High-efficiency high-quality multi-wire multi-arc additive manufacturing device and method for ultrasonic vibration wires

Abstract

The invention belongs to the field of electric arc additive manufacturing, and particularly relates to an efficient high-quality multi-wire multi-arc additive manufacturing device and method for ultrasonic vibration wires. The device comprises an electric arc additive material platform, an additive material gun body fixing and combining platform, a multi-ultrasonic vibration auxiliary multi-wire system, a molten pool visual monitoring device and a control system, the additive material gun body fixing and combining platform is connected with the electric arc additive material platform, and multiple sets of automatic wire feeders are fixed to the additive material gun body fixing and combining platform according to additive material requirements. The ultrasonic vibration device conducts ultrasonic vibration on a wire of the automatic wire feeder, so that in the material adding process, ultrasonic vibration is conducted to a molten pool along with a welding wire, and the molten pool is stirred. Through the combination of different numbers of conductive wires and externally fed wires in the welding gun, not only is high heat input brought by multiple arcs reduced, but also the additive material efficiency is improved, ultrasonic vibration is conducted into a molten pool through the wires, and finally the mechanical properties such as microhardness and tensile strength of an additive material component are improved.

Description

Technical Field

[0001] The present invention belongs to the field of additive manufacturing, and in particular relates to a highly efficient and high-quality multi-wire and multi-arc additive manufacturing device and method for ultrasonic vibration wires. Background Art

[0002] Additive manufacturing is a modern manufacturing process that forms products from the bottom up by building digital models and accumulating materials. Metal additive manufacturing is mainly divided into laser, electron beam and arc additive manufacturing according to different heat sources. Arc additive manufacturing technology uses arc heat to melt metal wire and then deposits it layer by layer to complete the additive forming process. It has the natural advantages of high deposition efficiency and low cost.

[0003] Compared with single-wire arc additive manufacturing, multi-wire arc additive manufacturing can further improve the deposition efficiency to achieve the purpose of rapid forming. The Chinese patent application number CN202310577473.X discloses an arc additive multi-wire feeding device and a method of use. Through this device, a variety of wires of different types and diameters can be fed at the same time, effectively improving the additive efficiency.

[0004] However, the improvement of multi-wire and multi-arc additive efficiency is often accompanied by an increase in heat input. Excessive heat input can cause defects such as coarse grains and stress deformation in the formed parts, resulting in material anisotropy and reducing the mechanical properties of the components, limiting the application and promotion of multi-wire arc additive manufacturing technology. In order to reduce heat input, common methods include pulsed arc, external cooling, introduction of low-temperature gas, external wire feeding, etc. Compared with other methods of reducing heat input, applying external wire feeding is more convenient and can improve deposition efficiency while reducing heat input. In order to further refine the grains and improve their performance, this paper introduces ultrasonic field assistance. At present, ultrasonic-assisted arc additive manufacturing is mainly divided into two categories: one is to apply ultrasonic vibration to the substrate or the deposited layer, and the other is to apply ultrasonic vibration to the wire or the molten pool. The disadvantage of the former is that the range and intensity of ultrasonic vibration are affected by factors such as the shape, size, thickness, and surface roughness of the substrate or deposited layer, and the direction of ultrasonic vibration is inconsistent with the movement direction of the molten pool, which may cause the molten pool to be unevenly affected; the disadvantage of the latter is that the range and intensity of ultrasonic vibration are affected by factors such as the diameter, material, and feed speed of the wire, and ultrasonic vibration may affect the transportation of the wire and the transition of the molten droplet. The ultrasonic device applies a certain pressure on the deposited layer, but the surface of the deposited layer may not be smooth enough, resulting in ultrasonic energy loss due to excessive friction. In short, the existing technology needs to be solved. Summary of the invention

[0005] In order to overcome the defects of the above-mentioned prior art, the purpose of the present invention is to provide a high-efficiency and high-quality multi-wire and multi-arc additive manufacturing device and method for ultrasonic vibration wire, which can improve the additive efficiency while improving the mechanical properties of the formed parts.

[0006] The technical solution to achieve the purpose of the present invention is:

[0007] A high-efficiency and high-quality multi-wire and multi-arc additive manufacturing device for ultrasonic vibration wires comprises an arc additive platform, a welding gun fixing combination platform, a multi-ultrasonic vibration assisted multi-wire system, a molten pool visual monitoring device and a control system.

[0008] The additive gun body fixed combination platform is used to fix the welding gun. The welding gun and the combination platform are contacted and fixed by bolts. The welding guns are parallel to each other and maintain a certain distance. At the same time, the platform needs to be connected to the arc additive platform, which is not limited to various connection methods such as stud connection, welding, and clamp connection.

[0009] The multi-wire system assisted by ultrasonic vibration includes multiple automatic wire feeders and ultrasonic vibration devices, which are fixed on the fixed combination platform of the additive gun body. The automatic wire feeder delivers the external wire to the bottom of the welding gun through a hose. The automatic wire feeder is controlled by the control system and the welding wire of the automatic wire feeder passes through the ultrasonic vibration device. The wire feeding speed of the automatic wire feeder is adjustable from 0m / min to 20m / min. The ultrasonic vibration device is composed of an ultrasonic generator, an ultrasonic converter and an amplitude transformer. The operation of the ultrasonic vibration device is controlled by the control system. The control system enables the ultrasonic generator to generate ultrasonic waves. The ultrasonic converter connected to the ultrasonic generator converts the ultrasonic waves into mechanical vibrations. The amplitude transformer connected to the ultrasonic converter enhances the amplitude of the ultrasonic vibration. The control system can adjust the ultrasonic vibration frequency from 20kHz to 2MHz, and the ultrasonic amplitude is adjustable from 30μm to 150μm. The ultrasonic vibration device is connected to the fixed combination platform of the additive gun body through a clamp.

[0010] The molten pool visual monitoring device is used to monitor the penetration data and surface flow velocity, and feed back to the control system, which then adjusts the frequency and amplitude of the ultrasonic vibration and the wire feeding speed of the welding gun.

[0011] Based on the feedback value, the control system controls the output power, vibration frequency, amplitude of the ultrasonic vibration device and the wire feeding speed of the welding gun and the external wire feeder in real time, so that the molten pool is in the optimal flow state, and then closes the loop to regulate the mixing of the interface structure and elements in the molten pool.

[0012] An efficient and high-quality multi-wire and multi-arc additive manufacturing method for ultrasonic vibration wires.

[0013] For some large components with inconsistent upper and lower forming widths, the number of welding guns and the number of external wires mounted on the welding gun fixed combination platform are determined by the layered slicing method, and the path is planned to add materials to the components. At the same time, the ultrasonic vibration device ultrasonically vibrates the wire of the automatic wire feeder, so that during the additive process, the ultrasonic vibration is transmitted to the molten pool along with the welding wire. Through cavitation effect, acoustic streaming effect, mechanical effect and thermal effect, the molten droplet transition is improved, the molten pool flow is promoted, the molten pool composition is uniform, and the coarse grains are broken, ultimately improving the mechanical properties of the additive components such as microhardness and tensile strength.

[0014] The method specifically comprises the following steps:

[0015] Step (1): construct a three-dimensional solid model according to the shape of the part, slice the three-dimensional solid model, and import it into the control system, and the control system generates a processing program file according to the model;

[0016] Step (2): Polish the substrate clean and fix it on the workbench;

[0017] Step (3): Select the appropriate number of welding guns and automatic wire feeders and adjust the appropriate additive parameters according to different wire materials and scene requirements;

[0018] Step (4): fix the ultrasonic vibration device by a clamp and make it in close contact with the welding wire of the automatic wire feeder, and one automatic wire feeder corresponds to one ultrasonic vibration device;

[0019] Step (5): According to actual needs, the number of welding guns used for each layer of material addition and the number of welding wires passing through the ultrasonic vibration device are adjusted in the control system, and the path is planned. For a formed part with a simple structure, only one welding gun and a matching external wire are required. The function of the external wire is to improve its material addition efficiency while reducing its heat input. For a large formed part with a complex structure, multiple sets of welding guns and external wires can be used to coordinate the material addition. The welding guns and external wires are controlled by the control system so that they perform arc addition according to the preset path.

[0020] Step (6): Turn on the power of the ultrasonic vibration device and adjust the amplitude and frequency of the welding wire vibration to make the welding wire produce appropriate vibration;

[0021] Step (7): adjusting the angle and direction of the molten pool visual sensing device so that it can accurately monitor the flow of the molten pool;

[0022] Step (8): starting the material addition process, monitoring the flow information of the molten pool during the material addition process, including the molten depth and the flow velocity on the molten pool surface, and transmitting the data to the control system;

[0023] Step (9): The control system adjusts the vibration amplitude and frequency of the ultrasonic vibration device, the wire feeding speed of the welding gun and the automatic wire feeder, the travel speed of the welding gun, and the additive current and voltage according to the flow of the molten pool; if the monitoring shows that the penetration depth is small, the control system will adjust the appropriate travel speed of the welding gun and appropriately increase the welding current and voltage; if the monitoring surface flow velocity of the molten pool is too low, the amplitude and frequency of the ultrasonic vibration device will be appropriately increased;

[0024] Step (10): After the material addition is completed, the arc material addition system, the multi-ultrasonic vibration assisted multi-wire system, the molten pool visual monitoring device, and the control system are turned off in sequence.

[0025] Compared with the prior art, the present invention has the following significant advantages:

[0026] (1) The present invention proposes a multi-wire multi-arc additive manufacturing technology, which effectively reduces heat input and improves deposition efficiency by adding cold wires to the multi-wire arc additive system.

[0027] (2) The present invention applies ultrasonic vibration to the outer feeding wire, and the welding wire transmits the ultrasonic vibration to the molten pool, which plays a role in refining the grains, destroying the growth of columnar crystals, and thus improving the performance.

[0028] (3) The present invention adjusts the number of welding guns and external wire feeds according to demand, thereby being able to perform additive manufacturing on large, complex-structured formed parts, thereby improving the flexibility and efficiency of multi-wire additive manufacturing.

[0029] (4) The present invention can perform arc additive manufacturing of the same material as well as arc additive manufacturing of different materials, providing more convenience for subsequent experiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of a high-efficiency and high-quality multi-wire and multi-arc additive manufacturing device for ultrasonic vibration wires of the present invention.

[0031] Figure 2 It is a multi-ultrasonic vibration multi-wire system of the present invention.

[0032] Figure 3 It is a schematic diagram of the structure of the ultrasonic vibration device of the present invention.

[0033] Figure 4 It is a schematic diagram of the additive heterostructure device of the present invention.

[0034] Figure 5 Schematic diagram of the deposition process of the additive heterostructure material of the present invention.

[0035] Explanation of the accompanying drawings: 1-ultrasonic vibration device, 1-1 ultrasonic generator, 1-2 ultrasonic converter, 1-3 amplitude transformer, 2-control system, 3-automatic wire feeder, 3-1-automatic wire feeder A, 3-2-automatic wire feeder B, 4-arc additive platform, 5-additive gun body fixed combination platform, 6-molten pool visual monitoring device, 7-1-welding gun A, 7-2-welding gun B. DETAILED DESCRIPTION

[0036] The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become more clear. The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] like Figure 1 As shown, the present invention provides a high-efficiency and high-quality multi-wire and multi-arc additive manufacturing device for ultrasonic vibration wire, including: an arc additive platform, an ultrasonic vibration device, an automatic wire feeder, an additive gun body fixed combination platform, a control system, and a molten pool visual monitoring device.

[0038] The additive gun body fixing combined platform 5 is used to fix the welding gun of the arc additive platform 4. The welding gun and the combined platform are contacted and fixed by bolts. The welding guns are parallel to each other and maintain a certain distance. At the same time, the platform needs to be connected to the arc additive platform 4, which is not limited to various connection methods such as stud connection, welding, and clamp connection.

[0039] like Figure 2 As shown, the multi-ultrasonic vibration assisted multi-wire system includes multiple automatic wire feeders 3 and ultrasonic vibration devices 1, and are fixed on the additive gun body fixed combination platform 5; the automatic wire feeder 3 conveys the welding wire to the bottom of the welding gun through a hose, and the automatic wire feeder 3 is controlled by the control system 2. The welding wire of the automatic wire feeder 3 passes through the ultrasonic vibration device 1, and the wire feeding speed of the automatic wire feeder is adjustable from 0m / min to 20m / min.

[0040] like Figure 3As shown, the ultrasonic vibration device 1 is composed of an ultrasonic generator 1-1, an ultrasonic converter 1-2 and an horn 1-3. The operation of the ultrasonic vibration device 1 is controlled by a control system 2. The control system 2 enables the ultrasonic generator 1-1 to generate ultrasonic waves, and the ultrasonic converter 1-2 connected to the ultrasonic generator 1-1 converts the ultrasonic waves into mechanical vibrations. The horn connected to the ultrasonic converter 1-1 enhances the amplitude of the ultrasonic vibrations. The control system 2 can adjust the ultrasonic vibration frequency from 20kHz to 2MHz, and the ultrasonic amplitude is adjustable from 30μm to 150μm. The ultrasonic vibration device 1 is connected to the additive gun body fixed combination platform 5 through a clamp. The ultrasonic vibration device 1 ultrasonically vibrates the wire of the automatic wire feeder 3, so that during the additive process, the ultrasonic vibration is transmitted to the molten pool along with the welding wire, and the cavitation effect, the acoustic flow effect, the mechanical effect and the thermal effect are used to improve the droplet transition, promote the flow of the molten pool, uniform the composition of the molten pool, and break the coarse grains, and finally improve the mechanical properties of the additive component such as microhardness and tensile strength.

[0041] The molten pool visual monitoring device 6 is used to monitor the penetration data and surface flow velocity, and feed back to the control system 2, and the control system 2 further adjusts the frequency and amplitude of the ultrasonic vibration and the wire feeding speed of the welding gun.

[0042] The control system 2 controls the output power, vibration frequency, amplitude of the ultrasonic vibration device 1 and the wire feeding speed of the welding gun and the automatic wire feeder 3 in real time according to the feedback value, so that the molten pool is in the best flow state, and then closes the loop to regulate the mixing of the interface structure and the elements in the molten pool.

[0043] The present invention also provides a high-efficiency and high-quality multi-wire and multi-arc additive manufacturing method of ultrasonic vibration wire, comprising the following steps:

[0044] Step (1): construct a three-dimensional solid model according to the shape of the part, slice the three-dimensional solid model, and import it into the control system 2, which generates a processing program file according to the model;

[0045] Step (2): Polish the substrate clean and fix it on the workbench;

[0046] Step (3): Select the appropriate number of welding guns and automatic wire feeders and adjust the appropriate additive parameters according to different wire materials and scene requirements;

[0047] Step (4): fix the ultrasonic vibration device 1 by a clamp and make it in close contact with the welding wire of the automatic wire feeder 3, and one automatic wire feeder 3 corresponds to one ultrasonic vibration device 1;

[0048] Step (5): According to actual needs, the number of welding guns used for each layer of material addition and the number of welding wires passing through the ultrasonic vibration device 1 are adjusted in the control system 2, and the path is planned. For a formed part with a simple structure, only one welding gun and a matching external wire are required. The function of the external wire is to improve its material addition efficiency while reducing its heat input. For a large formed part with a complex structure, multiple sets of welding guns and external wires can be used to coordinate the material addition. The welding guns and external wires are controlled by the control system so that they perform arc addition according to the preset path;

[0049] Step (6): Turn on the power of the ultrasonic vibration device 1, and adjust the amplitude and frequency of the welding wire vibration so that the welding wire generates appropriate vibration;

[0050] Step (7): adjusting the angle and direction of the molten pool visual sensing device 6 so that it can accurately monitor the flow of the molten pool;

[0051] Step (8): start adding material, monitor the flow information of the molten pool during the adding process, including the molten depth and the flow speed on the surface of the molten pool, and transmit the data to the control system 2;

[0052] Step (9): the control system 2 adjusts the vibration amplitude and frequency of the ultrasonic vibration device 1, the wire feeding speed of the welding gun and the automatic wire feeder 3, the travel speed of the welding gun, and the additive current and voltage according to the flow of the molten pool; if the monitoring shows that the penetration depth is small, the control system 2 will adjust the appropriate travel speed of the welding gun and appropriately increase the welding current and voltage; if the monitoring shows that the flow rate on the surface of the molten pool is too low, the amplitude and frequency of the ultrasonic vibration device 1 will be appropriately increased;

[0053] Step (10): After the material addition is completed, the arc material addition platform 4, the multi-ultrasonic vibration assisted multi-wire system, the molten pool visual monitoring device 6, and the control system 2 are turned off in sequence.

[0054] Example 1: A highly efficient and high-quality multi-wire and multi-arc additive manufacturing device using ultrasonic vibrating wires to add thin walls of layered heterogeneous structure materials.

[0055] First, use an angle grinder to grind the base plate clean and remove the oil stains.

[0056] Secondly, install and debug the device and install the base plate on the upper surface of the welding workbench.

[0057] like Figure 4 As shown, the materials used for additive manufacturing are 316L stainless steel and ER130S-G high-strength steel with the same volume fraction, the diameter of the welding wire is 1.2 mm, and the material used for the substrate is 304 stainless steel with a size of 200×150×10 mm 3, where the current is 160A, the voltage is 16V, the wire feeding speed of the 316 stainless steel welding gun and the external wire is 6m / min, the wire feeding speed of the ER130S-G high-strength steel welding gun and the external wire is 4.5m / min, the walking speed of the arc additive system platform is 5mm / s, the shielding gas used is argon, and the gas flow rate is 16L / min. The CMT arc additive system is equipped with two welding guns, each with a free wire feeder and an ultrasonic vibration device. The wire feeding materials of welding gun A and automatic wire feeder A are 316L stainless steel, and the wire feeding materials of welding gun B and automatic wire feeder B are ER130S-G high-strength steel.

[0058] Using the CMT arc additive system to add material to thin-walled structures, first use the control system to turn on the ultrasonic vibration device to vibrate the welding wire of the automatic wire feeder. The output power is set to 1kw, the vibration frequency is set to 20Khz, and the vibration amplitude is 100um. Then turn on the molten pool visual monitoring device and set the emission angle to 60° so that it can accurately monitor the flow of the molten pool. Start adding material. The strategy of adding material is as follows: Figure 5 As shown, a layer of 316L stainless steel is first deposited using welding gun A and automatic wire feeder A. After cooling for 5 minutes, a layer of ER130S-G high-strength steel is deposited on this basis using welding gun B and automatic wire feeder B. According to this deposition strategy, reciprocating deposition can obtain a thin wall of layered heterogeneous structure material. During the deposition process, the molten pool visual monitoring device monitors the molten pool in real time and feeds back relevant information to the control system. The control system adjusts the frequency and amplitude of the ultrasonic vibration device and the wire feeding speed of the wire feeder according to the molten pool conditions until the additive process is completed.

[0059] After the final additive is completed, the arc additive platform, ultrasonic vibration device, automatic wire feeder, molten pool visual monitoring device and control system are turned off in sequence.

[0060] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An efficient and high-quality multi-wire and multi-arc additive manufacturing device for ultrasonic vibration wires, characterized in that: include Arc Additive Platform; Additive gun body fixed assembly platform; Multi-ultrasonic vibration assisted multi-wire system; Molten pool visual monitoring device and control system; The additive gun body fixed combination platform is used to fix multiple welding guns. The welding guns are contacted and fixed to the additive gun body fixed combination platform by bolts. The welding guns are parallel to each other and keep a certain distance. The multi-ultrasonic vibration assisted multi-wire system comprises a plurality of automatic wire feeders and ultrasonic vibration devices, and the multi-ultrasonic vibration assisted multi-wire system is fixed on a fixed assembly platform of an additive gun body; The automatic wire feeder delivers the external wire to the bottom of the welding gun through a hose, the automatic wire feeder is controlled by a control system, and the welding wire of the automatic wire feeder passes through the ultrasonic vibration device; The ultrasonic vibration device includes an ultrasonic generator, an ultrasonic converter and a horn. The operation of the ultrasonic vibration device is controlled by a control system. The control system enables the ultrasonic generator to generate ultrasonic waves. The ultrasonic converter connected to the ultrasonic generator converts the ultrasonic waves into mechanical vibrations. The horn connected to the ultrasonic converter enhances the amplitude of the ultrasonic vibration. The ultrasonic vibration device is connected to the fixed combination platform of the additive gun body through a clamp.

2. The high-efficiency, high-quality multi-wire and multi-arc additive manufacturing device of ultrasonic vibration wire according to claim 1, characterized in that: The additive gun body fixed combination platform is fixedly connected to the arc additive platform, and various connection methods such as stud connection, welding, and clamp connection can be adopted.

3. The high-efficiency, high-quality multi-wire and multi-arc additive manufacturing device of ultrasonic vibration wire according to claim 1, characterized in that: The wire feeding speed range of the automatic wire feeder is 0m / min to 20m / min.

4. The high-efficiency, high-quality multi-wire and multi-arc additive manufacturing device of ultrasonic vibration wire according to claim 1, characterized in that: The control system adjusts the ultrasonic vibration frequency range to 20kHz to 2MHz, and the corresponding ultrasonic amplitude range is 30μm to 150μm.

5. The high-efficiency, high-quality multi-wire and multi-arc additive manufacturing device of ultrasonic vibration wire according to claim 1, characterized in that: The molten pool visual monitoring device is used to monitor the penetration data and surface flow velocity, and feed back to the control system, which in turn adjusts the frequency and amplitude of the ultrasonic vibration and the wire feeding speed of the welding gun.

6. The high-efficiency, high-quality multi-wire and multi-arc additive manufacturing device of ultrasonic vibration wire according to claim 1, characterized in that: The control system controls the output power, vibration frequency, amplitude of the ultrasonic vibration device and the wire feeding speed of the welding gun and the external wire feeder in real time according to the feedback value, so that the molten pool is in an optimal flow state, and then closes the loop to regulate the mixing of the interface structure and the elements in the molten pool.

7. A method for high-efficiency, high-quality multi-wire and multi-arc additive manufacturing of ultrasonic vibration wires using the device according to any one of claims 1 to 6, characterized in that: When faced with large components with inconsistent upper and lower forming widths, the number of welding guns and the number of external wires mounted on the welding gun fixed combination platform are determined through the layered slicing method, and the path is planned to add materials to the components. At the same time, the ultrasonic vibration device ultrasonically vibrates the wire of the automatic wire feeder, so that during the additive process; the ultrasound is transmitted to the molten pool through the welding wire; through the cavitation effect, acoustic streaming effect, mechanical effect and thermal effect, the molten droplet transition is improved, the molten pool flow is promoted, the molten pool composition is uniform, and the coarse grains are broken, ultimately improving the microhardness, tensile strength and mechanical properties of the additive component.

8. The method according to claim 7, characterized in that The specific steps include: Step (1): construct a three-dimensional solid model according to the shape of the part, slice the three-dimensional solid model, and import it into the control system, and the control system generates a processing program file according to the model; Step (2): Polish the substrate clean and fix it on the workbench; Step (3): Select the appropriate number of welding guns and automatic wire feeders and adjust the appropriate additive parameters according to different wire materials and scene requirements; Step (4): fix the ultrasonic vibration device by a clamp and make it in close contact with the welding wire of the automatic wire feeder, and one automatic wire feeder corresponds to one ultrasonic vibration device; Step (5): According to actual needs, the number of welding guns used for each layer of material addition and the number of welding wires passing through the ultrasonic vibration device are adjusted in the control system, and the path is planned; Among them, for the formed parts with simple structure, a welding gun and a matching external wire are used, and the external wire is used to improve its additive efficiency and reduce its heat input; For large formed parts with complex structures, multiple sets of welding guns and external wire feeders are used to coordinate the addition of materials. The welding guns and external wire feeders are controlled by the control system to perform arc addition according to the preset path. Step (6): Turn on the power of the ultrasonic vibration device and adjust the amplitude and frequency of the welding wire vibration to make the welding wire produce appropriate vibration; Step (7): adjusting the angle and direction of the molten pool visual sensing device so that it can accurately monitor the flow of the molten pool; Step (8): starting the material addition process, monitoring the flow information of the molten pool during the material addition process, including the molten depth and the flow velocity on the molten pool surface, and transmitting the data to the control system; Step (9): The control system adjusts the vibration amplitude and frequency of the ultrasonic vibration device, the wire feeding speed of the welding gun and the automatic wire feeder, the travel speed of the welding gun, and the additive current and voltage according to the flow of the molten pool; if the monitoring shows that the penetration depth is small, the control system will adjust the appropriate travel speed of the welding gun and appropriately increase the welding current and voltage; if the monitoring surface flow velocity of the molten pool is too low, the amplitude and frequency of the ultrasonic vibration device will be appropriately increased; Step (10): After the material addition is completed, the arc material addition system, the multi-ultrasonic vibration assisted multi-wire system, the molten pool visual monitoring device and the control system are turned off in sequence.

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