Consumable electrode electric arc additive material layer width control device and method based on multi-axis linkage wire feeding

Abstract

The invention discloses a consumable electrode arc additive material layer width control device and method based on multi-axis linkage wire feeding. The device comprises a channel width prediction and detection module and a wire feeding coordination module. A molten pool is filled with cold wires through a multi-axis linkage wire feeding system, welding bead width data is monitored in real time in the material adding process, and a wire feeding coordination module is driven to dynamically adjust the wire feeding speed coupling proportion of internal hot wires and external cold wires. On the premise that the original additive speed of the consumable electrode is maintained, wire feeding parameters are accurately regulated and controlled through a preset algorithm, and the problem of spreading deformation caused by the influence of an electric arc thermal field and the temperature gradient of a structural part in the cold wire melting state is effectively solved. According to the method, the defect that the upper portion is narrow and the lower portion is wide due to uneven outer cold wire deposition in a traditional technology is overcome creatively, the consistency of the layer width and the height in the continuous material adding process is ensured through a real-time feedback adjusting mechanism, the size precision and the surface quality of a metal material adding component are remarkably improved, and the method is suitable for the field of precise manufacturing of parts with complex shapes.

Description

Technical Field

[0001] The invention belongs to the technical field of arc additive manufacturing, and relates to a device and method for controlling the layer width of a consumable arc additive manufacturing process based on multi-axis linkage wire feeding. Background Art

[0002] In recent years, as the performance requirements of metal materials in my country's engineering field have increased, the demand for the production efficiency of metal materials has also increased. Additive manufacturing methods are of great significance to improving additive efficiency.

[0003] The multi-axis linkage wire feeding consumable arc additive manufacturing technology is an additive manufacturing process that adds external auxiliary wire feeding on both sides of the consumable welding gun based on the consumable arc additive manufacturing technology. This technology can not only improve the utilization rate of arc heat, improve the heat dissipation conditions of additive components, reduce overall heat, but also greatly improve the additive efficiency. However, during the additive process, due to the layer-by-layer accumulation of heat in the structural parts, the external cold wire is easily affected by factors such as the arc and the shielding gas when it is in the melting stage. The molten droplets fail to solidify in time, causing the molten droplets to spread outward, causing the width of the structural parts to change and no longer be uniform, resulting in insufficient space for subsequent single-pass overlap, resulting in the defect of "narrow at the top and wide at the bottom" of the structural parts, affecting the forming quality of the additive components.

[0004] Patent No. CN202210421405.7 proposes a device and method for controlling the weld height of aluminum alloy thin plate butt welds to compensate for the weld gap. The device adds a CCD camera next to the welding gun to obtain the deviation value of the weld gap in the butt weld, and then adjusts the weld height by changing the wire feeding speed of the wire feeder. However, this method is only applicable to butt welds, has a relatively single scope of application, and cannot achieve precise control. Summary of the invention

[0005] In view of the shortcomings of the existing external wire feeding consumable arc additive manufacturing technology, in order to improve the forming quality of additive components and improve the additive efficiency, the present invention proposes a consumable arc additive layer width control device and method based on multi-axis linkage wire feeding.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A consumable arc additive layer width control device based on multi-axis linkage wire feeding comprises a path width prediction and detection module and a wire feeding coordination module.

[0008] The track width prediction and detection module specifically includes: a fixing fixture for fixing the multi-axis linkage wire feeding tube, micro infrared sensor I and micro infrared sensor II are located in the middle of the fixing fixture, and micro infrared sensor I and micro infrared sensor II are connected to the computer; bolts I and bolts II are respectively provided at both ends of the fixing fixture, and the fixing fixture is adjusted by rotating bolts I and bolts II to change the positions of the two micro infrared sensors. The track width prediction module directly includes the data overlap model inside the computer to predict the multi-track width in each layer.

[0009] The wire feeding coordination module specifically includes two parts: the wire feeding at the end of the consumable electrode welding gun and the multi-axis linkage wire feeding module. The welding wire is respectively connected to the wire feeding tube III by the welding machine and directly transported to the consumable electrode welding gun. The welding wire I is connected to the wire feeding tube I through the wire feeder I and transported to the wire feeding guide tube I, and finally sent to the lower end of the consumable electrode welding gun by the wire guide nozzle I. The welding wire II is connected to the wire feeding tube II through the wire feeder II and transported to the wire feeding guide tube II, and finally sent to the lower end of the consumable electrode welding gun by the wire guide nozzle II. The wire feeding speed on both sides is adjusted by controlling the wire feeder I, the wire feeder II and the welding machine.

[0010] Furthermore, two miniature infrared sensors are located in a fixed fixture in the middle of the multi-axis linkage wire feeding tube, with a horizontal distance of 20 to 30 cm from the central axis of the consumable electrode welding gun nozzle and an angle of 15 to 30 degrees with the horizontal plane of the workpiece.

[0011] Furthermore, the micro infrared temperature sensor and the micro infrared distance sensor are integrated into one, and the two can be rotated by a knob in the middle.

[0012] The external cold wire feeding tube is at an angle of 15 to 45 degrees to the central axis of the consumable electrode welding gun nozzle, and the straight-line distance between the wire guide nozzle and the consumable electrode welding gun nozzle is 50 to 70 mm.

[0013] A method for controlling the layer width of a consumable arc additive manufacturing process based on multi-axis linkage wire feeding specifically comprises the following steps:

[0014] 1) Preset additive speed V 0 , additive current, external auxiliary wire feeding speed V 1 And external auxiliary wire feeding speed V 2 Other process parameters;

[0015] 2) Adjust the wire feeding angle of the multi-axis linkage wire feeding, adjust the distance and inclination angle between the micro infrared sensor and the melting electrode nozzle, connect the micro infrared sensor to the computer, preset the ideal track width model in the computer, and set the standard track width W 0 ;

[0016] 3) Start the additive process, first start the arc at the melting electrode, then the multi-axis linkage wire feeding device feeds the wire synchronously. At this time, two micro infrared sensors start to detect the distance and infrared image between the temperature separation line between the weld bead and the substrate and the initial test setting line in real time, and then upload the detection data to the computer, perform data processing in the computer, and calculate the real-time bead width W. 1 At the same time as the wetting angle θ, the computer synchronously compares the preset track width W 0 With real-time channel width W 1 ;

[0017]

[0018] Where: V 0 is the feeding speed of the consumable electrode wire, V 1 is the wire feeding speed of wire feeder I, V 2 is the wire feeding speed of wire feeder II, θ is the measured wetting angle, r 1 The radius of the welding wire fed by the wire feeder I, r 2 It is the radius of the welding wire fed by wire feeder II.

[0019] If ΔW(ΔW=|W 0 -W 1 |)>0, then make adjustments. At this time, the computer sends instructions to the robot control cabinet to adjust wire feeder I and wire feeder II, change the wire feeding speed of the two welding wires, and adjust the speed of the two welding wires according to the predetermined algorithm ΔW and V 1 、V 2 Adjustment is performed, if ΔW (ΔW = |W 0 -W 1 |)=0, no adjustment is made;

[0020] 4) When the arc extinguishing point of the additive process is reached, the arc of the melting pole is controlled to extinguish, the multi-axis linkage wire feeding system is turned off, and all modules enter the standby state, waiting for the next additive process;

[0021] 5) Repeat steps 3 to 4 until the additive work is completed and the robot returns to the safe point.

[0022] Furthermore, the temperature measurement range of the infrared temperature sensor is 0 to 1800° C., and the temperature separation line measurement range of the infrared distance sensor is 0.1 to 10 mm.

[0023] Furthermore, the real-time channel width W 1 The range of is 3.5~8.5mm, and the range of the wetting angle θ of the additive channel is 15~45°

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] (1) The present invention adopts multi-axis linkage wire feeding melting electrode arc additive manufacturing technology, which greatly improves the overall additive efficiency.

[0026] (2) The track width prediction and detection module of the present invention predicts and detects the track width of the multi-axis linkage wire feeding consumable electrode arc additive welding track, and controls the three sets of wire feeding speeds through the wire feeding coordination module to achieve consistent track width, improve the forming effect, and enhance the forming quality of the additive component. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a diagram of the layer width control device of the melting electrode arc additive manufacturing with multi-axis linkage wire feeding.

[0028] Figure 2 This is the plan view of the track width detection and wire feeding coordination module.

[0029] Figure 3 The figure is a schematic flow chart of the method for controlling the layer width of the consumable arc additive manufacturing process with multi-axis linkage wire feeding.

[0030] Figure 4 This is a diagram of an additive component obtained by using the device and method.

[0031] Figure 5 This is a diagram of an additive component obtained without using the device and method.

[0032] In the figure, 1 is a consumable electrode welding gun, 2 is a multi-axis linkage wire feeding nozzle Ⅰ, 3 is an adjusting bolt Ⅰ, 4 is a multi-axis linkage wire feeding guide tube Ⅰ, 5 is a multi-axis linkage wire feeding tube Ⅰ, 6 is a miniature infrared temperature sensor, 7 is a miniature infrared ranging sensor, 8 is a fixing fixture, 9 is a multi-axis linkage wire feeding nozzle Ⅱ, 10 is an adjusting bolt Ⅱ, 11 is a multi-axis linkage wire feeding guide tube Ⅱ, and 12 is a multi-axis linkage wire feeding tube Ⅱ. DETAILED DESCRIPTION

[0033] In order to facilitate those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] The equipment models used are as follows: MOTOMAN GP-25 Yaskawa arc welding robot, consumable electrode welding gun, TransPuls Synergla 4000 multi-function inverter welding power supply, MQ600A infrared temperature sensor, PSK-CM10JL04-C1 infrared ranging sensor, and WF-007A wire feeder.

[0035] The present invention is a consumable arc additive layer width control device based on multi-axis linkage wire feeding, and the device specifically includes a track width prediction and detection module and a wire feeding coordination module. The track width prediction and detection module specifically includes: a fixing fixture for fixing two symmetrical multi-axis linkage wire feeding tubes, a micro infrared sensor I and a micro infrared sensor II are located in the middle of the fixing fixture, and the micro infrared sensor I and the micro infrared sensor II are connected to a computer; bolts I and bolts II are respectively provided at both ends of the fixing fixture, and the fixing fixture is adjusted by rotating bolts I and bolts II to change the positions of the two micro infrared sensors. The track width prediction module directly includes a data overlap model inside the computer to predict the multi-track width in each layer. The wire feeding coordination module specifically includes two parts: wire feeding at the consumable welding gun end and multi-axis linkage external wire feeding. The welding wire is respectively connected to the wire feeding tube III by the welding machine control to be transported to the consumable welding gun by the welding wire III, and the welding wire I is connected to the wire feeding tube I through the wire feeder I to be transported to the multi-axis linkage wire feeding wire guide tube I, and finally sent to the lower end of the consumable welding gun by the wire guide nozzle I. The welding wire II is connected to the wire feeding tube II through the wire feeding machine II and is transported to the multi-axis linkage wire feeding wire guide tube II, and finally sent to the lower end of the consumable electrode welding gun by the wire guide nozzle II. The wire feeding speed on both sides is adjusted by controlling the wire feeding machine I, wire feeding machine II and welding machine.

[0036] A method for controlling the layer width of a consumable arc additive manufacturing process based on multi-axis linkage wire feeding specifically comprises the following steps:

[0037] 1) Preset additive speed V 0 , additive current, external auxiliary wire feeding speed V 1 And external auxiliary wire feeding speed V 2 Other process parameters;

[0038] 2) Adjust the wire feeding angle of the multi-axis linkage wire feeding, adjust the distance and inclination angle between the micro infrared sensor and the melting electrode nozzle, connect the micro infrared sensor to the computer, preset the ideal track width model in the computer, and set the standard track width W 0 ;

[0039] 3) Start the additive process, first start the arc at the melting electrode, then the multi-axis linkage wire feeding device feeds the wire synchronously. At this time, two micro infrared sensors start to detect the distance and infrared image between the temperature separation line between the weld bead and the substrate and the initial test setting line in real time, and then upload the detection data to the computer, perform data processing in the computer, and calculate the real-time bead width W. 1 At the same time as the wetting angle θ, the computer synchronously compares the preset track width W 0 With real-time channel width W 1 .

[0040]

[0041] Where: V 0 is the feeding speed of the consumable electrode wire, V1 is the wire feeding speed of wire feeder I, V 2 is the wire feeding speed of wire feeder II, θ is the measured wetting angle, r 1 The radius of the welding wire fed by the wire feeder I, r 2 It is the radius of the welding wire fed by wire feeder II.

[0042] If ΔW(ΔW=|W 0 -W 1 |)>0, then make adjustments. At this time, the computer sends instructions to the robot control cabinet to adjust the welding machine, wire feeder I and wire feeder II, change the wire feeding speed of the two welding wires, and adjust the speed of the two welding wires according to the predetermined algorithm ΔW and V 1 、V 2 Adjustment is performed, if ΔW (ΔW = |W 0 -W 1 |)=0, no adjustment is made;

[0043] 4) When the arc extinguishing point of the additive process is reached, the arc of the melting pole is controlled to extinguish, the multi-axis linkage wire feeding system is turned off, and all modules enter the standby state, waiting for the next additive process;

[0044] 5) Repeat steps 3 to 4 until the additive work is completed.

[0045] Example 1

[0046] The consumable arc additive layer width control device based on multi-axis linkage wire feeding is used to perform additive manufacturing of multi-pass multi-layer components and other layer width control using 316L stainless steel welding wire with a diameter of 1.2 mm. The specific steps are as follows:

[0047] 1) Set the melting electrode additive current to 220A, the additive speed to 60cm / min, the wire feeding speed of multi-axis linkage wire feeding I to 1.5m / min, and the wire feeding speed of multi-axis linkage wire feeding II to 1.5m / min.

[0048] 2) Adjust the angle of the multi-axis linkage wire feeding tube so that the multi-axis linkage wire feeding tube is inclined at a 30° angle to the central axis of the consumable electrode welding gun nozzle, and the straight-line distance between the wire guide nozzle and the consumable electrode welding gun nozzle is 60 mm, ensuring that the two external welding wires are sent to the bottom of the consumable electrode welding gun nozzle through the wire guide nozzle.

[0049] 3) Rotate the adjustment bolt to adjust the position of the fixture, place the two micro infrared sensors in the fixture, adjust the angle of the micro infrared sensors so that the two micro infrared sensors are 15° inclined to the horizontal plane of the substrate and align with the lower end of the consumable welding gun. Adjust the robot arm to keep the distance between the consumable welding gun nozzle and the substrate at 8mm.

[0050] 4) Turn on the computer, establish the connection between the track width prediction and track width detection modules, and establish the connection between the computer processing system and the wire feeding coordination module.

[0051] 5) Start the additive program, move the consumable welding gun to the arc starting point, turn on the protective gas and water cooling circulation system, then start the consumable arc, and at the same time, the multi-axis linkage wire feeding module starts wire feeding, and the track width detection module is turned on to collect the additive track width. According to the track width prediction module, the preset number of additive tracks is calculated to be 10, and the track width is 58mm. Taking into account the ideal overlap rate, the average track width is about 5.8mm. During the additive process, as the number of additive layers increases, heat accumulates layer by layer, and the molten droplets solidify slowly and begin to spread outward gradually, resulting in a track width of 6.2mm. Through computer calculation and comparison, according to the calculation formula ΔW=W 0 -W 1 =5.8-6.2=-0.4<0, at this moment, according to ΔW and V 1 、V 2 The relationship between the two is combined and fed back to the wire feeding coordination module to control the wire feeding speed. The multi-axis linkage wire feeding speed on both sides is adjusted from 1.5m / min to 1.16m / min, and real-time data collection and regulation are carried out to continuously complete the subsequent additive process.

[0052] 6) The consumable welding gun extinguishes the arc when it reaches the arc extinguishing point, turns off the multi-axis linkage wire feeding system, turns off the shielding gas, and the track width detection module and the coordinated wire feeding module enter the standby state, waiting for the next layer of material addition;

[0053] 7) Repeat steps 5 to 6 until the additive component is completed.

[0054] 8) By controlling the equal layer width of 316L multi-layer components, the surface of the structural parts is relatively smooth, and there is no defect of "narrow at the top and wide at the bottom", which improves the additive efficiency while ensuring the forming quality of the additive components.

[0055] The top view of the additive component obtained through the above steps is as follows Figure 4 As shown, the surface is best formed, the overlaps between the lanes are perfectly matched, the lane width is relatively uniform, and there are no obvious defects.

[0056] Example 2

[0057] The consumable arc additive layer width control device based on multi-axis linkage wire feeding is used to perform additive manufacturing of multi-pass multi-layer components and other layer width control using HS7-N5S high nitrogen steel welding wire with a diameter of 1.0 mm. The specific steps are as follows:

[0058] 1) Set the melting electrode additive current to 260A, the additive speed to 50cm / min, the wire feeding speed of multi-axis linkage wire feeding I to 1.7m / min, and the wire feeding speed of multi-axis linkage wire feeding II to 1.7m / min.

[0059] 2) Adjust the angle of the multi-axis linkage wire feeding tube so that the multi-axis linkage wire feeding tube is inclined at a 30° angle to the central axis of the consumable electrode welding gun nozzle, and the straight-line distance between the wire guide nozzle and the consumable electrode welding gun nozzle is 60 mm, ensuring that the two external welding wires are sent to the bottom of the consumable electrode welding gun nozzle through the wire guide nozzle.

[0060] 3) Rotate the adjustment bolt to adjust the position of the fixture, place the two micro infrared sensors in the fixture, adjust the angle of the micro infrared sensors so that the two micro infrared sensors are 15° inclined to the horizontal plane of the substrate and align with the lower end of the consumable welding gun. Adjust the robot arm to keep the distance between the consumable welding gun nozzle and the substrate at 8mm.

[0061] 4) Turn on the computer, establish the connection between the track width prediction and track width detection modules, and establish the connection between the computer processing system and the wire feeding coordination module.

[0062] 5) Start the additive program, move the consumable welding gun to the arc starting point, turn on the protective gas and water cooling circulation system, then start the consumable arc, and at the same time, the multi-axis linkage wire feeding device starts wire feeding, turn on the track width detection module, and collect the additive track width. According to the track width prediction module, the preset number of additive tracks is calculated to be 10, and the track width is 74mm. Taking into account the ideal overlap rate, the average track width is about 7.4mm. During the additive process, as the number of additive layers increases, heat accumulates layer by layer, and the molten droplets solidify slowly and begin to spread outward gradually, resulting in the average width of the first few tracks reaching 8.1mm. Calculated and compared by computer, according to the calculation formula ΔW=W 0 -W 1 =7.4-8.1=-0.7<0, at this moment, according to ΔW and V 1 、V 2 The relationship between the two is combined and fed back to the wire feeding coordination module to control the wire feeding speed. The multi-axis linkage wire feeding speed on both sides is adjusted from 1.7m / min to 1.15m / min, and real-time data collection and regulation are carried out to continuously complete the subsequent additive process.

[0063] 6) The consumable welding gun extinguishes the arc when it reaches the arc extinguishing point, turns off the multi-axis linkage wire feeding system, turns off the shielding gas, and the track width detection module and the coordinated wire feeding module enter the standby state, waiting for the next layer of material addition;

[0064] 7) Repeat steps 5 to 6 until the additive component is completed and the robot returns to the safe point position.

[0065] 8) By controlling the equal layer width of HS7-N5S high nitrogen steel multi-layer components, the surface of the structural parts is relatively smooth, which improves the additive efficiency and ensures the forming quality of the additive components.

[0066] Comparative Example

[0067] Figure 5 This is a diagram of an additive component obtained without using the above-mentioned device and method. The component is affected by the continuous overlap between the tracks and the fusion on both sides, which causes the cladding layer to shrink inward, forming a situation where it is narrow at the top and wide at the bottom. When the cladding area of ​​the upper layer is reduced, the molten droplets at both ends do not have enough space to deposit.

Claims

1. A device for controlling the layer width of a consumable arc additive process based on multi-axis linkage wire feeding, characterized in that: The device includes a track width prediction and detection module and a wire feeding coordination module; The road width prediction and detection module includes a road width detection module and a road width prediction module; The track width detection module comprises a fixing fixture (8) for fixing the multi-axis linkage wire feeding tube, a micro infrared temperature sensor (6) and a micro infrared distance sensor (7). The micro infrared temperature sensor (6) and the micro infrared distance sensor (7) are both located in the middle of the fixing fixture (8), and the micro infrared temperature sensor (6) and the micro infrared distance sensor (7) are both connected to the computer (15); The two ends of the fixing fixture (8) are respectively provided with bolts I (3) and bolts II (9), and the fixing fixture is adjusted by rotating bolts I and bolts II, thereby changing the positions of the two micro infrared sensors; The track width prediction module includes a data overlap model inside the computer, which is used to predict the width of multiple tracks in each layer; The wire feeding coordination module includes a wire feeding module and a multi-axis linkage wire feeding module arranged at the end of the consumable electrode welding gun, which are used to respectively feed three groups of welding wires to the consumable electrode welding gun, wire feeding tube I and wire feeding tube II. The computer feeds back information to the robot control cabinet, and the robot control cabinet controls wire feeder I and wire feeder II to adjust the two groups of wire feeding speeds.

2. The device for controlling the layer width of a consumable arc additive manufacturing process based on multi-axis linkage wire feeding according to claim 1 is characterized in that: The micro infrared temperature sensor (6) and the micro infrared distance sensor (7) are arranged in a fixing fixture (8) in the middle of the multi-axis linkage wire feeding tube, with a horizontal distance of 20 to 30 cm from the central axis of the consumable electrode welding gun nozzle and an angle of 15 to 30 degrees with the horizontal plane of the workpiece.

3. The device for controlling the layer width of a consumable arc additive manufacturing process based on multi-axis linkage wire feeding according to claim 1 is characterized in that: The micro infrared temperature sensor (6) and the micro infrared distance sensor (7) are integrated into one, and the two are rotated by a knob.

4. The device for controlling the layer width of a consumable arc additive manufacturing process based on multi-axis linkage wire feeding according to claim 1, characterized in that: The central axis of the wire feeding tube and the nozzle of the consumable electrode welding gun is 15 to 45 degrees, and the straight-line distance between the wire guide nozzle and the nozzle of the consumable electrode welding gun is 50 to 70 mm.

5. A method for controlling the layer width of a consumable arc additive process based on multi-axis linkage wire feeding, characterized in that: The method comprises the following specific steps: (1) Presetting the process parameters of additive speed V0, additive current, external auxiliary wire feeding speed V1 and external auxiliary wire feeding speed V2; (2) adjusting the wire feeding angle of the multi-axis linkage wire feeding module, adjusting the distance and inclination angle between the micro infrared temperature sensor and the micro infrared distance sensor and the melting electrode nozzle, connecting the micro infrared temperature sensor and the micro infrared distance sensor to the computer, presetting the ideal track width model in the computer, and setting the standard track width W0; (3) Start the additive process, first start the arc at the melting electrode, then feed the wire synchronously with the external cold wire device. At this time, two micro infrared sensors start to detect the distance between the temperature separation line between the weld bead and the substrate and the initial setting line and the infrared image in real time, and then upload the detection data to the computer, process the data in the computer, calculate the real-time bead width W1 and the wetting angle θ, and the computer synchronously compares the preset bead width W0 with the real-time bead width W1; Where: V0 is the wire feeding speed of the consumable electrode wire, V1 is the wire feeding speed of wire feeder I, V2 is the wire feeding speed of wire feeder II, θ is the measured wetting angle, r1 is the radius of the wire fed by wire feeder I, and r2 is the radius of the wire fed by wire feeder II; If ΔW>0, ΔW=|W0-W1|, then make adjustments. At this time, the computer sends instructions to the robot control cabinet to adjust wire feeder I and wire feeder II, change the wire feeding speed of the two welding wires, and adjust ΔW and V1, V2 according to the predetermined algorithm. If ΔW=0, ΔW=|W0-W1|, then no adjustment is made; (4) When the arc extinguishing point of the additive process is reached, the arc of the melting pole is controlled to extinguish, the multi-axis linkage wire feeding system is turned off, and the next additive process is waited for; (5) Repeat steps (3) to (4) until the additive work is completed.

6. The method for controlling the layer width of the consumable arc additive manufacturing process based on multi-axis linkage wire feeding according to claim 5 is characterized in that: The temperature measurement range of the infrared temperature sensor is 0 to 1800°C, and the temperature separation line measurement range of the infrared distance sensor is 0.1 to 10 mm.

7. The method for controlling the layer width of the consumable arc additive manufacturing process based on multi-axis linkage wire feeding according to claim 5 is characterized in that: The real-time channel width W1 ranges from 3.5 to 8.5 mm, and the additive channel wetting angle θ ranges from 15 to 45°.

Images