CN108622343A

CN108622343A - The 3D printing method of miniature submariner device and its semiclosed metal shell

Info

Publication number: CN108622343A
Application number: CN201810285274.8A
Authority: CN
Inventors: 邓飞; 黄风山
Original assignee: Hebei University of Science and Technology
Current assignee: Hebei University of Science and Technology
Priority date: 2018-04-03
Filing date: 2018-04-03
Publication date: 2018-10-09

Abstract

The invention discloses a kind of 3D printing methods of miniature submariner device and its semiclosed metal shell, miniature submariner device includes semiclosed metal shell head and body, body outer surface is pasted with solar panel, body is fixedly provided with rechargeable battery, controller, communication module and sensor assembly, propeller is equipped at body closed end, body side is equipped with rudder, balancing stand is equipped at body inside center, the swing of electromagnet adjustment frame promotes high density liquid to be flowed between left container and right container.And disclose the 3D printing method of miniature submariner device middle casing head and body.The present invention optimizes its surface structure and position of centre of gravity, and semiclosed metal shell is processed using 3D printing technique, energy molding thickness is thin in the case of proof strength, and internal various supports, fixed frame, rib etc. can be integrally formed, and substantially alleviate containment weight.

Description

The 3D printing method of miniature submariner device and its semiclosed metal shell

Technical field

The present invention relates to a kind of military unmanned submariner device and its processing method more particularly to a kind of miniature submariner device and its The 3D printing method of semiclosed metal shell.

Background technology

Autonomous underwater vehicle is also referred to as dived under water robot, is to investigate device in a kind of important water, be widely used in it is military and The underwater operation of the high risks such as detection, investigation, the lifesaving of civil field or even USN developing have it is aggressive Underwater unmanned submariner system, therefore the development and application foreground of autonomous underwater vehicle is rather good.Autonomous underwater vehicle one small-sized at present As be cylindrical type appearance, 1 meter of length or more, 0.3 meter of diameter or more.Although its smaller concealment of the size of autonomous underwater vehicle is got over Well, several bottlenecks are encountered when but size miniaturises：（1）The outer housing of autonomous underwater vehicle is usually metal manufacture, by The limitation of production material and processing technology, shell and internal unit holder form for assembly and connection, the weight of shell, connector, The weight etc. of fastener etc. accounts for the large percentage of total weight, and it is limited that interior spatial structure continues optimization degree；Some nonmetallic materials Outer housing need to use thicker shell, volume and weight is larger to ensure mechanical property.（2）Common fixed power source or The volume and weight of temperature difference electricity generation device is larger, limits the space of miniaturization.Therefore the further of autonomous underwater vehicle is realized Miniaturization, it is necessary to using new material, new process, new construction.

In recent years, the research of metal 3D printing technique just deeply expansion at home and abroad, using selective laser sintering as principle Metal 3D printing equipment be capable of the metal parts of straight forming arbitrary shape in principle, therefore processed using 3D printing technique light Matter alloy shell substitutes traditional casting and machining, it will greatly reduces the weight and volume of shell, and to internal structure Connector carries out integrated printing shaping, realizes optimization of inside structure under the premise of ensureing mechanical property, is greatly reduced simultaneously The usage quantity of connector, this is a break-through point for realizing autonomous underwater vehicle micromation.But the reality of metal material 3D printing Technical process wants the more of complexity, and the optimal printing technique and parameter configuration of various metal materials are not sought unity of standard, different former materials There is very big difference in the performance of material, even if the part of same metal material printing different structure, printing technology and Row control, The design and removing method of support and post-processing method etc. are also different, need to carry out a large amount of experimental test, explore most The process design of Optimizing Process Parameters, especially metal 3D printing to combine closely with the structure design of part and Xiang Fuxiang At best implementation result could be obtained.The most thin size of the thickness of metal 3D printer forming part is 0.1-0.2mm left at present The right side can realize different-thickness, the reinforcing rib of shape, fixed plate or link and part global shape during one-pass molding Integration complete, the parameters such as shape, thickness, intensity of institute's forming part substantially breach traditional casting and forming, extrusion forming, The usage quantity of connector is greatly reduced in the case where ensureing mechanical property for the limitation of the techniques such as welding fabrication, realizes The optimization of part overall dimensions and shape, size micromation and own wt are greatly reduced, and can be functional parts Installation provides the space of bigger.

Based on the above reason, the present invention devises a kind of using magnesium alloy as the 3D of the semiclosed super thin metal shell of material Method of printing, and devise a kind of miniature submariner device as outer housing.

Invention content

The technical problem to be solved in the present invention is to provide the 3D of a kind of miniature submariner device and its semiclosed metal shell to beat Impression method, the device optimize its surface structure and position of centre of gravity, and are processed outside semiclosed metal using 3D printing technique Shell, energy molding thickness is thin in the case of proof strength, and internal various supports, fixed frame, rib etc. can be integrally formed, Substantially alleviate containment weight.

In order to solve the above technical problems, the technical solution used in the present invention is：A kind of miniature submariner device, feature exist In including semiclosed metal shell head and body, metal shell head and body are fastened and connected, and form a seal casinghousing；Institute It is cone to state shell head main body, and the body main body is the closed cylinder in a side end face, and body outer surface is pasted with the sun Energy solar panel, body are fixedly provided with rechargeable battery, controller, communication module and sensor assembly, are set at body closed end There are propeller, body side to be equipped with rudder, be equipped with balancing stand at body inside center, the balancing stand includes left container, the right side The conduit of container and hard, conduit is left container and right reservoir and seals, and left container is that the semi-round ball to raise up describes Device, lower plane keep horizontal with conduit, and right container is downwardly convex conical vessel, and top incline keeps horizontal with conduit, Equipped with high density liquid is contained in left container, right container and conduit, link, link and body are equipped in the middle part of the conduit Inner wall mounts, and is equipped with metal connector sleeve close to the catheter surface of left container, is equipped with right over connector sleeve and is fixed on body inner wall Electromagnet, electromagnet attract each other with connector sleeve, the swing of electromagnet adjustment frame, promote high density liquid in left container and It is flowed between right container.

Said program is further limited, the shell head includes Conical Shells With head, inner support plate, top board, shell head Warehouse and clip plate, shell head are the integrally formed cone of 3D printing, side of the Conical Shells With head as cone, in Conical Shells With Head surface is equipped with lens, and bottom surface of the inner support plate as cone is fixed with camera, camera and lens pair in inner support plate Just, inner support plate is equipped with circular hole；Shell head warehouse is tightly connected with the body, and top board is located on the outside of shell head warehouse, is fixed too Positive energy solar panel, clip plate are located on the inside of shell head warehouse, the driving steering engine of fixed-direction rudder.

Said program is further limited, the cone-apex angle of the Conical Shells With head is 55 °~75 °, top board and circular cone Shell head coupling part expands outwardly, and expansion angle is 10 °~20 °.

Said program is further limited, the body is by semi-enclosed body warehouse and leading positioned at blind end Guide vane forms, and wherein body warehouse side is surrounded by a planar section and a disc part, the outer surface of planar section Solar panel is pasted, the inner surface of planar section is equipped with magnet fixed frame and hanger, wherein magnet fixed frame Motionless electromagnetic Iron, hanger lift balancing stand, and disc part is equipped with battery retaining boards and hole steering engine mounting plane.

Said program is further limited, the body warehouse inner surface is circumferentially distributed body rib, body storehouse Body gusset is distributed in body inner surface axial, and the body bottom case inner surface of the body warehouse is equipped with motor fixing frame.

Said program is further limited, body rib cross section is trapezoidal, bottom surface angle is 20 °~ 40 °, the hanger cross section is trapezoidal, and height is 2~3mm, and bottom surface angle is 20 °~35 °, and the magnet fixed frame is transversal Face is trapezoidal, and height is 1.5~2mm, and bottom surface angle is 20 °~35 °.

Said program is further limited, the body and magnet fixed frame, hanger, body rib, body gusset, Motor fixing frame, battery retaining boards, hole steering engine mounting plane are integrally formed for 3D printing.

A kind of 3D printing method of semiclosed metal shell, it is characterised in that the semiclosed metal shell is for miniature Shell head in submariner device, metal material are magnesium alloy, and the 3D printing step of the shell head includes：

（1）One piece of planar substrates is fixed on the internal work platform of metal 3D printer, and magnesium alloy powder is placed on substrate, 120 DEG C of basal plate preheating temperature, ar gas environment built in forming bin, oxygen content threshold value 500ppm recycle pump frequency 37Hz, laser power 180W, 70 microns, laser scanning speed 450mm/s of spot diameter, 80 μm of sweep span, 50 μm of lift height；

（2）The support of 3D printing sintering magnesium alloy face, thickness 1-2mm, laser scanning methods use checkerboard type first on substrate Scan mode；Continue sinterskin head warehouse, shell head warehouse integrated molding after the completion of the support molding of face, laser scanning methods use Concentric type scans, thickness 0.2-0.4mm；Synchronous sintering clip plate and top board, the grid of synchronous sintering inner support plate lower surface Formula point supports, grid spacing 0.6-0.7mm, grid edge development length 0.3mm, single side length of element 2mm, and grid tooth is high 0.5mm, facewidth 0.3mm, embedded inner support plate 1-2 depth 0.2mm；

（3）After sinter molding to top board and shell head warehouse, laser head is sintered direction adjust automatically, start to be sintered Conical Shells With head with The linking part of top board, shell head warehouse, when sintering, is not required to plus support, synchronizes and continues to be sintered clip plate straight panel face, synchronous sintering Circular net format point supports, and is sintered to inner support plate lower surface always；

（4）Under the support of grid type point, start to be sintered inner support plate, synchronizes and continue to be sintered Conical Shells With head tilt part, Zhi Daoyuan Conical shell crown point completes the 3D printing process of shell head；

（5）It is to be cooled to arrive room temperature after integral sintered, carry out heat treatment process after molding, including solution treatment and artificial Timeliness：It after removal support, polishing, is cleaned with absolute ethyl alcohol, dries rear surfaces externally and internally and uniformly smear one layer of graphite powder, use aluminium Foil paper wraps up；Solution treatment is carried out in atmosphere protection heating furnace, is heated within 1 hour 415 DEG C, is kept the temperature 24 hours, is put into 80 DEG C It is taken out after 2 seconds in hot water air-cooled；Artificial aging is carried out in atmosphere protection heating furnace, is heated within 20 minutes 175 DEG C, heat preservation 16 is small When, it takes out air-cooled；

（6）Surface treatment：It is polished using the inner and outer surfaces that polishing tool is shell head 1, the circular cone using boring bar tool in front end The upper and lower side in face opens up two holes, and shell head warehouse end is polished inner chamfer using milling tools.

A kind of 3D printing method of semiclosed metal shell, it is characterised in that the semiclosed metal shell is miniature submariner Body in device, metal material are magnesium alloy, and the 3D printing step of the body includes：

（1）One piece of planar substrates, 120 DEG C of basal plate preheating temperature, substrate are fixed on the internal work platform of metal 3D printer Upper placement magnesium alloy powder, ar gas environment built in forming bin, oxygen content threshold value 500ppm recycle pump frequency 37Hz, laser work( Rate 180W, 70 microns, laser scanning speed 450mm/s of spot diameter, 80 μm of sweep span, 50 μm of lift height；

（2）3D printing sinter molding magnesium alloy face supports first on substrate, and laser scanning uses checkerboard type scan mode, thick 2-3mm is spent, continues the lower end for being sintered guide vane, the synchronous mixing in the support of face on the downside of sintering bottom case after the completion of the support molding of face Support, mixing support include that mesh point support, line support and cross hang, laser scanning use stripscan mode, grid type Point-supported grid spacing 0.6-0.7mm, grid edge development length 0.3mm, single side length of element 2mm, grid tooth are high 0.5mm, facewidth 0.3mm, embedded body bottom case depth 0.2mm；Line bearing edge development length 0.3mm, width 0.3mm, it is embedded Body bottom case depth 0.2mm；Cross hang edge development length 0.3mm, width 0.3mm, embedded body bottom case depth 0.2mm；

（3）After the completion of guide vane and mixing support sintering, under the common support of guide vane and mixing support, start to be sintered body The thickness of bottom case circular flat, body bottom case is set as 0.4-0.8mm；

（4）After the completion of the sintering of body bottom case, continue to be sintered body warehouse, synchronous sintering motor fixing frame, body gusset, battery are solid Fixed board, the wherein thickness of body warehouse are 0.2-0.4mm, and motor fixing frame is that hollow class is cylindrical, the shape of internal diameter and motor Size and shape are identical, thickness 0.2-0.3mm, and the thickness of body gusset is 0.2-0.3mm, and the thickness of battery retaining boards is 0.2-0.3mm；It is sintered during body warehouse, f≤40 ° ∠ of body rib, thickness 0.4-0.6mm, need not support directly It fires；G≤40 ° ∠ of hanger, the width 2-3mm of thickness 0.2-0.4mm, y, need not support direct firing；Magnet fixed frame H≤40 ° ∠, the width 1.5-2mm of thickness 0.2-0.4mm, z, need not be arranged support directly fire；Steering engine mounting plane is The inner arc surface thickening of body warehouse sinters a plane into, stablizes installation convenient for steering engine；It is sintered to the upper end of body warehouse, mouth Diameter contraction sintering is simultaneously equal with the outer diameter of shell head warehouse；

（6）Surface treatment：Using polishing tool be body appearance mirror polish, using boring bar tool on the circular conical surface of front end, Downside opens up two holes, is washed away inside body and is polished using polishing fluid high speed, removes interior metal residue.

Said program is further described, 26-68 microns of the magnesium alloy particle size distribution range, chemical composition is pressed Mass percent is：Magnesium 90% ~ 92%, aluminium 8% ~ 10%, zinc 0.5% ~ 0.8%, manganese 0.1% ~ 0.4%, iron 0 ~ 0.003%, silicon 0 ~ 0.05%, Copper 0 ~ 0.005%, remaining is impurity.

It is using advantageous effect caused by above-mentioned technical proposal：

（1）The shell of miniature submariner device uses magnesium-aluminium alloy material in the present invention, by the flow of metal 3D printing method and Scheme is processed design, and scheme is reasonable, and safety coefficient is high, avoids the danger of magnesium alloy superfines explosive, and Printing effect is high, is molded and treated shell tensile strength, compression strength, surface quality, thickness of shell, structural behaviour, ruler The indexs such as very little requirement fully meet mechanical property and design requirement；

（2）The body warehouse of 3D printing molding magnesium alloy material makes structure innovation in the present invention, greatly alleviates whole weight Shell is greatly shortened in the case of proof strength in the body rib and body gusset of amount and volume, especially integrated molding The thickness of body warehouse；The usage quantity of connector is greatly reduced in the internal fixing device of integrated molding, does not need complexity Transmission chain further reduced overall weight；

（3）After the surface structure of miniature submariner device and position of centre of gravity optimize in the present invention, solar panel is enable to keep Solar energy is persistently obtained on the water surface, is charged for rechargeable battery, avoids traditional temperature difference electricity generation device volume greatly and needs to exist The shortcomings that uninterruptedly being moved between not stratospheric waters；

（4）The invention overall structure is simple and direct, compact, is easy to safeguard, of low cost, and while working can be easier to across The mesh or protective fence of large-scale fishing net, are not easy to be found.

Description of the drawings

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Fig. 1 is the three-dimensional appearance schematic diagram of miniature submariner device；

Fig. 2 is the overall structure sectional view of miniature submariner device；

Fig. 3 is the structure sectional view of shell head 1；

Fig. 4 is the G of shell head 1 to schematic diagram；

Fig. 5 is the structure sectional view of body 5；

Fig. 6 is the B of body 5 to sectional view；

Fig. 7 is the 3D printing artwork of body 5；

Fig. 8 is the schematic enlarged-scale view of body rib 5-4；

Fig. 9 is the schematic enlarged-scale view of hanger 5-3；

Figure 10 is the schematic enlarged-scale view of magnet fixed frame 5-2；

Figure 11 is the A of balancing stand 7 to structural schematic diagram；

Figure 12 is the 3D printing artwork of shell head 1；

Figure 13 is the 3D printing grid type point support schematic diagram of shell head 1；

Figure 14 is the 3D printing mixing support schematic diagram of body 5；

In figure：1, shell head, 2, lens, 3, camera, 4, solar panel, 5, body, 6, electromagnet, 7, balancing stand, 8, Motor, 9, propeller, 10, controller, 11, rechargeable battery, 12, communication module, 13, sensor assembly, 14, rudder, 15, rudder Machine；

1-1, Conical Shells With head, 1-2, inner support plate, 1-3, top board, 1-4, shell head warehouse, 1-5, clip plate；

5-1, body warehouse, 5-2, magnet fixed frame, 5-3, hanger, 5-4, body rib, 5-5, body gusset, 5-6, body bottom Shell, 5-7, guide vane, 5-8, motor fixing frame, 5-9, battery retaining boards, 5-10, communication module hole, 5-11, sensor assembly, 5-12, hole steering engine mounting plane；

7-1, left container, 7-2, connector sleeve, 7-3, conduit, 7-4, link, 7-5, right container；

A, substrate, A1, point support, A2, line support, A3, face support, A4, combined support, A5, cross hang.

Specific implementation mode

With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete Ground describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Attached drawing 1 is the miniature submariner device overall appearance structure in the present invention, and interior spatial structure is as shown in Fig. 2, main Including：Shell head 1, lens 2, camera 3, solar panel 4, body 5, electromagnet 6, balancing stand 7, motor 8, propeller 9, controller 10, rechargeable battery 11, communication module 12, sensor assembly 13, rudder 14, steering engine 15；The shell head 1 in left side with Intermediate body 5 connects, and the lower end of body 5 is cylindric, and upper end is planar, and solar panel 4, body are fixed in plane 5 right end installs propeller 9.

The structure of its middle casing head 1 is as shown in Figure 3 and Figure 4, including：Conical Shells With head 1-1, inner support plate 1-2, top board 1- 3, shell head warehouse 1-4, clip plate 1-5；Shell head 1 be 3D printing be integrally formed, left side be Conical Shells With head 1-1, section it is upper, Be MN and ML below, inner support plate 1-2 is vertical circular planes, and centre stays circular hole, with Conical Shells With head 1-1 be 3D printing one at Type, NR are the upper end plane area section of shell head warehouse 1-4, and XT is cylindrical zone section, and PQ is the plane area section of top board 1-3, NP is beveled region section, and WS is plane area section, and the left end of WS planes is integrally formed with the downside 3D printing of inner support plate 1-2. The design of 1 each section 3D printing technological angle of shell head is as shown in Figure 3：T, 4 lines of S, R, Q are on same vertical plane, 75 ° MLN >=55 ° >=∠, MNL >=55 ° 75 ° >=∠, NPQ >=145 ° 165 ° >=∠, MLX=180 ° ∠, i.e. MLX be straight line, 180 ° >= ∠MNP≥150°；After Conical Shells With head 1-1 one 3D printings molding, a hole, Mei Gekong are respectively opened up in the upper and lower side of circular conical surface Upper sealing is bonded one piece of lens 2, as shown in Fig. 2, two cameras 3 are fixed on the upper of inner support plate 1-2, camera 3 is found a view Device distinguishes face lens 2.

5 interior spatial structure of body is as shown in Figure 5 and Figure 6, including：Body warehouse 5-1, magnet fixed frame 5-2, hanger 5- 3, body rib 5-4, body gusset 5-5, body bottom case 5-6, guide vane 5-7, motor fixing frame 5-8, battery retaining boards 5-9, Communication module hole 5-10, sensor assembly hole 5-11, steering engine mounting plane 5-12；Body 5 is integrally formed for 3D printing, body storehouse The upper surface of body 5-1 is planar, and lower surface is cylindric, and centre is cavity, and left end is opening port and bore is shunk and shell head The outer diameter of warehouse 1-4 is equal, and right end is closed by body bottom case 5-6, the right outer side edge edge of body bottom case 5-6, integrated 3D printing Multiple guide vane 5-7；In the inner wall upper end of body warehouse 5-1, integrated 3D printing one magnet fixed frame 5-2 and a hanger 5- 3；In the longitudinal direction of body warehouse 5-1 inner walls, the integrated a plurality of body rib 5-4 of 3D printing, a plurality of body muscle of lateral one 3D printing One motor fixing frame 5-8 of Left-side center position one 3D printing of plate 5-5, body bottom case 5-6, the inner wall of body warehouse 5-1 Downside one 3D printing two battery retaining boards 5-9, battery retaining boards 5-9 had both played the role of fixed rechargeable battery 11, had also risen To the effect of body gusset 5-5；Integrated one platform of 3D printing is as steering engine on the downside inner cylindrical wall of body warehouse 5-1 left ends Mounting plane 5-12 opens up two holes on the side wall of body warehouse 5-1, is communication module hole 5-10 and sensor assembly hole respectively 5-11.5 each section printing technology angle of body is as shown in Figure 7：Body rib 5-4 is illustrated in figure 8 structure symmetrical above and below, ∠ f ≤ 40 °, hanger 5-3 is illustrated in figure 9 structure symmetrical above and below, g≤35 ° ∠, 2mm≤y≤3mm, magnet fixed frame 5-2 such as Figure 10 It show structure symmetrical above and below, h≤35 ° ∠, 1.5mm≤z≤2mm.

The space structure of balancing stand 7 as shown in figs. 2 and 11, including：Left container 7-1, connector sleeve 7-2, conduit 7-3, connect Meet frame 7-4, right container 7-5；Left container 7-1 is closed bowl-shape, and right end edge is open connecting conduit 7-3, right container 7-5 as envelope The beaker shape closed, the conduit 7-3 sealings that left end edge opening connecting conduit 7-3, left container 7-1 and right container 7-5 passes through hard A connector sleeve 7-2 is fixedly mounted in the left-external side of connection, conduit 7-3, and a link 7-4 is fixedly mounted in middle.

The length of the miniature submariner device of the present invention is 200-900mm, width（Diameter）For 50-300mm, inside body 5 For space structure as shown in Fig. 2, the upper ends link 7-4 of balancing stand 7 are inserted in hanger 5-3, the upper end of electromagnet 6 is fixed on magnet On fixed frame 5-2, connector sleeve 7-2 is fixedly connected with the tache motorice of electromagnet 6, left container 7-1 in be buckled to it is bowl-shape, lower plane with lead Pipe 7-3 is horizontal, and right container 7-5 is to tilt beaker shape, and top incline is horizontal with conduit 7-3, contained in right container 7-5 mercury or its Its high density liquid, when balancing stand 7 is in horizontality, liquid is just placed in right container 7-5；Rechargeable battery 11 is placed in body Between 5 lower end two panels battery retaining boards 5-9, be adhesively fixed steering engine on the steering engine mounting plane 5-12 in 11 left side of rechargeable battery 15, the rotation axis of steering engine 15 is pierced by downwards body 5 by the sealing axle sleeve on body 5, rotates shaft head connection side to rudder 14；Shell Be adhesively fixed motor 8 in motor fixing frame 5-8 in body 5, and the rotary shaft of motor 8 passes through the sealing axle sleeve on body bottom case 5-6 It is pierced by body bottom case 5-6, the head of rotary shaft connects propeller 9；Divide on communication module hole 5-10 and sensor assembly hole 5-11 It communication module 12 and sensor assembly 13 and An Zhuan not seal.

The right end of shell head warehouse 1-4 and the left end of body warehouse 5-1 of shell head 1 are fastened and connected, miniature submariner dress Internal formation confined space is set, the right end of clip plate 1-5 is pressed in the top of steering engine 15；Solar panel 4 is fixed on body storehouse On the upper transverse plane of body 5-1, the left end of solar panel 4 further fastens fixation by top board 1-3；Shell head 1 and body 5 After being fixedly connected and internal part is after installation is complete, makes whole center of gravity in the centre position of miniature submariner device lower part, and lead to Crossing counterweight makes the global density of device be less than or equal to the 0.9 of work waters density.

Solar panel 4 in the present invention can choose to install the solar panel with auto-folder function.

The design technology and metal 3D printing method of semiclosed super thin metal shell in the present invention are as follows：

It is magnesium alloy that shell head 1 and body 5, which select material, and technical parameter is：The magnesium alloy trade mark：AZ91D, particle diameter distribution model Enclose 26-68 microns, 44.5 microns of average grain diameter, chemical composition such as following table：

The design technology and metal 3D printing method of shell head 1 are as shown in Figure 12 and Figure 13：

（1）One piece of planar substrates A is fixed on the internal work platform of metal 3D printer, and magnesium aluminum-alloy powder is placed on substrate A End, 120 DEG C of substrate A preheating temperatures, ar gas environment built in forming bin, oxygen content threshold value 500ppm recycle pump frequency 37Hz, laser Power 180W, 70 microns, laser scanning speed 450mm/s of spot diameter, 80 μm of sweep span, 50 μm of lift height.

（2）3D printing sintering magnesium alloy face supports A3 first on substrate A, as shown in figure 12, thickness 1-2mm, laser Scan mode uses checkerboard type scan mode；Continuation sinterskin head warehouse 1-4 after the completion of face supports A3 to be molded, i.e. XT arc surfaces, NR straight panels face, XT arc surfaces and the faces NR integrated molding, laser scanning methods are scanned using concentric type, thickness 0.2-0.4mm；Together Step sintering clip plate 1-5, i.e. WS straight panels face；The straight pan sections of PQ of synchronous sintering top board 1-3；Synchronous sintering inner support plate 1- 2, i.e., the grid type point under the faces LN supports A1, grid spacing 0.6-0.7mm, grid edge development length 0.3mm, single Grid Edge Long 2mm, grid tooth high 0.5mm, facewidth 0.3mm, embedded inner support plate 1-2 depth 0.2mm.

（3）Plane where sinter molding to X and P points, laser head are sintered direction adjust automatically, start to be sintered Conical Shells With head 1- 1 XL tapers arc-shaped edges and the inclined-planes PN of top board 1-3（MLN >=55 ° 75 ° >=∠, NPQ >=145 ° 165 ° >=∠, when sintering It is not required to plus supports）, synchronize the WS straight panels face for continuing to be sintered clip plate 1-5, the synchronous sintering faces WN and the faces LW roundness mess below Formula point supports A1, is sintered to circular planes where LW always.

（4）In the case where grid type point supports A1, start the LW circular planes for being sintered inner support plate 1-2；Synchronize continue be sintered LM, NM taper arc-shaped edges（MNL >=55 ° 75 ° >=∠, MNL >=55 ° 75 ° >=∠, when sintering, is not required to plus support,）Until being sintered to M points, Complete the 3D printing process of shell head 1.

（5）It is to be cooled to arrive room temperature after integral sintered, carry out heat treatment process after molding, including solution treatment and Artificial aging：It after removal support, polishing, is cleaned with absolute ethyl alcohol, dries rear surfaces externally and internally and uniformly smear one layer of graphite powder, It is wrapped up with aluminium-foil paper；Solution treatment is carried out in atmosphere protection heating furnace, is heated within 1 hour 415 DEG C, is kept the temperature 24 hours, is put into It is taken out after 2 seconds in 80 DEG C of hot water air-cooled；Artificial aging is carried out in atmosphere protection heating furnace, is heated within 20 minutes 175 DEG C, heat preservation It 16 hours, takes out air-cooled.

（6）Surface treatment：It is polished using the inner and outer surfaces that polishing tool is shell head 1, using boring bar tool in front end The upper and lower side of circular conical surface opens up two holes, is polished the right end of the XT and NR of the warehouse of shell head shown in Fig. 3 1-4 using milling tools Inner chamfer.

The design technology and metal 3D printing method of body 5 are as shown in Fig. 7 and Figure 14：

（1）One piece of planar substrates A, 120 DEG C of substrate A preheating temperatures, base are fixed on the internal work platform of metal 3D printer Magnesium alloy powder, ar gas environment built in forming bin are placed on plate A, oxygen content threshold value 500ppm recycles pump frequency 37Hz, laser Power 180W, 70 microns, laser scanning speed 450mm/s of spot diameter, 80 μm of sweep span, 50 μm of lift height.

（2）3D printing sinter molding magnesium alloy face supports A3, laser scanning to be scanned using checkerboard type first on substrate A Mode, thickness 2-3mm continue the lower end for being sintered guide vane 5-7 after the completion of face support A3 moldings, synchronous to be sintered on face support A3 Mixing support on the downside of bottom case 5-6, mixing support include mesh point support A1, line support A2 and cross hang A5, laser scanning Using stripscan mode, grid type point supports grid spacing 0.6-0.7mm, the grid edge development length 0.3mm of A1, individually Side length of element 2mm, grid tooth high 0.5mm, facewidth 0.3mm, embedded body bottom case 5-6 depth 0.2mm；Line supports the edges A2 to extend Length 0.3mm, width 0.3mm, embedded body bottom case 5-6 depth 0.2mm；The edges cross hang A5 development length 0.3mm, width 0.3mm, embedded body bottom case 5-6 depth 0.2mm.

（3）After the completion of guide vane 5-7 and mixing support are sintered, under the common support of guide vane 5-7 and mixing support, open Begin sintering bottom case 5-6 circular flats, and the thickness of bottom case 5-6 is set as 0.4-0.8mm.

（4）After the completion of bottom case 5-6 sintering, continue to be sintered body warehouse 5-1, synchronous sintering motor fixing frame 5-8, body muscle Plate 5-5, battery retaining boards 5-9, the wherein thickness of body warehouse 5-1 are 0.2-0.4mm, and motor fixing frame 5-8 justifies for hollow class The appearance and size of cylindricality, internal diameter and motor 8 is identical with shape, thickness 0.2-0.3mm, and the thickness of body gusset 5-5 is 0.2- The thickness of 0.3mm, battery retaining boards 5-9 are 0.2-0.3mm；It is sintered during body warehouse 5-1, the ∠ f of body rib 5-4≤ 40 °, thickness 0.4-0.6mm need not support direct firing；G≤40 ° ∠ of hanger 5-3, the width of thickness 0.2-0.4mm, y 2-3mm need not support direct firing；H≤40 ° ∠ of magnet fixed frame 5-2, the width 1.5- of thickness 0.2-0.4mm, z 2mm need not be arranged support and directly fire；The inner arc surface thickening that steering engine mounting plane 5-12 is body warehouse 5-1 sinters into One plane stablizes installation convenient for steering engine 15；Be sintered to the upper end of body warehouse 5-1, bore shrink sintering and with shell head warehouse The outer diameter of 1-4 is equal.

（6）Surface treatment：Using the appearance mirror polish that polishing tool is body 5, the circular cone using boring bar tool in front end The upper and lower side in face opens up two holes, is washed away inside body 5 and is polished using polishing fluid high speed, removes interior metal residue.

This miniature submariner device is devoted to the state behind predetermined waters：The present apparatus generally sealing state, device it is whole Volume density is set lower than the 0.9 of work waters density, and the motor column of electromagnet 6 is in pulling force adsorbed state to connector sleeve 7-2, makes Balancing stand 7 keeps horizontal, and the counterweights such as internal mercury liquid is in right container 7-5, this miniature submariner device keeps horizontal at this time State, and the center of gravity of internal component, in the lower middle position of body 5, therefore, present apparatus level is swum on the water surface, solar energy Solar panel 4 can expose the surface to be shined upon and charge for rechargeable battery 11 upward always.

The water surface is cruised sense mode：Under the control of controller 10, rechargeable battery 11 is that motor 8 provides the energy, and motor 8 drives Dynamic propeller 9 rotates, and under the guiding control for the rudder 14 that steering engine 15 drives, realizes the water surface motion of automobile；Camera 3 takes Scape device can be carried out on the water surface through lens 2 and the video acquisition of underwater；Communication module 12 and sensor assembly 13 can be real Existing information communication and corresponding data acquisition.

Underwater sense mode：The motor column that controller 10 controls electromagnet 6 moves downward, and connector sleeve 7-2 is pushed to synchronize fortune It is dynamic, and then left container 7-1 is moved downward, right container 7-5 is moved upwards, and the mercury class I liquid I in right container 7-5 flows into left container In 7-1, the whole gravity motion of miniature submariner device has arrived lower left side, and shell head 1 tilts downward, after propeller 9 rotates at this time So that whole device is tilted towards sub-aqua sport, realizes and underwater detection is investigated；As the ∠ MNP of Conical Shells With head 1-1 and top board 1-3 <At 180 °, MNP is inclined-plane, and when to sub-aqua sport, the resistance in the faces MNP is greater than the faces MLX, can by controlling the angle of MNP Control gradient of the miniature submariner device to sub-aqua sport；When miniature submariner device dive is to predetermined depth, propeller 9 is controlled It stops operating, for the motor column of electromagnet 6 by 7 pull-up of balancing stand, mercury class I liquid I flows back to right container 7-5, and miniature submariner device is extensive Rehydration level state, since the global density of miniature submariner device is less than the 0.9 of surrounding body density, miniature submariner device independently delays It is slow to float to the water surface, and can continue to keep the function of detection investigation in floating-upward process；After floating to the water surface, solar panel 4 charge for rechargeable battery 11.

Cluster launches detecting mode：Multiple minitype detecting devices are launched to predetermined waters, the working condition of each monomer Differ, can realize the multi-source synchronous acquisition to the water surface and water-bed investigation detection data.

Miniature self-destroying function can be installed additional on 2 side of lens in miniature submariner device, within the set time controller 10 cannot obtain communication data, assert that the individual loses the contact with base, it is most thin that controller 10 controls self-desttruction equipment destruction It, i.e. can cascading water bottom after water inlet in device at weak lens or at sealing.

Based on above-mentioned performance, magnesium alloy shell is processed by metal 3D printing technique, compared to other metals The density of magnesium alloy is small, and intensity is high, and energy molding thickness is thin in the case of proof strength, and internal various supports, fixation Frame, rib etc. can be integrally formed, and substantially alleviate containment weight.

Claims

1. a kind of miniature submariner device, it is characterised in that including semiclosed metal shell head（1）And body（5）, metal shell head （1）And body（5）It is fastened and connected, forms a seal casinghousing；The shell head（1）Main body is cone, the body （5）Main body is the closed cylinder in a side end face, body（5）Outer surface is pasted with solar panel（4）, body（5）It is internal It is installed with rechargeable battery（11）, controller（10）, communication module（12）And sensor assembly（13）, body（5）At closed end Equipped with propeller（9）, body（5）Side is equipped with rudder（14）, body（5）Balancing stand is equipped with inside center（7）, described flat Weigh frame（7）Including left container（7-1）, right container（7-5）With the conduit of hard（7-3）, conduit（7-3）Left container（7-1）With Right container（7-5）It is connected to and seals, left container（7-1）For the semicircle spherical container to raise up, lower plane and conduit（7-3） Keep horizontal, right container（7-5）For downwardly convex conical vessel, top incline and conduit（7-3）Keep horizontal, in left container （7-1）, right container（7-5）And conduit（7-3）Interior be equipped with contains high density liquid, the conduit（7-3）Middle part is equipped with link （7-4）, link（7-4）With body（5）Inner wall mounts, close to left container（7-1）Conduit（7-3）Surface is connected equipped with metal Set（7-2）, connector sleeve（7-2）Surface, which is equipped with, is fixed on body（5）The electromagnet of inner wall（6）, electromagnet（6）With connector sleeve （7-2）It attracts each other, electromagnet（6）Adjustment frame（7）Swing, promote high density liquid in left container（7-1）With right appearance Device（7-5）Between flow.

2. a kind of miniature submariner device according to claim 1, it is characterised in that the shell head（1）Including Conical Shells With head （1-1）, inner support plate（1-2）, top board（1-3）, shell head warehouse（1-4）And clip plate（1-5）, shell head（1）For 3D printing Integrally formed cone, Conical Shells With head（1-1）As the side of cone, in Conical Shells With head（1-1）Surface is equipped with lens （2）, inner support plate（1-2）As the bottom surface of cone, inner support plate（1-2）On be fixed with camera（3）, camera（3）With Lens（2）To just, inner support plate（1-2）Equipped with circular hole；Shell head warehouse（1-4）With the body（5）It is tightly connected, top board （1-3）Positioned at shell head warehouse（1-4）Outside, fixed solar panel（4）, clip plate（1-5）Positioned at shell head warehouse（1-4）It is interior Side, fixed-direction rudder（14）Driving steering engine（15）.

3. a kind of miniature submariner device according to claim 2, it is characterised in that the Conical Shells With head（1-1）Cone-apex angle It is 55 °~75 °, top board（1-3）With Conical Shells With head（1-1）Coupling part expands outwardly, and expansion angle is 10 °~20 °.

4. a kind of miniature submariner device according to claim 1, it is characterised in that the body（5）It is by semi-enclosed shell Body warehouse（5-1）With the guide vane positioned at blind end（5-7）Composition, wherein body warehouse（5-1）Side is by a planar portions Divide and a disc part surrounds, solar panel is pasted in the outer surface of planar section（4）, the inner surface of planar section is equipped with Magnet fixed frame（5-2）And hanger（5-3）, wherein magnet fixed frame（5-2）Fixed electromagnet（6）, hanger（5-3）Lifting balance Frame（7）, disc part is equipped with battery retaining boards（5-9）With hole steering engine mounting plane（5-12）.

5. a kind of miniature submariner device according to claim 4, it is characterised in that the body warehouse（5-1）Inner surface week To body rib is distributed with（5-4）, body warehouse（5-1）Body gusset is distributed in inner surface axial（5-5）, the body warehouse （5-1）Body bottom case（5-6）Inner surface is equipped with motor fixing frame（5-8）.

6. a kind of miniature submariner device according to claim 5, it is characterised in that the body rib（5-4）Cross section is Trapezoidal, bottom surface angle is 20 °~40 °, the hanger（5-3）Cross section is trapezoidal, and height is 2~3mm, and bottom surface angle is 20 °~35 °, the magnet fixed frame（5-2）Cross section is trapezoidal, and height is 1.5~2mm, and bottom surface angle is 20 °~35 °.

7. a kind of miniature submariner device according to claim 5 or 6, it is characterised in that the body（5）And magnet is fixed Frame（5-2）, hanger（5-3）, body rib（5-4）, body gusset（5-5）, motor fixing frame（5-8）, battery retaining boards（5- 9）, hole steering engine mounting plane（5-12）It is integrally formed for 3D printing.

8. a kind of 3D printing method of semiclosed metal shell, it is characterised in that the semiclosed metal shell is for such as right It is required that the shell head in the 1 miniature submariner device（1）, metal material is magnesium alloy, the shell head（1）3D printing step Suddenly include：

（1）One piece of planar substrates is fixed on the internal work platform of metal 3D printer（A）, substrate（A）Upper placement magnalium closes Bronze end, substrate（A）120 DEG C of preheating temperature, ar gas environment built in forming bin, oxygen content threshold value 500ppm recycle pump frequency 37Hz, laser power 180W, 70 microns, laser scanning speed 450mm/s of spot diameter, 80 μm of sweep span, 50 μ of lift height m；

（2）In substrate（A）On 3D printing sintering magnesium alloy face support first（A3）, thickness 1-2mm, laser scanning methods use Checkerboard type scan mode；Face supports（A3）Continue sinterskin head warehouse after the completion of molding（1-4）, shell head warehouse（1-4）Integration Molding, laser scanning methods are scanned using concentric type, thickness 0.2-0.4mm；Synchronous sintering clip plate（1-5）And top board（1- 3）, synchronous sintering inner support plate（1-2）The grid type point of lower surface supports（A1）, grid spacing 0.6-0.7mm, grid edge prolongs Elongation 0.3mm, single side length of element 2mm, grid tooth high 0.5mm, facewidth 0.3mm, embedded inner support plate 1-2 depth 0.2mm；

（3）Sinter molding is to top board（1-3）With shell head warehouse（1-4）Afterwards, laser head is sintered direction adjust automatically, starts to be sintered Conical Shells With head（1-1）With top board（1-3）, shell head warehouse（1-4）Linking part, when sintering, is not required to plus support, synchronous to continue It is sintered clip plate（1-5）Straight panel face, synchronous sintering circular net format point support（A1）, it is sintered to inner support plate always（1-2）Under Surface；

（4）It is supported in grid type point（A1）Under, start to be sintered inner support plate（1-2）, synchronize and continue to be sintered Conical Shells With head（1-1）Incline Inclined portion point, until Conical Shells With head（1-1）Shell head is completed on vertex（1）3D printing process；

（6）Surface treatment：It is polished using the inner and outer surfaces that polishing tool is shell head 1, the circular cone using boring bar tool in front end The upper and lower side in face opens up two holes, using milling tools by shell head warehouse（1-4）End polish inner chamfer.

9. a kind of 3D printing method of semiclosed metal shell, it is characterised in that the semiclosed metal shell is for such as right It is required that the body in the 1 miniature submariner device（5）, metal material is magnesium alloy, the body（5）3D printing step packet It includes：

（1）One piece of planar substrates is fixed on the internal work platform of metal 3D printer（A）, substrate（A）Preheating temperature 120 DEG C, substrate（A）Upper placement magnesium alloy powder, ar gas environment built in forming bin, oxygen content threshold value 500ppm recycle pump frequency 37Hz, laser power 180W, 70 microns, laser scanning speed 450mm/s of spot diameter, 80 μm of sweep span, 50 μ of lift height m；

（2）First in substrate（A）Upper 3D printing sinter molding magnesium alloy face support（A3）, laser scanning is using checkerboard type scanning Mode, thickness 2-3mm, face support（A3）Continue to be sintered guide vane after the completion of molding（5-7）Lower end, it is synchronous to be supported in face（A3） Upper sintering bottom case（5-6）The mixing of downside supports, and mixing support includes mesh point support（A1）, line support（A2）And cross hang （A5）, laser scanning is using stripscan mode, the support of grid type point（A1）Grid spacing 0.6-0.7mm, grid edge prolongs Elongation 0.3mm, single side length of element 2mm, grid tooth high 0.5mm, facewidth 0.3mm, embedded body bottom case（5-6）Depth 0.2mm；Line supports（A2）Edge development length 0.3mm, width 0.3mm, embedded body bottom case（5-6）Depth 0.2mm；Cross-shaped Support（A5）Edge development length 0.3mm, width 0.3mm, embedded body bottom case（5-6）Depth 0.2mm；

（3）Guide vane（5-7）After the completion of mixing support sintering, in guide vane（5-7）Under the common support of mixing support, open Begin sintering body bottom case（5-6）Circular flat, body bottom case（5-6）Thickness be set as 0.4-0.8mm；

（4）Body bottom case（5-6）After the completion of sintering, continue to be sintered body warehouse（5-1）, synchronous sintering motor fixing frame（5-8）、 Body gusset（5-5）, battery retaining boards（5-9）, wherein body warehouse（5-1）Thickness be 0.2-0.4mm, motor fixing frame （5-8）For hollow class cylinder, internal diameter and motor（8）Appearance and size it is identical with shape, thickness 0.2-0.3mm, body muscle Plate（5-5）Thickness be 0.2-0.3mm, battery retaining boards（5-9）Thickness be 0.2-0.3mm；It is sintered body warehouse（5-1）It crosses Cheng Zhong, body rib（5-4）F≤40 ° ∠, thickness 0.4-0.6mm need not support direct firing；Hanger（5-3）∠ g ≤ 40 °, the width 2-3mm of thickness 0.2-0.4mm, y need not support direct firing；Magnet fixed frame（5-2）∠ h≤ 40 °, the width 1.5-2mm of thickness 0.2-0.4mm, z, support need not be set and directly fired；Steering engine mounting plane（5-12）For Body warehouse（5-1）Inner arc surface thickening sinter a plane into, be convenient for steering engine（15）Stablize installation；It is sintered to body warehouse （5-1）Upper end, bore shrink sintering and with shell head warehouse（1-4）Outer diameter it is equal；

（6）Surface treatment：It is body using polishing tool（5）Appearance mirror polish, the circular conical surface using boring bar tool in front end Upper and lower side opens up two holes, washes away body using polishing fluid high speed（5）Inside is polished, and removes interior metal residue.

10. a kind of 3D printing method of semiclosed metal shell according to claim 8 or claim 9, it is characterised in that the magnesium 26-68 microns of aluminium alloy particle size distribution range, chemical composition are by mass percentage：Magnesium 90% ~ 92%, aluminium 8% ~ 10%, zinc 0.5% ~ 0.8%, manganese 0.1% ~ 0.4%, iron 0 ~ 0.003%, silicon 0 ~ 0.05%, copper 0 ~ 0.005%, remaining is impurity.