CN-122007455-A - Ultrasonic field-magnetic field coupled multi-energy field regulation and control mobile additive manufacturing device

CN122007455ACN 122007455 ACN122007455 ACN 122007455ACN-122007455-A

Abstract

The application relates to an ultrasonic field-magnetic field coupled multi-energy field regulation mobile additive manufacturing device which comprises a first executing piece, a second executing piece, an ultrasonic module, a magnetic field application module and a regulation module, wherein the first executing piece is in linkage with a wire feeding device and is used for driving the wire feeding device to move, the second executing piece is in linkage with a laser and is used for driving the laser to move, the ultrasonic module is used for applying an ultrasonic vibration field to a molten pool and a heat affected zone of the molten pool, the magnetic field application module is arranged corresponding to the molten pool and is used for applying a magnetic field to the molten pool zone, and the regulation module is respectively in signal connection with the first executing piece, the second executing piece, the ultrasonic module and the magnetic field application module and is used for regulating the first executing piece, the second executing piece, the ultrasonic module and the magnetic field application module based on temperature field, molten pool morphology, deposition height and environmental data in an additive process. The application can realize the multi-energy field cooperative regulation and control of the additive manufacturing process, further realize the precise regulation and control of the flow and tissue evolution of the molten pool, and can obviously improve the tissue performance, the forming quality and the field adaptability of the additive component.

Inventors

WANG QIWEI
CAO CHENG
ZHANG PENG
CAO LIN
LU BINGWEN
DU WENBO
CHENG ZONGHUI
Ci Shiwei

Assignees

暨南大学

Dates

Publication Date: 20260512
Application Date: 20260413

Claims (10)

1. An ultrasonic field-magnetic field coupled multi-energy field regulated mobile additive manufacturing device, comprising: The first executing piece is linked with the wire feeding device and used for driving the wire feeding device to move; The second executing piece is linked with the laser and used for driving the laser to move; An ultrasonic module disposed corresponding to the molten pool for applying an ultrasonic vibration field to the molten pool and a heat affected zone thereof; a magnetic field application module disposed corresponding to the molten pool for applying a magnetic field to the molten pool region; The regulation and control module is respectively connected with the first executing piece, the second executing piece, the ultrasonic module and the magnetic field applying module in a signal manner and is used for regulating and controlling the first executing piece, the second executing piece, the ultrasonic module and the magnetic field applying module based on temperature field, molten pool morphology, deposition height and environmental data in the material adding process; The control module controls the first executive component and the second executive component to cooperatively act through a cooperative control strategy, an energy field interference-offset mapping model of energy field interference and the offset of the executive ends of the first executive component and the second executive component is established in the cooperative control strategy, the motion compensation quantity of the first executive component and the second executive component is calculated based on the energy field interference-offset mapping model, the motion instruction of the first executive component and the second executive component is corrected based on the motion compensation quantity, and the energy field interference represents the motion influence of real-time ultrasonic power and magnetic field intensity on the executive ends of the first executive component and the second executive component.
2. The ultrasonic field-magnetic field coupled multi-energy field regulated mobile additive manufacturing device of claim 1, further comprising: And the first executing piece, the second executing piece, the ultrasonic module and the magnetic field applying module are all arranged on the supporting table.
3. The ultrasonic field-magnetic field coupled multi-energy field controlled mobile additive manufacturing device of claim 1, wherein the first and second actuators are multi-joint robotic arms.
4. The ultrasonic field-magnetic field coupled multi-energy field regulated mobile additive manufacturing device of claim 1, wherein the cooperative control strategy comprises the steps of: Sa1, establishing a global coordinate system, and respectively acquiring the execution end coordinates of the first execution piece and the second execution piece, and recording the execution end coordinates as a first end coordinate and a second end coordinate; sa2, establishing a conversion relation between joint spaces of the first executing piece and the second executing piece and the global coordinate system, and calibrating; Sa3, importing a target component model into the coordinate system, and generating a discrete point set Path= { P 1 ,P 2 ,...P n } of each layer of deposition Path based on processing requirements, wherein each discrete point P i comprises a coordinate (x i ,y i ,z i ), a deposition speed v i and a laser power adaptation value P laser,i ; Sa4, distributing a first action instruction for executing wire feeding-laser cladding action to the first executing piece according to a discrete point set Path of the deposition Path, and distributing a second action instruction for enabling the second executing piece to follow and assist the first executing piece to execute the wire feeding-laser cladding action based on the first action instruction, wherein the first action instruction and the second action instruction are corrected through the action compensation quantity; Sa5, performing path previewing and conflict detection on the first executive component and the second executive component based on the first action instruction and the second action instruction, and adjusting the first action instruction and the second action instruction based on the result of the path previewing and the conflict detection; sa6, establishing a double-executive cooperative control model: The state equation is expressed as: ; the output equation is expressed as: ; Wherein, the Representing a first order derivative operation on the variable t, , X A ,y A ,z A represents the execution end coordinates of the first actuator, θ A1 ,...,θ A6 represents the respective joint angle state vectors of the first actuator, x B ,y B ,z B represents the execution end coordinates of the second actuator, and θ B1 ,...,θ B6 represents the respective joint angle state vectors of the second actuator; , Wherein v A ,α A ,ω A represents the speed, acceleration and angular velocity of the execution end of the first execution element, v B ,α B ,ω B represents the speed, acceleration and angular velocity of the execution end of the second execution element, and T represents the transpose operation; delta (t) represents disturbance vectors, wherein the disturbance vectors comprise ground vibration disturbance and energy field disturbance, and A, B, C, D, E are system matrixes; sa7, based on the double-executive component cooperative control model, cooperatively controlling the first executive component and the second executive component to execute wire feeding-laser cladding action.
5. The ultrasonic field-magnetic field coupled multi-energy field regulated mobile additive manufacturing device of claim 4, wherein the dual-actuator cooperative control model performs an obstacle avoidance cooperative strategy comprising the steps of: collecting point cloud data of surrounding environments of the first executing piece and the second executing piece in real time; simplifying the point cloud data to generate a grid map occupied by an obstacle; And based on the obstacle occupying the grid map, introducing a time dimension cost function to perform dynamic obstacle avoidance path planning.
6. The ultrasonic field-magnetic field coupled multi-energy field regulated mobile additive manufacturing device of any of claims 1-5, wherein establishing an energy field interference-offset mapping model of energy field interference and an execution end offset of the first and second actuators in the cooperative control strategy comprises: Collecting real-time ultrasonic power P ult and magnetic field intensity B of a molten pool area, and establishing the energy field interference-offset mapping model to be expressed as: , Where ΔP represents the offset due to energy field interference, and k 1 、k 2 and k 3 represent the ultrasonic power-offset coefficient, the magnetic field strength-offset coefficient, and the ultrasonic-magnetic field coupling interference coefficient, respectively.
7. The ultrasonic field-magnetic field coupled multi-energy field regulated mobile additive manufacturing device of claim 1, wherein the regulation module regulates one or more of the first actuator, the second actuator, the ultrasonic module, and the magnetic field application module based on temperature field, bath morphology, deposition height, and environmental data during an additive process, comprising the steps of: sb1, collecting the initial temperature of a molten pool area, and performing filtering treatment to obtain temperature data , A temperature value indicating a kth time; Acquiring an optical image of a bath region, calculating dimensional parameters (W, L, S) of the bath based on the optical image, wherein W, L, S represents the width, length and area of the bath, respectively; Collecting the initial deposition layer height of the molten pool area and performing filtering treatment to obtain filtered deposition layer height data H k ; Sb2, constructing a feature vector F: , Wherein T ave is the average temperature of the molten pool within a certain period, T max is the highest temperature of the molten pool, W, L, S respectively represents the width, length and area of the molten pool, H represents the layer height of a deposited layer in a molten pool area, sigma H is the layer height standard deviation of the deposited layer in the molten pool area, P ult represents the real-time ultrasonic power of the molten pool area, B represents the real-time magnetic field strength of the molten pool area, and alpha r is the environmental vibration root mean square value; sb3, calculating a deposition quality evaluation index Q: , Wherein Q T represents a temperature evaluation index: , T ave is the average temperature of the molten pool in a certain period of time, and T set is the set temperature of the molten pool; q shape represents a shape evaluation index: , s set is the set area of the molten pool, S is the area of the molten pool, and W, L respectively represents the width and the length of the molten pool; Q H is the layer height evaluation index: , H set is the set layer height of the deposition layer, and H is the layer height of the deposition layer in the molten pool area; Q env represents an environmental interference assessment index: , Alpha r is the environmental vibration root mean square value, and alpha max is the allowable maximum vibration acceleration; Omega 1 、ω 2 、ω 3 and omega 4 are the corresponding weight coefficients of the temperature evaluation index Q T , the shape evaluation index Q shape , the layer height evaluation index Q H and the environmental disturbance evaluation index Q env , respectively; Sb4, presetting a quality evaluation threshold value related to the deposition quality evaluation index, comparing the deposition quality evaluation index with the quality evaluation threshold value in a numerical mode, and regulating and controlling the first executing piece, the second executing piece, the ultrasonic module and the magnetic field applying module according to a numerical comparison result.
8. The ultrasonic field-magnetic field coupled multi-energy field regulated mobile additive manufacturing device of claim 7, wherein the quality assessment threshold comprises a first section C 1 , a second section C 2 , a third section C 3 , and a fourth section C 4 that are not coincident with each other and are sequentially incremented; In response to the deposition quality assessment index Q belonging to the first interval C 1 , judging that the operation process is in a disqualification state, stopping the operation of the first executing piece, the second executing piece, the ultrasonic module and the magnetic field applying module, Responding to the deposition quality evaluation index Q belonging to the second interval C 2 , judging that the operation process is in an early warning state, and adjusting the first amplitude of the first executive component, the second executive component, the ultrasonic module and the magnetic field applying module and improving the data acquisition frequency; Responding to the deposition quality evaluation index Q belonging to the third interval C 3 , judging that the operation process is in a qualified state, and adjusting key parameters of the first executive component, the second executive component, the ultrasonic module and the magnetic field application module by a second amplitude, wherein the first amplitude is larger than the second amplitude; And in response to the deposition quality evaluation index Q belonging to the fourth interval C 4 , judging that the operation process is in a high-quality state, and not adjusting the first executing piece, the second executing piece, the ultrasonic module and the magnetic field applying module.
9. The ultrasonic field-magnetic field coupled multi-energy field regulated mobile additive manufacturing apparatus according to claim 8, wherein in the step Sb4, in response to the deposition quality assessment index Q not belonging to the fourth interval C 4 , the temperature assessment index Q T , the shape assessment index Q shape , the layer height assessment index Q H , and the environmental disturbance assessment index Q env are input into a preset classification model, a deposition quality abnormality cause is obtained, and one or more of the first actuator, the second actuator, the ultrasonic module, and the magnetic field application module is regulated according to the deposition quality abnormality cause.
10. The ultrasonic field-magnetic field coupled multi-energy field controlled mobile additive manufacturing device according to claim 9, wherein a temperature evaluation threshold Thr T for the temperature evaluation index Q T , a shape evaluation threshold Thr shape for the shape evaluation index Q shape , a layer height evaluation threshold Thr H for the layer height evaluation index Q H , and an environmental disturbance evaluation threshold Thr env for the environmental disturbance evaluation index Q env are preset in the classification model, If the temperature evaluation index Q T is smaller than a temperature evaluation threshold Thr T and the shape evaluation index Q shape is not smaller than a shape evaluation threshold Thr shape , outputting that the cause of the deposition quality abnormality is a temperature abnormality, If the shape evaluation index Q shape is smaller than a shape evaluation threshold Thr shape and the temperature evaluation index Q T is not smaller than a temperature evaluation threshold Thr T , outputting that the cause of the deposition quality abnormality is a bath flow abnormality, If the layer height evaluation index Q H is smaller than the layer height evaluation threshold Thr H and the temperature evaluation index Q T is not smaller than the temperature evaluation threshold Thr T and the shape evaluation index Q shape is not smaller than the shape evaluation threshold Thr shape , outputting that the reason for abnormal deposition quality is that the wire feeding speed or the laser power is not matched with the moving speed of the executing end, If the environmental interference evaluation index Q env is smaller than an environmental interference evaluation threshold Thr env , the temperature evaluation index Q T is not smaller than a temperature evaluation threshold Thr T , the shape evaluation index Q shape is not smaller than a shape evaluation threshold Thr shape , and the layer height evaluation index Q H is not smaller than a layer height evaluation threshold Thr H , outputting that the deposition quality abnormality cause is an environmental vibration abnormality; when the first executing piece, the second executing piece, the ultrasonic module and the magnetic field applying module are regulated and controlled, the regulating and controlling priority is sequentially ordered into laser power P L , wire feeding speed v f , ultrasonic power P ult , magnetic field intensity B and executing end moving speed v m from high to low.

Description

Ultrasonic field-magnetic field coupled multi-energy field regulation and control mobile additive manufacturing device Technical Field The application relates to the technical field of metal additive manufacturing equipment, in particular to an ultrasonic field-magnetic field coupled multi-energy field regulation mobile additive manufacturing device. Background With the rapid development of aerospace, ship equipment, energy equipment and large-scale components, more and more key parts have the characteristics of large scale, high complexity, non-detachability and the like. The traditional fixed type material adding equipment generally needs a constant environment and a large workshop space, and damaged components are difficult to repair or remanufacture on the actual working condition site, so that the maintenance period is long, the cost is high and the shutdown risk is high. To improve the field repairability of components, some researches have proposed a follow-up type additive system or portable additive equipment, but the following main problems still exist in the prior art: First, energy field regulation is single and limited, for example, a single ultrasonic (or magnetic field) auxiliary additive manufacturing device only acts on a local layer or a limited area, and stable and uniform tissue regulation is difficult to realize under field conditions. Secondly, the equipment has weak mobility and poor adaptation working condition, and most of material adding equipment is used in factories, has large volume and heavy weight, and is not suitable for field processing of the field, limited space or immovable components. Thirdly, the multi-energy field coordination is insufficient, and the problems of uneven tissue, internal defects and the like of a complex structure are difficult to realize real-time coordination control based on a single regulation and control mode of ultrasound or electromagnetism in the prior art. Fourth, the intelligent real-time regulation and control mechanism is lacking, namely the on-site environment disturbance is large, the temperature field, the stress field and the deposition quality change at any time, the existing equipment generally lacks an environment sensing module and an on-line closed-loop control strategy, and accurate regulation and control and self-adaptive manufacturing cannot be realized. Therefore, there is a need for a mobile additive manufacturing device that can perform precise additive manufacturing and remanufacturing in an in-situ environment, while providing multi-energy field coordination. Disclosure of Invention In order to solve the problems in the prior art, the application aims to provide a multi-energy field regulation mobile additive manufacturing device with ultrasonic field-magnetic field coupling. The application can realize the multi-energy field cooperative regulation and control of the additive manufacturing process, further realize the precise regulation and control of the flow and tissue evolution of the molten pool, and can obviously improve the tissue performance, the forming quality and the field adaptability of the additive component. The application relates to an ultrasonic field-magnetic field coupled multi-energy field regulation mobile additive manufacturing device, which comprises: The first executing piece is linked with the wire feeding device and used for driving the wire feeding device to move; The second executing piece is linked with the laser and used for driving the laser to move; An ultrasonic module disposed corresponding to the molten pool for applying an ultrasonic vibration field to the molten pool and a heat affected zone thereof; a magnetic field application module disposed corresponding to the molten pool for applying a magnetic field to the molten pool region; The regulation and control module is respectively connected with the first executing piece, the second executing piece, the ultrasonic module and the magnetic field applying module in a signal manner and is used for regulating and controlling the first executing piece, the second executing piece, the ultrasonic module and the magnetic field applying module based on temperature field, molten pool morphology, deposition height and environmental data in the material adding process; The control module controls the first executive component and the second executive component to cooperatively act through a cooperative control strategy, an energy field interference-offset mapping model of energy field interference and the offset of the executive ends of the first executive component and the second executive component is established in the cooperative control strategy, the motion compensation quantity of the first executive component and the second executive component is calculated based on the energy field interference-offset mapping model, the motion instruction of the first executive component and the second executive component is corrected based on the motion comp