Feeding, stirring and friction machining device based on double shafts and capable of being pulled back and using method of feeding, stirring and friction machining device

Abstract

The invention provides a double-shaft pumpable feeding stirring friction processing device which comprises a shell, a pressing ring with a feeding hole, a shearing sleeve and a stirring needle are installed at the bottom end of the shell, the stirring needle and the shearing sleeve do axial, rotating and compound motion, a material guiding mechanism or a material cutting mechanism is arranged between the pressing ring and the shearing sleeve, and the stirring needle and the shearing sleeve are arranged in the shell. Groove-shaped stirring structures are arranged on the bottom surfaces of the shearing sleeve and the stirring needle; the invention provides a multi-pose machining method applying the machining device, a flexible filler high-performance repairing method and a method for solving the problem of main shaft play vibration in the solid-phase stirring process. According to the method, the cutter blockage phenomenon is avoided, multi-pose additive manufacturing is achieved, accurate control over filling and efficient repair of complex defects are achieved, and the repair problems that in the prior art, joint thinning is achieved, filling cannot be conducted immediately after furnace shutdown, and flexible filling cannot be formed at a time are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of material processing, and in particular to a feeding friction stir processing device based on a biaxial retractable type and a using method thereof. Background Art

[0002] As an advanced technology for manufacturing complex structures by adding materials layer by layer, additive manufacturing has been widely used in the fields of aerospace, medical, and automotive manufacturing due to its advantages of high material utilization rate, short manufacturing cycle, and strong geometric adaptability.

[0003] Traditional additive manufacturing technologies are mostly based on molten or liquid materials (such as laser cladding, electron beam melting). However, such processes have problems such as high heat input, coarse grains, and element burning loss, which limit their applications in special materials (such as aluminum-lithium alloys) and special environments (such as underwater). In recent years, solid-phase additive manufacturing technology has become a research hotspot due to its characteristics of no need for material melting and realizing material connection through solid-state plastic deformation.

[0004] During the launch and re-entry into the atmosphere of satellites, due to high-temperature and high-speed flight, structural defects such as cracks and holes are likely to appear on the surface, seriously affecting their structural strength and service life. Traditional fusion welding repair technologies (such as arc welding, laser welding) rely on the material melting-solidification process and have significant defects: high heat input leads to the burning loss of lithium elements and grain coarsening in aluminum-lithium alloys, resulting in a decline in mechanical properties; it is impossible to stably strike an arc in underwater repair scenarios; the thermal deformation of fusion welding is large, especially for thin-walled structures, which is likely to cause irrecoverable dimensional deviation.

[0005] Friction welding, as a solid-phase connection technology, realizes material combination through friction heat generation and mechanical extrusion, avoiding the thermal damage problem of fusion welding and being able to stably weld in an underwater environment. Among them, backfill friction spot welding can realize keyhole-free welding by constraining the material flow with a compression ring and combining the axial movement of the stirring pin and the sleeve, and is suitable for crack repair. However, this process has inherent defects: to avoid hole defects, the stirring tool needs to axially plunge about 0.2 mm, resulting in the thinning of the thin-walled structure and a significant decline in strength; the solid-phase connection mechanism limits the effective introduction of filling materials, making it difficult to optimize the composition according to the defect characteristics.

[0006] In the traditional friction stir welding process, the shoulder and the stirring pin are inserted into the internal part of the workpiece to be joined. Under the constraint of the extrusion force, heat is generated through friction, shearing, and extrusion, and finally solid-phase connection is achieved. The advantage of friction stir welding is that no filler is required during the connection process. However, in order to achieve sufficient heat input, the shoulder usually needs to be pressed into the substrate, which leads to the thinning of the plate and reduces the effective bonding area of the joint. In addition, it is difficult to achieve solid-phase additive manufacturing by friction stir welding. Therefore, how to add filler has become a current technical bottleneck.

[0007] In current additive manufacturing methods, in the additive wire-fed friction stir welding technology of Chinese Patent (CN115647564A), wire filling and additive manufacturing are synchronized through a wire feeding kit. However, friction and shear cause the material to soften sufficiently, resulting in easy blockage of the feeding port. To avoid heat accumulation causing the filled material to fully plasticize and adhere to the feeding port, the conventional method is to set up a cooling device. In addition, there is a problem that the material hardens and blocks subsequent feeding during a short "furnace shutdown" in the additive manufacturing process. Chinese Patent (CN116988134B) uses an electrochemical cleaning technology to solve the problem of aluminum chips adhering to the tool head, but there are still problems such as chemical reaction residues affecting the joint performance, inability to immediately perform additive manufacturing after furnace shutdown, and limited types of feeding materials. Currently, Chinese Patent (202310600837.9) uses a differential feeding method to decouple the spindle speed and the feeding speed, avoiding the problem of excessive material plasticization. However, the wire moves upward during the continuous feeding process through the sleeve, so there is an urgent need to develop corresponding equipment.

[0008] Whether it is welding or additive manufacturing, due to the presence of the stirring pin, there are problems with keyholes in the end stage, and volume defects are easily formed during the manufacturing and service process of reusable satellite structures. Chinese Patent (CN114406443B) uses a main and passive friction stir repair method by customizing welding studs and placing them in prefabricated repair holes, and generating heat with the rotating shoulder to achieve defect repair. However, there are problems such as overheating of the joint caused by shoulder stirring and poor fluidity of the root material. Chinese Patent (CN110773860A) proposes a friction plug welding technology that requires designing the plug bar parameters according to the keyhole size and repairing by rotational friction between the plug bar and the defect, but it requires pre-treatment and post-treatment and is not applicable to thin-walled structures. In Chinese Patent (CN115740726A), a floating friction stir welding device realizes continuous additive welding, but there are still keyhole defects in the stirring head at the end of additive manufacturing, and the interfacial bonding strength between the filler and the base material is insufficient. In summary, the existing repair technologies are currently difficult to achieve high-quality repair with one-time forming and flexible filling.

[0009] In addition, when using a robot for welding / additive manufacturing, when implemented on harder metals or thicker metals, due to the flexible characteristics of the robotic arm, especially when in a complex pose, the force characteristics of the robot itself change, affecting the force exerted by the robot. During the welding / additive manufacturing process, the force exerted by the robot increases with the increase in the degree of pose deformation, resulting in the phenomenon that the spindle is prone to "jumping" during operation, and it is difficult for the joint material to reach a steady state, significantly reducing the joint quality. Currently, the mainstream method is to use a larger and heavier robot, which not only significantly increases the cost but also has a greater impact on the stiffness of the robot due to its own gravity in complex poses. Therefore, there is an urgent need to propose a new solution method. Summary of the Invention

[0010] The object of the present invention is to provide a feeding friction stir processing device based on a biaxial retractable type, and a usage method thereof, so as to achieve precise control of fillers, interface strengthening and efficient repair of complex defects.

[0011] The present invention provides a feeding friction stir processing device based on a biaxial retractable type, which includes a cylindrical shell. A pressing ring with a feeding hole and hollow through is installed at the bottom end of the shell. A hollow through shear sleeve that performs axial movement, rotational movement and a combined movement of both is arranged inside the pressing ring. A stirring pin that performs axial movement, rotational movement and a combined movement of both is arranged inside the shear sleeve. A cutting and feeding channel is formed between the pressing ring and the shear sleeve. A feeding guiding mechanism or a cutting mechanism is arranged in the cutting and feeding channel. Grooved stirring structures are respectively arranged on the bottom surfaces of the shear sleeve and the stirring pin.

[0012] Furthermore, the shell is composed of a plurality of hollow connecting columns. The connecting columns are stacked along the axial direction and connected by fixing studs. A top end cover is arranged at the top end of the shell. A six-axis force sensor is installed on the top end cover. A stationary outer shell is arranged at the bottom end of the shell. The pressing ring is installed at the port of the stationary outer shell. A feeder is installed on the stationary outer shell. A plurality of vibrators are installed on the stationary outer shell.

[0013] Furthermore, a first ball spline lead screw and a second ball spline lead screw for respectively driving the movement of the stirring pin and the shear sleeve are arranged inside the shell. The first ball spline lead screw is composed of a first lead screw, a first ball nut and a first ball spline installed on the first lead screw. The first ball nut and the first ball spline are rotationally connected to the shell. The second ball spline lead screw is composed of a hollow through second lead screw, a second ball nut and a second ball spline installed on the second lead screw. The second ball nut and the second ball spline are rotationally connected to the shell. The first ball nut, the first ball spline, the second ball nut and the second ball spline are respectively connected with motors through a gear transmission mechanism. The motors are installed on the shell.

[0014] Furthermore, the bottom end of the second lead screw is connected to the shear sleeve through a sleeve connecting piece. The bottom end of the first lead screw penetrates through the second lead screw and extends into the sleeve connecting piece to be connected with the stirring pin through a connecting cap.

[0015] Furthermore, the feeding guiding mechanism includes a spiral groove opened on the inner wall of the pressing ring and a feeding thread arranged on the outer wall of the shear sleeve. The spiral groove is located above the feeding thread and is communicated with the feeding hole and the feeding thread. A coil spring roller is arranged at a position of the spiral groove close to the feeding hole. Arc-shaped needle-shaped grooves uniformly distributed in a ring shape are opened on the bottom end surface of the shear sleeve. A lateral groove is opened on the bottom end surface of the stirring pin.

[0016] Furthermore, the cutting mechanism includes a feeding thread arranged on the outer wall of the shearing sleeve and a shearing knife part arranged on the bottom edge of the shearing sleeve, and the clamping ring is loosely matched with the cutting structure; the bottom end surface of the shearing sleeve is provided with a tooth-shaped groove, and the bottom end surface of the stirring needle is provided with an arc-shaped long groove evenly distributed in a ring shape.

[0017] The present invention provides a multi-posture welding and additive method based on a dual-axis retractable feeding stir friction processing device. Through the differential rotation of the motor, the first ball spline screw and the second ball spline screw respectively drive the stirring needle and the shear sleeve to perform axial movement, rotational movement and a combined movement of the two. The material is fed into the spiral groove through the feeding hole and prefabricated into a spring shape. Then the rotating spring-shaped wire is screwed into the shear sleeve and continuously fed to the arc-shaped needle groove on the bottom end surface of the shear sleeve. Through the extrusion and shearing of the arc-shaped needle groove on the bottom end surface of the shear sleeve, the stirring needle rotates at high speed for stirring and friction, thereby realizing multi-posture continuous additive or non-thinning welding.

[0018] The present invention provides a high-performance repair method for flexible fillers in a dual-axis retractable feed friction stir processing device, comprising the following steps:

[0019] S1, preparation before welding;

[0020] S2, using a defect scanner to determine the defect location and distinguish the defect type;

[0021] S3, obtain the defect location, determine the volume of the fed material, and carry out the cutting stage, material control stage, lowering stage, dwell stage, retraction stage and withdrawal stage in sequence to complete the repair;

[0022] S4, determine whether the repair is completed based on non-destructive testing. If not, repair it again by multi-point welding until no defects are found in the test, and the repair is completed.

[0023] Furthermore, S3 includes:

[0024] Cutting stage: one or more materials are fed into the feeding hole, and the guillotine part reciprocates up and down in the feeding hole to feed the materials flexibly. The volume of the fed materials is larger than the volume of the defects.

[0025] Material control stage: Press the rotating guillotine and the bottom end of the stirring needle into the material at the defective part;

[0026] Puncture stage: The puncture method is selected according to the size of the defect. When the defect size is large, the sleeve puncture method is adopted, the shear sleeve is inserted downward, and the stirring needle is withdrawn synchronously; when the defect size is small, the needle puncture method is adopted, the stirring needle is inserted downward, and the shear sleeve is withdrawn synchronously;

[0027] Stay stage: The shearing sleeve and the stirring needle maintain rotation while keeping the axial direction stationary;

[0028] Withdrawal stage: The shearing sleeve and the stirring needle are withdrawn synchronously;

[0029] Withdrawal stage: The shearing sleeve and the stirring needle reduce the rotational speed and slowly move upward, and finally the main shaft is withdrawn.

[0030] The present invention also provides a vibration suppression control method for a feeding friction stir processing device based on a double-axis retractable type, including the following steps:

[0031] a. Install and connect a six-axis force sensor to detect the axial force F of the main shaft in real time Z , the forward resistance F XY ;

[0032] b. Install exciters 0-4, and cooperate with exciters 1-exciter 4 to excite vibrations in any direction on the horizontal plane of the main shaft, and exciter 0 excites vibrations in the direction perpendicular to the horizontal plane of the main shaft;

[0033] c. During the actual solid-phase stirring process, assist the exciters to obtain the optimal exciter power P1 through the organizational structure and mechanical properties, and obtain the force intervals F XY1 -F XY2 and F Z1 -F Z2 of the optimal structural area, so as to achieve solid-phase stirring of high-quality structures;

[0034] d. For the case where it is difficult to achieve smooth control for harder materials, by detecting the resultant force magnitude and direction of the forces F XY and F Z in the solid-phase stirring process in real time, when exceeding the optimal force interval, increase the optimal exciter power, and when lower than the optimal force interval, reduce the power of the optimal exciter, aiming to achieve compliant control of the solid-phase stirring processing process.

[0035] Through the relative movement of the shearing sleeve and the stirring needle, the present invention strengthens the longitudinal stirring of the material, decouples the wire feeding speed from the spindle speed; prefabricates the material into a spring shape through the spiral groove, which is conducive to the continuous feeding of the material and realizes multi-position additive manufacturing; directly extrudes the material through the feeding sleeve, and only forms a plasticizing and extruding state in the root needle area, avoiding blockage between the pressing ring and the shearing sleeve, and solving the problem of material sticking to the tool; by adding a cutting stage for the guillotine part, it strengthens the longitudinal flow and extrusion of the material, the added material is fully mixed with the base material, enhances the full strengthening of the particles to repair the joint, realizes the high-performance and high-efficiency repair of defects, solves problems such as structural thinning, difficult filling, and unstable repair quality in the prior art, and realizes flexible filling repair with one-time forming of filling immediately after the furnace is stopped; through the cooperation of the six-axis force sensor and the vibrator, it solves the vibration problem of the spindle "jumping" during the solid-phase stirring process and improves the repair accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 Schematic diagram of the feeding friction stir processing device based on a dual-axis retractable type of the present invention;

[0038] Figure 2 For the present invention Figure 1 Enlarged view at A in;

[0039] Figure 3 Schematic diagram of the sleeve connecting piece of the present invention;

[0040] Figure 4 Schematic diagram of the synchronous coil spring feeding mechanism of the present invention;

[0041] Figure 5 Cross-sectional view of the pressing ring in the present invention;

[0042] Figure 6 For the present invention Figure 5 Cross-sectional view taken along line B-B in;

[0043] Figure 7 Schematic diagram of the shearing sleeve in the present invention;

[0044] Figure 8 Schematic diagram of the bottom structure of the synchronous coil spring feeding mechanism of the present invention;

[0045] Figure 9 Schematic diagram of the asynchronous guillotine wire feeding mechanism in Embodiment 2 of the present invention;

[0046] Figure 10 Cross-sectional view of the compression ring in Embodiment 2 of the present invention;

[0047] Figure 11 Cross-sectional view of the shear sleeve in Embodiment 2 of the present invention;

[0048] Figure 12 Schematic diagram of the bottom structure of the asynchronous wire-shearing and feeding mechanism in Embodiment 2 of the present invention;

[0049] Figure 13 Flowchart of the method in Embodiment 2 of the present invention;

[0050] Figure 14 Tool displacement coordinate diagram of the ligation repair scheme in Embodiment 2 of the present invention;

[0051] Figure 15 Tool displacement coordinate diagram of the needle-pricking repair scheme in Embodiment 2 of the present invention;

[0052] Figure 16 Schematic diagram of the vibration suppression process of the present invention;

[0053] Explanation of reference numerals:

[0054] In the figure: 1 - stationary housing; 2 - compression ring; 201 - synchronous coil spring feeding mechanism, 2011 - feeding hole, 2012 - coil spring roller, 2013 - spiral groove, 2014 - fixed counterbore; 203 - asynchronous wire-shearing and feeding mechanism, 2031 - fixed hole, 2032 - feeding hole, 2033 - spinning part; 3 - sleeve connecting piece; 301 - connecting sleeve, 302 - ER chuck, 303 - ER collet, 304 - sleeve cap; 4 - connecting cap; 5 - shear sleeve; 501 - connecting part, 502 - disassembly part, 503 - transition part, 504 - feeding thread, 505 - hollow part, 508 - wire-shearing part, 509 - constant thread; 6 - stirring needle; 701 - additive stirring mechanism, 7011 - arc-shaped needle-shaped groove, 7012 - lateral groove, 7013 - dry elongation; 702 - repair stirring mechanism, 7014 - toothed groove, 7015 - arc-shaped long groove; 8 - top end cap; 9 - first ball nut; 10 - first nut motor; 11 - first transmission belt; 12 - first transmission gear; 13 - first connecting column; 14 - first ball spline; 15 - first spline motor; 16 - second connecting column; 17 - first lead screw; 18 - second ball nut; 19 - second nut motor; 20 - fourth connecting column; 21 - second ball spline; 22 - second spline motor; 23 - second lead screw; 24 - second transmission belt; 25 - second transmission gear; 26 - fixing stud; 27 - feeder; 28 - six-axis force sensor; 29 - exciter; 30 - third connecting column; 31 - material. Detailed implementation mode

[0055] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work belong to the protection scope of the present invention.

[0056] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention 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, and thus should not be construed as a limitation of the present invention.

[0057] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined. In addition, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0058] Embodiment 1

[0059] As Figures 1 - 8 shown:

[0060] A feeding friction stir processing device based on a biaxial retractable type, comprising a cylindrical shell, the shell is composed of a hollow first connecting column 13, a second connecting column 16, a third connecting column 30 and a fourth connecting column 20. The four connecting columns are stacked along the axial direction, and connecting screw holes that penetrate through in the height direction and are coaxially arranged are provided in the four connecting columns, and a fixing stud 26 is inserted into the connecting screw holes.

[0061] A top cover 8 is provided at the top of the housing. A six-axis force sensor 28 is installed on the top of the top cover 8. The top cover 8 can be connected only to the top end of the first connecting column 13, or can be connected to the housing through fixing bolts passing through four connecting columns. During use, the top cover 8 can be connected to a robot or a numerically controlled machine tool through the six-axis force sensor 28.

[0062] As Figure 1 and Figure 2 shown, a stationary housing 1 is detachably provided on the bottom surface of the fourth connecting column 20 at the bottom end of the housing. An installation hole is provided on the bottom surface of the fourth connecting column 20. The stationary housing 1 and the installation hole can be connected by bolts.

[0063] A port through which a friction stir component passes is provided at the bottom of the stationary housing 1. A hollow and through pressing ring 2 is installed at the bottom of the stationary housing 1. An exciter 29 and a feeder 27 are also installed on the stationary housing 1.

[0064] The through space of the feeding structure is coaxially arranged with the port of the stationary housing 1. The through space of the feeding structure is also used for the friction stir component to pass through.

[0065] Feeding holes 2011 through which the stock material 31 enters are provided on the outer wall of the pressing ring 2. The feeding holes 2011 are circular or rectangular holes. The feeding holes 2011 are connected to the feeder 27.

[0066] The stock material 31 is divided into wire materials, strip materials and powders. Its materials can be: metal materials such as iron, aluminum, magnesium, copper, titanium, etc., as well as non-metal matrix stock materials 31 such as thermoplastic resin materials, thermosetting resin materials, ceramics, graphite, etc. The types of the stock material 31 can also be one or more. The reinforcing alloy powder is a metal material such as: scandium, zirconium, niobium and titanium metal powders, or non-metal materials such as: carbon nanotubes, graphene nanosheets, ceramic particles. The reinforcing base powder accounts for less than 8% of the total feeding volume, and the powder diameter is at the micron level and below.

[0067] If the stock material 31 is in the form of a wire or a strip, the stock material 31 is directly inserted into the feeding holes 2011; if the stock material 31 is in the form of a powder or a block, the stock material 31 is conveyed to the feeding holes 2011 through a conveying pipeline. In this embodiment, the stock material 31 is a wire with a diameter of D, and the diameter of the feeding holes 2011 > D + 0.05 mm.

[0068] A hollow and through shear sleeve 5 is provided inside the pressing ring 2. A stirring pin 6 is arranged inside the shear sleeve 5. A cutting and feeding channel is formed between the pressing ring 2 and the shear sleeve 5. A feeding guide mechanism is arranged in the cutting and feeding channel.

[0069] As Figure 1As shown, the stirring needle 6 is connected to a first ball spline 14 screw that drives the stirring needle 6 to perform axial movement, rotational movement and a combined movement of the two, and the shear sleeve 5 is connected to a second ball spline 21 screw that drives the shear sleeve 5 to perform axial movement, rotational movement and a combined movement of the two.

[0070] The first ball spline 14 and second ball spline 21 screws are disposed within the housing. By intersecting the ball screw grooves and ball spline grooves on a single shaft, or staggering the ball screw and ball spline grooves on the same shaft, the first and second ball spline 14 and 21 screws can both convert rotational and linear motion and transmit torque. The ball spline screws are conventional devices, and their specific structure is not described in detail here.

[0071] The first ball spline 14 screw consists of a first screw rod 17, a first ball nut 9 mounted on the first screw rod 17, and a first ball spline 14. The first ball nut 9 is rotatably mounted in the first connecting column 13, and the first ball spline 14 is rotatably mounted in the second connecting column 16.

[0072] The first ball nut 9 and first ball spline 14 are connected to the first nut motor 10 and first spline motor 15, respectively, via a gear transmission mechanism. The gear transmission mechanism includes a first transmission gear 12, which is mounted on the output shafts of the first nut motor 10 and first spline motor 15, the first ball nut 9, and the first ball spline 14, respectively. The first transmission gear 12 of the first nut motor 10 and the first transmission gear 12 of the first ball nut 9 are connected for transmission via a first transmission belt 11; the first transmission gear 12 of the first spline motor 15 and the first transmission gear 12 of the first ball spline 14 are also connected for transmission via a first transmission belt 11.

[0073] The second ball spline 21 screw consists of a hollow through second screw rod 23, a second ball nut 18 mounted on the second screw rod 23, and a second ball spline 21. The second ball nut 18 is rotatably mounted in the third connecting column 30, and the second ball spline 21 is rotatably mounted in the fourth connecting column 20.

[0074] The second ball nut 18 and the second ball spline 21 are connected to the second nut motor 19 and the second spline motor 22, respectively, via a gear transmission mechanism. The gear transmission mechanism includes a second transmission gear 25, which is mounted on the output shafts of the second nut motor 19 and the second spline motor 22, the second ball nut 18, and the second ball spline 21, respectively. The second transmission gear 25 of the second nut motor 19 and the second transmission gear 25 of the second ball nut 18 are connected for transmission via a second transmission belt 24. The second transmission gear 25 of the second spline motor 22 and the second transmission gear 25 of the second ball spline 21 are also connected for transmission via a second transmission belt 24.

[0075] On the outer wall of the first connecting column 13, there are fixing brackets for respectively installing the first nut motor 10 and the first spline motor 15; on the outer wall of the third connecting column 30, there are fixing brackets for respectively installing the second nut motor 19 and the second spline motor 22.

[0076] As Figures 1 - 3 shown, the bottom end of the second lead screw 23 is connected to the shear sleeve 5 through a sleeve connector 3, and the bottom end of the first lead screw 17 passes through the second lead screw 23 and extends into the sleeve connector 3 and is connected to the mixing needle 6 through a connecting cap 4.

[0077] The sleeve connector 3 is composed of a connecting sleeve 301, an ER chuck 302, an ER chuck cap 303 and a cap 304. The connecting sleeve 301 is threadedly and tightly connected to the ER chuck cap 303. The ER chuck 302 is clamped between the connecting sleeve 301 and the ER chuck cap 303. The cap 304 is installed in the ER chuck cap 303. The connecting sleeve 301 is threadedly and tightly connected to the bottom end of the second lead screw 23, and the cap 304 is threadedly and tightly connected to the top end of the shear sleeve 5.

[0078] The tightening directions of the shear sleeve 5, the connecting sleeve 301 and the ER chuck cap 303 are the same, and are opposite to the rotation direction when the second lead screw 23 operates.

[0079] The connecting cap 4 is threadedly and tightly connected to the bottom end of the first lead screw 17, and the mixing needle 6 is clamped between the first lead screw 17 and the connecting cap 4.

[0080] The pressing ring 2, the shear sleeve 5, the mixing needle 6, the first lead screw 17 and the second lead screw 23 are coaxially arranged.

[0081] By adjusting the rotational speed matching of the first ball nut 9 and the first ball spline 14 by the first nut motor 10 and the first spline motor 15, the mixing needle 6 realizes axial movement, rotational movement and the combined movement of the above two. By adjusting the rotational speed difference of the second ball nut 18 and the second ball spline 21 by the second nut motor 19 and the second spline motor 22, the shear sleeve 5 realizes axial movement, rotational movement and the combined movement of the above two, so as to realize the differential rotation and retraction movement of the mixing needle 6 and the shear sleeve 5.

[0082] Taking the first ball spline 14 lead screw as an example, when the first ball nut 9 and the first ball spline 14 rotate at the same speed, the middle first lead screw 17 only makes rotational movement; when the first ball nut 9 rotates while the first ball spline 14 does not rotate, the middle first lead screw 17 makes axial movement; when the first ball nut 9 and the first ball spline 14 rotate differentially, when the differential speed of the first ball nut 9 and the first ball spline 14 is clockwise, it makes combined rotation and moves downward along the axial direction. Similarly, when the differential speed is counterclockwise, it makes combined rotation and moves upward along the axial direction.

[0083] The materials of the shearing sleeve 5, the stirring needle 6 and the pressing ring 2 are made of materials with hardness and wear resistance superior to or at least equal to those of heat-treated H13 and HM1 steels.

[0084] Such as Figure 1 、 Figures 4 - 8 As shown, in this embodiment, the pressing ring 2, the shearing sleeve 5 and the stirring needle 6 form a synchronous coil spring feeding mechanism 201, which is used for the multi-position continuous additive manufacturing process of the processing device.

[0085] In this embodiment, the feeding mechanism includes a spiral groove 2013 formed on the inner wall of the pressing ring 2 and a feeding thread 504 provided on the outer wall of the shearing sleeve 5. The spiral groove 2013 is located above the feeding thread 504. The spiral groove 2013 and the feeding thread 504 are in communication and cooperation. The pitch of the spiral groove 2013 is D L , its minor diameter is D0, the major diameter is D1. The initial end of the spiral groove 2013 is in communication and inscribe with the feeding hole 2011. The feeding angle of the feeding hole is less than arctan((D L / 2) / D0)°. A coil spring roller 2012 is provided at a position of the spiral groove 2013 close to the feeding hole 2011. The outer diameter of the coil spring roller 2012 is in circumscribed contact with the major diameter of the spiral groove 2013.

[0086] A fixed countersunk hole 2014 for connecting the stationary housing 1 is provided at the top of the pressing ring 2.

[0087] The shearing sleeve 5 is composed of a connecting part 501, a disassembling part 502, a transition part 503 and a feeding thread 504. The connecting part 501 is arranged at the top of the sleeve body and is used for connecting with the cap 304 of the sleeve connector 3. The disassembling part 502 is located below the connecting part 501. A shoulder is provided between the disassembling part 502 and the connecting part 501. Parallel planes are cut on both sides of the cylinder of the disassembling part 502. The shaft body of the sleeve body is the transition part 503. The feeding thread 504 is arranged at the bottom of the outer wall of the sleeve body. The rotation direction of the feeding thread 504 is opposite to the rotation direction of the spiral groove 2013 through the material 31. When the feeding thread 504 rotates, the shearing direction is the same as the direction of piercing into the additive component. A through hollow part 505 is provided in the sleeve body.

[0088] The outer diameter of the transition part 503 is D2, D2 < D0. The pitch of the feeding thread 504 is D L , the bottom width of the feeding thread 504 is greater than the bottom width of the spiral groove 2013. The inner diameter of the feeding thread 504 is D2, the outer diameter of the feeding thread 504 is D3, D3 < D1, and (D3 - D2) / 2 > D. The outer diameter of the dry elongation 7013 of the stirring needle 6 is D6, and the inner diameter of the hollow part 505 is D4 > D6.

[0089] The bottom end surface of the shearing sleeve 5 is provided with arc-shaped needle-shaped grooves 7011 that are evenly distributed in a ring shape. The inclination direction of the radial edge of the arc-shaped needle-shaped grooves 7011 is biased towards the rotation direction and the radial angle with the root extension is greater than 30°. The bottom end surface of the stirring needle 6 is provided with toothed lateral grooves 7012, and the protruding part is the dry elongation 7013, and its length > the thickness of the additive layer + the distance from the bottom of the inclined needle-shaped groove 7011 to the bottom end surface of the synchronous coil spring feeding mechanism 201. The arc-shaped needle-shaped grooves 7011 and the lateral grooves 7012 form an additive stirring mechanism 701.

[0090] When additive manufacturing is carried out, the material 31 enters the synchronous coil spring feeding mechanism 201 through the feeding hole 2011 to be made into a spring shape. The material 31 entering the spiral groove 2013 is screwed and fitted with the groove of the feeding thread 504, and then is screwed into by the shearing sleeve 5 and conveyed to the additive stirring mechanism 701 for rotational extrusion and friction to realize multi-position continuous additive manufacturing.

[0091] This embodiment provides a multi-position welding and additive manufacturing method based on a feeding friction stir processing device with a double-axis retractable function. The differential rotation is driven by the first nut motor 10 and the first spline motor 15, and the second nut motor 19 and the second spline motor 22, so that the first ball spline 14 lead screw and the second ball spline 21 lead screw drive the stirring needle 6 and the shearing sleeve 5 to perform axial movement, rotational movement and the combined movement of the two respectively. And the first lead screw 17 and the second lead screw 23 achieve differential rotation. The material 31 is fed into the synchronous coil spring feeding mechanism 201 and prefabricated into a spring shape. Subsequently, the rotating spring-shaped wire is screwed into by the shearing sleeve 5 and continuously sent to the arc-shaped needle-shaped groove 7011 at the bottom end surface of the shearing sleeve 5. Through the extrusion and shearing of the arc-shaped needle-shaped groove 7011 at the bottom end surface of the shearing sleeve 5, the stirring needle 6 rotates at a high speed for stirring and friction. The lateral groove 7012 of the stirring needle 6 strengthens the radial stirring, and a cavity metal is formed in the space of the dry elongation 7013 to realize multi-position continuous additive manufacturing or non-thinning welding.

[0092] In order to avoid the thinning of the plate and the reduction of the effective bonding area of the joint during the friction stir welding process, the feeding amount during non-thinning welding is greater than the feeding amount during additive manufacturing.

[0093] Embodiment 2

[0094] Figures 9 - 16 As shown, in this embodiment, the pressing ring 2, the shearing sleeve 5 and the stirring needle 6 form an asynchronous wire shearing and feeding mechanism 203 for the flexible filling and high-performance repair process of the processing device. The difference between this embodiment and Embodiment 1 is that a cutting mechanism is arranged in the cutting and feeding channel, and the cutting mechanism replaces the guiding mechanism.

[0095] In this embodiment, the cutting mechanism includes a feeding thread 504 provided on the outer wall of the shearing sleeve 5 and a guillotine part 508 provided at the bottom edge of the shearing sleeve 5. In this embodiment, the feeding thread 504 is a constant thread 509.

[0096] The top of the pressing ring 2 is provided with a fixing hole 2031 for connecting to the stationary housing 1. In this embodiment, the feeding holes 2032 of the pressing ring 2 are provided with a plurality of radially and obliquely opened ones, and the bottom end of the pressing ring 2 is a spinning part 2033.

[0097] The shearing sleeve 5 is composed of a connecting part 501, a dismounting part 502, a constant thread 509, and a guillotine part 508. The connecting part 501 is provided at the top of the sleeve body and is used to connect to the cap 304 of the sleeve connector 3; the dismounting part 502 is located below the connecting part 501. There is a shoulder between the dismounting part 502 and the connecting part 501, and parallel planes are cut on both sides of the cylinder of the dismounting part 502; the shaft of the sleeve body is a transition part 503; the constant thread 509 is provided at the bottom of the sleeve body, and when the constant thread 509 rotates, the component of the shearing force in the axial direction is consistent with the piercing direction; the guillotine part 508 is at the intersection right angle of the bottom end face and the side face of the sleeve body and does not require chamfering; the sleeve body is provided with a through hollow part 505.

[0098] Another difference between this embodiment and Embodiment 1 is that in Embodiment 1, the thread and pitch of the feeding thread 504 on the shearing sleeve 5 are larger, while in this embodiment, the thread and pitch of the constant thread 509 on the shearing sleeve 5 are smaller.

[0099] The material of the guillotine part 508 can be flexibly selected from the following alloys or composite materials: tool steel, cemented carbide, superalloy, ceramic cutting tool, diamond-coated cutting tool, titanium-coated milling cutter, etc. The coating can be: titanium nitride coating, titanium carbide coating, alumina coating, tungsten carbide or multi-layer coating (titanium nitride coating and titanium carbide coating, alumina coating and titanium nitride coating), or vapor deposition solid materials such as: metal, ceramic or the cutting edge directly selects cemented carbide or sintered metal powder and diamond particles.

[0100] The bottom end face of the shearing sleeve 5 is provided with a tooth-shaped groove 7014 opened radially, and the depth of the groove is 0.1 - 3 mm; the bottom end face of the stirring needle 6 is provided with arc-shaped long grooves 7015 evenly distributed in a ring shape, and the tooth-shaped groove 7014 and the arc-shaped long grooves 7015 form a repair stirring mechanism 702.

[0101] The position of the feeding hole 2032 is in the axial movement cutting range of the shearing sleeve 5, ensuring that the material 31 passing through the feeding hole 2032 can be cut within the axial range of the guillotine part 508, and the perpendicular distance from the bottom end face is greater than 3 mm. The inner diameter D5 of the spinning part 2033 is D3 + 0.05 ≤ D5 ≤ D3 + 1 mm, and the pitch of the constant thread 509 is DLS <3*D, the total thread length of the constant thread 509 distributed upward from the bottom of the shear sleeve 5 does not exceed 20*D LS .

[0102] During repair, the material 31 is fed into the asynchronous shear wire feeding mechanism 203 through the feeding hole 2032, and the shear sleeve 5 moves axially under the drive of the second ball spline 21 screw. The shear cutter part 508 of the shear sleeve 5 cuts the material 31 into strips or sheets and pushes them to the defect. After being fully mixed and stirred by the repair stirring mechanism 702, the shear sleeve 5 and the stirring needle 6 use a sleeve-type or needle-type repair scheme to extrude and stir the fed material 31 with the matrix to achieve repair.

[0103] like Figure 9 and Figure 13 As shown, this embodiment provides a high-performance repair method for flexible fillers in a dual-axis retractable feed friction stir processing device, comprising the following steps:

[0104] S1, preparation work before welding, removing oil stains, removing residual metal from tools and matching corresponding fixtures;

[0105] S2, using a defect scanner to determine the defect location and distinguish the defect type, including chip defects, cracks or pore defects;

[0106] S3, obtain the defect location, determine the volume of the feeding material through the defect scanner, and carry out the cutting stage, material control stage, lowering stage, dwell stage, retraction stage and withdrawal stage in sequence to complete the repair;

[0107] Cutting stage: One or more materials are fed into the feeding hole 2032, and the guillotine portion 508 reciprocates up and down in the feeding hole 2032 to feed the materials flexibly. The volume of the fed materials is larger than the volume of the defects.

[0108] Material control stage: the rotating guillotine part 508 and the bottom end surface of the stirring needle 6 are pressed flush into the material at the defect;

[0109] Puncture stage: the puncture method is selected according to the size of the defect. When the defect size is larger than the outer diameter of the stirring needle 6, the sleeve puncture method is adopted, the shear sleeve 5 is inserted downward, and the stirring needle 6 is withdrawn synchronously; when the defect size is smaller than the outer diameter of the stirring needle 6, the needle puncture method is adopted, the stirring needle 6 is inserted downward, and the shear sleeve 5 is withdrawn synchronously;

[0110] Dwelling stage: the shear sleeve 5 and the stirring needle 6 maintain the rotation axis and remain stationary;

[0111] Retraction stage: the shear sleeve 5 and the stirring needle 6 are retracted synchronously;

[0112] Withdrawal stage: the shear sleeve 5 and the stirring needle 6 reduce their speed and slowly move upward by 1 mm, and the main shaft withdraws;

[0113] S4, determine whether the repair is completed based on non-destructive testing. If not, repair it again by multi-point welding until no defects are found in the test, and the repair is completed.

[0114] like Figure 14 and Figure 15 As shown, the bottom end surface of the asynchronous shear wire feeding mechanism 203 is taken as the origin, the bottom end surfaces of the shear sleeve 5 and the stirring needle 6 are taken as reference objects, downward penetration is the negative direction, and lifting is the positive direction. It is assumed that the volume of the defect is V and the maximum depth of the defect is Hmm.

[0115] During the cutting phase, the material 31 is fed into the feed hole 2032 . Simultaneously, the guillotine portion 508 reciprocates up and down in the feed hole 2032 to flexibly feed the material. The volume of the material 31 fed is V1 , and V1 > V. During the material control phase, the rotating guillotine portion 508 and the stirring needle 6 press their bottom end surfaces flush with each other into a portion of the material 31 . In the piercing stage, the piercing method is selected according to the different defect sizes, including sleeve piercing and needle piercing. In the sleeve piercing method, the shear sleeve 5 is penetrated to -Hmm, and the stirring needle 6 is retracted at the same time. The space below the stirring needle 6 in the shear sleeve 5 is the retraction chamber, and the volume of the material squeezed by the shear sleeve 5 is equal to the volume in the retraction chamber of the stirring needle 6. In the needle piercing method, the stirring needle 6 is penetrated to the absolute position -Hmm, and the shear sleeve 5 is axially retracted at the same time. The space below the shear sleeve 5 surrounded by the clamping ring 2 and the stirring needle 6 is the retraction chamber, and the volume of the material squeezed by the stirring needle 6 is equal to the volume in the retraction chamber of the shear sleeve 5. In the dwell stage, the shear sleeve 5 and the stirring needle 6 maintain the rotation axis and remain motionless. In the retraction stage, the needle piercing / sleeve piercing method: the shear sleeve 5 and the stirring needle 6 move to (V1-V) / (π*(D LS / 2) 2 )-0.1mm. Withdrawal stage: the shear sleeve 5 and the stirring needle 6 reduce the speed and slowly move up 1mm, and then the main shaft is withdrawn.

[0116] When the defect is a defect. First, obtain the defect location and determine the required feeding volume V1. Then, carry out the cutting stage, material control stage, piercing stage, dwell stage and withdrawal stage in sequence. In the withdrawal stage, the stirring needle 6 and the shear sleeve 5 are withdrawn (V1-V) / (π*(D LS / 2) 2 )-0.1mm, and finally the stirring needle 6 and the shear sleeve 5 go through the withdrawal stage, and the repair is completed.

[0117] When the defect is a crack or pore. First, obtain the location of the crack or pore, determine the feeding volume V2, and then proceed with the cutting stage, material control stage, piercing stage, dwell stage and withdrawal stage. In the withdrawal stage, both the stirring needle 6 and the shear sleeve 5 are withdrawn by V2 / (π*(D LS / 2) 2 )-0.1mm, and finally the stirring needle 6 and the shear sleeve 5 go through the withdrawal stage, and the repair is completed.

[0118] The repair structure includes: wall panel structure, rib structure and rib angle structure.

[0119] like Figure 16 As shown in the figure, the vibration suppression control method is used. The control of each dimension is as follows. This method can be applied to the vibration problem of the spindle in the solid-phase stirring process such as stir friction welding or stirring solid-phase additive manufacturing by robots or machine tools. The specific implementation method is as follows: a. Install and connect the six-dimensional force sensor 28 to detect the axial force F of the electric spindle in real time. Z , forward resistance F XY b. Install the vibrator 290-4, cooperate with the vibrator 291-vibrator 294 to stimulate vibration in any direction on the horizontal plane of the main shaft, and the vibrator 290 stimulates vibration in the direction perpendicular to the horizontal plane of the main shaft; c. Assist the vibrator 29 in the actual solid-phase mixing process, obtain the optimal vibrator 29 power P1 through the organizational structure and mechanical properties, and obtain the force range F of the optimal structural area XY1 -F XY2 and F Z1 -F Z2 , thereby achieving solid-phase stirring of high-quality structures; d. For harder materials that are difficult to achieve smooth control, the force F during the solid-phase stirring process is detected in real time XY and F Z The magnitude and direction of the resultant force are determined. When the force exceeds the optimal force range, the power of the optimal exciter 29 is increased, and when the force is lower than the optimal force range, the power of the optimal exciter 29 is reduced. Any control method can be used to increase or decrease the power rate, such as robust control or PID control, with the goal of achieving smooth control of the solid-phase mixing process.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A feeding friction stir processing device based on a double-axis retractable type, characterized in that It includes a cylindrical shell. At the bottom end of the shell, a pressing ring with a feeding hole and hollow and through is installed. Inside the pressing ring, there is a hollow and through shearing sleeve that performs axial movement, rotational movement, and a combined movement of both. Inside the shearing sleeve, there is a stirring needle that performs axial movement, rotational movement, and a combined movement of both. A cutting and feeding channel is formed between the pressing ring and the shearing sleeve. A material guiding mechanism or a cutting mechanism is arranged in the cutting and feeding channel. Grooved stirring structures are respectively arranged on the bottom surfaces of the shearing sleeve and the stirring needle.

2. The feeding friction stir processing device based on a biaxial retractable type according to claim 1, wherein The shell is composed of multiple hollow connecting columns. The connecting columns are stacked along the axial direction and connected by fixing studs. A top end cover is arranged at the top end of the shell. A six-axis force sensor is installed on the top end cover. A stationary outer shell is arranged at the bottom end of the shell. The pressing ring is installed at the port of the stationary outer shell. A feeder is installed on the stationary outer shell. Multiple vibrators are installed on the stationary outer shell.

3. The feeding friction stir processing device based on double-axis retractable according to claim 1, characterized in that, Inside the shell, there are a first ball spline screw and a second ball spline screw that respectively drive the movement of the stirring needle and the shearing sleeve. The first ball spline screw consists of a first screw rod, a first ball nut and a first ball spline installed on the first screw rod. The first ball nut and the first ball spline are rotationally connected to the shell. The second ball spline screw consists of a hollow and through second screw rod, a second ball nut and a second ball spline installed on the second screw rod. The second ball nut and the second ball spline are rotationally connected to the shell. The first ball nut, the first ball spline, the second ball nut and the second ball spline are respectively connected with a motor through a gear transmission mechanism. The motor is installed on the shell.

4. The feeding friction stir processing device based on double-axis retractable according to claim 3, characterized in that, The bottom end of the second screw rod is connected to the shearing sleeve through a sleeve connecting piece. The bottom end of the first screw rod penetrates through the second screw rod and extends into the sleeve connecting piece and is connected to the stirring needle through a connecting cap.

5. The feeding friction stir processing device based on double-axis retractable according to claim 1, characterized in that The material guiding mechanism includes a spiral groove opened on the inner wall of the pressing ring and a feeding thread arranged on the outer wall of the shearing sleeve. The spiral groove is located above the feeding thread and is communicated with the feeding hole and the feeding thread. A coil spring roller is arranged at a position of the spiral groove close to the feeding hole. An annularly and evenly distributed arc-shaped needle-like groove is opened on the bottom end surface of the shearing sleeve. A lateral groove is opened on the bottom end surface of the stirring needle.

6. The feeding friction stir processing device based on double-axis retractable according to claim 1, wherein The cutting mechanism includes a feeding thread arranged on the outer wall of the shearing sleeve and a guillotine part arranged at the bottom edge of the shearing sleeve. The pressing ring is in clearance fit with the cutting structure. A toothed groove is opened on the bottom end surface of the shearing sleeve. Annularly and evenly distributed arc-shaped long grooves are opened on the bottom end surface of the stirring needle.

7. A multi - pose welding and additive manufacturing method using the biaxially retractable feeding friction stir processing device according to claim 5, characterized in that, Through the differential rotation of the motor, the first ball spline screw and the second ball spline screw respectively drive the stirring needle and the shear sleeve to perform axial movement, rotational movement and a combined movement of the two. The material is fed into the spiral groove through the feeding hole and prefabricated into a spring shape. Then the rotating spring-shaped wire is screwed into the shear sleeve and continuously fed to the arc-shaped needle groove on the bottom end face of the shear sleeve. Through the extrusion and shearing of the arc-shaped needle groove on the bottom end face of the shear sleeve, the stirring needle rotates at high speed for stirring and friction, thereby realizing multi-position continuous additive welding or non-thinning welding.

8. A flexible filling high-performance repair method using the feeding friction stir processing device with double-axis retrievable described in claim 6, characterized in that, The following steps are involved: S1, preparation before welding; S2, using a defect scanner to determine the defect location and distinguish the defect type; S3, obtain the defect location, determine the volume of the fed material, and carry out the cutting stage, material control stage, lowering stage, dwell stage, retraction stage and withdrawal stage in sequence to complete the repair; S4, determine whether the repair is completed based on non-destructive testing. If not, repair it again by multi-point welding until no defects are found in the test, and the repair is completed.

9. The high-performance repair method for flexible filling of the feeding friction stir processing device based on double-axis retractable as claimed in claim 8, characterized in that, S3 includes: Cutting stage: one or more materials are fed into the feeding hole, and the guillotine part reciprocates up and down in the feeding hole to feed the materials flexibly. The volume of the fed materials is larger than the volume of the defects. Material control stage: Press the rotating guillotine and the bottom end of the stirring needle into the material at the defective part; Puncture stage: The puncture method is selected according to the size of the defect. When the defect size is large, the sleeve puncture method is adopted, the shear sleeve is inserted downward, and the stirring needle is withdrawn synchronously; when the defect size is small, the needle puncture method is adopted, the stirring needle is inserted downward, and the shear sleeve is withdrawn synchronously; Dwelling stage: the shear sleeve and the stirring needle maintain the rotation axis and remain stationary; Retraction stage: the shear sleeve and stirring needle are retracted synchronously; Withdrawal stage: The shear sleeve and stirring needle reduce the speed and move up slowly, and finally the main shaft is withdrawn.

10. A control method of vibration suppression by vibration for applying the feeding friction stir processing device based on a biaxial retractable type as described in claim 2, characterized in that, The following steps are involved: a. Install and connect the six-axis force sensor to detect the axial force F of the spindle in real time Z , the forward resistance F XY ; b. Install exciters 0-4, cooperate with exciters 1-4 to excite vibration in any direction on the horizontal plane of the spindle, and exciter 0 to excite vibration in a direction perpendicular to the horizontal plane of the spindle; c. Assist the vibrator during the actual solid-phase stirring process, obtain the optimal vibrator power P1 through the organizational structure and mechanical properties, and obtain the force range F in the optimal structural area XY1 -F XY2 and F Z1 -F Z2 , so as to achieve solid-phase stirring of high-quality structures; d. In the case where it is not easy to achieve smooth control for harder materials, by detecting the magnitude and direction of the resultant force of the forces F XY and F Z in the solid-phase stirring process in real time, when the resultant force exceeds the optimal force range, increase the power of the optimal vibrator, and when it is lower than the optimal force range, reduce the power of the optimal vibrator, with the goal of achieving compliant control of the solid-phase stirring process.

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