An additive manufacturing device and manufacturing method based on multi-module collaboration

Abstract

This application belongs to the field of additive manufacturing, and specifically discloses an additive manufacturing device and manufacturing method based on multi-module collaboration. The additive manufacturing device 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 an additive component is provided on the workbench. The arc additive manufacturing module is used for forming the additive component. The magnetic field assistance module is arranged below the workbench to provide a high-frequency longitudinal alternating magnetic field. The laser shock peening module is arranged above the workbench and is used to emit laser to perform laser shock peening on the additive component. The arc additive manufacturing module and the laser shock peening module work collaboratively under the drive of the collaborative execution module. Through the design of the structure of this application, the magnetic field and laser shock are used to collaboratively assist the arc additive process, which can optimize the macro and microstructures of the additive component, improve the processing accuracy, and enhance the processing quality and performance of the additive component.

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 the metal wire. By importing a three-dimensional model into software and then forming the required parts layer by layer, 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 manufacture of large metal components with low cost and high efficiency, especially suitable for fields such as aerospace and energy. Since the arc may be relatively rough during the processing, it will result in low surface quality and forming accuracy of the formed component. 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 quality and performance of the product. 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 an additive component is arranged on the workbench, and the arc additive manufacturing module is used for forming the additive component; 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 and is used for emitting laser to perform laser shock peening on the additive component; 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 shape, 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 arranged 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 assistance 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 arranged vertically 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 emitting end of the pulsed laser generator and is coaxially arranged. A cavity for the laser to pass through is provided inside the housing, and the bottom end is set as 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 coated 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; a water inlet and a water outlet communicating with the cavity are also provided on the housing.

[0014] An additive manufacturing method using the above additive manufacturing device provided by the present application includes the following steps:

[0015] S1: Start the magnetic field assistance module, the collaborative execution module, the arc additive manufacturing module, and the laser shock peening module in sequence;

[0016] 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.

[0017] Generally speaking, compared with the prior art through the above technical solutions conceived in this application, the following technical advantages are mainly presented:

[0018] 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.

[0019] 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 machining accuracy, and enhances the machining quality and performance of the additive component. Description of the Drawings

[0020] Figure 1 is the overall structural schematic diagram of the additive manufacturing device provided by the embodiment of this application;

[0021] Figure 2 is the front view structural schematic diagram of the additive manufacturing device provided by the embodiment of this application;

[0022] Figure 3 is Figure 2 the enlarged schematic diagram of part A in

[0023] Figure 4 is the overall structural schematic diagram of the follow-up execution unit provided by the embodiment of this application;

[0024] Figure 5 is the schematic diagram of the influence of the magnetic field on the arc provided by the embodiment of this application;

[0025] Figure 6It is a schematic diagram of the dual constraint of the magnetic field and the constraint layer on the plasma shock wave generated by laser shock in the embodiment of the present application.

[0026] In all the drawings, the same reference numerals are used to represent the same elements or structures, where:

[0027] 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 recovery mechanism; 414. Insulating tape; 42. Pulsed laser generator; 43. Pulsed laser power supply; 5. Cooperative execution module; 51. First clamping robot; 52. Second clamping robot; 601. Focusing lens; 602. Constraint layer. Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the 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.

[0029] In order to improve the defects of the accuracy and material quality performance of the arc additive parts, 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 acts on the material surface through high-energy short-pulse laser-induced plasma shock waves, 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.

[0030] Refer to Figure 1 - Figure 2, an additive manufacturing device based on multi-module collaboration disclosed in the present application realizes the high-efficiency and precision forming of metal components through the collaborative action of multiple physical fields, synchronously optimizes 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 under the workbench 1 to provide a high-frequency longitudinal alternating magnetic field. Longitudinal means that the direction of this magnetic field is perpendicular to the deposition direction of the additive component 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 to make the arc energy more concentrated, the penetration depth can be increased, the droplet transfer efficiency can be improved during the arc additive process and the molten pool can be stirred, effectively reducing droplet spatter and microscopic defects of the formed component; 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, which does not interfere with the arc additive process but can be carried out synchronously. The magnetic field assistance module 3 is installed under the workbench 1 and continuously acts on the arc additive manufacturing and laser shock peening.

[0031] 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 along 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.

[0032] 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 at the same time 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 is 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 pulse power supply; the wire feeding mechanism 23 adopts a double-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.

[0033] 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 below 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 entire magnetic field assistance module 3 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 directions of the magnetic field and current, 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. V0 is the resultant velocity of the arc charged particles' movement. The magnetic induction intensity distribution has a component Bx in the direction parallel to the substrate and a component By in the direction perpendicular to the substrate. B0 is the resultant of the magnetic induction intensity. It can be understood that the plasma is composed of a large number of charged particles.

[0034] Referring to Figure 3 - Figure 4 , further, the laser shock peening 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 5 J / cm 2 -20 J / cm 2 , with a frequency of 1 Hz - 20 Hz. 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 deposited 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 deposited layer and performs laser shock peening on the deposited layer at the solidification stage to ensure that the additive manufacturing, magnetic field, and laser shock peening are in a synchronous state. When the plasma pressure generated by laser shock peening 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's performance, effectively reduce anisotropy, and reduce microdefects (such as pores, microcracks, etc.).

[0035] Furthermore, 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 on the outside of 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, generating 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 and 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 through the flow of water. The effect of the plasma shock wave generated by the laser shock can be enhanced through the dual restrictions of the magnetic field and the constraint layer 602.

[0036] 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.

[0037] 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 a high-frequency longitudinal alternating magnetic field and laser shock peening, the technical limitations of a single energy field are broken through; specifically manifested as: dynamic magnetic field regulation, the high-frequency longitudinal alternating magnetic field can accurately confine the arc plasma, and improve the droplet transfer efficiency by 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, promotes the overflow of bubbles and refines the grains; synchronous laser shock peening, during the additive manufacturing process, laser shock peening and arc deposition are carried out synchronously. Using the dual confinement effect 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, the energy density of the plasma shock wave is increased and the penetration depth is increased; 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.

[0038] This application also discloses an additive manufacturing method using the above additive manufacturing device, including the following steps:

[0039] 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 an arc additive deposition path through a path planning algorithm, and determine the process parameters based on material properties (such as melting point, thermal conductivity) and target performance (strength, residual stress). Specifically, based on material properties (melting point, thermal conductivity, coefficient of thermal expansion) and target performance, generate layer slicing data; use an adaptive path planning algorithm to generate an 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 dual robot collaborative instructions (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 made here.

[0040] 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.

[0041] 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 with the 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 point, ending point, and safety point of the arc, 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.

[0042] 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 the possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or a combination thereof.

[0043] 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.

[0044] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot 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.

[0045] In the present application, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed 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.

[0046] 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 within the protection scope of the present application.

Claims

1. An additive manufacturing device based on multi-module collaboration, characterized in that, It 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 machining an additive component is arranged on the workbench (1), and the arc additive manufacturing module (2) is used for forming the additive component; the magnetic field assistance module (3) is arranged below the workbench (1) for providing a high-frequency longitudinal alternating magnetic field; the laser shock peening module (4) is located above the workbench (1) for emitting laser to perform laser shock peening on the additive component; the arc additive manufacturing module (2) and the laser shock peening module (4) work collaboratively under the drive of the collaborative execution module (5); the position where the laser shock peening module (4) acts on the additive component lags behind that of the arc additive manufacturing module (2), and additive manufacturing and strengthening are carried out collaboratively with a certain distance interval between the two processes. 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), 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 laser shock peening module (4) includes a follow-up execution unit (41), a pulsed laser generator (42) and a pulsed laser power supply (43); 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 coaxially arranged, a cavity for the laser to pass through is opened inside the housing (411) and the bottom end is set as a contact head (4113), 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 is connected to the tape supply mechanism (412), and the other end is connected to the tape recovery mechanism (413); a water inlet (4111) and a water outlet (4112) communicating with the cavity are also opened on the housing (411).

2. The additive manufacturing device based on multi-module collaboration according to claim 1, characterized in that, The arc additive manufacturing module (2) includes a welding torch (21), an electric 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), both the welding torch (21) and the wire feeding mechanism (23) are electrically connected to the electric welding machine (22), and the welding torch (21) is also connected to the wire feeding mechanism (23).

3. An additive manufacturing device based on multi-module collaboration as claimed in claim 1, wherein, 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 workbench (1) and is 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).

4. The additive manufacturing device based on multi-module collaboration according to claim 3, characterized in that, 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.

5. The additive manufacturing device based on multi-module cooperation according to claim 3, wherein The magnetic field intensity generated by the alternating magnetic field generator (31) is not greater than 0.8T.

6. The additive manufacturing device based on multi-module collaboration according to claim 1, wherein, The follow-up execution unit (41) and the pulsed laser generator (42) are both located at the output end of the second clamping robot (52), and the pulsed laser generator (42) is electrically connected to the pulsed laser power supply (43).

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

8. An additive manufacturing method using an additive manufacturing apparatus according to any one of claims 1-7, characterized in that, It includes the following steps: S1: Start the magnetic field assistance module (3), the collaborative execution module (5), the arc additive manufacturing module (2) and the laser shock peening module (4) in sequence. S2: The collaborative execution module (5) controls the arc additive manufacturing module (2) and the laser shock peening module (4) to work collaboratively. Among them, the arc additive manufacturing module (2) forms the additive component, and the laser shock peening module (4) performs laser shock peening 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 peening are completed.

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