Friction stir additive manufacturing device and control method

Abstract

The invention relates to the technical field of friction stir additive manufacturing equipment, and discloses a friction stir additive manufacturing device and a control method.The friction stir additive manufacturing device comprises a base used for bearing a base material; the tool head assembly is movably arranged on the base, the tool head assembly is provided with a feeding port and a discharging port, the discharging port communicates with the feeding port, and the discharging port is used for discharging an additive material to a base material; and the mechanical arm is arranged on the base or the tool head assembly, and the mechanical arm is used for transferring the additive material to the feeding opening. The mechanical arm is used for transferring additive materials, labor is reduced, and therefore the automation level is improved, the efficiency is improved, the production time is shortened, errors caused by human factors are eliminated, and the overall manufacturing efficiency and the working quality stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of friction stir additive manufacturing equipment, and in particular to a friction stir additive manufacturing device and a control method. Background Art

[0002] Friction Stir Additive Manufacturing (FSAM) is a new type of solid-phase additive manufacturing technology that uses a rotating tool head to generate heat through friction, causing additive materials (such as metals, alloys, etc.) to enter a plastic state, and then deposit layer by layer to form a complex structure. Compared with traditional additive manufacturing technology, friction stir additive manufacturing technology has significant advantages in material thermal crack control, deformation control, and workpiece performance improvement. Therefore, it is widely used in the manufacture of aerospace, automobiles, energy, and high-performance structural parts.

[0003] Despite the many advantages of this technology, there are still some challenges that need to be solved in actual operation, especially in the supply and delivery of additive materials. Currently, the process of stir friction additive manufacturing requires the additive materials such as rods to be manually fed into the tool head assembly one by one. This process is not only very cumbersome but also inefficient, which significantly increases production time and reduces the automation and production efficiency of the manufacturing process.

[0004] Since additive materials are continuously supplied to the tool head assembly during the entire additive manufacturing process, the traditional manual feeding method not only affects production efficiency, but may also introduce errors caused by human factors during operation. In addition, since each bar needs to be loaded into the tool head one by one, the operator's workload is high and it is difficult to achieve a continuous and stable material supply, which limits the automation level of the production line, and further affects the overall manufacturing efficiency and the quality stability of the workpiece. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a friction stir additive manufacturing device, which improves efficiency and improves quality stability.

[0006] A friction stir additive manufacturing device according to an embodiment of the present invention includes: a base, the base is used to support a substrate; a tool head assembly, the tool head assembly is movably arranged on the base, the tool head assembly is provided with a feed port and a discharge port, the discharge port is connected to the feed port, and the discharge port is used to discharge the additive material to the substrate; a robotic arm, the robotic arm is arranged on the base or the tool head assembly, and the robotic arm is used to transfer the additive material to the feed port.

[0007] The friction stir additive manufacturing device according to the embodiment of the present invention utilizes a robotic arm to transfer additive materials and reduces labor, thereby improving the level of automation, improving efficiency, reducing production time, eliminating errors caused by human factors, and improving overall manufacturing efficiency and work quality stability.

[0008] In some embodiments, the friction stir additive manufacturing device also includes: a silo, which is used to hold the additive material; a transfer component, which is connected to the silo, and the transfer component is provided with a fixed-point execution space, and the robotic arm is configured to transfer the additive material in the fixed-point execution space to the feed port.

[0009] In some embodiments, the tool head assembly is provided with a first baffle, and the first baffle is provided on the transfer path of the additive material on the transfer assembly, and the first baffle and the transfer assembly together define the fixed-point execution space.

[0010] In some embodiments, a first identification member is disposed on the first baffle, a second identification member is disposed on the feed port, the robotic arm is electrically connected to a control member, and the control member is electrically connected to an identification reader.

[0011] In some embodiments, the transfer component includes: a first transfer mechanism, which extends in a height direction and is connected to the silo; a second transfer mechanism, which extends in a horizontal direction and is connected to the first transfer mechanism, and the fixed-point execution space is arranged on the second transfer mechanism.

[0012] In some embodiments, the first transfer mechanism includes: a conveying flexible member, which extends along the height direction; a conveying member, which is arranged on the conveying flexible member; and a first driving member, which is connected to the conveying flexible member to drive the conveying member to move in the height direction.

[0013] In some embodiments, the second transfer mechanism includes: a conveyor belt, the first baffle is arranged above the conveyor belt; and a second driving member, the second driving member is connected to the conveyor belt to drive the conveyor belt.

[0014] In some embodiments, second baffles are provided on opposite sides of the conveyor belt, the second baffles define a limiting space, and the additive material is placed in the limiting space.

[0015] In some embodiments, a first track is disposed on the base, and a matching piece is disposed on the tool head assembly. The matching piece is movably connected to the first track, and the first track is configured to be parallel to the conveyor belt.

[0016] In some embodiments, the tool head assembly includes: a first movable seat, which is movably disposed on the base, and the first movable seat is configured to move along a first direction; a second movable seat, which is movably disposed on the first movable seat, and the second movable seat is configured to move along a second direction, and the first direction is perpendicular to the second direction; wherein the feed port and the discharge port are disposed on the second movable seat, and the robotic arm is disposed on the first movable seat.

[0017] According to the control method of the friction stir additive manufacturing device of an embodiment of the present invention, the friction stir additive manufacturing device includes: a base, a tool head assembly and a robotic arm, and the control method includes: obtaining a loading signal; and controlling the robotic arm to transfer the additive material to the feed port on the tool head assembly.

[0018] According to the control method of the friction stir additive manufacturing device in an embodiment of the present invention, a robotic arm is used to transfer additive materials, reducing manpower, thereby improving the level of automation, improving efficiency, reducing production time, eliminating errors caused by human factors, and improving overall manufacturing efficiency and work quality stability.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 It is a schematic structural diagram of a friction stir additive manufacturing device in an embodiment of the present invention; Figure 2 It is a schematic diagram of the positions of the silo and the transfer assembly in an embodiment of the present invention; Figure 3 Schematic diagram of the positions of the robotic arm and the transfer assembly in an embodiment of the present invention; Figure 4 Schematic diagram of the positions of the first transfer mechanism and the second transfer mechanism in an embodiment of the present invention; Figure 5 It is a schematic diagram of the specific structure of the first transfer mechanism in an embodiment of the present invention; Figure 6 It is a schematic diagram of the specific structure of the second transfer mechanism in an embodiment of the present invention; Figure 7 is a schematic diagram of a first identification member and a second identification member in an embodiment of the present invention; Figure 8 is a flow chart of a control method in an embodiment of the present invention; Fig. 9This is a specific control flow chart of the friction stir additive manufacturing device in an embodiment of the present invention.

[0021] Reference numerals: 100. Friction stir additive manufacturing device; 10. base; 11. first track; 20. Tool head assembly; 21. Feed inlet; 211. Second identification member; 22. Discharge outlet; 23. First baffle; 231. First identification member; 24. Matching member; 25. First moving seat; 26. Second moving seat; 30. Robotic arm; 40. Silo; 50. Transfer assembly; 51. First transfer mechanism; 511. Conveying flexible member; 512. Conveying member; 513. First driving member; 52. Second transfer mechanism; 521. Conveying belt; 522. Second driving member; 523. Second baffle; 5231. Limiting space; 200. Base material; 300. Additive material. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0024] In addition, features defined as “first” or “second” may explicitly or implicitly include one or more such features, and are used to distinguish and describe features, without any distinction in order or importance.

[0025] In the description of the present invention, unless otherwise specified, "plurality" means two or more. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] The following describes the friction stir additive manufacturing device 100 according to an embodiment of the present invention in conjunction with the accompanying drawings.

[0027] Reference Figure 1 According to an embodiment of the present invention, a friction stir additive manufacturing device 100 includes: a base 10, a tool head assembly 20 and a robotic arm 30.

[0028] The base 10 is used to carry the substrate 200. The tool head assembly 20 is movably disposed on the base 10, and the tool head assembly 20 is provided with a feed port 21 and a discharge port 22, the discharge port 22 is connected to the feed port 21, and the discharge port 22 is used to discharge the additive material 300 to the substrate 200. The robot arm 30 is disposed on the base 10 or the tool head assembly 20, and the robot arm 30 is used to transfer the additive material 300 to the feed port 21.

[0029] The substrate 200 is placed on the base 10, and the tool head assembly 20 generates heat through friction to make the additive material 300 enter a plastic state, and deposits layer by layer on the substrate 200, thereby completing the manufacturing process. The additive material 300 enters the tool head assembly 20 from the feed port 21, and then moves to the discharge port 22. The additive material 300 discharged from the discharge port 22 is in a plastic state, and is deposited layer by layer on the basis of the substrate 200. The movable robot arm 30 is used to transfer the additive material 300, and transfers the additive material 300 to the feed port 21.

[0030] Friction Stir Additive Manufacturing (FSAM) is a new type of solid-phase additive manufacturing technology that uses a rotating tool head to generate heat through friction, causing additive materials (such as metals, alloys, etc.) to enter a plastic state, and then deposit layer by layer to form a complex structure. Compared with traditional additive manufacturing technology, friction stir additive manufacturing technology has significant advantages in material thermal crack control, deformation control, and workpiece performance improvement. Therefore, it is widely used in the manufacture of aerospace, automobiles, energy, and high-performance structural parts.

[0031] Despite the many advantages of this technology, there are still some challenges that need to be solved in actual operation, especially in the supply and delivery of additive materials. Currently, the process of stir friction additive manufacturing requires the additive materials such as rods to be manually fed into the tool head assembly one by one. This process is not only very cumbersome but also inefficient, which significantly increases production time and reduces the automation and production efficiency of the manufacturing process.

[0032] Since additive materials are continuously supplied to the tool head assembly during the entire additive manufacturing process, the traditional manual feeding method not only affects production efficiency, but may also introduce errors caused by human factors during operation. In addition, since each bar needs to be loaded into the tool head one by one, the operator's workload is high and it is difficult to achieve a continuous and stable material supply, which limits the automation level of the production line, and further affects the overall manufacturing efficiency and the quality stability of the workpiece.

[0033] In the embodiment of the present invention, a robotic arm 30 is provided to transfer the additive material 300 to the feed port 21, thereby improving the level of automation, thereby improving efficiency, reducing production time, improving the automation and production efficiency of the manufacturing process, eliminating errors caused by human factors, and improving the overall level of automation of the production line, thereby improving the overall manufacturing efficiency and the quality stability of the workpiece.

[0034] In some specific embodiments, the robot arm 30 is mounted on the base 10 ; in other specific embodiments, the robot arm 30 is mounted on the tool head assembly 20 .

[0035] Specifically, the robot arm 30 can be used to negatively pressure adsorb the additive material 300 , or can be used to clamp the additive material 300 .

[0036] According to the friction stir additive manufacturing device 100 of the embodiment of the present invention, the robotic arm 30 is used to transfer the additive material 300, which reduces manpower, thereby improving the level of automation, improving efficiency, reducing production time, eliminating errors caused by human factors, and improving overall manufacturing efficiency and work quality stability.

[0037] Reference Figure 2 In some embodiments, the friction stir additive manufacturing device 100 further includes: a silo 40 and a transfer component 50 .

[0038] The silo 40 is used to hold the additive material 300 . The transfer assembly 50 is connected to the silo 40 . The transfer assembly 50 is provided with a fixed-point execution space. The robot arm 30 is configured to transfer the additive material 300 in the fixed-point execution space to the feed port 21 .

[0039] The additive material 300 is placed in the silo 40, the transfer component 50 transfers the additive material 300 to the fixed-point execution space, and the robotic arm 30 transfers the additive material 300 in the fixed-point execution space. The fixed-point execution space is located on the transfer component 50, and the fixed-point execution space is a man-made space, which provides positioning for the robotic arm 30.

[0040] In the above scheme, by setting up a silo 40 and providing an initial placement point, the silo 40 can store multiple portions of additive materials 300, thereby further improving the level of automation, making the additive manufacturing process continuous, and thus improving efficiency. In addition, a fixed-point execution space is set. Compared with a variable grasping point, a fixed-point execution space fixed at one position makes control more convenient, simplifies the difficulty of operation, and improves convenience.

[0041] Reference Figure 3 In some embodiments, the tool head assembly 20 is provided with a first baffle 23, and the first baffle 23 is provided on the transfer path of the additive material 300 on the transfer assembly 50, and the first baffle 23 and the transfer assembly 50 jointly define a fixed-point execution space.

[0042] The first baffle 23 is located in the transfer path of the additive material 300. The first baffle 23 stops the additive material 300, so that the additive material 300 stays in the space close to the first baffle 23. Different additive materials 300 always stay at the same position relative to the first baffle 23. The position where the additive material 300 stays relative to the base 10 can be an absolute fixed point or a relative fixed point.

[0043] In the above scheme, by setting the first baffle 23 on the tool head assembly 20, the first baffle 23 is used to stop the additive material 300. Even if the tool head assembly 20 moves, the position of the additive material 300 relative to the tool head assembly 20 remains unchanged. The robot arm 30 repeats the same steps when transferring different additive materials 300, thereby further reducing the difficulty of operation and improving convenience.

[0044] It should be noted that the fixed-point execution space is defined by the first baffle 23 and the transfer assembly 50 , and the fixed-point execution space is not necessarily fixed relative to the transfer assembly 50 , and the position of the fixed-point execution space may change relative to the transfer assembly 50 .

[0045] Reference Figure 6 , Figure 7 In some embodiments, a first identification member 231 is provided on the first baffle 23, a second identification member 211 is provided on the feed port 21, the robot arm 30 is electrically connected to a control member, and the control member is electrically connected to an identification reader.

[0046] Among them, the identification reader is associated with the first identification member 231 and the second identification member 211. The identification reader is used to obtain the position information of the first identification member 231 and the second identification member 211, and transmit the obtained position information to the control member. The control member processes the position information, and the control member controls the movement of the robot arm 30. The robot arm 30 accurately transfers the additive material 300 from the fixed-point execution space to the feed port 21.

[0047] In the above scheme, by associating the identification reading member with the first identification member 231 and the second identification member 211, the first identification member 231 is used to determine the material picking position of the robot arm 30, and the second identification member 211 is used to determine the material feeding position of the robot arm 30, and secondary feedback is provided to improve accuracy.

[0048] Specifically, the first identification member 231 may be a luminous ball or a sensor, and the second identification member 211 may be a luminous ball or a sensor.

[0049] Reference Figures 1 to 4 In some embodiments, the transfer component 50 includes: a first transfer mechanism 51 and a second transfer mechanism 52.

[0050] The first transfer mechanism 51 extends in the height direction and is connected to the silo 40. The second transfer mechanism 52 extends in the horizontal direction and is connected to the first transfer mechanism 51. The fixed-point execution space is provided on the second transfer mechanism 52.

[0051] The additive material 300 in the silo 40 is transferred from the first transfer mechanism 51 to the second transfer mechanism 52, and the robot arm 30 then transfers the additive material 300 from the second transfer mechanism 52 to the feed port 21. The first transfer mechanism 51 extends in the height direction, and the second transfer mechanism 52 extends in the horizontal direction, so that the friction stir additive manufacturing device 100 has a certain height, which facilitates the arrangement of the tool head assembly 20 and makes the overall structure more reasonable.

[0052] Reference Figures 1 to 5 In some embodiments, the first transfer mechanism 51 includes: a conveying flexible member 511 , a conveying member 512 and a first driving member 513 .

[0053] The conveying flexible member 511 extends in the height direction. The conveying member 512 is disposed on the conveying flexible member 511. The first driving member 513 is connected to the conveying flexible member 511 to drive the conveying member 512 to move in the height direction.

[0054] Among them, the conveying flexible member 511 extends in the height direction, the conveying member 512 is installed on the conveying flexible member 511 and moves with the conveying flexible member 511, the first driving member 513 is connected to the conveying flexible member 511, and drives the conveying member 512 to move up and down. The conveying member 512 is used to carry the additive material 300 and drive the additive material 300 to move.

[0055] In the above solution, the additive material 300 is transported by the cooperation of the conveying flexible member 511 , the conveying member 512 and the first driving member 513 , so that the additive material 300 moves stably, the overall structure is stable, and the reliability is improved.

[0056] In some specific embodiments, the conveying flexible member 511 is a conveying chain, the first driving member 513 is a sprocket, the sprocket cooperates with the conveying chain, and the conveying member 512 is a rack, which moves with the conveying chain.

[0057] Reference Figures 1 to 7 In some embodiments, the second transfer mechanism 52 includes: a conveyor belt 521 and a second driving member 522 .

[0058] The first baffle 23 is disposed above the conveyor belt 521. The second driving member 522 is connected to the conveyor belt 521 to drive the conveyor belt 521.

[0059] The second driving member 522 is connected to the conveyor belt 521 , and the power of the second driving member 522 acts on the conveyor belt 521 to drive the conveyor belt 521 . The additive material 300 is located on the conveyor belt 521 , and the additive material 300 moves along with the conveyor belt 521 .

[0060] In the above solution, the additive material 300 is quickly transported through the cooperation of the second driving member 522 and the conveyor belt 521, so that the additive material 300 is quickly transferred, which improves convenience and simplifies the structure.

[0061] Specifically, the transmission belt 521 is a transmission belt, and the second driving member 522 is a driving wheel, and the driving wheel drives the transmission belt to move.

[0062] Reference Figure 6 In some embodiments, second baffles 523 are provided on opposite sides of the conveyor belt 521 , and the second baffles 523 define a limiting space 5231 , and the additive material 300 is placed in the limiting space 5231 .

[0063] The second baffles 523 are disposed on two opposite sides of the conveyor belt 521 , and the second baffles 523 block the additive material 300 , thereby limiting the additive material 300 within the limiting space 5231 .

[0064] In the above scheme, by setting the second baffle 523 on the opposite sides of the conveyor belt 521, the second baffle 523 defines a limiting space 5231, and the additive material 300 is confined in the limiting space 5231, so that the multiple additive materials 300 always maintain the same posture, so that the multiple additive materials 300 maintain consistency, and the robot arm 30 can more conveniently grasp different additive materials 300.

[0065] Reference Figure 1 , Figure 5 and Figure 6 In some embodiments, a first track 11 is provided on the base 10 , and a matching piece 24 is provided on the tool head assembly 20 . The matching piece 24 is movably connected to the first track 11 , and the first track 11 is configured to be parallel to the conveyor belt 521 .

[0066] The first track 11 is installed on the base 10, the matching piece 24 on the tool head assembly 20 is movably matched with the first track 11, and the tool head assembly 20 moves along the extension direction of the first track 11 to complete the additive manufacturing process.

[0067] In the above scheme, by setting the first track 11 on the base 10 and setting the matching piece 24 on the tool head assembly 20, the matching piece 24 and the first track 11 move and cooperate, so that the tool head assembly 20 can move stably, thereby improving the stability of additive manufacturing. At the same time, the first track 11 is set parallel to the conveyor belt 521, and the tool head assembly 20 is relatively stationary with the fixed-point execution space, which facilitates the robot arm 30 to grab the additive material 300.

[0068] Specifically, the matching piece 24 is a slider, which is movably disposed on the first track 11 , and the slider is connected to the tool head assembly 20 .

[0069] Reference Figure 1 In some embodiments, the tool head assembly 20 includes a first movable seat 25 and a second movable seat 26 .

[0070] The first movable seat 25 is movably disposed on the base 10, and the first movable seat 25 is configured to move along a first direction. The second movable seat 26 is movably disposed on the first movable seat 25, and the second movable seat 26 is configured to move along a second direction, and the first direction is perpendicular to the second direction. The feed port 21 and the discharge port 22 are disposed on the second movable seat 26, and the robot arm 30 is disposed on the first movable seat 25.

[0071] Among them, the first movable seat 25 is movably set on the base 10, and the second movable seat 26 is movably set on the first movable seat 25. The first movable seat 25 moves along the first direction, and the second movable seat 26 moves along the second direction. The first direction is perpendicular to the second direction, so that the discharge port 22 moves to any position.

[0072] In the above scheme, through the cooperation of the first movable seat 25 and the second movable seat 26, the discharge port 22 can be moved to any position, which improves the convenience of operation. At the same time, the robotic arm 30 is set on the first movable seat 25, and the robotic arm 30 and the additive material 300 remain relatively still, which facilitates the transfer of the additive material 300 by the robotic arm 30 and reduces the control difficulty.

[0073] Specifically, a second track and a slider are provided between the first moving seat 25 and the second moving seat 26 , so that the second moving seat 26 can move relative to the first moving seat 25 .

[0074] Specifically, the first direction is the width direction of the base 10 , and the second direction is the height direction of the base 10 , which facilitates the positioning of coordinates.

[0075] Specifically, the base 10 is provided with a movable workbench, the movable workbench moves along a third direction, the substrate 200 is arranged on the movable workbench, and the third direction is perpendicular to the first direction and the second direction.

[0076] More specifically, the third direction is the X direction, the first direction is the Y direction, and the second direction is the Z direction, which facilitates friction stir additive manufacturing.

[0077] In some other embodiments, the tool head assembly 20 includes a first movable seat 25 and a second movable seat 26 .

[0078] The first movable seat 25 is movably disposed on the base 10, and the first movable seat 25 is configured to move along a first direction. The second movable seat 26 is movably disposed on the first movable seat 25, and the second movable seat 26 is configured to move along a second direction, and the first direction is perpendicular to the second direction. The feed port 21 and the discharge port 22 are disposed on the second movable seat 26, and the robot arm 30 is disposed on the second movable seat 26.

[0079] Among them, the first movable seat 25 is movably set on the base 10, and the second movable seat 26 is movably set on the first movable seat 25. The first movable seat 25 moves along the first direction, and the second movable seat 26 moves along the second direction. The first direction is perpendicular to the second direction, so that the discharge port 22 moves to any position.

[0080] In the above scheme, through the cooperation of the first movable seat 25 and the second movable seat 26, the discharge port 22 can be moved to any position, which improves the convenience of operation. At the same time, the robotic arm 30 is set on the second movable seat 26, and the robotic arm 30 and the feed port 21 remain relatively still, which facilitates the transfer of the additive material 300 by the robotic arm 30 and reduces the control difficulty.

[0081] Specifically, the first direction is the width direction of the base 10 , and the second direction is the height direction of the base 10 , which facilitates the positioning of coordinates.

[0082] In other embodiments, the robot arm 30 is disposed on the base 10 and realizes the transfer of the additive material 300 through coordinate positioning.

[0083] In some specific embodiments, the working process of the friction stir additive manufacturing device 100 is as follows: First, when there is no aluminum bar on the conveyor belt 521, the chain in the first transfer mechanism 51 moves, driving the conveyor member 512 to move upward, and the aluminum bars in the silo 40 are driven onto the conveyor member 512 and move upward. When the aluminum bar moves to the top of the first transfer mechanism 51, it falls on the conveyor belt 521 and then moves away from the first transfer mechanism 51.

[0084] Second baffles 523 are disposed on opposite sides of the conveyor belt 521 . The second baffles 523 define a limiting space 5231 . The additive material 300 is disposed in the limiting space 5231 .

[0085] A first baffle 23 is provided on the tool head assembly 20 , and the first baffle 23 can block the aluminum rod but does not hinder the movement of the conveyor belt 521 .

[0086] Therefore, the aluminum rod on the conveyor belt 521 is blocked by the first baffle plate 23 and slides on the conveyor belt 521, and at this time, the relative position of the aluminum rod and the first baffle plate 23 is guaranteed to be fixed.

[0087] When it is necessary to convey the aluminum rod to the tool head assembly 20, a first identification piece 231 is provided on the first baffle 23. The first identification piece 231 is a luminous ball. The robot arm 30 determines the material picking position by finding the position of the first identification piece 231, and then grabs the aluminum rod.

[0088] At the same time, the robot arm 30 uses a similar method to deliver the aluminum rod to the feed port 21 of the tool head assembly 20. The feed port 21 is provided with a second identification member 211. The robot arm 30 is electrically connected to a control member, and the control member is electrically connected to an identification reader. Among them, the identification reader is associated with the first identification member 231 and the second identification member 211. The identification reader is used to obtain the position information of the first identification member 231 and the second identification member 211, and transmit the obtained position information to the control member. The control member processes the position information, and the control member controls the movement of the robot arm 30. The robot arm 30 accurately transfers the additive material 300 from the fixed-point execution space to the feed port 21.

[0089] At the same time, the robot arm 30 can press the aluminum rod downward through the pressure mode to help the aluminum rod enter the feed port 21 better.

[0090] Reference Figure 8 , Fig. 9According to a control method of a friction stir additive manufacturing device according to an embodiment of the present invention, the friction stir additive manufacturing device includes: a base, a tool head assembly and a robot arm, and the control method includes: S2: Get the feeding signal.

[0091] S3: Control the robot arm to transfer the additive material to the feed port on the tool head assembly.

[0092] Specifically, the additive material is an aluminum rod, which is convenient for use.

[0093] The real-time coordinates of the XYZ axes can be read to control the movement of the robot arm, or markers can be used for positioning.

[0094] Among them, the robotic arm has a pressure mode, which presses the aluminum rod downward to help the aluminum rod enter the feed port.

[0095] According to the control method of the friction stir additive manufacturing device in an embodiment of the present invention, a robotic arm is used to transfer additive materials, reducing manpower, thereby improving the level of automation, improving efficiency, reducing production time, eliminating errors caused by human factors, and improving overall manufacturing efficiency and work quality stability.

[0096] Other structures and operations of the friction stir additive manufacturing apparatus according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0097] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0098] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A friction stir additive manufacturing device, characterized in that: include: A base (10), the base (10) being used to support a substrate (200); A tool head assembly (20), the tool head assembly (20) being movably disposed on the base (10), the tool head assembly (20) being provided with a feed port (21) and a discharge port (22), the discharge port (22) being connected to the feed port (21), and the discharge port (22) being used to discharge the additive material (300) into the substrate (200); A robotic arm (30), the robotic arm (30) being arranged on the base (10) or the tool head assembly (20), and the robotic arm (30) being used to transfer the additive material (300) to the feed port (21).

2. The friction stir additive manufacturing device according to claim 1, characterized in that: Also includes: A material bin (40), the material bin (40) being used to contain the additive material (300); A transfer assembly (50), the transfer assembly (50) being connected to the silo (40), the transfer assembly (50) being provided with a fixed-point execution space, the robotic arm (30) being configured to transfer the additive material (300) in the fixed-point execution space to the feed port (21).

3. The friction stir additive manufacturing device according to claim 2, characterized in that: The tool head assembly (20) is provided with a first baffle (23), the first baffle (23) being arranged on a transfer path of the additive material (300) on the transfer assembly (50), the first baffle (23) and the transfer assembly (50) jointly defining the fixed-point execution space.

4. The friction stir additive manufacturing device according to claim 3, characterized in that: The first baffle (23) is provided with a first identification component (231), the feed port (21) is provided with a second identification component (211), the mechanical arm (30) is electrically connected to a control component, and the control component is electrically connected to an identification reader.

5. The friction stir additive manufacturing device according to claim 3, characterized in that: The transport component (50) comprises: A first transfer mechanism (51), the first transfer mechanism (51) extending in a height direction, the first transfer mechanism (51) being connected to the silo (40); A second transfer mechanism (52), the second transfer mechanism (52) extends in a horizontal direction, the second transfer mechanism (52) is connected to the first transfer mechanism (51), and the fixed-point execution space is arranged on the second transfer mechanism (52).

6. The friction stir additive manufacturing device according to claim 5, characterized in that: The first transfer mechanism (51) comprises: A conveying flexible member (511), wherein the conveying flexible member (511) extends in a height direction; A conveying member (512), wherein the conveying member (512) is arranged on the conveying flexible member (511); A first driving member (513), wherein the first driving member (513) is connected to the conveying flexible member (511) to drive the conveying member (512) to move in a height direction.

7. The friction stir additive manufacturing device according to claim 5, characterized in that: The second transfer mechanism (52) comprises: A conveyor belt (521), wherein the first baffle (23) is arranged above the conveyor belt (521); A second driving member (522), wherein the second driving member (522) is connected to the transmission belt (521) to drive the transmission belt (521).

8. The friction stir additive manufacturing device according to claim 7, characterized in that: Second baffles (523) are provided on opposite sides of the conveyor belt (521), and the second baffles (523) define a limiting space (5231), and the additive material (300) is placed in the limiting space (5231).

9. The friction stir additive manufacturing device according to claim 7, characterized in that: The base (10) is provided with a first track (11), the tool head assembly (20) is provided with a matching piece (24), the matching piece (24) is movably connected to the first track (11), and the first track (11) is configured to be parallel to the conveyor belt (521).

10. The friction stir additive manufacturing device according to any one of claims 1 to 9, characterized in that: The tool head assembly (20) comprises: a first movable seat (25), the first movable seat (25) being movably disposed on the base (10), and the first movable seat (25) being configured to move along a first direction; a second movable seat (26), the second movable seat (26) being movably disposed on the first movable seat (25), the second movable seat (26) being configured to move along a second direction, the first direction being perpendicular to the second direction; wherein: The feed port (21) and the discharge port (22) are arranged on the second movable seat (26), and the mechanical arm (30) is arranged on the first movable seat (25).

11. A control method for a friction stir additive manufacturing device, characterized in that: The friction stir additive manufacturing device comprises: a base, a tool head assembly and a mechanical arm, and the control method comprises: Get the feeding signal; The robot arm is controlled to transfer the additive material (300) to the feed port on the tool head assembly.

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