CN115972572A - Robot-assisted laser additive manufacturing system for interlayer reinforcement of continuous fiber composite material - Google Patents
Robot-assisted laser additive manufacturing system for interlayer reinforcement of continuous fiber composite material Download PDFInfo
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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
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Abstract
The invention discloses a robot-assisted laser additive manufacturing system for interlayer reinforcement of a continuous fiber composite material, and belongs to the technical field of additive manufacturing. The tail end of a mechanical arm of the manufacturing system is connected with a printing unit, a controller accurately controls the moving speed of the printing unit, the laser power of a laser unit and the pressure generated by a compression roller unit, the composite filament is heated to a semi-molten state by utilizing a laser beam and is flattened into a belt shape under the action of the compression roller unit, the bonded composite filament generates traction force on the unmelted filament along with the movement of the printing unit, so that the filament is continuously sent out from a filament storage disc through a filament feeding unit, and a printing platform arranged on a positioner can receive the formed composite filament and finally bonds layer by layer to be stacked into high-density parts. The invention improves the bonding performance between the layers of the part and enlarges the forming freedom degree and the working space of the printing unit. Therefore, the interlayer reinforcement of the continuous fiber composite material can be realized, and the high-performance additive manufacturing of large-size complex parts can be realized.
Description
Technical Field
The invention belongs to the technical field of additive manufacturing, and particularly relates to a robot-assisted laser additive manufacturing system for interlayer reinforcement of a continuous fiber composite material.
Background
Additive manufacturing technology (also called 3D printing technology) is a novel manufacturing technology developed in the later 80 s of the 20 th century, and a three-dimensional digital model is established mainly through a computer, and a final part is obtained by means of material layer-by-layer accumulation forming.
Continuous fiber reinforced thermoplastic resin composites (CFRTPCs) have the advantages of high strength, long service life, corrosion resistance, greenness, recyclability and the like, are widely applied to the fields of aerospace, transportation, high-precision processing equipment and the like, and are gradually developed into alternative materials which can replace traditional plastics and metals.
Achieving the correct fiber orientation during the formation of CFRTPCs is critical to the enhancement of part mechanical properties. Traditional CFRTPCs forming processes such as compression forming, punch forming, vacuum forming, fiber winding, extrusion forming, balloon assisted forming, etc. often require expensive dies and are difficult to produce complex parts that meet the fiber orientation requirements. The fiber orientation of the CFRTPCs can be further optimized based on a customizable path planning strategy and a layer-by-layer bonding forming principle of an additive manufacturing technology, so that the limitation of the traditional forming method is overcome. Therefore, to bypass the lengthy and expensive processes, additive manufacturing techniques for continuous fiber reinforced thermoplastic composites have become a hot spot in both academia and industry.
In recent years, fused Deposition Modeling (FDM), or fuse fabrication (FFF), has become the primary process for additive manufacturing and forming of continuous fiber reinforced thermoplastic resin composites due to low equipment development cost and ease of use. In the process, a composite filament of thermoplastic resin and fibers is fed into a heated nozzle where the resin is melted by exposure to a temperature above its glass transition temperature and below its melting point, and then filaments having adhesive properties are extruded from the nozzle, and the filaments extruded from the nozzle are bonded to a substrate or other material by controlling the direction and speed of movement of the nozzle, and finally formed into a desired part by layer-by-layer bonding.
However, because the continuous fiber composite part printed by the traditional FDM has pores in the printing process, the shearing strength between the layers of the part is low, so that the mechanical property of the part is generally lower than that of the part printed by the traditional FDM. In contrast, patent publication No. CN111633979A discloses a method and apparatus for manufacturing Z-direction reinforcement of continuous fiber composite material by additive manufacturing; patent publication No. CN111497225A discloses a spray head, a printer and a printing method suitable for continuous fiber reinforced composite materials, which can improve the bonding effect in a fiber bundle and between layers by using the temperature and the external force of the spray head and reduce the generation of gaps; the patent with publication number CN114683537A discloses a method for preparing a carbon nanotube/continuous fiber reinforced composite material by plasma and fused deposition technology, which utilizes plasma technology to spray the carbon nanotube on the surface of the continuous fiber to improve the bonding strength between the continuous fiber and the matrix, thereby improving the mechanical property of the continuous fiber reinforced composite material product; the patent with publication number CN114248437A discloses a 3D printing method for a continuous fiber knitted body reinforced fiber composite material, which combines knitting and needling processes in the textile industry with a 3D printing technology, and strengthens the bonding force between the continuous fiber knitted body and thermoplastic resin by pretreating the continuous fiber knitted body, and simultaneously, the fibers have a reinforcing effect on the interlayer bonding force by needling in the Z direction, so that the strength of the composite material structure can be remarkably improved; the publication number of WO2018/157841A1 discloses an interlayer reinforced continuous fiber composite material additive manufacturing method, a compacting mechanism is adopted to compact a printing layer, the manufacturing efficiency of the continuous fiber reinforced composite material and the interface bonding strength of fiber/resin are improved, and the volume fraction of material fiber is improved, so that the high-performance and efficient additive manufacturing of the continuous fiber reinforced composite material is realized.
However, the above solutions all use FDM additive manufacturing machines with gantry systems having a limited shaping platform size and which are sliced in a single direction and manufactured layer by layer. Therefore, the forming size is limited, it is difficult to directly form a complex part having a cantilever structure, and the surface of the formed part has a typical step effect.
In order to meet the requirement for quickly manufacturing large-size complex continuous fiber reinforced composite parts, a multi-degree-of-freedom industrial robot is introduced into a robot-assisted additive manufacturing technology of additive manufacturing equipment, and multi-degree-of-freedom additive manufacturing can be realized, for example, in a utility model patent with the publication number of CN 210634127U. Compared with the traditional additive manufacturing technology, the method has the following advantages:
(1) Multi-planar directional or curved surface conformal additive manufacturing can be achieved. Conventional tri-axial additive manufacturing systems can only manufacture parts layer by layer in a single direction, which results in a shaped part having a step effect along a curved or inclined plane, requiring extensive post-processing to improve surface finish, and the part having less strength along its direction of slice manufacture. The robot-assisted additive manufacturing technology can control the relative relation between the material deposition direction and the manufacturing platform direction by introducing additional degrees of freedom, so that the layer-by-layer manufacturing direction of a plane is changed or the layer-by-layer manufacturing is carried out along a curved surface according to the requirement of the loading condition of a part, and the step effect is avoided.
(2) And the oversized additive manufacturing can be realized. Conventional additive manufacturing equipment is not suitable for large scale applications for forming large size parts due to limited volume and high installation costs. The multi-degree-of-freedom robot can fully utilize the working space of the robot to operate a tool through the motion of a plurality of joints, and if the multi-degree-of-freedom robot is connected to a moving base, the robot can move around, so that the working space is further expanded, and a larger-scale product can be printed.
However, in the process of forming the continuous fiber composite material by using the robot-assisted additive manufacturing technology, no technical scheme for realizing part interlayer reinforcement exists, and the prepared continuous fiber composite material has low mechanical property.
In summary, in order to promote the future development and application of CFRTPCs components, it is necessary to develop a new additive manufacturing process that can not only improve the mechanical properties of the components, but also expand the forming freedom and the working space.
Disclosure of Invention
In view of the above defects or improvement needs in the prior art, the present invention provides a robot-assisted laser additive manufacturing system for interlayer reinforcement of continuous fiber composites, which aims to improve the bonding performance between layers of continuous fiber composites and simultaneously realize high-performance additive manufacturing of large-sized complex parts.
To achieve the above object, according to an aspect of the present invention, there is provided a robot-assisted laser additive manufacturing system for interlayer reinforcement of a continuous fiber composite material, including: the device comprises a controller, a mechanical arm, a positioner and a printing unit; the printing unit comprises a laser unit, a wire feeding unit and a compression roller unit;
the wire feeding unit is connected to the tail end of the mechanical arm and used for feeding out the continuous fiber composite filaments and limiting the feeding-out part at the position below the compression roller unit;
the laser unit is connected to the tail end of the mechanical arm and used for heating the sent continuous fiber composite filament to a semi-molten state which is higher than the glass transition temperature of the resin and lower than the melting point temperature of the resin through laser;
the compression roller unit is connected to the tail end of the mechanical arm and used for generating pressure to flatten the continuous fiber composite filament which is not solidified after being heated by the laser beam into a belt shape;
the positioner is arranged below the mechanical arm, the surface of the positioner is rigidly connected with a printing platform and used for receiving the composite filaments formed by the printing unit at the tail end of the mechanical arm and finally bonding and stacking the composite filaments layer by layer to form a high-density part;
the controller is used for controlling the rotary motion of each joint of the mechanical arm, the rotary motion of each joint of the positioner, the motion speed of the printing unit, the laser power of the laser unit and the pressure generated by the compression roller unit; the combination of the rotary motion of each joint of the mechanical arm can enable the printing unit at the tail end of the mechanical arm to realize the motion of six degrees of freedom; the combination of the rotary motion of each joint of the positioner can enable the printing platform to realize the motion of multiple degrees of freedom; the moving speed of the printing unit is matched with the laser power.
Further, the system further comprises a sacrificial abrasive article; the path of the printing unit follows the surface contour of the sacrificial abrasive tool for forming complex curved parts.
Further, the press roller unit is provided with a freely rotating roller, and the surface of the roller is always parallel to the surface of the printing platform, the surface of the sacrificial grinding tool or the surface of the formed part in the forming process.
Further, the system further comprises an air feed pipe; the gas feed pipe is used for supplying protective gas to the vicinity of the filament feed unit, and the protective gas inhibits combustion of the continuous fiber composite filaments when the continuous fiber composite filaments are heated by the laser unit.
Further, the protective gas is nitrogen.
Further, the system also comprises a filament storage disc for storing the continuous fiber composite filament raw material.
The invention also provides a forming method of the robot-assisted laser additive manufacturing system based on the continuous fiber composite interlayer reinforcement, which comprises the following steps:
s1, adaptively slicing a three-dimensional digital model of a part into multiple layers, generating printing path information of each sliced layer according to an optimal filling strategy, exporting a text file which can be read by a manufacturing system, and transmitting the text file to a mechanical arm and a positioner to enable the text file to move cooperatively;
s2, the manufacturing system drives the tail end wire feeding unit and the compression roller unit to move in space through the mechanical arm, meanwhile, the controller accurately controls the movement speed of the printing unit, the laser power of the laser unit and the pressure generated by the compression roller unit, and the laser beam generated by the laser unit is used for heating the continuous fiber composite filament yarn to enable the continuous fiber composite filament yarn to reach a semi-molten state and be flattened into a belt shape under the action of the compression roller unit;
and S3, along with the movement of the printing unit, the bonded composite filament generates traction force on the unmelted filament so that the filament is continuously sent out from the filament storage disc through the filament feeding unit, and the surfaces of the printing platform, the sacrificial grinding tool and the part can be used for receiving the composite filament formed by the printing unit at the tail end of the mechanical arm and finally bonded and stacked layer by layer to form the high-density part.
In general, the above technical solutions contemplated by the present invention can achieve the following advantageous effects compared to the prior art.
The pressure generated by the compression roller unit in the manufacturing system can flatten the composite filament yarn heated by the laser beam into a belt shape, the thermoplastic resin which is not solidified after being heated by the laser beam can permeate into the pores between layers under the pressure effect of the compression roller unit to uniformly wrap the continuous fibers, so that the bonding performance and the density between the layers of the composite material are improved, the stress can be effectively transferred to the continuous fibers through the resin matrix when a formed part is stressed, and higher mechanical performance is shown.
The printing path information generated by the controller in the manufacturing system of the invention does not need to be planar sliced and stacked in the Z direction like the traditional FDM printing, and the path information can form a three-dimensional curved surface and can be stacked in any direction; the introduced robot-assisted additive manufacturing system enlarges the degree of freedom and the working space of the printing unit, and the printing unit can be formed at any position in the working space by the cooperative motion of the mechanical arm drive and the positioner; the composite wire is not flattened before deposition and is cylindrical with the diameter of 0.2 mm-1.0 mm, and compared with a strip material, the composite wire can easily form a corner with higher precision and can form a complex path. The combined action of the gain effects enables the forming method to realize additive manufacturing of large-size complex parts.
Drawings
FIG. 1 is a schematic diagram of a robot-assisted laser additive manufacturing system for interlaminar reinforcement of continuous fiber composites constructed in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the end of arm printing unit;
FIG. 3 is a schematic diagram of a robot-assisted laser additive manufacturing system coordinate system;
fig. 4 is a schematic diagram of a forming process of a robot-assisted laser additive manufacturing system for interlayer reinforcement of continuous fiber composites.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, a robot-assisted laser additive manufacturing system for continuous fiber composite 6 material ply reinforcement includes a manufacturing system 101 and a controller 102.
The manufacturing system 101 comprises a mechanical arm 110, a positioner 120, a printing unit 130, a wire storage disc 140 and a system coordinate system.
The mechanical arm 110 is preferably a six-axis or seven-axis mechanical arm, and is further preferably a six-axis mechanical arm, and the printing unit 130 is mounted at the tail end of the mechanical arm; further, the robot 110 may control the rotational motions of the joints according to the control signals transmitted from the controller 102, and the combination of the rotational motions of the joints may enable the printing unit 130 at the end of the robot 110 to move at any speed according to the robot base coordinate system 201 by: a + -X direction, a + -Y direction, a + -Z direction, a + -thetax direction of rotation about the X axis, a + -thetay direction of rotation about the Y axis, a + -thetaz direction of rotation about the Z axis, and any combination thereof.
The positioner 120 is arranged below the mechanical arm 110, preferably is a two-degree-of-freedom or three-degree-of-freedom positioner, further preferably is a two-degree-of-freedom positioner, a printing platform 121 is arranged on the surface of the positioner, and a printing unit 130 at the tail end of the mechanical arm 110 forms a part 123 on the surface of the printing platform 121 or the surface of the sacrificial mold 122; further, the positioner 120 may control the rotational motion of each joint by a control signal transmitted by the controller 102, and the combination of the rotational motions of each joint may enable the surface printing platform 121 and the sacrificial mold 122 of the positioner 120 to move at any speed by referring to the origin coordinate system 202 of the positioner in the following manner: the direction of +/-theta Z rotating around the Z axis; the + -theta Y direction of rotation about the Y axis; synchronized with the speed of movement of the printing unit 130 at the end of the robotic arm 110 or stationary and at any angle as required by the particular application.
The printing platform 121 is rigidly connected with the upper surface of the positioner 120, a sacrificial grinding tool 122 is fixedly placed on the printing platform 121, and the surfaces of the printing platform 121, the sacrificial grinding tool 122 and the part 123 can be used for receiving the composite filaments 141 formed by the printing unit 130 at the tail end of the mechanical arm 110 and finally are bonded and stacked layer by layer to form a high-density part 123; the printing platform 121 and the positioner 120 cannot move relatively, and are preferably aluminum alloy plates.
Referring to fig. 2, the printing unit 130 includes a laser unit 131, a wire feeding unit 132, and a pressure roller unit 133.
The laser unit 131 is hinged to the mechanical arm 110, a laser emitting end of the laser unit is arranged opposite to a discharge end of the composite filament 141 in a gap between the wire feeding units 132, the power of the laser unit 131 is adjusted by the controller 102, and the laser power of the laser unit is accurately matched with the movement speed of the printing unit and is used for heating the composite filament 141 to a semi-molten state which is higher than the glass transition temperature of the resin and lower than the melting point temperature of the resin through laser.
The wire feeding unit 132 is connected to the robot arm 110, and may limit the exposed portion of the composite filament 141 to a position below the pressing roller unit 133. As the printing unit 130 moves, the bonded composite filaments 141 draw the unmelted filaments and are continuously fed from the storage tray 140 through the feeding unit 132.
The pressure roller unit 133, connected to the mechanical arm 110, includes a roller capable of rotating freely, according to the requirement of a printing path, the surface of the roller is always parallel to the surface of the printing platform 121, the surface of the sacrificial grinding tool 122 or the surface of the part 123 during the forming process, the pressure of the pressure roller unit 133 is adjusted by the controller 102, and the generated pressure can flatten the composite filament 141 which is not solidified after being heated by the laser beam into a belt shape.
The gas delivery tube 134 provides a predetermined shielding gas, which may replace oxygen at a local level, from a gas source to the vicinity of the wire feed unit 132, the shielding gas inhibiting combustion of the composite filaments 141 as they are heated by the laser unit 131. Further preferably, the shielding gas in the gas feeding pipe 134 is nitrogen.
The filament storage tray 140 can store a composite filament 141 raw material with a limited length, the composite filament 141 is a continuous fiber composite material filament composed of a reinforcement and a matrix, and the cross section of the filament is a circle with a diameter of 0.2 mm-1.0 mm, including but not limited to a cylindrical composite filament material of continuous carbon fiber impregnated with thermoplastic resin. Further, the reinforcement in the composite filament 141 is a continuous fiber, which may be one or more of glass fiber, aramid fiber, carbon nanotube fiber, and ceramic fiber, the number of the continuous fiber may be between 1K and 16K (each filament contains 1000 to 16000 continuous carbon fiber filaments), the matrix of the composite filament 141 may be one or more of thermoplastic resin such as PA, PLA, ABS, PET, PETG, PEEK, and may also be thermosetting resin, cement, metal, or ceramic.
Referring to fig. 3, the system coordinate system includes a robot arm base coordinate system 201, a positioner origin coordinate system 202, and a robot arm end coordinate system 203; the mechanical arm base coordinate system 201 is a reference coordinate system of the manufacturing system 101, the positioner origin coordinate system 202 is a coordinate system determined according to intersection points of all rotation axes of the positioner 120, and the mechanical arm tail end coordinate system 203 is a coordinate system established according to a certain point near the tail end of the compression roller unit 133 in the printing unit 130; when the mechanical arm 110 and the positioner 120 are placed, a plane formed by X and Y axes of the mechanical arm base coordinate system 201 needs to be parallel to a plane formed by X and Y axes of the positioner origin coordinate system 202; at the initial moment of printing start, ensuring that an original point coordinate system 202 of the positioner and a tail end coordinate system 203 of the mechanical arm are at a set initial relative position; further, at the initial time of printing start, the relative pose relationship of the robot arm base coordinate system 201, the positioner origin coordinate system 202 and the robot arm end coordinate system 203 is known, and the relative pose relationship of the sacrificial mold 122 and the positioner origin coordinate system 202 is fixed and known.
The controller 102 includes hardware and software necessary to control the robotic arm 110, the positioner 120, and the laser unit 131, the wire feed unit 132, and the platen unit 133 in the robotic arm 110 end print unit 130 in the manufacturing system 101 to manufacture the part 123; the controller 102 can precisely control the movement speed of the printing unit 130, the laser power of the laser unit 131 and the pressure generated by the pressure roller unit; the controller 101 includes computer aided design/computer aided manufacturing (CAD/CAM) functionality to perform model design, hierarchical slicing, path planning, communication control, simulation. Further, the print path information generated by the controller 102 does not need to be planar sliced and stacked in the Z direction as in conventional FDM printing, and the path information thereof may form a three-dimensional curved surface and may be stacked in any direction.
Referring to fig. 4, a robot-assisted laser additive manufacturing and forming method for interlayer reinforcement of a continuous fiber composite material comprises the following steps:
(1) The controller 102 adaptively slices a three-dimensional digital model (such as an STL model file) of a part into a plurality of layers, then generates printing path information of each slice layer according to an optimal filling strategy, derives a text file which can be read by the manufacturing system 101, and transmits the text file to the mechanical arm 110 and the positioner 120 to enable the text file to move cooperatively;
(2) The manufacturing system 101 drives the tail end continuous fiber feeding unit 132 and the compression roller unit 133 to move spatially through the mechanical arm 110, the controller 102 precisely controls the movement speed of the printing unit 130, the laser power of the laser unit 131 and the pressure generated by the compression roller unit 133, and the composite filament 141 is heated by the laser beam generated by the laser unit 131 to reach a semi-molten state and is flattened into a belt shape under the action of the compression roller unit 133. With the movement of the printing unit 130, the bonded composite filament 141 generates a traction force on the not-yet-melted filament material, so that the filament material is continuously sent out from the filament storage tray 140, and the surfaces of the printing platform 121, the sacrificial grinding tool 122 and the part 123 can be used for receiving the composite filament 141 formed by the printing unit 130 at the end of the mechanical arm 110, and finally, the composite filament 141 is bonded and stacked layer by layer to form the high-density part 123.
In the forming method, the thermoplastic resin which is not solidified after being heated by the laser beam can penetrate into the pores between layers under the pressure action of the compression roller unit 133, so that the continuous fibers are uniformly wrapped, the interlayer bonding performance and the density of the composite material are improved, the stress can be effectively transferred to the continuous fibers through the resin matrix when a formed part is stressed, and higher mechanical performance is shown; the controller generates printing path information which does not need to be planar sliced and stacked in the Z direction as in conventional FDM printing, and the path information thereof can form a three-dimensional curved surface and can be stacked in any direction; the introduced robot-assisted additive manufacturing system expands the degree of freedom and the working space of the printing unit, and the printing unit 130 can be formed at any position in the working space by the driving of the mechanical arm 110 and the cooperative motion of the positioner 120; the composite wire 141 is not flattened before deposition and is cylindrical with a diameter of 0.2mm to 1.0mm, and compared with a strip material, the composite wire can easily form a corner with higher precision and a complex path. The combined influence of the effects enables the forming method to realize the interlayer reinforcement of the continuous fiber composite material and the high-performance additive manufacturing of large-size complex parts.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A robot-assisted laser additive manufacturing system for interlaminar reinforcement of continuous fiber composites, comprising: the device comprises a controller, a mechanical arm, a positioner and a printing unit; the printing unit comprises a laser unit, a wire feeding unit and a compression roller unit;
the wire feeding unit is connected to the tail end of the mechanical arm and used for feeding out the continuous fiber composite filament and limiting a feeding-out part at a position below the compression roller unit;
the laser unit is connected to the tail end of the mechanical arm and used for heating the sent continuous fiber composite filament to a semi-molten state which is higher than the glass transition temperature of the resin and lower than the melting point temperature of the resin through laser;
the compression roller unit is connected to the tail end of the mechanical arm and used for generating pressure to flatten the continuous fiber composite filament which is not solidified after being heated by the laser beam into a belt shape;
the positioner is arranged below the mechanical arm, the surface of the positioner is rigidly connected with a printing platform and used for receiving the composite filaments formed by the printing unit at the tail end of the mechanical arm and finally bonding and stacking the composite filaments layer by layer to form a high-density part;
the controller is used for controlling the rotary motion of each joint of the mechanical arm, the rotary motion of each joint of the positioner, the motion speed of the printing unit, the laser power of the laser unit and the pressure generated by the compression roller unit; the combination of the rotary motion of each joint of the mechanical arm can enable the printing unit at the tail end of the mechanical arm to realize the motion of six degrees of freedom; the printing platform can realize the movement of multiple degrees of freedom through the combination of the rotary motion of each joint of the positioner; the moving speed of the printing unit is matched with the laser power.
2. The system of claim 1, further comprising a sacrificial abrasive tool; the path of the printing unit follows the surface contour of the sacrificial abrasive tool for forming complex curved parts.
3. The robot-assisted laser additive manufacturing system for interlaminar reinforcement of continuous fiber composites of claim 2, wherein the press roll unit is provided with freely rotating rollers, and the surface of the roller is always parallel to the surface of the printing platform, the surface of the sacrificial grinding tool or the surface of the formed part during the forming process.
4. The system of any one of claims 1-4, further comprising an air feed pipe; the gas feed pipe is used for supplying protective gas to the vicinity of the filament feed unit, and the protective gas inhibits combustion of the continuous fiber composite filaments when the continuous fiber composite filaments are heated by the laser unit.
5. The system of claim 4, wherein the shielding gas is nitrogen.
6. The robot-assisted laser additive manufacturing system for interlaminar reinforcement of continuous fiber composites according to any of claims 1 to 4, characterized in that the system further comprises a filament storage tray for storing continuous fiber composite filament raw material.
7. A forming method of a robot-assisted laser additive manufacturing system based on the continuous fiber composite interlayer reinforcement of any one of claims 1 to 6, characterized by comprising the following steps:
s1, adaptively slicing a three-dimensional digital model of a part into multiple layers, generating printing path information of each sliced layer according to an optimal filling strategy, exporting a text file which can be read by a manufacturing system, and transmitting the text files to a mechanical arm and a positioner to enable the mechanical arm and the positioner to move cooperatively;
s2, the manufacturing system drives the tail end wire feeding unit and the compression roller unit to move in space through the mechanical arm, meanwhile, the controller accurately controls the movement speed of the printing unit, the laser power of the laser unit and the pressure generated by the compression roller unit, and the laser beam generated by the laser unit is used for heating the continuous fiber composite filament yarn to enable the continuous fiber composite filament yarn to reach a semi-molten state and be flattened into a belt shape under the action of the compression roller unit;
and S3, along with the movement of the printing unit, the bonded composite filament generates traction force on the unmelted filament so that the filament is continuously sent out from the filament storage disc through the filament feeding unit, and the surfaces of the printing platform, the sacrificial grinding tool and the part can be used for receiving the composite filament formed by the printing unit at the tail end of the mechanical arm and finally bonded and stacked layer by layer to form the high-density part.
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