CN115338517B - Ultrasonic vibration auxiliary arc additive manufacturing device and method based on machine vision control - Google Patents
Ultrasonic vibration auxiliary arc additive manufacturing device and method based on machine vision control Download PDFInfo
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- CN115338517B CN115338517B CN202210999574.9A CN202210999574A CN115338517B CN 115338517 B CN115338517 B CN 115338517B CN 202210999574 A CN202210999574 A CN 202210999574A CN 115338517 B CN115338517 B CN 115338517B
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- 239000000654 additive Substances 0.000 title claims abstract description 67
- 230000000996 additive effect Effects 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title abstract description 19
- 238000003466 welding Methods 0.000 claims abstract description 68
- 230000008021 deposition Effects 0.000 claims abstract description 56
- 239000000758 substrate Substances 0.000 claims description 25
- 238000012545 processing Methods 0.000 claims description 9
- 239000007787 solid Substances 0.000 claims description 9
- 238000010891 electric arc Methods 0.000 claims description 6
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- 230000008033 biological extinction Effects 0.000 claims 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
- B23K9/044—Built-up welding on three-dimensional surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Abstract
The invention discloses an ultrasonic vibration auxiliary arc additive manufacturing device and method based on machine vision control, and belongs to the technical field of additive manufacturing. The ultrasonic impact equipment is controlled to move together with the welding gun in the arc additive manufacturing process, ultrasonic impact is carried out on the newly formed deposition channel, and ultrasonic vibration is transmitted to the molten pool, so that the residual stress of the additive manufacturing component is reduced, and the grains of the additive manufacturing component are thinned. The invention can greatly reduce the influence of ultrasonic impact on the movement of the welding gun and can adapt to the formation of a deposition channel with a complex shape; on the basis, the height of the deposition channel is monitored in real time by using a machine vision system, and the height of the ultrasonic impact equipment is adjusted in real time according to the monitoring result, so that ultrasonic vibration can be continuously and stably applied when the deposition channel with height variation exists.
Description
Technical Field
The invention belongs to the technical field of additive manufacturing, and relates to an ultrasonic vibration auxiliary arc additive manufacturing device and method based on machine vision control.
Background
The arc manufacture is an advanced digital manufacturing technology for manufacturing the required part from bottom to top by taking welding arc as a heat source and carrying out layering slicing according to a CAD model established by a three-dimensional entity of the part and a certain forming path. The method has the advantages of high forming efficiency, low manufacturing cost, short production period, high material utilization rate, wide variety of usable materials and the like.
But the mechanical properties of the arc additive manufactured components tend to be reduced due to non-uniformity of structure and coarse grains caused by rapid solidification and continuous heat accumulation. At the same time, the inner part of the component is subjected to rapid local heating and cooling, the solidification shrinkage of the metal melt is uneven, and residual stress and deformation are inevitably generated. Greatly influences the quality of the additive manufacturing component and limits the application and popularization of the additive manufacturing technology.
It has been found that the addition of ultrasonic vibration induced acoustic streaming and cavitation effects to metal melts is effective in refining the crystal structure of the material. In the arc additive manufacturing process, the melting and solidification processes of metal are also involved, and ultrasonic vibration can be introduced into the arc additive manufacturing process to achieve the aim of improving the performance of the additive manufactured component.
In the additive manufacturing process, ultrasonic vibration can be effectively introduced into the molten pool by a method of ultrasonic impact on the deposition channel, and ultrasonic impact treatment can be performed on the deposition channel. The method not only can refine the crystal grains of the additive manufactured component, but also can reduce the stress concentration of the additive manufactured component.
Such research into introducing ultrasonic vibrations into arc additive manufacturing processes through deposition lanes now remains in theory with few specific apparatus and technical structures. And the prior technical structure has a plurality of defects, and needs to be further improved:
1. the fluctuation in the height of the deposition path is not considered. In the arc additive manufacturing process, the molten pool is influenced by gravity, surface tension, the shape of a formed deposition channel and other factors, so that a high inconsistency occurs in a layer of deposition channel. The existing structure can not adjust the height of the ultrasonic impact device according to the change of the height of the deposition channel, so that ultrasonic vibration can not be continuously and stably applied to the deposition channel in the additive manufacturing process, and even the normal movement of the ultrasonic device and the additive manufacturing device can be blocked due to the overlarge change of the height of the deposition channel.
2. Only for straight deposition track stacking. The existing structure is rigidly connected with the welding gun through the ultrasonic impact equipment, so that the ultrasonic impact equipment can move together with the welding gun in the additive manufacturing process. However, when the deposition channels with complicated shapes such as arc shapes, fold lines and the like are piled up, the impact head of the ultrasonic impact device can deviate from the deposition channels, and the aim of applying ultrasonic vibration assistance can not be fulfilled.
3. The ultrasonic vibration application process may destabilize the welding gun motion. The prior structure of rigidly connecting the ultrasonic impact device and the welding gun can inevitably lead the welding gun to vibrate together when the ultrasonic impact head and the deposition head act. The vibration will interfere with the movement of the welding gun, so that the drop position is deviated, and the appearance of the whole deposition path is finally affected.
Disclosure of Invention
Aiming at the defects, the invention provides an ultrasonic vibration auxiliary arc additive manufacturing device and method based on machine vision control, so that ultrasonic vibration can be continuously, stably and effectively applied in the arc additive manufacturing process in the face of a complex deposition channel.
In order to achieve the above object, the present invention provides the following means:
an ultrasonic vibration-assisted arc additive manufacturing apparatus based on machine vision control, comprising: additive manufacturing systems, ultrasonic vibration systems, and machine vision systems.
The additive manufacturing system includes: the material-increasing manufacturing device comprises a material-increasing manufacturing power supply, a welding gun, a substrate, a workbench and a six-axis mechanical arm. The welding gun and the welding workbench are respectively connected with two poles of an electric arc additive manufacturing power supply, the substrate is fixed on the upper surface of the welding workbench, the welding gun is positioned above the substrate, the six-axis mechanical arm is connected with the welding gun, and the mechanical arm controls the movement of the welding gun.
The ultrasonic vibration system includes: ultrasonic impact equipment, a three-dimensional walking platform, an ultrasonic impact control device and a computer control device. The three-dimensional walking platform consists of four screw rod sliding tables, the ultrasonic impact equipment is fixed on the three-dimensional walking platform and can be controlled by the walking platform to move in the three-dimensional direction, the ultrasonic impact control device controls parameters such as frequency, power and amplitude of the ultrasonic impact equipment, and the computer control device controls the movement of the walking platform.
The machine vision system includes: CCD camera, vision system controller and computer controller. The CCD camera is arranged on the side of the additive manufacturing component, can acquire the height change of the deposition channel in real time, converts the height change into a digital signal and transmits the digital signal to the vision system controller, the vision system controller transmits the signal to the computer control system after processing, and the computer control system recognizes and controls the movement of the walking platform in the ultrasonic vibration system in real time according to the height change of the deposition channel so as to control the height of the ultrasonic impact equipment.
In order to achieve the above object, the present invention further provides an ultrasonic vibration auxiliary arc additive manufacturing method based on machine vision control, which specifically comprises the following steps:
step one: and constructing a three-dimensional solid model according to the shape of the part, slicing the three-dimensional solid model, importing the three-dimensional solid model into a computer control system, and generating a processing program file according to the model by the computer control system.
Step two: and (5) after the substrate is polished and cleaned, fixing the substrate on the upper surface of the welding workbench. The welding gun is moved to a position above the arcing point, and the welding gun is positioned above the substrate and perpendicular to the substrate.
Step three: and starting an ultrasonic impact control device, adjusting the frequency and power of ultrasonic vibration, and moving the ultrasonic impact equipment to the rear of the welding gun through the motion of the three-dimensional motion platform.
Step four: the machine vision system is activated to enable real-time monitoring of the height of the deposition track that is subsequently formed.
Step five: and igniting the electric arc, enabling the welding gun to move along a preset path, and simultaneously enabling the ultrasonic impact equipment to perform ultrasonic impact on the formed deposition channel under the condition of moving in the same direction as the welding gun, and transmitting ultrasonic vibration into a molten pool through the ultrasonic impact equipment.
Step six: in the fifth step, the CCD camera shoots the deposited piece in real time and transmits the image to the computer control system.
Step seven: the computer system pre-processes the image, including image restoration, image denoising, and image enhancement.
Step eight: and performing binarization processing and morphological processing on the image obtained by the pretreatment. The height of the deposited layer is determined.
Step nine: the computer system judges the height of the deposition channel, and when the change of the height of the deposition channel is larger than a preset error range, the computer control system adjusts the motion of the three-dimensional motion platform and the ultrasonic impact equipment to a height capable of stably applying ultrasonic impact to the deposition channel.
Step ten: after the formation of one deposition path is completed, the welding gun is extinguished. And the six-axis mechanical arm automatically moves the welding gun to the arc starting position of the next deposition path according to the processed program file. The motion platform also moves the ultrasonic impact device to the rear of the welding gun according to the program file.
Step eleven: repeating the steps five to ten until the additive manufactured component is formed, and turning off the acoustic shock control device and the machine vision system.
Compared with the prior art, the invention has the remarkable advantages that:
1. in the process of applying ultrasonic impact to the deposition channel while carrying out arc additive manufacturing, the invention can adjust the height of ultrasonic impact equipment according to the height of the deposition channel in real time, so that ultrasonic impact energy continuously and stably acts on the deposition channel, and ultrasonic vibration energy is effectively transferred into a molten pool.
2. According to the invention, the welding gun and the ultrasonic impact equipment respectively move through different devices, so that ultrasonic impact can be carried out on a newly formed deposition channel when the deposition channels with complex shapes are piled up, and the continuous and stable application of ultrasonic vibration is ensured.
3. Vibration generated in the ultrasonic impact process of the process on the deposition channel can not influence the movement of the welding gun. The stability of the arc additive manufacturing process under the condition of additional ultrasonic vibration is improved, and the uniformity of the formed deposition channel morphology is improved.
4. The process of the invention has the advantages of simple and convenient operation, flexible process, high degree of automation and easy popularization. The quality of the arc additive manufacturing component can be effectively improved.
Drawings
Fig. 1 is a schematic diagram of an ultrasonic vibration assisted arc additive manufacturing apparatus based on machine vision control in accordance with the present invention.
Fig. 2 is a schematic diagram of an additive manufacturing system in an ultrasonic vibration assisted arc additive manufacturing apparatus based on machine vision control in accordance with the present invention.
Fig. 3 is a schematic diagram of an ultrasonic vibration system in an ultrasonic vibration-assisted arc additive manufacturing apparatus based on machine vision control of the present invention.
Fig. 4 is a schematic diagram of a machine vision system in an ultrasonic vibration assisted arc additive manufacturing apparatus based on machine vision control of the present invention.
Wherein 1 is an arc additive manufacturing power supply; 2 is a welding gun; 3 is a substrate; 4 is an additive manufacturing workbench; 5 is a six-axis mechanical arm; 6 is ultrasonic impact equipment which can convert high-frequency alternating current into mechanical vibration of ultrasonic frequency and apply ultrasonic vibration to a deposition channel; 7. 8 and 9 are screw rod sliding tables for controlling the movement of the walking platform X, Y, Z, wherein two screw rod sliding tables are used for guaranteeing the movement stability 7, and four screw rod sliding tables form a three-dimensional walking platform in an ultrasonic vibration system; 10 is an ultrasonic impact control device which can provide a high-frequency alternating current power supply for ultrasonic impact equipment and control parameters such as frequency, power, amplitude and the like of ultrasonic impact; 11 is a computer control device which can process and analyze the image signal transmitted by the vision system controller and control the motion of the three-dimensional walking platform according to the information obtained by analysis; 12 is a CDD camera; and 13, a vision system controller, which is used for primarily processing the image signals transmitted by the CDD camera and then transmitting the processed image signals to a computer control device.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention.
As shown in fig. 1, 2, 3, and 4, the present invention provides an ultrasonic vibration-assisted arc additive manufacturing apparatus based on machine vision control, comprising: additive manufacturing systems, ultrasonic vibration systems, and machine vision systems.
The additive manufacturing system includes: the material-increasing manufacturing device comprises an additive manufacturing power supply 1, a welding gun 2, a substrate 3, a workbench 4 and a six-axis mechanical arm 5. The welding gun 2 and the welding workbench 4 are respectively connected with two poles of the electric arc additive manufacturing power supply 1, the substrate 3 is fixed on the upper surface of the welding workbench 4, the welding gun 2 is positioned above the substrate 3, the six-axis mechanical arm 5 is connected with the welding gun 2, and the mechanical arm 5 controls the movement of the welding gun 2.
The ultrasonic vibration system includes: the ultrasonic impact device 6, a three-dimensional walking platform, an ultrasonic impact control device 10 and a computer control device 11. The three-dimensional walking platform consists of four screw rod sliding tables, and screw rod sliding tables 7, 8 and 9 are screw rod sliding tables for controlling the movement of the walking platform X, Y, Z, wherein two screw rod sliding tables are used for guaranteeing the movement of the stable screw rod sliding table 7. The ultrasonic impact equipment 6 is fixed on a three-dimensional walking platform, the walking platform can move in the three-dimensional direction, the ultrasonic impact control device 10 controls parameters such as frequency, power and amplitude of the ultrasonic impact equipment, and the computer control device 11 controls the movement of the walking platform.
The machine vision system includes: a CCD camera 12, a vision system controller 13, and a computer controller 11. The CCD camera 12 is placed at the side of the additive manufacturing component, and can acquire the height change of the deposition channel in real time, convert the height change into a digital signal and transmit the digital signal to the vision system controller 13, the vision system controller 13 processes the signal and transmits the signal to the computer control system 11, and the computer control system 11 recognizes and controls the movement of the walking platform in the ultrasonic vibration system 10 in real time according to the height change of the deposition channel so as to control the height of the ultrasonic impact equipment.
In order to achieve the above object, the present invention further provides an ultrasonic vibration auxiliary arc additive manufacturing method based on machine vision control, which specifically comprises the following steps:
step one: and constructing a three-dimensional solid model according to the shape of the part, slicing the three-dimensional solid model, importing the three-dimensional solid model into a computer control system, and generating a processing program file according to the model by the computer control system.
Step two: and (5) after the substrate is polished and cleaned, fixing the substrate on the upper surface of the welding workbench. The welding gun is moved to a position above the arcing point, and the welding gun is positioned above the substrate and perpendicular to the substrate.
Step three: and starting an ultrasonic impact control device, adjusting the frequency and power of ultrasonic vibration, and moving the ultrasonic impact equipment to the rear of the welding gun through the motion of the three-dimensional motion platform.
Step four: the machine vision system is activated to enable real-time monitoring of the height of the deposition track that is subsequently formed.
Step five: and igniting the electric arc, enabling the welding gun to move along a preset path, and simultaneously enabling the ultrasonic impact equipment to perform ultrasonic impact on the formed deposition channel under the condition of moving in the same direction as the welding gun, and transmitting ultrasonic vibration into a molten pool through the ultrasonic impact equipment.
Step six: in the fifth step, the CCD camera shoots the deposited piece in real time and transmits the image to the computer control system.
Step seven: the computer system pre-processes the image, including image restoration, image denoising, and image enhancement.
Step eight: and performing binarization processing and morphological processing on the image obtained by the pretreatment. The height of the deposited layer is determined.
Step nine: the computer system judges the height of the deposition channel, and when the change of the height of the deposition channel is larger than a preset error range, the computer control system adjusts the motion of the three-dimensional motion platform and the ultrasonic impact equipment to a height capable of stably applying ultrasonic impact to the deposition channel.
Step ten: after the formation of one deposition path is completed, the welding gun is extinguished. And the six-axis mechanical arm automatically moves the welding gun to the arc starting position of the next deposition path according to the processed program file. The motion platform also moves the ultrasonic impact device to the rear of the welding gun according to the program file.
Step eleven: repeating the steps five to ten until the additive manufactured component is formed, and turning off the acoustic shock control device and the machine vision system.
Examples
Optimizing ultrasonic vibration assisted arc additive manufacturing process using machine vision system
And (5) polishing the substrate by an angle grinder and cleaning greasy dirt.
And the mounting and debugging device is used for fixing the substrate on the upper surface of the base. The ultrasonic impact control device is regulated to set the vibration frequency to 40KHz and the amplitude to 100 mu m. The CCD camera is adjusted so that the imaging of the position of the additive manufacturing component can be obtained clearly. The welding gun starts an arc above the substrate and moves according to a set program file. The type of the welding gun is MAG, the arc current of the welding gun is 180A, and the arc voltage is 20V; the diameter of the welding wire isThe shielding gas of the welding gun is the mixed gas of argon and carbon dioxide, and the gas flow is 20L/min. In the additive manufacturing process, the ultrasonic impact equipment moves in the same direction with the welding gun at the same speed behind the welding gun at intervals of 20mm by means of the three-dimensional walking platform. The CCD camera shoots the side face of the formed sedimentation channel and converts the side face into a digital signal to be transmitted to the computer system, the computer analyzes the height change of the newly formed sedimentation channel, and when the height change of the sedimentation channel which is larger than 0.5mm is monitored, the three-dimensional walking platform is controlled to adjust the height of the ultrasonic impact equipment by a corresponding distance. In this way, ultrasonic vibration energy is continuously and stably applied to the molten pool during the course of the deposit formation. The stacking of deposition lanes is then repeated until the additive manufactured component is integrally formed.
While the present invention has been described with reference to the preferred embodiments shown in the drawings, it will be understood by those skilled in the art that the above embodiments are for clarity of illustration only and are not intended to limit the scope of the invention, which is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
Claims (7)
1. The ultrasonic vibration auxiliary arc additive manufacturing method based on machine vision control is characterized by comprising the following steps of:
step one: constructing a three-dimensional solid model according to the shape of the part, slicing the three-dimensional solid model, and importing the three-dimensional solid model into a computer control system, wherein the computer control system generates a processing program file according to the model;
step two: after the substrate is polished and cleaned, the substrate is fixed on the upper surface of a welding workbench; moving the welding gun to the position above the arcing point, and enabling the welding gun to be positioned above the substrate and perpendicular to the substrate;
step three: starting an ultrasonic impact control device, adjusting the frequency and power of ultrasonic vibration, and moving ultrasonic impact equipment to the rear of a welding gun through the motion of a three-dimensional motion platform;
step four: starting a machine vision system to enable the machine vision system to monitor the height of a deposition channel formed later in real time;
step five: igniting an electric arc, enabling a welding gun to move along a preset path, performing ultrasonic impact on a formed deposition channel under the condition that the ultrasonic impact equipment moves in the same direction as the welding gun, and transmitting ultrasonic vibration into a molten pool through the ultrasonic impact equipment;
step six: in the fifth step, the CCD camera shoots the deposited piece in real time and transmits the image to the computer control system;
step seven: the computer control system preprocesses the image, wherein the preprocessing comprises image restoration, image denoising and image enhancement;
step eight: performing binarization processing and morphological processing on the image obtained by the pretreatment; determining the height of the deposited layer;
step nine: the computer control system judges the height of the deposition channel, and when the change of the height of the deposition channel is larger than a preset error range, the computer control system adjusts the motion of the three-dimensional motion platform and the ultrasonic impact equipment to a height capable of stably applying ultrasonic impact to the deposition channel;
step ten: after the forming of a deposition channel is completed, arc extinction of a welding gun is carried out; the six-axis mechanical arm automatically moves the welding gun to the arc starting position of the next deposition path according to the processed program file; the three-dimensional motion platform moves the ultrasonic impact equipment to the rear of the welding gun according to the program file;
step eleven: repeating the steps five to ten until the additive manufacturing component is molded, and closing the ultrasonic impact control device and the machine vision system.
2. The machine vision control-based ultrasonic vibration-assisted arc additive manufacturing method according to claim 1, wherein the frequency of ultrasonic vibration is above 20KHz and the power is above 1 kw.
3. The machine vision control-based ultrasonic vibration-assisted arc additive manufacturing method of claim 1, wherein the set height variation error should be less than 2mm.
4. The machine vision control-based ultrasonic vibration-assisted arc additive manufacturing method according to claim 1, wherein the ultrasonic impact device should have the same speed and a distance of not more than 50mm when moving in the same direction as the welding gun.
5. An apparatus for the machine vision control-based ultrasonic vibration-assisted arc additive manufacturing method of any one of claims 1-4, comprising: an additive manufacturing system, an ultrasonic vibration system, and a machine vision system;
the additive manufacturing system includes: the material adding manufacturing power supply, a welding gun, a substrate, a workbench and a six-axis mechanical arm; the welding gun and the welding workbench are respectively connected with two poles of an electric arc additive manufacturing power supply, the substrate is fixed on the upper surface of the welding workbench, the welding gun is positioned above the substrate, the six-axis mechanical arm is connected with the welding gun, and the six-axis mechanical arm controls the movement of the welding gun;
the ultrasonic vibration system includes: ultrasonic impact equipment, a three-dimensional motion platform, an ultrasonic impact control device and a computer control system; the ultrasonic impact equipment is fixed on the three-dimensional motion platform and can move in the three-dimensional direction; the ultrasonic impact control device controls the frequency, power and amplitude parameters of the ultrasonic impact equipment, and the computer control system controls the motion of the three-dimensional motion platform;
the machine vision system includes: a CCD camera, a vision system controller and a computer control system; the CCD camera is arranged on the side of the additive manufacturing component, can acquire the height change of the deposition channel in real time, converts the height change into a digital signal and transmits the digital signal to the vision system controller, the vision system controller transmits the signal to the computer control system after processing, and the computer control system recognizes and controls the movement of the three-dimensional movement platform in the ultrasonic vibration system in real time according to the height change of the deposition channel so as to control the height of the ultrasonic impact equipment.
6. The apparatus of claim 5, wherein the additive manufacturing system and the ultrasonic vibration system are controlled by two motion devices, wherein the additive manufacturing system is controlled by a six-axis mechanical arm and the ultrasonic vibration system is controlled by a three-dimensional motion platform.
7. The apparatus of claim 5, wherein the ultrasonic vibration system transmits ultrasonic vibrations into the melt pool during additive manufacturing by ultrasonically impacting the deposition track.
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