral milling cutter 11-3, a shoulder 11-4, and a tool holder 11-5. The tool holder 11-5 is used to connect to the tool holder 10 of the robot 1. The shoulder 11-4 is used for axial positioning of the filler wire welding stirring head 11. The spiral milling cutter 11-3 is used to crush the fed welding wire 17 into fine particles. The guide thread 11-2 is used to guide the fine particles of welding wire to the welding area through the thread. The stirring needle 11-1 is used for welding stirring, thereby realizing filler wire stirring friction welding.

[0045] The push-pull wire feeder 7 is mounted on the second axis arm of the robot 1 and fixed by screw connection. The wire feeding line 19 extends to the stirring needle through a cable conduit.

[0046] The friction stir welding spindle control device 2 is used to integrate and control the robot friction stir welding spindle 4, including the integration of functions such as spindle rotation, spindle cooling, spindle pressure control, spindle displacement control, weld tracking and wire feeder control.

[0047] An adjustment shim 12 is provided between the adapter sleeve 9 and the stationary shaft shoulder 14. Each adjustment shim 12 is 0.1mm thick and is mainly used to adjust the length of the stirring needle protruding from the stationary shaft shoulder, thereby reducing the tolerance of the stirring head machining and assembly.

[0048] When the robot device is used to weld fillet welds, the T-shaped corner joint plate 23 adopts fillet stir welding. The stationary shoulder 14 is designed to fit both sides of the fillet weld. The structure of the stationary shoulder 14 is the fillet weld stationary shoulder 21. The fillet weld stationary shoulder 21 is provided with a fillet weld stationary shoulder wire feeding hole 21-a. The forward side of the fillet weld stationary shoulder 21 is rounded with a radius Ra, and the rear side is rounded with a radius Rb. Ra is determined according to the size of the welded corner joint. For a 90° corner joint, Ra is 0.5mm. Rb is determined according to the requirements of the welding part drawing. When the welding part requires a radius C2, Rb is C2. When the welding part drawing requires a radius R1, Rb is R1. This friction stir welding method ensures that the radius of the corner joint is uniform and consistent. Compared with fusion welding, it improves the weld penetration and greatly improves the strength of the corner welded part.

[0049] When this device is used for solid-state additive manufacturing, the stirring needle used is an additive stirring needle 24. The additive stirring needle 24 consists of a stirring additive needle head 24-1, a guide thread 24-2, a spiral milling cutter 24-3, a shoulder 24-4, and a tool holder 24-5. The tool holder 24-5 is used to connect the tool holder 10 of the robot 1. The shoulder 24-4 is used for axial positioning of the additive stirring needle 24. The spiral milling cutter 24-3 is used to crush the fed welding wire 17 into fine particles. The guide thread 24-2 is used to guide the fine particles of welding wire 17 to the welding point through the thread. In the additive manufacturing area, the stirring additive manufacturing needle 24-1 consists of a characteristic end face spiral groove 24-6 and a high-temperature alloy tooth 26. The end face spiral groove 24-6 realizes the central convergence of the fine particle state welding wire 17 and the material in the plastic state during the stirring process. The high-temperature alloy tooth 26 realizes high-temperature plastic stirring for additive manufacturing. Through stirring and extrusion, the fed particle state welding wire 17 is solid-phase additively manufactured to realize the manufacturing of the additive board 25. The additive layer 25-1 is solid-phase connected and printed on the base layer 25-2. By fully performing the above actions, robotic solid-phase additive manufacturing is realized.

[0050] The additive stirring needle 24 has three evenly distributed spiral grooves 24-6 on the end face of the stirring additive needle 24-1. The spiral pattern is opposite to the rotation direction of the stirring needle during additive welding. The high-temperature alloy teeth 26 installed on the stirring additive needle 24-1 of the additive stirring needle 24 are evenly distributed in three places. The end face spiral grooves 24-6 and the high-temperature alloy teeth 26 are spaced apart on the end face of the stirring additive needle 24-1. The high-temperature alloy teeth are brazed onto the body of the additive stirring needle 24.

[0051] When performing fillet welds of 2219 aluminum alloy with a thickness of 6mm and a chamfered radius of R2 using fillet wire friction stir welding, the spindle pressure of the robot friction stir welding was set to 0.9KN, the welding speed to 120mm / min, the stirring needle speed to 1500 rpm, the wire diameter to 3mm, and the wire feed speed to 5m / min. Similarly, when performing fillet welds of 6mm thickness with a chamfered radius of C2 using fillet wire friction stir welding, the same conditions were achieved.

[0052] When using this device for solid-phase additive manufacturing of 2219 aluminum alloy, the spindle pressure of the robot friction stir welding is set to 0.9KN, the welding speed is 100mm / min, the rotation speed of the stirring needle is 1300rpm, the wire diameter is 3mm, and the wire feeding speed is 12m / min, which can produce qualified additive parts.

[0053] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A robotic wire-filled friction stir welding and solid-phase additive manufacturing device, characterized in that, The system includes a robot, a robotic friction stir welding spindle mounted on the robot, a spindle control device, an industrial computer, a robot control device, a welding worktable, and a push-pull wire feeder. The spindle control device controls the robotic friction stir welding spindle, the robot control device controls the robot, and the industrial computer programs the friction stir welding and sets the welding parameters. The robotic friction stir welding spindle includes a welding spindle, an adapter sleeve, a tool holder, a locking sleeve, and a stirring head. The adapter sleeve is fixed to the outer housing of the welding spindle with screws, and the tool holder is mounted on the central rotating shaft of the welding spindle. The stirring head includes a stirring needle and a stationary shoulder. The stirring needle is mounted on the tool holder and rotated by the central rotating shaft. The stationary shoulder is pressed and fixed to the adapter sleeve by the locking sleeve and does not rotate relative to the central rotating shaft. A crushing ring cavity is formed between the stationary shoulder and the stirring needle. A wire feeding hole is provided on the side of the stationary shoulder, through which the welding wire enters the welding worktable. The grinding ring cavity; the stirring needle, from its working end upwards, includes a stirring needle head, a guide thread, a spiral milling cutter, a shoulder, and a tool holder, the tool holder being connected to the tool holder, the shoulder being used for axial positioning of the stirring needle, the spiral milling cutter being located within the grinding ring cavity and used to grind the welding wire entering the grinding ring cavity into fine particles, the guide thread being used to feed the finely granulated welding wire to the welding working area of ​​the stirring needle head; the stirring head is selected from a wire-filled welding stirring head or a wire-filled additive stirring head; when the stirring head is a wire-filled additive stirring head... In this process, the stirring needle is a stirring additive manufacturing needle. The end face of the stirring additive manufacturing needle is provided with an end face spiral groove, and the spiral direction of the end face spiral groove is opposite to the rotation direction of the stirring needle during wire filling additive manufacturing. The end face of the stirring additive manufacturing needle is provided with high-temperature alloy teeth. Three end face spiral grooves and three high-temperature alloy teeth are evenly distributed. The end face spiral grooves and the high-temperature alloy teeth are spaced apart on the end face of the stirring additive manufacturing needle. The high-temperature alloy teeth are brazed onto the stirring needle body.

2. The robotic wire-filled friction stir welding and solid-state additive manufacturing device according to claim 1, characterized in that: A wire feed head is fixed on the outer housing of the stirring welding spindle. The wire feed head is connected to the wire feed line. The welding wire is fed into the crushing ring cavity through the wire feed head and the wire feed line. The wire feed head is fixed on the outer housing of the stirring welding spindle by a clamp bracket. The angle between the wire feed head and the clamp bracket is adjusted according to the characteristics of the wire feed hole of the stationary shaft shoulder and then tightened with bolts.

3. The robotic wire-filled friction stir welding and solid-phase additive manufacturing device according to claim 1, characterized in that: The push-pull wire feeder is mounted on the robot's second axis arm.

4. The robotic wire-filled friction stir welding and solid-state additive manufacturing device according to claim 1, characterized in that: An adjustment shim with a thickness of 0.1 mm is provided between the adapter sleeve and the stationary shaft shoulder to adjust the length of the stirring needle protruding from the stationary shaft shoulder.

5. The robotic wire-filled friction stir welding and solid-state additive manufacturing device according to claim 1, characterized in that: When the stirring head is a fillet welding stirring head, the stationary shoulder is a fillet weld stationary shoulder. The fillet weld stationary shoulder is provided with a fillet weld stationary shoulder wire feeding hole. The rounded corner on the forward side of the fillet weld stationary shoulder is Ra, and the rounded corner on the rear side is Rb. Ra is determined according to the size of the welded corner. When the welded part requires a rounded corner of C2, Rb is C2.

6. The robotic wire-filled friction stir welding and solid-state additive manufacturing device according to claim 1, characterized in that: The robot is a heavy-duty robot with a rated load of 1 ton or more.

7. The robotic wire-filled friction stir welding and solid-state additive manufacturing device according to claim 1, characterized in that: When welding fillet welds of 2219 aluminum alloy with a thickness of 6mm and a chamfered radius of R2 using fillet weld, the robot friction stir welding spindle pressure is set to 0.9KN, the welding speed is 120mm / min, the stirring needle speed is 1500rpm, the welding wire diameter is 3mm, and the wire feed speed is 5m / min. When welding fillet welds of 6mm thickness and a chamfered radius of C2 using fillet weld, the robot friction stir welding spindle pressure is set to 0.9KN, the welding speed is 120mm / min, the stirring needle speed is 1500rpm, the welding wire diameter is 3mm, and the wire feed speed is 6mm / s.

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

Images