A metal surface defect remanufacturing method and device based on confined electrodeposition

Abstract

The present invention provides a metal surface defect remanufacturing method and device based on confined electrodeposition, which uses electrochemical deposition remanufacturing to quickly repair metal surface defects; the method includes identifying and locating the surface defect position, cleaning and drying the surface defect position; identifying and scanning the surface defect position, obtaining the offset information of the surface defect relative to the position of the non-metallic patterning nozzle, and extracting the two-dimensional closed contour graphic information of the surface defect to determine the restricted area; quickly forming an insulating coating through a non-metallic patterning method; placing an electrodeposition nozzle above the insulating coating and circulating the deposition liquid to perform confined electrochemical deposition at the surface defect; removing the insulating coating and leveling the surface defect. The present invention also provides a device suitable for this method. The present invention combines the non-metallic patterning method with confined electrochemical deposition, and is suitable for repairing the surface morphology of various metal substrates.

Description

Technical Field

[0001] The present invention relates to the technical field of electrochemical additive repair, and in particular to a method and device for remanufacturing metal surface defects based on confined electrodeposition. Background Art

[0002] With the continuous development of the economy and society, energy transportation has become increasingly important. When transporting oil and natural gas, the main method is pipeline transportation; at the same time, pipeline transportation is also widely used in various enterprises. When transporting materials through pipelines, since most pipelines are buried in the soil or directly exposed to the air, they are affected by factors such as the external environment and the internal transported materials, which will cause different degrees and types of corrosion on the inner and outer walls of the pipelines. The various defects caused by these corrosions will cause problems such as penetration and leakage in the pipelines, which will directly affect the safe production of the enterprise and the safe transportation of energy, and will also bring great safety hazards to the normal operation of oil and gas pipelines; at the same time, it will also cause a lot of waste of resources.

[0003] At present, most marine equipment such as ships are made of metal materials. When they are operated in seawater for a long time, various corrosions such as cracks and pits will occur on the surface of the hull due to the influence of seawater temperature, salinity and humidity. This not only reduces the strength of the ship's steel structure and shortens its service life, but also increases the ship's sailing resistance, reduces the speed of the ship, and wastes fuel. What's more serious is that once these corrosion defects are not repaired in a timely and good manner, perforation and cracking will occur, leading to marine accidents and causing immeasurable losses.

[0004] For the various corrosion defects mentioned above, the traditional repair methods are basically to directly fill the defects at the defect location by welding or to cover a layer of metal plate on the surface by welding. Although this method has the advantages of low cost and simple operation, the temperature generated by welding is too high, and the weld formed will have a large internal stress; at the same time, more defects such as pores and tiny cracks will be generated around the weld, and it may even be more susceptible to corrosion under the same environment.

[0005] On April 12, 2019, a Chinese patent application numbered CN109611638A disclosed a new pipeline defect repair method and repair equipment. This invention patent selects materials of the same or higher grade as the pipe body steel, and uses the selected materials and high-strength sealant to tightly wrap the polished pipe body in the same direction to repair the pipe body defects. This method does not require welding operations on the pipe body, reducing the risk of welding operations on running pipelines. However, the sealant used in this method has limited tolerance to the environment and is prone to failure and fall off over time.

[0006] A Chinese patent application numbered CN113983275A filed on January 28, 2022, discloses a method for reinforcing and repairing corrosion defects on the outer surface of an oil and gas pipeline. The invention patent first pre-treats the corrosion defects on the outer surface of the pipeline to remove oil and impurities on the surface, and then uses welding materials to weld layer by layer from the bottom of the pipeline defect to repair the defective position. The depth of the molten pool during welding in this method is 0.2-0.3mm, which greatly avoids safety hazards. The yield strength of the repaired pipeline can reach more than 400MPa and the tensile strength is more than 500MPa. The repair effect is good, but this method only repairs the outer surface of the pipeline, and the technical requirements for operators to obtain good welds are also high.

[0007] A Chinese patent application numbered CN112144053A filed on December 29, 2020, discloses a laser cladding device and method for underwater repair of surface defects on a ship hull. This invention patent obtains defect image information by photographing with a visual positioning mechanism, determines the type and location information of defects on the ship plate, and then uses a three-dimensional moving mechanism to drive the laser cladding head to perform laser repair on the defects. This method greatly improves the repair performance of laser cladding, but the cladding layer produced by this method is prone to pores, which leads to cracks and poor anti-corrosion effects. Summary of the invention

[0008] Purpose of the invention: The technical problem to be solved by the present invention is to provide a metal surface defect remanufacturing method and remanufacturing device based on confined electrodeposition in view of the shortcomings of the prior art, which can quickly repair the surface defects of the metal substrate.

[0009] In order to solve the above technical problems, the present invention discloses a metal surface defect remanufacturing method based on confined electrodeposition, comprising the following steps:

[0010] Step 1: Clean and dry the surface defective positions of the metal substrate.

[0011] Step 2, controlling the movement of the non-metallic patterned nozzle mounted on the three-dimensional moving mechanism, and the non-metallic material extruded by the non-metallic patterned nozzle forms an insulating coating with a certain wall thickness on the portion outside the surface defect contour of the metal substrate.

[0012] Step 3, control the movement of the electrodeposition nozzle installed on the three-dimensional moving mechanism. Press the electrodeposition nozzle against the upper surface of the insulating coating. The deposition liquid flows in from the deposition liquid inlet, fills the reaction chamber and then flows out through the deposition liquid outlet, so as to realize the circulation supply of the deposition liquid. The surface defect to be repaired is connected to the negative electrode of the deposition power supply, and the metal anode inside the electrodeposition nozzle is connected to the positive electrode of the deposition power supply. Electrochemical deposition is performed in the defect area limited by the insulating coating, and the metal ions in the deposition liquid are deposited in the surface defect to form a deposition layer.

[0013] Step 4: determine whether the electrochemical deposition process needs to be terminated based on the voltage between the surface defect and the metal anode. After the electrochemical deposition is completed, the insulating coating is removed and the surface defect is leveled to keep the surface of the deposited layer flush with the original metal substrate surface.

[0014] Furthermore, between step 1 and step 2, the following steps are also included: identifying and scanning the surface defect position to obtain an image containing the surface defect, obtaining the offset information of the surface defect relative to the position of the non-metallic patterning nozzle, and extracting the two-dimensional closed contour graphic information of the surface defect. According to the obtained offset information and the two-dimensional closed contour graphic information of the surface defect, the movement of the non-metallic patterning nozzle mounted on the three-dimensional moving mechanism is controlled.

[0015] Step 2 and step 3 also include the following steps: obtaining an image including the insulating coating, acquiring the outer contour curve information of the insulating coating, and controlling the movement of the electro-deposition nozzle installed on the three-dimensional moving mechanism according to the relative coordinate information between the outer contour curve of the insulating coating and the center position of the electro-deposition nozzle.

[0016] Specifically, the inner contour curve of the insulating coating formed in step 2 is a two-dimensional closed contour curve of the surface defect to be repaired, and the outer contour curve is an outer edge curve of the electrodeposition nozzle.

[0017] Specifically, in step 2, a non-metallic patterning method is used to print an insulating coating on the surface of a metal substrate having surface defects. The surface morphology type of the metal substrate where the surface defects are located is a plane, an inner surface of a mold cavity, a concave arc surface, or a convex arc surface. The non-metallic patterning method is a non-metallic molten deposition forming method or a non-metallic binder jet printing method.

[0018] Furthermore, the metal substrate with surface defects is a single metal substrate or a multi-element alloy substrate, the single metal substrate is selected from a steel substrate, an aluminum substrate, a copper substrate, a titanium substrate, a chromium substrate or a nickel substrate, and the multi-element alloy substrate is selected from a titanium alloy substrate, an aluminum alloy substrate, a copper alloy substrate or a zinc alloy substrate.

[0019] Optionally, in step 3, the deposition liquid is a single metal element ion deposition liquid, a multi-metal element ion deposition liquid, or a mixed metal element ion deposition liquid with a corrosion-resistant metal element added. The mixed metal element ion deposition liquid refers to a mixed deposition liquid containing a substrate element to be repaired and a corrosion-resistant metal element, and the corrosion-resistant metal element is one or a combination of several of gold, silver, platinum, zinc, nickel, chromium and titanium.

[0020] The present invention also provides a metal surface defect remanufacturing device based on confined electrodeposition, which includes a vehicle platform, a trolley walking mechanism, a visual recognition facility, a non-metallic patterning nozzle, an electrodeposition nozzle, a three-dimensional moving mechanism, a liquid storage tank, a deposition power supply, a wire supply wheel and an automatic control system.

[0021] The trolley walking mechanism is connected to the bottom of the vehicle body platform and is used for adsorbing the remanufacturing device on the surface of the metal substrate to be repaired and driving the remanufacturing device to move.

[0022] The three-dimensional moving mechanism is connected to the vehicle body platform. The non-metallic patterning nozzle and the electro-deposition nozzle are independently connected to the three-dimensional moving mechanism.

[0023] The visual recognition facility is connected to the vehicle body platform and is used to identify and scan the surface defect position of the metal substrate, obtain the coordinate information of the surface defect position relative to the non-metallic patterning nozzle, or to extract the two-dimensional contour graphic information of the surface defect.

[0024] The liquid storage tank is connected to the vehicle body platform and is used for providing deposition liquid for electrochemical deposition to the electro-deposition nozzle.

[0025] The deposition power supply is installed on the vehicle body platform to provide working power for the electrochemical deposition reaction.

[0026] The wire supply wheel is mounted on the upper surface of the vehicle body platform and is used for conveying wire materials required for preparing insulating coatings to the non-metallic patterning nozzle.

[0027] The visual recognition facility and the three-dimensional moving mechanism are both electrically connected to the automatic control system. The automatic control system controls the movement of the non-metallic patterned nozzle mounted on the three-dimensional moving mechanism according to the acquired coordinate information of the non-metallic patterned nozzle and the two-dimensional closed contour graphic information of the surface defect. The non-metallic patterned nozzle extrude the non-metallic material to form an insulating coating on the outside of the surface defect contour of the metal substrate. Alternatively, the automatic control system controls the electrodeposition nozzle installed on the three-dimensional moving mechanism to abut against the insulating coating according to the relative coordinate information of the outer contour curve of the insulating coating and the center position of the electrodeposition nozzle, so as to form a relatively closed reaction chamber for electrochemical deposition.

[0028] Specifically, the electro-deposition nozzle includes a nozzle body adapted to the surface defect, a first connection portion installed on the top of the nozzle body, a metal anode, a rubber sealing ring adapted to the shape of the lower surface of the nozzle body, an anode connection nut and a cathode connection nut. The electro-deposition nozzle is connected to the three-dimensional moving mechanism through the first connection portion. A cylindrical cavity with an opening facing downward is provided inside the nozzle body, and a deposition liquid inlet and a deposition liquid outlet connected to the cylindrical cavity are provided on the top of the nozzle body. The rubber sealing ring is connected to the open surface of the nozzle body. The metal anode is installed on the top of the inner wall of the cylindrical cavity, and the metal anode is connected to the anode connection nut. The cathode connection nut is installed on the nozzle body and connected to the metal substrate to be repaired. During electrochemical deposition, the nozzle body is pressed and connected to the repaired metal substrate through the rubber sealing ring to form a relatively closed reaction chamber. The metal anode is connected to the positive electrode of the deposition power supply through the anode connection nut, and the metal substrate to be repaired is connected to the negative electrode of the deposition power supply through the cathode connection nut.

[0029] Specifically, the deposition power supply can provide more than one current mode, and the current mode is direct current, forward pulse current or forward and reverse pulse combination current.

[0030] Specifically, the trolley walking mechanism includes an adsorption mechanism, and the trolley walking mechanism is adsorbed on an inclined surface at any angle through the adsorption mechanism. The adsorption mechanism is a magnetic adsorption track, a magnetic adsorption small wheel or a vacuum suction cup.

[0031] Beneficial effects:

[0032] (1) The present invention uses a non-metallic patterning method to form an insulating coating on the surface of a metal substrate, and the electrochemical deposition is precisely confined to the defective area without causing damage to other intact areas.

[0033] (2) The present invention adopts a non-metallic patterning method to print an insulating coating that is adapted to a two-dimensional closed contour curve on the surface of a metal substrate with surface defects; the surface morphology of the metal substrate where the surface defects are located can be a plane, an inner surface of a cavity, a concave arc surface, a convex arc surface, or any other complex surface.

[0034] (3) During the electrochemical deposition process, the electrochemical deposition nozzle used in the present invention is provided with a deposition liquid inlet and a deposition liquid outlet, which cooperate with the external deposition liquid circulation system to realize the circulating supply of the deposition liquid, so that the ions consumed in the deposition process are continuously replenished. Therefore, compared with the current method without deposition liquid circulation, this method improves the deposition rate and the repair rate; at the same time, the bubbles such as hydrogen generated by the cathode will be continuously taken away during the deposition liquid circulation process, reducing the influence of the bubbles on the deposition process and further improving the repair rate.

[0035] (4) The deposited layer formed by electrodeposition in the present invention will not have defects such as no recast layer, internal stress, pores and cracks, and has good density; at the same time, by adding various corrosion-resistant metal elements to the deposition liquid, it can not only repair the surface defects of the metal substrate, but also further improve the anti-corrosion performance of the defects.

[0036] (5) The remanufacturing device of the present invention can realize the adsorption function on surfaces inclined at any angle, and is suitable for repairing surface defects on inclined surfaces such as hulls. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more clear.

[0038] Figure 1 It is a schematic diagram of the overall structure of a metal surface defect remanufacturing device based on confined electrodeposition according to an embodiment of the present invention;

[0039] Figure 2 for Figure 1 The schematic diagram of the structure of the three-dimensional moving mechanism in the metal surface defect remanufacturing device shown;

[0040] Figure 3 A schematic diagram of the structure of an electrodeposition nozzle according to an embodiment of the present invention;

[0041] Figure 4a A schematic diagram of the steps of identifying and scanning the position of surface defects to obtain an image containing surface defects in a metal surface defect remanufacturing method based on confined electrodeposition provided by the present invention;

[0042] Figure 4b A schematic diagram of step 2 of repairing surface defects on the surface morphology of a planar metal substrate by using a metal surface defect remanufacturing method based on confined electrodeposition provided by the present invention;

[0043] Figure 4c for Figure 4b AA section view;

[0044] Figure 4d A schematic diagram of step three of repairing surface defects on the surface morphology of a planar metal substrate using a metal surface defect remanufacturing method based on confined electrodeposition provided by the present invention;

[0045] Figure 4e A schematic diagram of step 4 of repairing surface defects on the surface morphology of a planar metal substrate using a metal surface defect remanufacturing method based on confined electrodeposition provided by the present invention;

[0046] Figure 5aA schematic diagram of repairing surface defects on the outer wall of a pipeline by using a metal surface defect remanufacturing method based on confined electrodeposition provided by the present invention;

[0047] Figure 5b The present invention is a schematic diagram of repairing surface defects on the inner wall of a pipeline by using a metal surface defect remanufacturing method based on confined electrodeposition provided by the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The accompanying drawings of the present invention are as follows: vehicle platform 1, trolley walking mechanism 2, visual recognition facility 3, non-metallic patterned nozzle 4, electrodeposition nozzle 5, nozzle body 51, cylindrical cavity 511, deposition liquid inlet 512, deposition liquid outlet 513, first connecting part 52, metal anode 53, rubber sealing ring 54, anode power nut 55, cathode power nut 56, three-dimensional moving mechanism 6, first moving assembly 61, first drive motor 611, first screw rod 612, first guide rail 613, first sliding block 614, second sliding block 615, first fixed bracket 616, first moving assembly 62, second drive motor 621, second screw rod 622, second guide rail 623, first sliding block 624, second moving assembly 63, third drive motor 63 1. a third screw rod 632, a third guide rail 633, a second sliding block 634, a first moving assembly 64, a fourth drive motor 641, a fourth screw rod 642, a fourth guide rail 643, a first sliding block 644, a second moving assembly 65, a fifth drive motor 651, a fifth screw rod 652, a fifth guide rail 653, a second sliding block 654, a second moving assembly 66, a sixth drive motor 661, a sixth screw rod 662, a sixth guide rail 663, a third sliding block 664, a fourth sliding block 665, a second fixed bracket 666, a liquid storage tank 7, a deposition power supply 8, a wire supply wheel 9, a metal substrate 10, a surface defect 101, a two-dimensional closed contour curve 1011, an insulating coating 102, an inner contour curve 1021, an outer contour curve 1022, and a deposition layer 103.

[0050] Figure 1 FIG. 1 is a schematic diagram of the overall structure of a metal surface defect remanufacturing device based on confined electrodeposition according to an embodiment of the present invention. Figure 1As shown, the remanufacturing device includes a vehicle platform 1, a trolley travel mechanism 2, a visual recognition facility 3, an automatic control system, a non-metallic patterned nozzle 4, an electroplating nozzle 5, a three-dimensional moving mechanism 6, a liquid storage tank 7, a deposition power supply 8 and a wire supply wheel 9. The trolley travel mechanism 2 is connected to the bottom of the vehicle platform 1, and is used to adsorb the remanufacturing device on the surface of the metal substrate 10 to be repaired and can drive the remanufacturing device to move. The three-dimensional moving structure is connected to the vehicle platform 1. The non-metallic patterned nozzle 4 and the electroplating nozzle 5 are independently connected to the three-dimensional moving mechanism 6. The visual recognition facility 3 is connected to the vehicle platform 1, and is used to identify and scan the position of the surface defect 101, obtain the coordinate information of the position of the surface defect 101 relative to the non-metallic patterned nozzle 4, and extract the two-dimensional contour graphic information at the surface defect 101 to determine the precise position and size of the required restricted area. The three-dimensional moving mechanism 6 drives the non-metallic patterned nozzle 4 or the electroplating nozzle 5 to move three-dimensionally. The liquid storage tank 7 is connected to the vehicle platform 1, and is used to provide a deposition liquid for electrochemical deposition. The deposition power supply 8 is installed on the vehicle platform 1 to provide working power for the electrochemical deposition reaction. The wire supply wheel 9 is installed on the upper surface of the vehicle platform 1 to deliver the wire material required for preparing the insulating coating 102 to the non-metallic patterning nozzle 4.

[0051] The visual recognition facility 3 and the three-dimensional moving mechanism 6 are both electrically connected to the automatic control system. The automatic control system obtains the coordinate information of the non-metallic patterning nozzle 4 and the two-dimensional closed contour graphic information of the surface defect 101, controls the movement of the non-metallic patterning nozzle 4 mounted on the three-dimensional moving mechanism 6, and the non-metallic patterning nozzle 4 extrude the non-metallic material to form an insulating coating 102 outside the contour of the surface defect 101 of the metal substrate 10; or, according to the relative coordinate information of the outer contour curve 1022 of the insulating coating 102 and the center position of the electro-deposition nozzle 5, controls the movement of the electro-deposition nozzle 5 installed on the three-dimensional moving mechanism 6, so that the electro-deposition nozzle 5 abuts against the insulating coating 102 to form a relatively closed reaction chamber for electrochemical deposition. Specifically, a rectangular opening for the three-dimensional movement of the non-metallic patterning nozzle 4 or the electro-deposition nozzle 5 is opened in the middle of the vehicle body platform 1.

[0052] For details, see Figure 1The three-dimensional moving mechanism 6 includes a first moving component 61 in the X direction, a second moving component 66 in the X direction arranged in parallel with the first moving component 61 in the X direction, a first moving component 62 in the Y direction, a second moving component 63 in the Y direction, a first moving component 64 in the Z direction, and a second moving component 65 in the Z direction. The first moving component 61 in the X direction and the second moving component 66 in the X direction are both connected to the vehicle platform 1. The first moving component 62 in the Y direction is arranged in parallel with the second moving component 63 in the Y direction, one end of the first moving component 62 in the Y direction is connected to the first moving component 61 in the X direction, and the other end is slidably connected to the second moving component 66 in the X direction, and the first moving component 61 in the X direction can drive the first moving component 62 in the Y direction to move along the X direction. The second moving component 63 in the Y direction has one end connected to the second moving component 66 in the X direction, and the other end is slidably connected to the first moving component 61 in the X direction, and the second moving component 66 in the X direction can drive the second moving component 63 in the Y direction to move along the X direction. The first moving assembly 64 in the Z direction is connected to the first moving assembly 62 in the Y direction, and the first moving assembly 62 in the Y direction drives the first moving assembly 64 in the Z direction to move along the Y direction. The second moving assembly 65 in the Z direction is connected to the second moving assembly 63 in the Y direction, and the second moving assembly 63 in the Y direction drives the second moving assembly 65 in the Z direction to move along the Y direction. The first moving assembly 64 in the Z direction is used to drive the non-metallic patterning nozzle 4 to move linearly along the Z direction. The second moving assembly 65 in the Z direction is used to drive the electrodeposition nozzle 5 to move linearly along the Z direction.

[0053] For details, see Figure 2 The first moving assembly 61 in the X direction includes a first driving motor 611, a first screw rod 612 connected to the output shaft of the first driving motor 611, a first guide rail 613 arranged in parallel with the first screw rod 612, a first sliding block 614 in the X direction, a second sliding block 615 in the X direction arranged at intervals from the first sliding block 614 in the X direction, and a first fixed bracket 616. The first fixed bracket 616 connects the first guide rail 613 and the vehicle body platform 1. The first sliding block 614 in the X direction and the second sliding block 615 in the X direction are both slidably connected to the first guide rail 613. The second sliding block 615 in the X direction is clearance-matched with the first screw rod 612. In this embodiment, the axial direction of the first screw rod 612 is the X direction. When in use, under the drive of the first driving motor 611, the first sliding block 614 in the X direction can reciprocate in a straight line along the first screw rod 612; the second sliding block 615 in the X direction does not move with the movement of the first screw rod 612.

[0054] For details, see Figure 2The second moving assembly 66 in the X direction includes a sixth driving motor 661, a sixth screw rod 662 connected to the output shaft of the sixth driving motor 661, a sixth guide rail 663 arranged in parallel with the sixth screw rod 662, a third sliding block 664 in the X direction, a fourth sliding block 665 in the X direction arranged at intervals from the third sliding block 664 in the X direction, and a second fixed bracket 666. The second fixed bracket 666 connects the sixth guide rail 663 with the vehicle platform 1. The third sliding block 664 in the X direction and the fourth sliding block 665 in the X direction are both slidably connected to the sixth guide rail 663. The fourth sliding block 665 in the X direction is clearance-matched with the sixth screw rod 662. In this embodiment, the axial direction of the sixth screw rod 662 is the X direction. When in use, driven by the sixth driving motor 661, the third sliding block 664 in the X direction can reciprocate in a straight line along the sixth screw rod 662; the fourth sliding block 665 in the X direction does not move with the movement of the sixth screw rod 662.

[0055] For details, see Figure 2 , the first moving assembly 62 in the Y direction includes a second drive motor 621, a second screw rod 622 connected to the output shaft of the second drive motor 621, a second guide rail 623 arranged in parallel with the second screw rod 622, and a first sliding block 624 in the Y direction slidably connected to the second guide rail 623, the second screw rod 622 and the second guide rail 623 are connected to the first sliding block 614 in the X direction at one end, and connected to the fourth sliding block 665 in the X direction at the other end. In the present embodiment, the axial direction of the second screw rod 622 is the Y direction. When in use, under the drive of the second drive motor 621, the first sliding block 624 in the Y direction can reciprocate along the second screw rod 622 in a straight line.

[0056] For details, see Figure 2 , the second moving assembly 63 in the Y direction comprises a third driving motor 631, a third screw rod 632 connected to the output shaft of the third driving motor 631, a third guide rail 633 arranged in parallel with the third screw rod 632, and a second sliding block 634 in the Y direction slidably connected to the third guide rail 633, one end of the third screw rod 632 and the third guide rail 633 is connected to the second sliding block 615 in the X direction, and the other end is connected to the third sliding block 664 in the X direction. In the present embodiment, the axial direction of the third screw rod 632 is the Y direction. When in use, under the drive of the third driving motor 631, the second sliding block 634 in the Y direction can reciprocate along the third screw rod 632 straight line.

[0057] For details, see Figure 2, the first moving assembly 64 in the Z direction includes a fourth drive motor 641, a fourth screw rod 642 connected to the output shaft of the fourth drive motor 641, a fourth guide rail 643 arranged in parallel with the fourth screw rod 642, and a first sliding block 644 in the Z direction slidably connected to the fourth guide rail 643, the top ends of the fourth screw rod 642 and the fourth guide rail 643 are connected to the first sliding block 624 in the Y direction, the first sliding block 644 in the Z direction is in an inverted L shape, and the bottom end of the first sliding block 644 in the Z direction is connected to the non-metallic patterned nozzle 4. In this embodiment, the axial direction of the fourth screw rod 642 is the Z direction. When in use, under the drive of the fourth drive motor 641, the first sliding block 644 in the Z direction can reciprocate in a straight line along the fourth screw rod 642, thereby driving the non-metallic patterned nozzle 4 to move in a straight line along the Z direction.

[0058] For details, see Figure 2 The second moving assembly 65 in the Z direction includes a fifth driving motor 651, a fifth lead screw 652 connected to the output shaft of the fifth driving motor 651, a fifth guide rail 653 arranged in parallel with the fifth lead screw 652, and a second sliding block 654 in the Z direction slidably connected to the fifth guide rail 653. The top ends of the fifth lead screw 652 and the fifth guide rail 653 are both connected to the second sliding block 634 in the Y direction. The second sliding block 654 in the Z direction is in an inverted L shape, and the bottom end of the second sliding block 654 in the Z direction is connected to the electro-deposition nozzle 5. In this embodiment, the axial direction of the fifth lead screw 652 is the Z direction. When in use, under the drive of the fifth driving motor 651, the second sliding block 654 in the Z direction can reciprocate linearly along the fifth lead screw 652, thereby driving the electro-deposition nozzle 5 to move linearly along the Z direction.

[0059] Figure 3 FIG. 5 is a schematic diagram of the structure of an electro-deposition nozzle 5 according to an embodiment of the present invention. Figure 3As shown, the electro-deposition nozzle 5 includes a nozzle body 51 and a first connecting portion 52 installed on the top of the nozzle body 51. When in use, the electro-deposition nozzle 5 is connected to the slider of the second moving assembly 65 in the Z direction through the first connecting portion 52, so as to realize linear movement along the Z direction driven by the second moving assembly 65 in the Z direction. A cylindrical cavity 511 with an opening downward is provided inside the nozzle body 51, and a deposition liquid inlet 512 and a deposition liquid outlet 513 connected to the cylindrical cavity 511 are provided on the top of the nozzle body 51. Preferably, the deposition liquid inlet 512 and the deposition liquid outlet 513 are symmetrically arranged along the axis of the first connecting portion 52. The nozzle body 51 also includes a metal anode 53, a rubber sealing ring 54, an anode electrical nut 55 and a cathode electrical nut 56. The shape of the rubber sealing ring 54 is adapted to the shape of the lower surface of the nozzle body 51, and the rubber sealing ring 54 is connected to the lower surface of the nozzle body 51. The metal anode 53 is installed on the top of the inner wall of the cylindrical cavity 511, and the metal anode 53 is connected to the anode connection nut 55. The cathode connection nut 56 is installed on the outer side of the nozzle body 51, and the bottom end of the cathode connection nut 56 is connected to the metal substrate 10 to be repaired. During electrochemical deposition, the nozzle body 51 is pressed and connected to the repaired metal substrate 10 through the rubber sealing ring 54 to form a relatively closed reaction chamber; the metal anode 53 is connected to the positive electrode of the deposition power supply 8 through the anode connection nut 55; the metal substrate 10 to be repaired is connected to the cathode of the deposition power supply 8 through the cathode connection nut 56.

[0060] Preferably, the nozzle body 51 is adapted to the surface defect 101 , that is, the size of the nozzle body 51 can be changed within a certain range according to the size of the surface defect 101 of the metal substrate 10 to be repaired.

[0061] Furthermore, the trolley walking mechanism 2 includes an adsorption mechanism, and the trolley walking mechanism 2 is adsorbed on an inclined surface of any angle through the adsorption mechanism. The adsorption mechanism is a magnetic adsorption track, a magnetic adsorption small wheel or a vacuum suction cup.

[0062] The present invention also provides a metal surface defect remanufacturing method based on confined electrodeposition, and the above-mentioned metal surface defect remanufacturing device based on confined electrodeposition is used during implementation. Figures 4a to 4e A schematic diagram of a process for remanufacturing metal surface defects based on confined electrodeposition according to an embodiment of the present invention. Figure 4a As shown, in this embodiment, the surface of the metal substrate 10 to be repaired is a plane. In this embodiment, the metal surface defect remanufacturing method includes the following specific steps:

[0063] Step 1. The position of the surface defect 101 of the metal substrate 10 is identified and located by the visual recognition device 3, and the surface defect 101 is cleaned and dried to remove oxides and other impurities on the surface of the surface defect 101, so as to make the surface defect 101 neat;

[0064] Step 2. Figure 4b and Figure 4c As shown, the automatic control system controls the movement of the non-metallic patterning nozzle 4 mounted on the three-dimensional moving mechanism 6, and the non-metallic material extruded by the non-metallic patterning nozzle 4 forms an insulating coating 102 with a certain wall thickness on the portion outside the contour of the surface defect (101) of the metal substrate. The upper surface of the insulating coating 102 is a plane. As shown in the cross-sectional view AA, the inner contour curve 1021 of the insulating coating 102 is the two-dimensional closed contour curve 1011 of the surface defect 101 to be repaired, and the outer contour curve 1022 of the insulating coating 102 is the outer edge curve of the electrodeposition nozzle 5;

[0065] Step 3. Figure 4d As shown, the automatic control system controls the movement of the electro-deposition nozzle 5 mounted on the three-dimensional moving mechanism 6; the electro-deposition nozzle 5 is pressed against the upper surface of the insulating coating 102 along the normal direction of the upper surface of the insulating coating 102. A rubber sealing ring 54 is provided between the nozzle body 51 and the surface of the insulating coating 102, and the rubber sealing ring 54 can be compressed by force, so that the nozzle body 51 and the rubber sealing ring 54, and the rubber sealing ring 54 and the insulating coating 102 are closely fitted, thereby ensuring the sealing of the reaction chamber. The deposition liquid flows in from the deposition liquid inlet 512, and after completely filling the reaction chamber, it flows out through the deposition liquid outlet 513, and cooperates with the external deposition liquid circulation system to realize the circulation supply of the deposition liquid; the surface defect 101 to be repaired is connected to the cathode of the deposition power supply 8 as a cathode, and the metal anode 53 inside the electro-deposition nozzle 5 is connected to the anode of the deposition power supply 8 as an anode; electrochemical deposition is performed in the defect area limited by the insulating coating 102, so that the corresponding metal ions are continuously deposited through the reduction reaction and form a deposition layer 103 in the surface defect 101, thereby completing the filling and repair of the surface defect 101;

[0066] Step 4. Figure 4e As shown, after the electrochemical deposition process is completed, the insulating coating 102 is removed and the deposited layer 103 is leveled so that the surface of the deposited layer 103 is flush with the surface of the original metal substrate 10. The leveling process can be completed by mechanical processing (such as grinding).

[0067] Specifically, the following steps are included between step 1 and step 2: Figure 4a, identify and scan the position of the surface defect 101 to obtain an image containing the surface defect 101, obtain the offset information of the surface defect 101 relative to the position of the non-metallic patterned nozzle 4, and extract the two-dimensional closed contour graphic information of the surface defect 101 to determine the precise position and size of the required restricted area; according to the obtained offset information and the two-dimensional closed contour graphic information of the surface defect 101, control the movement of the non-metallic patterned nozzle 4 mounted on the three-dimensional moving mechanism 6.

[0068] Specifically, step 2 and step 3 also include the following steps: obtaining an image including the insulating coating 102, acquiring information of an outer contour curve 1022 of the insulating coating 102; and controlling the movement of the electroplating nozzle 5 installed on the three-dimensional moving mechanism 6 according to the relative coordinate information between the outer contour curve 1022 of the insulating coating 102 and the center position of the electroplating nozzle 5.

[0069] Specifically, in step 3, whether the electrochemical deposition process is completed is determined based on the voltage between the cathode and the anode, that is, during the electrochemical deposition process, the filling status of the deposit at the surface defect 101 is determined based on the voltage between the two electrodes; when the surface defect 101 is completely filled, the electrochemical deposition process is completed.

[0070] Furthermore, in step 2, a non-metallic patterning method is used to print an insulating coating 102 on the surface of a metal substrate having a surface defect 101; the surface morphology of the metal substrate where the surface defect 101 is located can be a plane, an inner surface of a cavity, a concave arc surface, a convex arc surface or any other complex surface. Figure 5a and Figure 5b The schematic diagrams are respectively showing the device repairing the surface defects 101 on the outer wall and the inner wall of the pipeline. The arrows in the figure represent the flow direction of the deposition liquid.

[0071] Furthermore, the non-metallic patterning method is a non-metallic molten deposition forming method or a non-metallic binder jet printing method.

[0072] Furthermore, in step 2, the diameter of the non-metallic patterned nozzle 4 is 0.2-0.6 mm, and the printing speed is 200-300 mm / s.

[0073] Furthermore, the metal surface defect remanufacturing method is applicable to repairing surface defects 101 of a single metal substrate and a multi-element alloy substrate, wherein the single metal substrate is selected from but not limited to a steel substrate, an aluminum substrate, a copper substrate, a titanium substrate, a chromium substrate or a nickel substrate, and the multi-element alloy substrate is selected from but not limited to a titanium alloy substrate, an aluminum alloy substrate, a copper alloy substrate or a zinc alloy substrate.

[0074] Furthermore, in step 3, the deposition liquid is a single metal element ion deposition liquid, a multi-metal element ion deposition liquid or a mixed metal element ion deposition liquid with a corrosion-resistant metal element added; the mixed metal element ion deposition liquid refers to a mixed deposition liquid containing a substrate element to be repaired and a corrosion-resistant metal element, and the corrosion-resistant metal element is one or a combination of several of gold, silver, platinum, zinc, nickel, chromium and titanium.

[0075] Furthermore, in step 3, the deposition power supply 8 can provide more than one current mode, and the current mode is direct current, forward pulse current or forward and reverse pulse combination current.

[0076] The present invention provides a method and method for remanufacturing metal surface defects based on confined electrodeposition. There are many methods and ways to implement the technical solution. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. A method for remanufacturing metal surface defects based on confined electrodeposition, characterized in that: The steps include: Step 1, performing surface cleaning and drying treatment on the surface defect (101) of the metal substrate (10); Step 2, controlling the movement of a non-metallic patterning nozzle (4) mounted on a three-dimensional moving mechanism (6), so that the non-metallic material extruded by the non-metallic patterning nozzle (4) forms an insulating coating (102) with a certain wall thickness on a portion of the metal substrate (10) outside the contour of the surface defect (101); Step 3, controlling the movement of an electrodeposition nozzle (5) mounted on the three-dimensional moving mechanism (6); pressing the electrodeposition nozzle (5) against the upper surface of the insulating coating (102); The deposition liquid flows in from the deposition liquid inlet (512), fills the reaction chamber, and then flows out from the deposition liquid outlet (513), thereby realizing a deposition liquid circulation supply; the surface defect (101) to be repaired is connected to the negative electrode of the deposition power source (8), and the metal anode (53) inside the electro-deposition nozzle (5) is connected to the positive electrode of the deposition power source (8); electrochemical deposition is performed in the defect area restricted by the insulating coating (102), and the metal ions in the deposition liquid are deposited in the surface defect (101) to form a deposition layer (103); Step 4, judging whether the electrochemical deposition process needs to be terminated according to the voltage between the surface defect (101) and the metal anode (53); after the electrochemical deposition is completed, removing the insulating coating (102), and performing a leveling treatment on the surface defect (101) to make the surface of the deposited layer (103) flush with the surface of the original metal substrate (10); The following steps are also included between step 1 and step 2: identifying and scanning the position of the surface defect (101) to obtain an image containing the surface defect (101), obtaining offset information of the surface defect (101) relative to the position of the non-metallic patterning nozzle (4), and extracting two-dimensional closed contour graphic information of the surface defect (101); and controlling the movement of the non-metallic patterning nozzle (4) mounted on the three-dimensional moving mechanism (6) according to the obtained offset information and the two-dimensional closed contour graphic information of the surface defect (101); Steps 2 and 3 also include the following steps: obtaining an image containing the insulating coating (102) and acquiring information about an outer contour curve (1022) of the insulating coating (102); and controlling the movement of the electroplating nozzle (5) mounted on the three-dimensional moving mechanism (6) based on the relative coordinate information between the outer contour curve (1022) of the insulating coating (102) and the center position of the electroplating nozzle (5).

2. The method for remanufacturing metal surface defects based on confined electrodeposition according to claim 1, characterized in that: The inner contour curve (1021) of the insulating coating (102) formed in step 2 is a two-dimensional closed contour curve (1011) of the surface defect (101) to be repaired, and the outer contour curve (1022) is an outer edge curve of the electrodeposition nozzle (5).

3. The method for remanufacturing metal surface defects based on confined electrodeposition according to claim 1, characterized in that: In step 2, a non-metallic patterning method is used to print an insulating coating (102) on the surface of a metal substrate (10) having a surface defect (101); the surface morphology of the metal substrate where the surface defect (101) is located is a plane, an inner surface of a mold cavity, a concave arc surface, or a convex arc surface; and the non-metallic patterning method is a non-metallic molten deposition molding method or a non-metallic binder jet printing method.

4. The method for remanufacturing metal surface defects based on confined electrodeposition according to claim 3, characterized in that: The metal substrate (10) having surface defects (101) is a single metal substrate or a multi-element alloy substrate, wherein the single metal substrate is selected from a steel substrate, an aluminum substrate, a copper substrate, a titanium substrate, a chromium substrate or a nickel substrate, and the multi-element alloy substrate is selected from a titanium alloy substrate, an aluminum alloy substrate, a copper alloy substrate or a zinc alloy substrate.

5. The metal surface defect remanufacturing method based on confined electrodeposition according to claim 1, characterized in that: In step 3, the deposition liquid is a single metal element ion deposition liquid, a multi-metal element ion deposition liquid or a mixed metal element ion deposition liquid with a corrosion-resistant metal element added; the mixed metal element ion deposition liquid refers to a mixed deposition liquid containing a substrate element to be repaired and a corrosion-resistant metal element, and the corrosion-resistant metal element is one or a combination of several of gold, silver, platinum, zinc, nickel, chromium and titanium.

6. A metal surface defect remanufacturing device based on confined electrodeposition, characterized in that: It includes a vehicle platform (1), a trolley travel mechanism (2), a visual recognition facility (3), a non-metallic patterning nozzle (4), an electrodeposition nozzle (5), a three-dimensional moving mechanism (6), a liquid storage tank (7), a deposition power source (8), a wire supply wheel (9), and an automatic control system; The trolley walking mechanism (2) is connected to the bottom of the vehicle body platform (1) and is used to adsorb the remanufacturing device onto the surface of the metal substrate (10) to be repaired and drive the remanufacturing device to move; The three-dimensional moving mechanism (6) is connected to the vehicle body platform (1); the non-metallic patterning nozzle (4) and the electrodeposition nozzle (5) are independently connected to the three-dimensional moving mechanism (6); The visual recognition facility (3) is connected to the vehicle body platform (1) and is used to identify and scan the position of the surface defect (101) of the metal substrate (10) to obtain coordinate information of the position of the surface defect (101) relative to the non-metallic patterning nozzle (4), or to extract two-dimensional contour graphic information at the surface defect (101); The liquid storage tank (7) is connected to the vehicle body platform (1) and is used to provide deposition liquid for electrochemical deposition to the electrodeposition nozzle (5); A deposition power source (8) is installed on the vehicle body platform (1) and is used to provide working power for the electrochemical deposition reaction; The wire supply wheel (9) is mounted on the upper surface of the vehicle body platform (1) and is used to supply the wire material required for preparing the insulating coating (102) to the non-metallic patterning nozzle (4); The visual recognition facility (3) and the three-dimensional moving mechanism (6) are both electrically connected to an automatic control system. The automatic control system controls the movement of the non-metallic patterned nozzle (4) mounted on the three-dimensional moving mechanism (6) based on the acquired coordinate information of the non-metallic patterned nozzle (4) and the two-dimensional closed contour graphic information of the surface defect (101), so that the non-metallic patterned nozzle (4) extrude the non-metallic material to form an insulating coating (102) on the outside of the contour of the surface defect (101) of the metal substrate (10); or, the automatic control system controls the electrodeposition nozzle (5) mounted on the three-dimensional moving mechanism (6) to abut against the insulating coating (102) based on the relative coordinate information of the outer contour curve (1022) of the insulating coating (102) and the center position of the electrodeposition nozzle (5), so as to form a relatively closed reaction chamber for electrochemical deposition.

7. The metal surface defect remanufacturing device based on confined electrodeposition according to claim 6, characterized in that: The electrodeposition nozzle (5) comprises a nozzle body (51) adapted to the surface defect (101), a first connection portion (52) mounted on the top of the nozzle body (51), a metal anode (53), a rubber sealing ring (54) adapted to the shape of the lower surface of the nozzle body (51), an anode connection nut (55) and a cathode connection nut (56); the electrodeposition nozzle (5) is connected to the three-dimensional moving mechanism (6) via the first connection portion (52); a cylindrical cavity (511) opening downward is provided inside the nozzle body (51), and a deposition liquid inlet (512) and a deposition liquid outlet (513) communicating with the cylindrical cavity (511) are provided on the top of the nozzle body (51); the rubber sealing ring (54) is connected to the bottom of the nozzle body (51); (54) is connected to the open surface of the nozzle body (51); the metal anode (53) is installed on the top of the inner wall of the cylindrical cavity (511), and the metal anode (53) is connected to the anode connecting nut (55); the cathode connecting nut (56) is installed on the nozzle body (51) and is connected to the metal substrate (10) to be repaired; during electrochemical deposition, the nozzle body (51) is pressed and connected to the repaired metal substrate (10) through the rubber sealing ring (54) to form a relatively closed reaction chamber; the metal anode (53) is connected to the positive electrode of the deposition power supply (8) through the anode connecting nut (55), and the metal substrate (10) to be repaired is connected to the negative electrode of the deposition power supply (8) through the cathode connecting nut (56).

8. A metal surface defect remanufacturing device based on confined electrodeposition according to claim 6 or 7, characterized in that: The deposition power supply (8) provides more than one current mode, wherein the current mode is direct current, forward pulse current or forward and reverse pulse combination current.

9. A metal surface defect remanufacturing device based on confined electrodeposition according to claim 6 or 7, characterized in that: The trolley walking mechanism (2) comprises an adsorption mechanism, and the trolley walking mechanism (2) is adsorbed on an inclined surface at any angle through the adsorption mechanism, and the adsorption mechanism is a magnetic adsorption track, a magnetic adsorption small wheel or a vacuum suction cup.

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