CN117282985A - Method and workpiece for improving ankle wear resistance of robot through 3D printing - Google Patents

Method and workpiece for improving ankle wear resistance of robot through 3D printing Download PDF

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Publication number
CN117282985A
CN117282985A CN202311396784.XA CN202311396784A CN117282985A CN 117282985 A CN117282985 A CN 117282985A CN 202311396784 A CN202311396784 A CN 202311396784A CN 117282985 A CN117282985 A CN 117282985A
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China
Prior art keywords
laser beam
workpiece
layer
raw material
scanning
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CN202311396784.XA
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Chinese (zh)
Inventor
杨洋
宋伟
张宇
聂大明
孔令雨
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Zhejiang Lab
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Zhejiang Lab
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Priority to CN202311396784.XA priority Critical patent/CN117282985A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/20—Direct sintering or melting
    • B22F10/28—Powder bed fusion, e.g. selective laser melting [SLM] or electron beam melting [EBM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/30—Process control
    • B22F10/36—Process control of energy beam parameters
    • B22F10/366—Scanning parameters, e.g. hatch distance or scanning strategy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
    • B22F10/30—Process control
    • B22F10/38—Process control to achieve specific product aspects, e.g. surface smoothness, density, porosity or hollow structures
    • 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
    • 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
    • B33Y70/00—Materials specially adapted for additive manufacturing
    • 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
    • B33Y80/00—Products made by additive manufacturing
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C38/00—Ferrous alloys, e.g. steel alloys
    • C22C38/004—Very low carbon steels, i.e. having a carbon content of less than 0,01%
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C38/00—Ferrous alloys, e.g. steel alloys
    • C22C38/04—Ferrous alloys, e.g. steel alloys containing manganese
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C38/00—Ferrous alloys, e.g. steel alloys
    • C22C38/18—Ferrous alloys, e.g. steel alloys containing chromium
    • C22C38/40—Ferrous alloys, e.g. steel alloys containing chromium with nickel
    • C22C38/42—Ferrous alloys, e.g. steel alloys containing chromium with nickel with copper
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C38/00—Ferrous alloys, e.g. steel alloys
    • C22C38/18—Ferrous alloys, e.g. steel alloys containing chromium
    • C22C38/40—Ferrous alloys, e.g. steel alloys containing chromium with nickel
    • C22C38/44—Ferrous alloys, e.g. steel alloys containing chromium with nickel with molybdenum or tungsten
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C38/00—Ferrous alloys, e.g. steel alloys
    • C22C38/18—Ferrous alloys, e.g. steel alloys containing chromium
    • C22C38/40—Ferrous alloys, e.g. steel alloys containing chromium with nickel
    • C22C38/58—Ferrous alloys, e.g. steel alloys containing chromium with nickel with more than 1.5% by weight of manganese

Abstract

The application provides a method and a workpiece for improving wear resistance of an ankle of a robot through 3D printing. The method comprises the steps of constructing a three-dimensional model of a sample to be printed, slicing the three-dimensional model to obtain contour boundaries of a plurality of slice layers, and paving raw material powder in the contour boundaries of each slice layer; scanning the raw material powder on each slicing layer by a laser beam to melt, so as to prepare a printing workpiece for preparing the ankle of the robot; the spot diameter of the laser beam is d, the scanning interval of the laser beam on each slice layer is H, and H= (0.1-0.5) d is satisfied. The printing method can improve the wear resistance of the printing workpiece and prolong the service life of the printing workpiece.

Description

Method and workpiece for improving ankle wear resistance of robot through 3D printing
Technical Field
The application relates to the technical field of 3D printing, in particular to a method and a workpiece for improving wear resistance of robot ankles through 3D printing.
Background
3D printing is one of the rapid prototyping techniques, also known as additive manufacturing. It is a technology for constructing objects by using a bondable material such as powdered metal or plastic based on digital model files in a layer-by-layer printing manner. The laser powder bed fusion process (L-PBF) is one of the most commonly used processes in additive manufacturing, and mainly utilizes the thermal energy of a laser beam to sinter raw material powders together to form a printed workpiece. The laser powder bed melting process has the greatest characteristic of being capable of forming any complex structure with high precision, and therefore, the laser powder bed melting process has great potential in the aspects of high performance, multifunctional design and integrated manufacturing of metal parts.
However, the wear resistance of parts formed by the laser powder bed fusion process still depends on the traditional post-treatment process for improvement. The integrated high-end parts usually have complex structures, and have the defects of complex process, high processing difficulty, high cost and the like for the post-treatment of the wear resistance of the complex structures. Meanwhile, for highly complex special-shaped parts, the applicability of the traditional post-treatment process is low. Therefore, how to control the melting process of the laser powder bed to realize the regulation and control of the wear resistance of the parts and form the metal parts with high wear resistance at one time is one of the problems to be solved in the current metal additive manufacturing.
Disclosure of Invention
The application provides a method and a workpiece for improving wear resistance of an ankle of a robot through 3D printing. The method can improve the wear resistance of the printed workpiece and prolong the service life of the printed workpiece.
Specifically, the application is realized by the following technical scheme:
in one aspect, the present application provides a method for improving wear resistance of an ankle of a robot through 3D printing, including:
constructing a three-dimensional model of a sample to be printed, slicing the three-dimensional model to obtain contour boundaries of a plurality of slice layers, and paving raw material powder in the contour boundaries of each slice layer;
scanning the raw material powder on each slicing layer by a laser beam to melt, so as to prepare a printing workpiece for preparing the ankle of the robot; the spot diameter of the laser beam is d, the scanning interval of the laser beam on each slice layer is H, and H= (0.1-0.5) d is satisfied.
Optionally, the melting by scanning the laser beam over the raw powder on the sliced layer includes:
scanning the raw material powder on a first slice layer by a laser beam to melt and form a first molten pool, and scanning the raw material powder on a second slice layer arranged adjacent to the first slice layer by the laser beam to melt and form a second molten pool; the overlap ratio of the first molten pool and the second molten pool is 80% -95%.
Optionally, an angle between a scanning path of the laser beam on the first slice layer and a scanning path of the laser beam on the second slice layer is 60-90 °.
Optionally, the spot diameter of the laser beam is 60-70 μm; the scanning interval of the laser beam on each slicing layer is 6-35 mu m.
Optionally, the power of the laser beam is 200-220W; the scanning speed is 740-760 mm/s; the exposure time is 70-90 mu s; the dot pitch is 50-70 μm.
Optionally, the layer thickness of the raw material powder is 40-60 μm.
Optionally, the raw material powder comprises the following elements in percentage by weight: 0 to 0.003 percent of C, 12.5 to 13 percent of Ni, 0 to 2.00 percent of Mn, 0 to 0.01 percent of S, 0 to 0.02 percent of P, 17.5 to 18 percent of Cr, 0 to 0.50 percent of Cu, 2.25 to 2.5 percent of Mo and the balance of Fe.
Optionally, the melting process is performed under inert atmosphere conditions.
The application also provides a printing workpiece which is printed by the printing method.
Optionally, the vickers hardness (HV 0.05 ) 235-297; the wear resistance of the workpiece is 0.145-1.470 mm 3 /(N·m)。
The technical scheme that this application provided can reach following beneficial effect:
the application provides a method and a workpiece for improving wear resistance of an ankle of a robot through 3D printing. According to the method, the spot diameter d of the laser beam and the scanning interval H of the laser beam on each slicing layer are limited to meet H= (0.1-0.5) d, so that the raw material powder can be promoted to form columnar dislocation sub-crystals, and the prepared printed workpiece forms continuous and uniformly oriented oblique columnar dislocation sub-crystals, so that the difficulty of plastic deformation of the printed workpiece is changed, the wear resistance of the printed workpiece is regulated and controlled, the wear resistance of the printed workpiece is improved, and the service life of the printed workpiece is prolonged.
Drawings
Fig. 1 is a method flowchart of a printing method shown in an exemplary embodiment of the present application.
Fig. 2 is a schematic diagram illustrating a scanning path of a laser beam at an adjacent slice layer according to an exemplary embodiment of the present application.
Fig. 3 is a top view showing the morphology of the molten pool formed on two adjacent sliced layers at different scanning pitches by the laser beams in examples 1 to 4 of the present application.
Fig. 4 is a topography of the microstructure substructure of the printed workpieces processed in examples 1-4 and comparative example 1 of the present application.
Fig. 5 is a graph of hardness test data for printed works processed in examples 1 to 4 and comparative example 1 of the present application.
Fig. 6 is a graph of scratch depth test data for printed workpieces processed in examples 1-4 and comparative example 1 of the present application.
Fig. 7 is a graph of wear rate test data for printed workpieces processed in examples 1 to 4 and comparative example 1 of the present application.
Fig. 8 is a graph of the scratch microscopic morphology of the printed workpiece processed in examples 1 to 4 and comparative example 1 of the present application.
Detailed Description
For further understanding of the present application, exemplary embodiments will be described in detail below, and it should be noted that the scope of protection of the present application is not limited by the following embodiments. The technical features in the following examples and embodiments may be combined with each other without conflict.
As shown in fig. 1, the present application provides a method for improving wear resistance of an ankle of a robot by 3D printing, comprising:
s1, constructing a three-dimensional model of a sample to be printed, slicing the three-dimensional model to obtain contour boundaries of a plurality of slice layers, and paving raw material powder in the contour boundaries of each slice layer;
s2, scanning the raw material powder on each slicing layer by a laser beam to melt, and preparing a printing workpiece for preparing the robot ankle; the spot diameter of the laser beam is d, the scanning interval of the laser beam on each slice layer is H, and H= (0.1-0.5) d is satisfied.
In the scheme, the spot diameter d of the laser beam and the scanning interval H of the laser beam on each slicing layer are limited to meet H= (0.1-0.5) d, so that the raw material powder can be promoted to form columnar dislocation sub-crystals, and the prepared printed workpiece forms continuous and uniformly oriented oblique columnar dislocation sub-crystals, so that the difficulty of plastic deformation of the printed workpiece is changed, the wear resistance of the printed workpiece is regulated and controlled, the wear resistance of the printed workpiece is improved, and the service life of the printed workpiece is prolonged.
The above-mentioned scanning pitch refers to "a distance between two adjacent scanning paths of the laser beam during scanning", that is, may also be called a scanning line pitch. In addition, in other embodiments, the printed workpiece prepared by the present application is not limited to use in preparing a robot ankle. For example: the method can also be used for preparing parts such as soles and palms of robots, is not limited to the field of robots, and can also be used for preparing any mechanical structure in any mechanical field.
In one embodiment, the melting of the raw material powder by scanning the laser beam over the sliced layer includes:
scanning the raw material powder on a first slice layer by a laser beam to melt and form a first molten pool, and scanning the raw material powder on a second slice layer arranged adjacent to the first slice layer by the laser beam to melt and form a second molten pool; the overlap ratio of the first molten pool and the second molten pool is 80% -95%.
The solidification mode of the metal material used for printing the workpiece is determined by the temperature gradient and the solidification rate, and the solidification mode of the metal material is determined to be cell solidification by the laser powder bed fusion 3D printing, and the formation of microscopic dislocation sub-crystals is related to the thermal field in the solidification process. Generally, the center of the melt pool is more prone to form cellular microscopic dislocation sub-crystals due to the small temperature gradient, while the edges of the melt pool are more prone to form columnar microscopic dislocation sub-crystals. When the overlap ratio of the first molten pool and the second molten pool exceeds 80%, the cellular dislocation sub-crystal in the center of the first molten pool is completely melted by the next new laser sintering, and the melting area is positioned at the edge of the second molten pool formed by the next laser sintering melting, so that the temperature gradient in the solidification process is increased, and the heat flow direction points to the edge of the molten pool from the new laser spot center, thereby promoting the formation of the columnar dislocation sub-crystal. Therefore, continuous columnar microscopic dislocation sub-crystals with uniform orientation can be formed by continuously carrying out scanning sintering layer by layer.
The laser beam generates heat during scanning, and the heat is transferred to the powder particles to melt the powder particles and form a molten pool. As shown in FIG. 3, the overlap ratio R 0 Expressed as the overlapping degree of two adjacent melting pools, namely a first melting pool and a second melting pool in the laser melting process, and can be concretely expressed as the overlapping width D between the first melting pool and the second melting pool 0 Ratio to width W of single bath, i.e. overlap ratio R 0 ＝D 0 /W*100％。
In one embodiment, the angle between the scanning path of the laser beam on the first sliced layer and the scanning path of the laser beam on the second sliced layer is 60-90 °.
In one embodiment, the laser beam has a spot diameter of 60 to 70 μm; the scanning interval of the laser beam on each slicing layer is 6-35 mu m.
It should be noted that, during the scanning process, the laser beam is usually scanned in a row-column manner, and the scanning pitch refers to the distance between two adjacent rows or two adjacent columns. For example, as shown in fig. 2, the scanning paths of the laser beams in adjacent two rows or adjacent two columns of each slice layer are parallel to each other.
In one embodiment, the shaping apparatus may select an AM250 laser melting system (Renishaw AM 250). Specifically, the system comprises a laser and a powder spreading device, wherein the powder spreading device can spread raw material powder onto a substrate by a scraper, the laser emits laser beams and scans the raw material powder according to a preset track, and the raw material powder is melted and then condensed to obtain a printing workpiece. Of course, the type and model of the forming apparatus are not limited thereto.
In one embodiment, the power of the laser beam is 200-220W; the scanning speed is 740-760 mm/s; the exposure time is 70-90 mu s; the dot pitch is 50-70 μm.
The laser beam power is limited in the range, so that the void ratio inside the printing workpiece can be ensured to be in a lower range, and the occurrence of the problem of microscopic defects such as fracture or holes can be reduced. The phenomenon that a large number of air holes are left due to the fact that more gas is discharged when part of raw material powder is instantaneously melted and evaporated due to excessive power is avoided, so that the overall porosity is improved; meanwhile, the problem that the raw material powder cannot be melted in time due to too low power is avoided, the spheroidized raw material powder cannot be spread in time, larger pores exist among the raw material powder, and the overall porosity is still improved. In addition, the scanning speed is limited in the range, so that the phenomenon that part of raw material powder cannot be completely melted due to the fact that the scanning speed is too high is avoided, larger pores exist between solid phases of unmelted raw material powder, and meanwhile the phenomenon that the printing efficiency is affected due to too low scanning speed is avoided.
Exposure time refers to the time that the laser beam stays at each point; by limiting the exposure time to the above range, it is possible to avoid the exposure time from being too long, easily causing evaporation of the liquid metal, and increasing the printing time; and the exposure time is too short, so that the raw material powder is not thoroughly melted, and microscopic defects such as fracture or holes and the like of a printed workpiece are easily caused. The point distance refers to the distance between the centers of two adjacent light spots; by limiting the dot distance to the above range, the defect that the adjacent two light spots are not overlapped due to the overlarge dot distance, so that raw material powder is not completely melted and microscopic defects such as fracture or holes and the like of a printed workpiece are easy to occur can be avoided; too small a spot pitch is avoided to reduce the scanning efficiency of the laser.
In one embodiment, the raw material powder is laid in a layer thickness of 40 to 60 μm. Therefore, the former layer of melted raw material powder can be soaked in the latter layer of raw material powder when the latter layer of raw material powder is melted, and the interlayer bonding strength between two adjacent layers is improved. The quality of a printed workpiece is prevented from being influenced by the fact that laser beams cannot penetrate through raw material powder due to overlarge layer thickness.
In one embodiment, the raw material powder comprises the following elements in weight percent: 0 to 0.003 percent of C, 12.5 to 13 percent of Ni, 0 to 2.00 percent of Mn, 0 to 0.01 percent of S, 0 to 0.02 percent of P, 17.5 to 18 percent of Cr, 0 to 0.50 percent of Cu, 2.25 to 2.5 percent of Mo and the balance of Fe.
In one embodiment, the melting process is performed under inert atmosphere conditions. Preferably, the inert atmosphere comprises at least one of argon and nitrogen. Therefore, the oxygen content in the environment can be reduced, oxidation in the forming process is prevented, the surface of the printed workpiece is smoother, the surface crack defect is reduced, and the tensile strength of the printed workpiece is improved.
The application also provides a workpiece which is printed by the printing method.
In one embodiment, the workpiece has a Vickers hardness (HV 0.05 ) 235-297; the wear resistance of the workpiece is 0.145-1.470 mm 3 /(N·m)。
The raw material powders used in the following examples 1 to 4 and comparative example 1 each include the following elements in weight percent: 0.001% of C, 12.79% of Ni, 1.44% of Mn, 0.01% of S, 0.01% of P, 17.58% of Cr, 0.15% of Cu, 2.42% of Mo and the balance of Fe.
Example 1
Melting 3D printing by adopting a columnar dislocation sub-crystal induced laser powder bed to obtain a 316L stainless steel printing workpiece:
s1, constructing a three-dimensional model of a sample to be printed by using a computer, slicing the three-dimensional model by using layering slicing software to obtain contour boundary data of a plurality of slicing layers, and transmitting the contour boundary data of each slicing layer to a controller of a Renisshaw AM250 system; and loading the raw material powder prepared according to the weight percentage into a powder spreading device of a Renisshaw AM250 system, and spreading the raw material powder in the contour boundary of the first slice layer by a controller-controlled powder feeding mechanism.
S2, under the argon atmosphere, raw material powder on the first slice layer is scanned by laser to be melted; then the controller controls the powder feeding mechanism to lay the raw material powder in the outline boundary of the second slice layer adjacent to the first slice layer, and the raw material powder on the second slice layer is scanned by laser to melt under the argon atmosphere (the scanning path of the laser is shown in figure 2 in detail); wherein the included angle between the scanning path of the laser beam on the first slice layer and the scanning path of the laser beam on the second slice layer is 67 degrees; the spot diameter of the laser is 70 mu m, the power of the laser is 200W, the scanning interval of the laser is 30 mu m, the scanning speed is 750mm/s, the layer thickness is 50 mu m, the exposure time is 80 mu s, and the point distance is 60 mu m;
and S3, printing all the slice layers layer by layer until a 316L stainless steel printing workpiece is obtained. The printed workpiece processed in this example is abbreviated as "Z-30".
Example 2
The difference from example 1 is that: the scanning distance of the laser was 20. Mu.m, and other preparation methods and preparation conditions were the same as in example 1. The printed workpiece processed in this example is referred to as "Z-20".
Example 3
The difference from example 1 is that: the scanning distance of the laser was 15. Mu.m, and other preparation methods and preparation conditions were the same as in example 1. The printed workpiece processed in this example is abbreviated as "Z-15".
Example 4
The difference from example 1 is that: the scanning distance of the laser was 10. Mu.m, and other preparation methods and preparation conditions were the same as in example 1. The printed workpiece processed in this example is abbreviated as "Z-10".
Note that: the morphology of microstructure substructure of the 316L stainless steel printed workpiece samples printed in examples 1-4 above is shown in FIG. 4. The 316L stainless steel printed workpiece formed in examples 1 to 4 was able to eliminate as much as possible the cellular microstructure substructure of low wear resistance, making the microstructure substructure appear mostly as continuous, columnar dislocation sub-crystals with uniform orientation.
Comparative example 1
And (3) melting and 3D printing by adopting a common laser powder bed to obtain a 316L stainless steel printing workpiece:
s1, constructing a three-dimensional model of a sample to be printed by using a computer, slicing the three-dimensional model by using layering slicing software to obtain contour boundary data of a plurality of slicing layers, and transmitting the contour boundary data of each slicing layer to a controller of a Renisshaw AM250 system; and loading the raw material powder prepared according to the weight percentage into a powder spreading device of a Renisshaw AM250 system, and spreading the raw material powder in the contour boundary of the first slice layer by a controller-controlled powder feeding mechanism.
S2, under the argon atmosphere, raw material powder on the first slice layer is scanned by laser to be melted; then the controller controls the powder feeding mechanism to lay the raw material powder in the outline boundary of the second slice layer adjacent to the first slice layer, and the raw material powder on the second slice layer is scanned by laser to melt under the argon atmosphere (the scanning path of the laser is shown in figure 2 in detail); wherein the included angle between the scanning path of the laser beam on the first slice layer and the scanning path of the laser beam on the second slice layer is 67 degrees; the spot diameter of the laser is 70 mu m, the power of the laser is 200W, the scanning interval of the laser is 110 mu m, the scanning speed is 750mm/s, the layer thickness is 50 mu m, the exposure time is 80 mu s, and the point distance is 60 mu m;
and S3, printing all the slice layers layer by layer until a 316L stainless steel printing workpiece is obtained. The printed workpiece processed in this example is simply referred to as "R".
Note that: comparative example 1 a topographical map of the microstructure substructure of the printed 316L stainless steel work piece sample "R" is shown in fig. 4, with the microstructure substructure of the formed 316L stainless steel work piece "R" being largely represented as a cellular dislocation sub-crystal.
Test case
The 316L stainless steel printed workpiece samples obtained by printing in examples 1-4 and comparative example 1 were subjected to wear resistance test by using a nanometer automatic scratch tester. The diamond indenter used in this test had a radius of 200 μm, a test load of 1N, a scratch length of 5mm and a sliding speed of 10mm/min.
The scratch morphology of the sample (scratch morphology graph is shown in fig. 8) is measured by using a confocal microscope, the measured scratch depth is shown in fig. 6, the abrasion rate of the sample is calculated from the total amount of the sample and the measured abraded sample (shown in fig. 7), and the vickers hardness of the sample is calculated from the test load and the surface area of the scratch (shown in fig. 5). Wherein, before and after the abrasion resistance experiment, an ultrasonic cleaner is used for ultrasonic cleaning of the sample.
As shown in fig. 5, the hardness of the 316L stainless steel printing workpiece obtained by adopting columnar dislocation sub-crystal induced laser powder bed melting 3D printing in examples 1-4 of the application is remarkably improved, which is much higher than that of the 316L stainless steel printing workpiece "R" obtained by adopting common laser powder bed melting 3D printing in comparative example 1. As shown in FIG. 6, comparative example 1 was obtained by fusing 3D printing using a conventional laser powder bedThe scratch depth of the obtained 316L stainless steel printing workpiece "R" is 0.984 mu m, and the scratch depth of the laser powder bed melting 3D printing 316L stainless steel printing workpiece induced by columnar dislocation subgrain in examples 1-4 of the application is obviously reduced. As shown in FIG. 7, comparative example 1A wear rate of a 3D printed 316L stainless steel print workpiece "R" was 1.47mm using a conventional laser powder bed 3 And (N.m), the abrasion rate of the 316L stainless steel printing workpiece obtained by adopting columnar dislocation sub-crystal induced laser powder bed fusion 3D printing in examples 1 to 4 is also obviously reduced. Therefore, the printed workpiece prepared by the method can form continuous inclined columnar dislocation sub-crystals with uniform orientation, so that the difficulty of plastic deformation of the printed workpiece is changed, and the wear resistance of the printed workpiece is improved.
As shown in fig. 8. The scratch microscopic morphology graph of the 316L stainless steel printing workpiece R obtained by processing in the comparative example 1 has a large number of sliding lines and pits; in contrast, pits do not appear in the scratch microscopic morphology graphs of the 316L stainless steel printing workpiece obtained by processing in examples 1 to 4. This is because the 316L stainless steel printing workpiece "R" prepared in comparative example 1 is formed with a large number of cellular microstructure substructures, and under the action of external load, the material is plastically deformed, and is microscopically slipped, so that slip lines are formed, the slip lines are gradually expanded to form cracks, and as the cracks continuously extend, stripping of material fragments occurs, and abrasive dust is formed, so that pits are formed in the worn area. This affects the wear resistance of the printed workpiece "R".
The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A method for improving wear resistance of a robot ankle by 3D printing, comprising:
constructing a three-dimensional model of a sample to be printed, slicing the three-dimensional model to obtain contour boundaries of a plurality of slice layers, and paving raw material powder in the contour boundaries of each slice layer;
scanning the raw material powder on each slicing layer by a laser beam to melt, so as to prepare a printing workpiece for preparing the ankle of the robot; the spot diameter of the laser beam is d, the scanning interval of the laser beam on each slice layer is H, and H= (0.1-0.5) d is satisfied.
2. The method of claim 1, wherein said melting by scanning the laser beam over the feedstock powder on the sliced layer comprises:
scanning the raw material powder on a first slice layer by a laser beam to melt and form a first molten pool, and scanning the raw material powder on a second slice layer arranged adjacent to the first slice layer by the laser beam to melt and form a second molten pool; the overlap ratio of the first molten pool and the second molten pool is 80% -95%.
3. The method of claim 2, wherein an angle between a scan path of the laser beam on the first sliced layer and a scan path of the laser beam on the second sliced layer is 60-90 °.
4. A method according to any one of claims 1 to 3, wherein the laser beam has a spot diameter of 60 to 70 μm; the scanning interval of the laser beam on each slicing layer is 6-35 mu m.
5. A method according to any one of claims 1 to 3, wherein the power of the laser beam is 200 to 220W; the scanning speed is 740-760 mm/s; the exposure time is 70-90 mu s; the dot pitch is 50-70 μm.
6. A method according to any one of claims 1 to 3, characterized in that the raw material powder is laid in a layer thickness of 40-60 μm.
7. A method according to any one of claims 1 to 3, characterized in that the raw material powder comprises the following elements in weight percent: 0 to 0.003 percent of C, 12.5 to 13 percent of Ni, 0 to 2.00 percent of Mn, 0 to 0.01 percent of S, 0 to 0.02 percent of P, 17.5 to 18 percent of Cr, 0 to 0.50 percent of Cu, 2.25 to 2.5 percent of Mo and the balance of Fe.
8. A method according to any one of claims 1 to 3, wherein the melting process is carried out under inert atmosphere conditions.
9. A workpiece, characterized in that it is machined by a method according to any one of claims 1 to 8.
10. The workpiece according to claim 9, characterized in that the workpiece has a vickers hardness (HV 0.05 ) 235-297; the wear resistance of the workpiece is 0.145-1.470 mm 3 /(N·m)。
CN202311396784.XA 2023-10-25 2023-10-25 Method and workpiece for improving ankle wear resistance of robot through 3D printing Pending CN117282985A (en)

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CN112077300A (en) * 2020-09-04 2020-12-15 浙江翰德圣智能再制造技术有限公司 High-strength wear-resistant corrosion-resistant steel powder manufactured by additive manufacturing and additive manufacturing method
CN114502303A (en) * 2019-06-10 2022-05-13 瑞尼斯豪公司 Powder bed melting additive manufacturing method and device
CN115029646A (en) * 2022-05-23 2022-09-09 上海交通大学 Ultrahigh-strength stainless steel manufactured by additive manufacturing

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US20160288244A1 (en) * 2009-09-17 2016-10-06 Sciaky, Inc. Electron beam layer manufacturing
CN107952959A (en) * 2016-10-16 2018-04-24 北京航空航天大学 Laser Melting Deposition increasing material manufacturing component space grain form Forecasting Methodology
CN109047762A (en) * 2018-08-31 2018-12-21 江苏大学 A kind of increasing material manufacturing method that selective laser fusing is compound with laser cutting
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