Additive manufacturing device and manufacturing method based on multi-module collaboration

Abstract

The invention belongs to the field of additive manufacturing, and particularly discloses an additive manufacturing device and method based on multi-module collaboration.The additive manufacturing device comprises a workbench, an electric arc additive manufacturing module, a magnetic field auxiliary module, a laser shock peening module and a collaborative execution module; a base plate used for machining an additive component is arranged on the workbench, and the electric arc additive manufacturing module is used for forming the additive component; the magnetic field auxiliary module is arranged below the workbench and is used for providing a high-frequency longitudinal alternating magnetic field; the laser shock peening module is arranged above the workbench and is used for emitting laser to carry out laser shock peening on the additive component; and the electric arc additive manufacturing module and the laser shock peening module cooperatively work under the driving of the cooperative execution module. According to the design of the structure, the magnetic field and the laser shock are used for cooperatively assisting the electric arc material increasing process, the macro-microstructure of the material increasing component can be optimized, the machining precision is improved, and the machining quality and performance of the material increasing component are enhanced.

Description

Technical Field

[0001] This application belongs to the field of additive manufacturing, and more specifically, relates to an additive manufacturing device and manufacturing method based on multi-module collaboration. Background Art

[0002] The arc additive manufacturing technology uses an arc as a heat source to melt metal wire. By importing a three-dimensional model into software and then forming the required parts in a layer-by-layer stacking manner, its main advantages are high material utilization rate, fast arc deposition rate, suitability for large-sized parts, support for a variety of metal materials, and significant advantages in the manufacturing of large metal components with low cost and high efficiency, especially suitable for fields such as aerospace and energy. Due to the possible roughness of the arc during the processing, the surface quality and forming accuracy of the formed components are low. The high heat input will also cause the accumulation of thermal stress, which may lead to part deformation, and defects will occur in the microstructure, such as pores and poor fusion, affecting the product quality and performance. Summary of the Invention

[0003] Aiming at the defects of the prior art, this application provides an additive manufacturing device and manufacturing method based on multi-module collaboration, aiming to solve the problems of low accuracy of arc additive parts processed by the existing arc additive manufacturing technology and the need to optimize the quality and performance of additive components.

[0004] An additive manufacturing device based on multi-module collaboration provided by this application specifically includes a workbench, an arc additive manufacturing module, a magnetic field assistance module, a laser shock peening module, and a collaborative execution module; a substrate for processing additive components is arranged on the workbench, and the arc additive manufacturing module is used for forming additive components; the magnetic field assistance module is arranged below the workbench for providing a high-frequency longitudinal alternating magnetic field; the laser shock peening module is located above the workbench for emitting laser to perform laser shock peening on the additive components; the arc additive manufacturing module and the laser shock peening module work collaboratively under the drive of the collaborative execution module.

[0005] Through the above technical solution conceived by this application, compared with the prior art, since this application drives the arc additive manufacturing module and the laser shock peening module to work collaboratively through the collaborative execution module, the magnetic field and laser shock assist the arc additive process collaboratively. In this process, the high-frequency longitudinal alternating magnetic field can control the arc morphology, improve the droplet transfer efficiency, and inhibit the generation of pores. At the same time, laser shock peening can generate a deeper residual compressive stress layer on the deposition layer of the additive component, refine the grains, and the residual compressive stress introduced by laser shock is coupled with the molten pool thermal stress field regulated by the magnetic field to form a three-dimensional gradient stress distribution, which improves the fatigue resistance life of the component and reduces anisotropy, and can achieve the beneficial effects of optimizing the macro and microstructures of the additive component, improving the processing accuracy, quality, and performance.

[0006] As a further preference, the collaborative execution module includes a first clamping robot and a second clamping robot disposed on both sides of the workbench. The arc additive manufacturing module is connected to the output end of the first clamping robot, and the laser shock peening module is connected to the output end of the second clamping robot.

[0007] As a further preference, the arc additive manufacturing module includes a welding torch, a welding machine, and a wire feeding mechanism. The welding torch is fixedly connected to the output end of the first clamping robot. Both the welding torch and the wire feeding mechanism are connected to the welding machine, and the welding torch is also connected to the wire feeding mechanism.

[0008] As a further preference, the magnetic field assisting module includes an alternating magnetic field generator and a high-frequency alternating magnetic field power supply. The alternating magnetic field generator is fixedly connected to the workbench and is located on the same vertical axis as the substrate. The high-frequency alternating magnetic field power supply is electrically connected to the alternating magnetic field generator.

[0009] As a further preference, the alternating magnetic field generator includes a coil and an iron core. The iron core is vertically arranged and the coil is sleeved outside the iron core.

[0010] As a further preference, the magnetic field intensity generated by the alternating magnetic field generator is not greater than 0.8T.

[0011] As a further preference, the laser shock peening module includes a follow-up execution unit, a pulsed laser generator, and a pulsed laser power supply. Both the follow-up execution unit and the pulsed laser generator are installed at the output end of the second clamping robot. The pulsed laser generator is electrically connected to the pulsed laser power supply.

[0012] As a further preference, the laser energy density generated by the pulsed laser generator is 5J / cm 2 -20J / cm 2 , and the frequency is 1Hz - 20Hz.

[0013] As a further preference, the follow-up execution unit includes a housing, a tape supply mechanism, a tape recovery mechanism, and an insulating tape. The housing is fixedly connected to the emission end of the pulsed laser generator and is coaxially arranged. A cavity for the laser to pass through is formed inside the housing, and the bottom end is provided with a contact head. The tape supply mechanism and the tape recovery mechanism are symmetrically arranged on both sides of the housing. The insulating tape is wrapped outside the contact head and one end is connected to the tape supply mechanism, and the other end is connected to the tape recovery mechanism. Water inlets and outlets communicating with the cavity are also formed on the housing.

[0014] An additive manufacturing method using the above additive manufacturing device provided by the present application includes the following steps: S1: Start the magnetic field assistance module, the collaborative execution module, the arc additive manufacturing module, and the laser shock peening module in sequence; S2: The collaborative execution module controls the arc additive manufacturing module and the laser shock peening module to work collaboratively. Among them, the arc additive manufacturing module forms the additive component, and the laser shock peening module performs laser shock peening on the formed additive component and lags behind the arc additive manufacturing module until the manufacturing of the additive component and the laser shock peening are completed.

[0015] Generally speaking, compared with the prior art through the above technical solutions conceived in this application, the following technical advantages are mainly possessed: 1. This application integrates the arc additive manufacturing module, the magnetic field assistance module, the laser shock peening module, and the collaborative execution module to achieve the synergistic effect of multiple energy fields. The collaborative execution module drives the arc additive manufacturing module and the laser shock peening module to work collaboratively. The magnetic field and laser shock assist the arc additive process synergistically. In this process, the high-frequency longitudinal alternating magnetic field can control the arc shape, improve the droplet transfer efficiency, inhibit the generation of pores, and effectively reduce droplet spatter and micro-defects of the additive component.

[0016] 2. This application can generate a relatively deep residual compressive stress layer on the deposition layer of the additive component through laser shock peening. The dual restrictions of the magnetic field and the water confinement layer can enhance the effect of the plasma shock wave generated by laser shock, strengthen its grain refinement effect, and can optimize the macro and microstructures of the additive component. The residual compressive stress introduced by laser shock is coupled with the molten pool thermal stress field regulated by the magnetic field to form a three-dimensional gradient stress distribution, which improves the fatigue resistance life of the component, reduces anisotropy, improves the processing accuracy, and enhances the processing quality and performance of the additive component. Description of the Drawings

[0017] Figure 1 is a schematic diagram of the overall structure of the additive manufacturing device provided by an embodiment of this application; Figure 2 is a front view structural schematic diagram of the additive manufacturing device provided by an embodiment of this application; Figure 3 is Figure 2 an enlarged schematic diagram of part A in Figure 4 is a schematic diagram of the overall structure of the follow-up execution unit provided by an embodiment of this application; Figure 5 is a schematic diagram of the influence of the magnetic field on the arc provided by an embodiment of this application; Figure 6 is a schematic diagram of the dual constraints of the magnetic field and the confinement layer on the plasma shock wave generated by laser shock provided by an embodiment of this application.

[0018] In all the drawings, the same reference numerals are used to represent the same elements or structures, where: 1. Workbench; 11. Substrate; 2. Arc additive manufacturing module; 21. Welding torch; 22. Electric welding machine; 23. Wire feeding mechanism; 3. Magnetic field assistance module; 31. Alternating magnetic field generator; 32. High-frequency alternating magnetic field power supply; 4. Laser shock peening module; 41. Follow-up execution unit; 411. Housing; 4111. Water inlet; 4112. Water outlet; 4113. Contact head; 412. Tape supply mechanism; 413. Tape recycling mechanism; 414. Insulating tape; 42. Pulse laser generator; 43. Pulse laser power supply; 5. Cooperative execution module; 51. First clamping robot; 52. Second clamping robot; 601. Focusing lens; 602. Constraint layer. Specific embodiments

[0019] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0020] In order to improve the defects of the accuracy and material quality performance of arc additive components, the arc additive manufacturing components can be optimized by energy field assistance. Preferably, laser shock peening and magnetic field-assisted arc additive manufacturing are selected. As an advanced surface modification technology, laser shock peening uses high-energy short-pulse lasers to induce plasma shock waves to act on the material surface, and uses dynamic plastic deformation to form a residual compressive stress layer on the surface layer, which can significantly improve the fatigue resistance, corrosion resistance and wear resistance of the material. However, the effect of single shock on grain refinement is limited. The magnetic field-assisted arc additive manufacturing technology restricts the arc shape and drives the melt pool convection through the magnetic field. Although it can effectively reduce the porosity and reduce the spatter, its ability to regulate the residual stress distribution is insufficient.

[0021] Refer to Figure 1 - Figure 2, an additive manufacturing device based on multi-module collaboration disclosed in the present application realizes the efficient and precise forming of metal components through the collaborative action of multiple physical fields, synchronously optimizing the macroscopic morphology, microstructure, and properties of the formed components, and is applicable to the manufacturing of high-precision and high-performance metal components. The additive manufacturing device includes a workbench 1, an arc additive manufacturing module 2, a magnetic field assistance module 3, a laser shock peening module 4, and a collaborative execution module 5. A substrate 11 for processing additive components is horizontally arranged on the workbench 1; during the processing, the additive components are formed by arc energy deposition through the arc additive manufacturing module 2; the magnetic field assistance module 3 is equipped below the workbench 1 to provide a high-frequency longitudinal alternating magnetic field. Longitudinal means that the magnetic field direction is perpendicular to the deposition direction of the additive components and parallel to the energy direction of the arc. Under the influence of the high-frequency longitudinal alternating magnetic field, the diffusion of the arc can be restricted, making the arc energy more concentrated, increasing the penetration depth, improving the droplet transfer efficiency and stirring the molten pool during the arc additive process, effectively reducing droplet spatter and microscopic defects of the formed components; the laser shock peening module 4 is located above the workbench 1 and is used to emit laser to continuously perform laser shock peening on the deposition layer, and it works synchronously with the arc additive manufacturing module 2; the arc additive manufacturing module 2 and the laser shock peening module 4 work collaboratively under the drive of the collaborative execution module 5, and the magnetic field assistance module 3 and the laser shock peening module 4 collaboratively assist the arc additive manufacturing module 2 in the arc additive manufacturing process. The arc additive manufacturing device controls the arc additive manufacturing module 2 to perform deposition through the collaborative execution module 5, and the laser shock peening module 4 is used for strengthening, without interfering with the arc additive process, but can be carried out synchronously. The magnetic field assistance module 3 is installed below the workbench 1 and continuously acts on the arc additive manufacturing and laser shock peening.

[0022] In this embodiment, the collaborative execution module 5 includes a first clamping robot 51 and a second clamping robot 52 arranged on both sides of the workbench 1. Both the first clamping robot 51 and the second clamping robot 52 are six-axis robots. The arc additive manufacturing module 2 is connected to the output end of the first clamping robot 51, and the laser shock peening module 4 is connected to the output end of the second clamping robot 52. The first clamping robot 51 drives the arc additive manufacturing module 2 to perform working movements. The arc additive manufacturing module 2 moves in the XYZ axes as the first clamping robot 51 moves, and deposits on the substrate 11 to obtain the required additive component. The second clamping robot 52 drives the laser shock peening module 4 to perform working movements. The first clamping robot 51 and the second clamping robot 52 move synchronously based on a preset path to ensure the spatio-temporal matching of the additive and strengthening processes. The position where the laser shock peening module 4 acts on the additive component lags behind the position of the arc additive manufacturing module 2 by about 50 mm. The additive and strengthening are carried out simultaneously and a certain distance interval is maintained between the two processes to avoid affecting the stability of the molten pool during the processing and to avoid interference between the devices. The laser shock peening module 4 moves under the drive of the second clamping robot 52 to achieve strengthening treatment at different positions. In the field of additive manufacturing, when the deposition layer is deposited, since it is necessary to move the substrate 11 to another area for laser shock peening, the laser shock peening treatment is carried out after the deposition layer has cooled for a certain time. However, the impact effect on the solidified metal after cooling will be weakened to a certain extent, and the laser shock peening is not carried out synchronously with the arc additive manufacturing, resulting in low processing efficiency. In this application, by setting the first clamping robot 51 and the second clamping robot 52, connecting the arc additive manufacturing module 2 to the output end of the first clamping robot 51, and connecting the laser shock peening module 4 to the output end of the second clamping robot 52, and by setting the operating programs of the first clamping robot 51 and the second clamping robot 52, the laser shock peening and the arc additive manufacturing can be carried out synchronously, and the laser shock peening can be carried out in time after the additive manufacturing is completed.

[0023] Specifically, the arc additive manufacturing module 2 includes a welding torch 21, a welding machine 22, and a wire feeding mechanism 23. The welding torch 21 is fixedly connected to the output end of the first clamping robot 51. Specifically, the welding torch 21 is installed on the flange at the output end of the first clamping robot 51 through a quick-change interface. The welding machine 22 is placed beside the first clamping robot 51. Both the welding torch 21 and the wire feeding mechanism 23 are connected to the welding machine 22, and the welding torch 21 is also connected to the wire feeding mechanism 23. The welding machine 22 can provide energy for the welding torch 21 and enable the wire feeding mechanism 23 to feed wire to the welding torch 21. The wire feeding mechanism 23 is connected to the welding torch 21 through the inside of the first clamping robot 51 to continuously feed wire to the welding torch 21. The wire feeding mechanism 23 is a common device in the art. Feeding welding wire to the welding torch 21 through the wire feeding mechanism 23 is a conventional technical means and not an inventive improvement of this application, so it will not be introduced in detail here. The welding torch 21 is equipped with an arc control unit and a sensing and positioning system, which can work in coordination with a dynamically adjustable pulsed power supply; the wire feeding mechanism 23 adopts a dual-drive push-pull mechanism and is integrated into the pipeline package of the first clamping robot 51 to ensure stable wire feeding (0.1 m / min - 25 m / min); the welding machine 22 can adjust the welding parameters through arc acoustic emission analysis to ensure the welding quality.

[0024] More specifically, the magnetic field assistance module 3 includes an alternating magnetic field generator 31 and a high-frequency alternating magnetic field power supply 32. The alternating magnetic field generator 31 is fixedly connected to the lower part of the workbench 1 and is on the same vertical axis as the substrate 11. The magnetic field can act on the arc additive manufacturing module 2 and the laser shock peening module 4 throughout the process. The longitudinal magnetic field lines of force are parallel to the pulsed laser and the arc, ensuring the uniformity of the applied magnetic field. The alternating magnetic field generator 31 includes a coil and an iron core. The iron core is vertically arranged and the coil is sleeved outside the iron core. The high-frequency alternating magnetic field power supply 32 is electrically connected to the alternating magnetic field generator 31. Specifically, the high-frequency alternating magnetic field power supply 32 is connected to the coil to provide high-frequency alternating current. The current provided by the high-frequency alternating magnetic field power supply 32 is 0 A - 10 A, and the frequency is 0 - 20 kHz. After the coil is energized with high-frequency alternating current, the magnetic field assistance module 3 as a whole can generate a high-frequency longitudinal alternating magnetic field. The magnetic field intensity generated by the alternating magnetic field generator 31 after being energized is not greater than 0.8 T, specifically 0 T - 0.8 T. The high-frequency alternating magnetic field power supply 32 is a commonly used power supply device in the art and will not be described in detail in this application. As Figure 5As shown, based on the arc shape, magnetic field shape, and Lorentz force direction, it can be seen that during the additive process, the high-frequency longitudinal alternating magnetic field can control the arc plasma through dynamic radial contraction and expansion changes to achieve overall pinch, improve the droplet transfer efficiency, and reduce spatter. The high-frequency alternating magnetic field can also induce eddy currents in the molten pool, generating a Lorentz force F perpendicular to the magnetic field and current directions, driving the molten metal to form forced convection, which can promote the overflow of bubbles, reduce porosity, and refine grains at the same time. Among them, the moving speed of the arc charged particles has a component Vx in the direction parallel to the substrate, and the moving speed of the arc charged particles has a component Vy in the direction perpendicular to the substrate. V 0 is the resultant velocity of the moving arc charged particles. The magnetic induction intensity distribution has a component Bx in the direction parallel to the substrate, and the magnetic induction intensity distribution has a component By in the direction perpendicular to the substrate. B 0 is the resultant of the magnetic induction intensity. It can be understood that the plasma is composed of a large number of charged particles.

[0025] Referring to Figure 3 - Figure 4 , further, the laser shock strengthening module 4 includes a follow-up execution unit 41, a pulsed laser generator 42, and a pulsed laser power supply 43. Both the follow-up execution unit 41 and the pulsed laser generator 42 are connected to the output end of the second clamping robot 52. Specifically, the pulsed laser generator 42 is fixedly connected to the forearm of the second clamping robot 52 through a special fixture. The follow-up execution unit 41 is fixedly installed at the laser emission end of the pulsed laser generator 42 for combined use. The pulsed laser generator 42 emits a high-energy laser beam through the follow-up execution unit 41. The pulsed laser power supply 43 is installed on the top of the pulsed laser generator 42, and the pulsed laser generator 42 is electrically connected to the pulsed laser power supply 43 to provide electrical energy for the pulsed laser generator 42. The laser energy density generated by the pulsed laser generator 42 in this embodiment is 5J / cm 2 -20J / cm 2 , and the frequency is 1Hz - 20Hz. If the laser energy density is too small, the residual stress cannot be fully introduced. If the energy density is too large, it will cause irreversible damage to the deposition layer. After the arc additive manufacturing module 2 deposits on the substrate 11, the laser shock unit lags behind the molten pool stage of the deposition layer and performs laser shock strengthening on the deposition layer at the solidification stage to ensure that additive manufacturing, magnetic field, and laser shock strengthening are in a synchronous state. When the plasma pressure generated by laser shock strengthening exceeds the Hugoniot elastic limit (HEL) of the metal material, it will undergo dynamic plastic deformation to form a residual compressive stress layer, which can effectively inhibit the initiation and propagation of cracks, improve the material properties, effectively reduce anisotropy, and reduce micro-defects (such as pores, micro-cracks, etc.).

[0026] Further, the follow-up execution unit 41 includes a housing 411, a tape supply mechanism 412, a tape recovery mechanism 413, and an insulating tape 414. The housing 411 is fixedly connected to the emission end of the pulsed laser generator 42 and is located on the same axis. A cavity for the laser to pass through is provided inside the housing 411, and the bottom end is provided with a contact head 4113. A focusing lens 601 is also provided at the emission end of the pulsed laser generator 42. After the pulsed laser is emitted, it passes through the focusing lens 601 for focusing. The tape supply mechanism 412 and the tape recovery mechanism 413 are symmetrically arranged on both sides of the housing 411. The insulating tape 414 is coated outside the contact head 4113, and one end of the insulating tape 414 is connected to the tape supply mechanism 412, and the other end is connected to the tape recovery mechanism 413. The insulating tape 414 serves as an absorption layer. The pulsed laser generator 42 emits a high-energy laser beam that passes through the follow-up execution unit 41 and hits the absorption layer. The absorption layer absorbs the laser energy and generates a plasma shock wave. After the single-point impact of the pulsed laser ends, the insulating tape 414 is updated. The insulating tape is closely attached to the deposition layer through the contact head 4113, ensuring that the plasma shock wave generated when the pulsed laser is emitted can be conducted to the surface of the metal material, so that plastic deformation can occur on the surface of the metal material. In this embodiment, both the tape supply mechanism 412 and the tape recovery mechanism 413 include drums rotatably connected to the housing 411. Both ends of the insulating tape 414 are respectively connected to the two drums. The tape recovery mechanism 413 further includes a motor fixedly installed on the housing 411. The drum is coaxially fixedly connected to the output shaft of the motor. By starting the motor to drive the drum to rotate, the recovery of the tape is realized. At the same time, a water inlet 4111 and a water outlet 4112 communicating with the cavity are also provided on the housing 411. Both the water inlet 4111 and the water outlet 4112 are connected to an external water source, so that water is stored in the cavity as a constraint layer 602. Water is introduced through the water inlet 4111 and flows out through the water outlet 4112. The position of the water outlet 4112 is slightly lower than that of the water inlet 4111, ensuring that the constraint layer 602 always has a certain thickness. The constraint layer 602 is updated by the flow of water. The effect of the plasma shock wave generated by the laser shock can be improved through the dual restrictions of the magnetic field and the constraint layer 602.

[0027] As Figure 6 shown, after the pulsed laser is emitted, it passes through the focusing lens 601 for focusing, and then passes through the constraint layer 602. During the laser shock peening process, the high-frequency longitudinal magnetic field can, together with the constraint layer 602, constrain the plasma generated by the laser shock, confine it in a smaller space, generate a stronger shock wave towards the surface of the metal material, and enhance the effects of plastic deformation and grain refinement. Through the dual restriction effects of the magnetic field and the constraint layer 602 in this application, the propagation depth and energy density of the plasma shock wave are enhanced. As shown by the pressure generated by the plasma shock wave, the grain size is significantly refined and the action range of the residual compressive stress layer is extended, realizing the optimization of the performance of the additive component.

[0028] This application integrates an arc additive manufacturing module 2, a magnetic field assistance module 3, a laser shock peening module 4, and a collaborative execution module 5 to achieve the synergistic effect of multiple energy fields. Through the synergistic effect of the high-frequency longitudinal alternating magnetic field and laser shock peening, the technical limitations of a single energy field are broken through; specifically manifested as: magnetic field dynamic regulation, the high-frequency longitudinal alternating magnetic field can accurately confine the arc plasma, and improve the droplet transfer efficiency through the periodic change of radial contraction-expansion, significantly reducing spatter; at the same time, the Lorentz force induced by the magnetic field drives the forced convection of the molten pool, promoting the overflow of bubbles and refining the grains; laser shock synchronous strengthening, during the additive manufacturing process, laser shock peening and arc deposition are carried out synchronously. Using the dual confinement effects of the water confinement layer 602 and the magnetic field, the confinement effect of the magnetic field on the plasma shock wave, combined with the energy focusing effect of the water confinement layer 602, increases the energy density and penetration depth of the plasma shock wave; stress distribution optimization, the residual compressive stress introduced by laser shock peening and the molten pool thermal stress field regulated by the magnetic field are coupled with each other to form a three-dimensional gradient stress distribution, the depth of the residual compressive stress layer is extended, the effect of grain refinement is improved, gradient strengthening from the surface layer to the subsurface layer is achieved, the fatigue resistance life of the component is improved, and the anisotropy is reduced.

[0029] This application also discloses an additive manufacturing method using the above additive manufacturing device, including the following steps: Before manufacturing, first equip the arc additive manufacturing module 2, the magnetic field assistance module 3, the laser shock peening module 4, the collaborative execution module 5, and the substrate 11, calibrate the positioning accuracy of the first clamping robot 51 and the second clamping robot 52, perform an unloaded motion test, and verify the collaborative trajectory of the dual robots; start the magnetic field assistance module 3 and the laser shock peening module 4, and detect the magnetic field stability and the plasma shock wave pressure stability; import the three-dimensional model of the component to be formed into the computer-aided manufacturing (CAM) system, generate the arc additive deposition path through the path planning algorithm, and determine the process parameters based on the material properties (such as melting point, thermal conductivity) and the target performance (strength, residual stress). Specifically, based on the material properties (melting point, thermal conductivity, coefficient of thermal expansion) and the target performance, generate the layered slice data; use the adaptive path planning algorithm to generate the arc additive deposition path, and optimize the heat input distribution through finite element simulation (Abaqus) to reduce the accumulation of thermal stress, convert the deposition path code into the collaborative instructions of the dual robots (the first clamping robot 51 and the second clamping robot 52), set the laser shock trajectory to lag the deposition area by 50 ± 5 mm, and ensure that the path has no interference based on the collision detection algorithm. The use of the computer-aided manufacturing system and the path planning algorithm are both conventional technical means in the field of additive manufacturing and are not the creative points of this application, so no detailed description is given here.

[0030] S1: Sequentially activate the magnetic field assistance module 3, the collaborative execution module 5, the arc additive manufacturing module 2, and the laser shock peening module 4. Activate the magnetic field assistance module 3 to provide a high-frequency longitudinal alternating magnetic field; the high-frequency alternating magnetic field power supply 32 provides high-frequency alternating current for the alternating magnetic field generator 31, so that the alternating magnetic field generator 31 generates a high-frequency longitudinal alternating magnetic field, and adjust it to the optimized parameters to provide a stable alternating magnetic field for arc additive manufacturing and laser shock peening.

[0031] S2: The collaborative execution module 5 controls the arc additive manufacturing module 2 and the laser shock peening module 4 to work collaboratively; the arc additive manufacturing module 2 moves in the XYZ axes as the first clamping robot 51 moves, and deposits on the substrate 11 to obtain the required additive component. The second clamping robot 52 drives the laser shock peening module 4 to perform a working motion. Among them, after the arc additive manufacturing module 2 forms the additive component, the laser shock peening module 4 performs laser shock peening on the formed additive component and lags behind the arc additive manufacturing module 2. The arc additive manufacturing module 2 performs arc additive manufacturing based on the deposition path and process parameters generated by the computer. At the same time, turn on the laser shock peening module 4 to complete the arc additive process under the collaborative assistance of the magnetic field and laser shock peening; before the processing, determine the optimal process parameters for different materials according to the previous preliminary experiments, set the optimal wire feeding rate, welding speed, adjust the welding current to change the heat input, and at the same time, according to the simulation results of the magnetic field combined with laser shock assisted arc additive manufacturing by abaqus, optimize the optimal magnetic field process parameters and laser shock peening process parameters and set them on the actual equipment; turn on the arc additive manufacturing module 2, control the first clamping robot 51 according to the deposition path, determine the starting arc point, ending arc point, and safety point, turn on the second clamping robot 52, and set its trajectory to be the same as that of the first clamping robot 51, but lag behind the first clamping robot 51 to ensure non-interference. After the electric welding machine 22 is turned on, select the optimal process parameters to start stacking the deposition layers. After each deposition layer is stacked, the arc additive module moves to the safety point. Wait until the laser shock peening of this layer is completed, and then perform deposition again until the additive component manufacturing and laser shock peening are completed.

[0032] It should be understood that expressions such as "including" and "may include" used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit the existence of one or more additional functions, operations, and constituent elements. In this application, terms such as "including" and / or "having" can be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or a combination thereof, but cannot be interpreted as excluding the existence or possibility of addition of one or more other characteristics, numbers, operations, constituent elements, components, or a combination thereof.

[0033] It should be understood that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0034] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0035] In the present application, unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0036] Those skilled in the art can easily understand that the above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An additive manufacturing device based on multi-module collaboration, characterized in that: The invention comprises a workbench (1), an arc additive manufacturing module (2), a magnetic field auxiliary module (3), a laser shock strengthening module (4) and a coordinated execution module (5); the workbench (1) is provided with a substrate (11) for processing additive components, the arc additive manufacturing module (2) is used for forming additive components; the magnetic field auxiliary module (3) is arranged below the workbench (1) for providing a high-frequency longitudinal alternating magnetic field; the laser shock strengthening module (4) is located above the workbench (1) for emitting laser to perform laser shock strengthening on additive components; the arc additive manufacturing module (2) and the laser shock strengthening module (4) work in coordination under the drive of the coordinated execution module (5).

2. The additive manufacturing device based on multi-module collaboration according to claim 1, characterized in that: The collaborative execution module (5) comprises a first clamping robot (51) and a second clamping robot (52) arranged on both sides of the workbench (1), the arc additive manufacturing module (2) is connected to the output end of the first clamping robot (51), and the laser shock peening module (4) is connected to the output end of the second clamping robot (52).

3. The additive manufacturing device based on multi-module collaboration as claimed in claim 2, characterized in that: The arc additive manufacturing module (2) comprises a welding gun (21), an electric welder (22) and a wire feeding mechanism (23); the welding gun (21) is fixedly connected to the output end of the first clamping robot (51); the welding gun (21) and the wire feeding mechanism (23) are both electrically connected to the electric welder (22); and the welding gun (21) is also connected to the wire feeding mechanism (23).

4. The additive manufacturing device based on multi-module collaboration according to claim 1, characterized in that: The magnetic field auxiliary module (3) comprises an alternating magnetic field generator (31) and a high-frequency alternating magnetic field power supply (32); the alternating magnetic field generator (31) is fixedly connected to the workbench (1) and is located on the same vertical axis as the substrate (11); and the high-frequency alternating magnetic field power supply (32) is electrically connected to the alternating magnetic field generator (31).

5. The additive manufacturing device based on multi-module collaboration as claimed in claim 4, characterized in that: The alternating magnetic field generator (31) comprises a coil and an iron core, wherein the iron core is arranged vertically and the coil is sleeved on the outside of the iron core.

6. The additive manufacturing device based on multi-module collaboration according to claim 4, characterized in that: The magnetic field intensity generated by the alternating magnetic field generator (31) is no greater than 0.8T.

7. The additive manufacturing device based on multi-module collaboration as claimed in claim 2, characterized in that: The laser shock peening module (4) comprises a follow-up execution unit (41), a pulse laser generator (42) and a pulse laser power supply (43); the follow-up execution unit (41) and the pulse laser generator (42) are both located at the output end of the second clamping robot (52); and the pulse laser generator (42) is electrically connected to the pulse laser power supply (43).

8. The additive manufacturing device based on multi-module collaboration according to claim 7, characterized in that: The laser energy density generated by the pulse laser generator (42) is 5 J / cm 2 -20J / cm 2 , frequency is 1Hz-20Hz.

9. The additive manufacturing device based on multi-module collaboration according to claim 7, characterized in that: The follow-up execution unit (41) comprises a shell (411), a tape supply mechanism (412), a tape recovery mechanism (413) and an insulating tape (414); the shell (411) is fixedly connected to the emission end of the pulse laser generator (42) and is coaxially arranged; a cavity for laser penetration is provided inside the shell (411) and a contact head (4113) is provided at the bottom end; the tape supply mechanism (412) and the tape recovery mechanism (413) are symmetrically arranged on both sides of the shell (411); the insulating tape (414) is wrapped around the outside of the contact head (4113) and one end is connected to the tape supply mechanism (412) and the other end is connected to the tape recovery mechanism (413); the shell (411) is also provided with a water inlet (4111) and a water outlet (4112) connected to the cavity.

10. An additive manufacturing method using the additive manufacturing device according to any one of claims 1 to 9, characterized in that: The steps include: S1: sequentially starting the magnetic field auxiliary module (3), the coordinated execution module (5), the arc additive manufacturing module (2) and the laser shock peening module (4); S2: The collaborative execution module (5) controls the arc additive manufacturing module (2) and the laser shock strengthening module (4) to work collaboratively, wherein the arc additive manufacturing module (2) forms the additive component, and the laser shock strengthening module (4) performs laser shock strengthening on the formed additive component and lags behind the arc additive manufacturing module (2) until the manufacturing of the additive component and the laser shock strengthening are completed.

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