a multi-axis manipulator additive manufacturing system, a high energy sound beam regulation system, a substrate and a self-adaptive additive manufacturing workbench; wherein

the additive manufacturing workbench is in screw connection with the substrate and is configured for fixing a metal workpiece to be additive manufactured;

the multi-axis manipulator additive manufacturing system comprises a multi-axis manipulator, a welding torch, a manipulator controller and a guide rail,

wherein a base of the multi-axis manipulator is connected with the guide rail in a slidable manner, the welding torch is held by a distal end of the multi-axis manipulator, the multi-axis manipulator is controlled by the manipulator controller to move the welding torch to conduct additive manufacturing on the metal workpiece to be additive manufactured; and

the sound beam regulation system includes one or more sound beam exciters, each of which has a sound beam excitation unit and an adiabatic amplitude transformer,

wherein the sound beam excitation unit is connected to the adiabatic amplitude transformer by a coaxial screw rod, and a top end face of the adiabatic amplitude transformer abuts against a side of the substrate on which the additive manufacturing is not conducted so as to realize the regulation of residual stress generated in the additive manufacturing process of the metal workpiece,

wherein the one or more sound beam exciters each further includes an amplitude transformer fixing plate to which the adiabatic amplitude transformer is connected through hexagon socket head screws, and springs are arranged therebetween so that a movement amplitude of the adiabatic amplitude transformer in the up-and-down direction has a 1-2 mm allowance; and

T-shaped screw nuts are mounted at three corners of the amplitude transformer fixing plate to allow free sliding in a T-shape groove of the self-adaptive additive manufacturing workbench, and the amplitude transformer fixing plates are capable of splicing with each other.