Method and apparatus for repairing a workpiece

Abstract

To repair a workpiece (WS), a requirement specification (REQ) regarding the requirements the workpiece (WS) must meet and a numerical simulation model (SIM) for simulating the physical properties of the workpiece (WS) are read in. Furthermore, a sensor (S) is used to detect the current shape of the workpiece (WS). If it is determined that the current shape of the workpiece (WS) deviates from the desired shape, the corresponding physical properties of the workpiece (WS) in its current shape and in a shape repaired using a 3D printer (3DPR) are simulated based on the simulation model (SIM). Furthermore, the simulated physical properties are checked against the requirement specification (REQ) to verify whether they meet the requirements. Then, based on the check results, either the workpiece (WS) is retained in its current shape and repaired using a 3D printer (3DPR), or the workpiece (WS) is discarded.

Description

Background Technology

[0001] When manufacturing products in production equipment, many different processing steps are often performed on the corresponding workpiece, such as drilling, shaping, grinding, or milling, until the workpiece reaches a predetermined shape. For this purpose, the workpiece generally passes through various tool stations of the production equipment so that it can undergo quality inspection at the end or after specific processing steps, such as by visual inspection or by automated inspection and measurement.

[0002] If the workpiece exceeds tolerances during quality inspection, experts have, in many cases, determined whether repair is necessary. For repair purposes, the workpiece is typically then transferred to a separate repair process for re-inspection after repair and, if necessary, reintroduced into production. However, this approach is often associated with high labor costs. Summary of the Invention

[0003] The objective of this invention is to provide a method and apparatus for repairing workpieces, which can be flexibly integrated into the automation process of production.

[0004] The task is solved by the method according to the invention, by the apparatus according to the invention, by the computer program product according to the invention, and by the computer-readable storage medium according to the invention.

[0005] To repair a workpiece, the requirements specification for the workpiece and a numerical simulation model for simulating its physical properties are read in. In this case, the physical properties simulated include, in particular, the workpiece's mechanical, electrical, static or dynamic properties, elasticity, stress, mechanical or electrical load-bearing capacity, and / or natural frequency. Furthermore, sensors are used to detect the workpiece's current shape. If the current shape deviates from the desired shape, the corresponding physical properties of the workpiece in its current shape and in a shape repaired using a 3D printer are simulated based on the simulation model. The simulated physical properties are then checked against the requirements specification to ensure they meet the specifications. Based on the results, the workpiece is either retained in its current shape and repaired using a 3D printer, or it is discarded.

[0006] To perform the method according to the invention, an apparatus for repairing workpieces, a computer program product, and a computer-readable, preferably non-volatile, storage medium are provided.

[0007] For example, the method according to the invention and the apparatus according to the invention can be executed or implemented by means of one or more computers, processors, application-specific integrated circuits (ASICs), digital signal processors (DSPs), and / or so-called "field-programmable gate arrays" (FPGAs).

[0008] With this invention, quality inspection, assessment of workpiece repairability, and, when necessary, automatic repair determination can be functionally combined and integrated into existing automated production processes in a unified manner. This integration often requires little or no modification to existing production equipment. Furthermore, when evaluating the quality or repairability of a workpiece, not only its geometric properties can be examined, but also the impact of these geometric properties on the workpiece's physical characteristics.

[0009] Advantageous embodiments and extensions of the invention are described below.

[0010] According to an advantageous embodiment of the invention, when repairing a workpiece using a 3D printer, the workpiece can also be subtractively processed to transform it into the repaired shape. In this case, subtractive processing can specifically include cutting, milling, drilling, grinding, slicing, and / or turning. For example, subtractive processing can remove portions of the workpiece that protrude beyond the desired shape or protruding 3D printing material. Furthermore, non-protruding portions of the workpiece can also be subtractively removed to enable subsequent additive coating or to stabilize the subsequent additive coating. In this case, the order of additive repair and subtractive processing need not be predetermined, and in particular, the order can be determined based on simulation results. Verifying whether the simulated physical properties meet the requirements can be performed, in particular, after the corresponding additive and / or subtractive processing steps.

[0011] According to another advantageous embodiment of the invention, a difference body between a desired shape and a current shape can be determined. Based on the difference body, a mesh model of the desired shape can be adapted to the current shape. Then, based on the adapted mesh model, the physical properties of a workpiece in the current shape can be simulated. This difference body between a first geometry and a second geometry can be described in detail, specifically a first spatial region, a second spatial region, and a third spatial region, in which the two geometries overlap, the second spatial region is located within the first geometry but outside the second geometry, and the third spatial region is located outside the first geometry but within the second geometry. The difference body can preferably be represented by data in STL format (STL: Stereolithography) or CAD format (CAD: Computer-Aided Design).

[0012] In particular, through deformation, a mesh model of a desired shape can be transformed into a mesh model of the current shape, and / or can be transformed into a mesh model of a repaired shape. This deformation can be performed through geometric interpolation of the mesh points and / or through geometric distortion of the mesh model.

[0013] According to another advantageous embodiment of the invention, spatial regions to be filled with 3D printing material can be determined within a mesh model of the repaired shape. The physical properties of the 3D printing material can be assigned to the determined spatial regions in a location-specific manner. When simulating the physical properties of the workpiece with the repaired shape, the physical properties of the 3D printing material can then be considered in a location-specific manner. These physical properties may, for example, relate to its elasticity, its strength, its electrical or thermal conductivity, and / or its specific gravity. In this way, it can be considered that the workpiece repaired with the 3D printing material behaves or reacts differently from a workpiece made from the original material.

[0014] According to an advantageous extension of the invention, a digital twin of a workpiece can be generated using a simulation model. The digital twin can be adapted to the currently determined shape of the workpiece, to an additively repaired or subtractively processed shape, and / or to the physical properties of the 3D printing material in a location-specific manner. Preferably, the adaptation of the digital twin is performed continuously during additive repair and / or subtractive processing of the workpiece. With the aid of the digital twin, the state of the workpiece and, in particular, its non-measurable or unmeasurable properties can preferably be determined in real time and taken into account during workpiece inspection and / or repair.

[0015] Furthermore, to transform the workpiece into a repaired shape, the sequence of additive repair and subtractive machining steps, toolpaths, and / or tools (Werkzeug) can be determined based on the current shape, the repaired shape, and / or simulation results. In this way, in particular, a repair strategy can be generated for the workpiece, which is optimized in terms of the requirements imposed on the workpiece.

[0016] In addition, based on the current shape, the repaired shape, and / or simulation results, the subsequent processing steps in the production chain for the workpiece can be modified. Thus, for example, in a workpiece undergoing additive repair, the subsequent coating process can be modified to compensate for the different surface roughness of the 3D printed material relative to the original material. Attached Figure Description

[0017] The embodiments of the present invention will then be described in more detail with reference to the accompanying drawings. Here, schematic diagrams are provided respectively:

[0018] Figure 1 This illustrates a maintenance unit according to the invention, at different maintenance stages, which is integrated into the production equipment.

[0019] Figure 2 A block diagram of the repair unit is shown.

[0020] The same or corresponding entities are indicated by using the same or corresponding reference numerals in these figures, and these entities are preferably implemented or realized as described in conjunction with the relevant figures. Detailed Implementation

[0021] As an apparatus for repairing workpiece WS according to the present invention, Figure 1 The diagram illustrates a maintenance unit RE integrated into the production equipment FA and its production process. In addition to the maintenance unit RE, the production equipment FA also has multiple machine tools for processing workpieces.

[0022] In this embodiment, for clarity, Figure 1 Only a first machine tool WM1 and a second machine tool WM2 are explicitly shown. The first machine tool WM1 transfers the workpiece WS to the repair unit RE, and the second machine tool WM2 receives the workpiece WS from the repair unit RE. In this case, the second machine tool WM2 is optional. Without the second machine tool WM2, the workpiece WS can also be output as a finished workpiece directly after passing through the repair unit RE. In this case, the repair unit RE can be used for automatic quality inspection at the end of the production process, and can be used for automatic repair or manufacturing of the workpiece WS if necessary.

[0023] exist Figure 1The diagram schematically illustrates the different stages P1, P2, and P3 of the maintenance of workpiece WS via maintenance unit RE.

[0024] In the first stage P1, the current shape of the workpiece WS is detected using a sensing system S. The sensing system S includes one or more (preferably non-contact) sensors. In this embodiment, the sensing system S particularly includes a scanner that detects the current shape of the workpiece WS using laser, structured light projection, and / or one or more cameras.

[0025] Next, the detected current shape of the workpiece WS is compared with the desired shape of the workpiece WS, which should exist after machining by the machine tool WM1. In this case, the desired shape can be detailed in particular using a pre-given CAD model of the workpiece WS.

[0026] If the deviation between the current shape and the desired shape of the workpiece WS is identified in such a comparison, the maintenance unit RE simulates how the workpiece might physically behave in its current shape using a numerical simulation model of the workpiece WS. Specifically, in this case, the mechanical load-bearing capacity, dynamic characteristics, elasticity, natural frequency, cooling function, and / or thermal characteristics of the workpiece WS can be simulated. This is used to examine whether the simulated physical characteristics meet the pre-defined technical requirements imposed on the workpiece WS, and / or to what extent they meet these requirements. The latter may include requirements for the spatial structure, dimensions, load-bearing capacity, elasticity, durability, dynamic characteristics, natural frequency, physical, chemical, thermal, or electrical properties, and / or functional requirements of the workpiece WS, or may include other boundary conditions or constraints required for the workpiece. In particular, these requirements may involve compliance with tolerance ranges for the pre-defined physical properties of the workpiece WS. Furthermore, the requirements of the subsequent machine tools of the production equipment FA on the workpiece WS can be considered.

[0027] If the workpiece WS meets the technical requirements, or if no deviation from the desired shape has been found, the workpiece WS is retained in its current shape and transferred to machine tool WM2 for further processing. Alternatively, the workpiece WS is output directly as the finished workpiece.

[0028] If the workpiece WS in its current shape does not meet these requirements, then the simulation model is used to examine whether the workpiece WS might meet the requirements after repair by additive and / or subtractive processing, and to what extent it might meet the requirements.

[0029] For this purpose, a repaired shape for the workpiece WS that meets the requirements is determined. This repaired shape can be produced by additively coating 3D printing material and, if necessary, by additional subtractive processing. In this case, subtractive processing can be incorporated to, for example, first mill away cracks or other defects on the workpiece WS, so that the 3D printing material adheres as well as possible, not less than a pre-given minimum layer thickness of the additive coating, making the relevant areas accessible to the 3D printer, and / or allowing the relevant areas to be filled as well as possible by the 3D printing material. Subtractive processing steps can also be incorporated if the workpiece WS extends beyond the target shape, either in its current shape or after additive coating.

[0030] Based on the current shape and the repaired shape of the workpiece WS, a spatial region is determined that will be filled with 3D printing material in the repaired shape. One or more physical properties of the 3D printing material are assigned to this spatial region in a location-specific manner. In this case, the physical properties may specifically relate to the strength, elasticity, specific gravity, and / or electrical or thermal conductivity of the 3D printing material.

[0031] Starting from this point, a simulation model is used to simulate the physical properties of a workpiece WS with a repaired shape. Here, within a defined spatial region, the physical properties of the 3D printing material are considered in a location-specific manner. Based on this, it is determined whether the simulated physical properties of the workpiece WS with a repaired shape meet the proposed requirements, and / or to what extent they meet the proposed requirements.

[0032] In particular, the desired shape of the workpiece WS can be selected as the repaired shape. However, in addition to the desired shape, one or more alternative repaired shapes can be selected, and one or more alternative repaired shapes can be simulated as described above. In particular, if the additively repaired desired shape does not meet the requirements according to the simulation, or if the alternative repaired shape meets the requirements better than the additively repaired desired shape according to the simulation, then the alternative repaired shape can be selected. In particular, it may deviate from the desired shape in order to, for example, compensate for the lower load-bearing capacity of the 3D printing material. If multiple repaired shapes are simulated, the repaired shape that best meets the requirements can preferably be selected for machining the workpiece WS.

[0033] If none of the simulated repaired shapes meet the requirements, the workpiece WS is automatically discarded as unrepairable by the repair unit RE and discharged from the production equipment FA.

[0034] Otherwise, in this embodiment, the workpiece WS is transferred to the 3D printer 3DPR of the repair unit RE. The 3D printer 3DPR is used to perform additive repair on the workpiece WS in the second stage P2 of the repair. For example, the so-called powder bed method can be used for 3D printing, which is particularly applicable to the manufacture or additive processing of metal parts. Additive processing may also include laser melting and / or laser sintering.

[0035] In the second stage P2, the workpiece WS is enlarged to at least the repaired shape by applying 3D printing material DM using a 3D printer 3DPR. Following this, in this embodiment, the additively enlarged workpiece WS is transferred to the cutting machine tool FS of the repair unit RE. The cutting machine tool FS is used to perform subtractive processing on the workpiece WS in the third stage P3 of the repair. This subtractive processing may include, in particular, cutting, milling, drilling, grinding, cutting, and / or turning. In this embodiment, the cutting machine tool FS is implemented as a milling machine. In the third stage P3, by milling away excess 3D printing material DM and, if necessary, other protruding material, the workpiece WS is transformed from the shape enlarged by the 3D printer 3DPR into the established repaired shape.

[0036] Next, preferably using a sensing system S, it can be verified whether the workpiece WS has actually been brought into the repaired shape. If this is not the case, the workpiece WS can be re-processed using additive and / or subtractive methods.

[0037] It should be noted that the order of stages P2 and P3, or the order of additive and subtractive processing steps, does not need to be predetermined and can deviate from the order described above, especially based on simulation results. In particular, additive and subtractive stages P2 and P3 may be experienced multiple times and in different orders. Here, in particular, the corresponding processing steps can be checked with the aid of a sensing system S as follows: whether the workpiece WS has actually achieved the shape sought by the corresponding processing steps, and / or to what extent it has actually achieved the shape sought by the corresponding processing steps.

[0038] In this embodiment, the workpiece WS that has been repaired through additive and subtractive processing is passed to the machine tool WM2 for further processing, or the workpiece WS is output directly as the finished workpiece WS.

[0039] Figure 2 A block diagram of the repair unit RE is shown, in which the workpiece WS has been transferred to the repair unit RE for inspection and, if necessary, repair.

[0040] To perform specific inspections and repairs on workpieces (WS), the repair unit (RE) reads the CAD model (CAD: Computer-Aided Design) of the workpiece WS from the database (DB). In addition to other structural and / or physical characteristics of the workpiece WS, the corresponding CAD data (CAD), that is, a structural dataset in CAD format, specifically details the desired geometric shape of the workpiece WS. The CAD model (CADM) or CAD data (CAD) specifically includes a discretized mesh model (GS) of the workpiece WS with its desired shape. The workpiece WS is detailed in terms of its planned desired shape using the mesh model (GS).

[0041] In addition, a numerical simulation model (SIM) of the workpiece WS is read from the database DB. Using the simulation model SIM and CAD data (CAD) from the CAD model CATM, a digital twin (DT) of the workpiece WS is then generated. This digital twin should resemble its real counterpart as closely as possible. This characteristic is generally simulated using a simulation model. In this embodiment, the numerical simulation model SIM is used to simulate the physical properties of the workpiece WS, particularly its mechanical properties, dynamic properties, elasticity, mechanical load-bearing capacity, natural frequency, cooling function, and / or thermal properties. The simulation is preferably performed using the finite element method, for which several numerical standard methods are available. Based on the virtual, simulated characteristics of the digital twin DT, the characteristics of the real workpiece WS can be predicted, evaluated, and / or analyzed.

[0042] In addition, requirement specifications (REQs) regarding one or more technical requirements that the workpiece WS must meet are read from the database DB. In this case, the requirement specifications (REQs) may relate to requirements for the workpiece WS in the following aspects: spatial structure, dimensions, load-bearing capacity, elasticity, durability, dynamic characteristics, natural frequency, physical, chemical, thermal, or electrical properties, function, and / or other boundary conditions or constraints. In particular, the requirement specifications (REQs) may include descriptions in the form of tolerance ranges or thresholds.

[0043] To determine the current shape of the workpiece WS, the workpiece WS is scanned using a sensing system S. The resulting scan is output by the sensing system S as scan data SCD. The scan data SCD details the current shape of the workpiece WS, for example, as a point cloud or as a dataset in STL format (STL: stereolithography).

[0044] Scan data SCD is transmitted from the sensing system S to the comparison module CMP. In addition, CAD data CAD from the CAD model CADM is also transmitted to the comparison module CMP. Based on the scan data SCD and the CAD data CAD, the comparison module CMP compares the current shape of the workpiece WS with its desired shape. If a discrepancy is found, the comparison module CMP generates a difference volume between the desired shape and the current shape. This difference volume is described in detail using a difference volume dataset DF, preferably in STL format or other CAD data formats.

[0045] The difference dataset DF is transmitted from the comparison module CMP to the deformation module MO. In addition, the mesh model GS of the workpiece WS with the desired shape is also transmitted from the digital twin DT to the deformation module MO. The deformation module MO adapts the mesh model GS to the detected current shape of the workpiece WS by deformation, based on the difference dataset DF, transforming the mesh model GS into a adapted mesh model GA that details the current shape of the workpiece WS. The adapted mesh model GA is transmitted from the deformation module MO to the digital twin DT. Then, based on the adapted mesh model GA, preferably using a finite element method discretized to the adapted mesh model GA, the workpiece WS or the digital twin DT with the current shape is simulated.

[0046] To determine whether a workpiece WS of its current shape meets the requirements for that workpiece WS, simulation data SD, representing the simulated characteristics of the workpiece WS, is transmitted from the digital twin DT to the analysis module AM. In this case, the simulation data SD details the simulated physical characteristics of the workpiece WS. Furthermore, the adapted mesh model GA and the requirement specification REQ, which details the requirements, are also transmitted to the analysis module AM. The analysis module AM ​​then examines, based on the simulation data SD, the adapted mesh model GA, and the requirement specification REQ, whether the workpiece WS of its current shape is likely to meet the requirements, and / or to what extent it might meet them. For example, it can be verified whether the natural frequency or load-bearing capacity of the workpiece WS of its current shape is within a pre-defined tolerance range.

[0047] If the analysis module AM ​​determines that the workpiece WS in its current shape meets the requirements, the analysis module AM ​​decides to retain the workpiece WS in its current shape and prompts the maintenance unit RE to transfer the workpiece WS to the machine tool WM2 for further processing, or to output it directly as the finished workpiece.

[0048] If the analysis module AM ​​determines that the workpiece WM in its current shape does not meet the requirements, the analysis module AM ​​uses a digital twin DT to examine whether, and / or to what extent, the workpiece WS might meet the requirements after repair through additive and / or subtractive processing. For this purpose, as mentioned above, the analysis module AM ​​determines the additively repaired shape of the workpiece WS, derived from the desired shape, which can be produced by additively coating 3D printing material and, if necessary, by additional subtractive processing. Here, in particular, it is examined whether the current shape can be repaired to the desired shape through additive coating. In this case, the desired shape can be selected as the repaired shape.

[0049] The repaired shape is detailed in a discretized manner using a mesh model (GE) of the repaired shape. In the mesh model (GE), one or more physical properties of the 3D printing material are assigned to the spatial regions to be filled with the 3D printing material in a location-specific manner.

[0050] The mesh model GE is transmitted from the analysis module AM ​​to the digital twin DT. Then, based on the mesh model GE, the physical properties of the digital twin DT, or the workpiece WS with the repaired shape, are simulated. As mentioned above, the physical properties of the 3D printing material in the defined spatial region are considered in a location-specific manner. The resulting simulation data SD, detailing the physical properties, is then transmitted from the digital twin DT to the analysis module AM, where it is evaluated whether the simulated physical properties of the workpiece WS with the repaired shape are likely to meet the proposed requirements, and / or to what extent they might meet the proposed requirements.

[0051] The above steps can also be performed for different repaired shapes.

[0052] If none of the simulated repaired shapes meet the requirements, the analysis module AM ​​determines that the workpiece WS should be discarded as unrepairable and prompts the repair unit RE to remove the workpiece WS from the production equipment FA.

[0053] If at least one repaired shape meets the proposed requirements, the associated simulation data SD, the associated adapted mesh model GA, and the mesh model GE of the repaired shape are transmitted from the analysis module AM ​​to the planning and control module PL.

[0054] The planning and control module (PL) is specifically used to determine the sequence of additive repair and subtractive machining steps based on the current shape, the repaired shape, and / or the simulation data (SD); to determine the toolpath based on the current shape, the repaired shape, and / or the simulation data (SD); and / or to determine the tool based on the current shape, the repaired shape, and / or the simulation data (SD). Furthermore, the planning and control module (PL) is used to manipulate the 3DPR and FS of the additive and subtractive machine tools according to the determined repair strategy.

[0055] Preferably, the planning and control module PL can determine the repair strategy based on the difference between the current shape and the repaired shape of the workpiece WS. If the difference indicates that the current shape is completely within the repaired shape, then the corresponding difference dataset can be directly used as input for additive repair.

[0056] If the differential body indicates that the repaired shape is entirely within the current shape, the minimum thickness of the differential body can be calculated and compared to the minimum removable layer thickness. If the minimum thickness of the differential body is less than the minimum removable layer thickness, the differential body can be correspondingly enlarged. The enlarged differential body can then be used as input to a 3D printer. After the desired additive coating, in the subsequent subtractive machining step, the workpiece WS can be brought into the desired shape through subtractive machining while adhering to the minimum removable layer thickness.

[0057] If the difference indicates that not only does the current shape protrude beyond the repaired shape, but the repaired shape also protrudes beyond the current shape at different locations, then the planning and control module (PL) can determine the combination of preceding processing steps.

[0058] Based on the generated maintenance strategy, the planning and control module PL controls the 3D printer 3DPR and the milling machine FS to perform additive and subtractive machining on the workpiece WS.

[0059] Preferably, during additive and subtractive processing of the workpiece WS, or after the corresponding additive or subtractive processing step, the current shape of the workpiece WS is continuously detected by the sensing system S. Based on the currently detected shape, the mesh model GA and, in particular, the digital twin DT, as well as the simulation, are continuously adapted to the real workpiece WS. Preferably, after each processing step, the workpiece WS can be re-simulated with the currently processed shape, and a new repaired shape can be determined if necessary. If a new repaired shape is determined, the maintenance strategy can be modified during maintenance. Here, variations in the processing, such as variations in printing speed, printing temperature, or milling speed, can also be considered.

[0060] In addition, the planning and control module PL can be configured to modify the subsequent machining steps of the production equipment FA based on the simulation data SD and the mesh models GA and GE.

Claims

1. A method for repairing workpieces (WS), wherein a) Read in the requirement specification (REQ) for the workpiece (WS) to meet and the numerical simulation model (SIM) for simulating the physical properties of the workpiece (WS). b) Detect the current shape of the workpiece (WS) using a sensor (S). c) When it is determined that the current shape of the workpiece (WS) deviates from the desired shape, the corresponding physical properties of the workpiece (WS) in the current shape and in a shape repaired by a 3D printer (3DPR) are simulated based on the simulation model (SIM). d) Verify, according to the stated requirements (REQ), whether the simulated physical properties meet the stated requirements, and e) Based on the inspection results, either retain the workpiece (WS) in its current shape, repair the workpiece (WS) using the 3D printer (3DPR), or discard the workpiece (WS). in, In the case of repairing the workpiece (WS) using the 3D printer (3DPR), the workpiece (WS) is also subjected to subtractive processing in order to transform the workpiece (WS) into the repaired shape. In this process, subtractive processing removes portions of the workpiece (WS) that protrude beyond the desired shape or protruding 3D printing material. Non-protruding portions of the workpiece (WS) can also be removed subtractively to enable subsequent additive coating or to stabilize the subsequent additive coating. Using the simulation model (SIM), a digital twin (DT) of the workpiece (WS) is generated, and The digital twin (DT) - The currently determined shape adapted to the workpiece (WS), - An additively modified or subtractively processed shape adapted to the workpiece (WS), and / or - Adapted to the physical properties of 3D printing materials (DM) in a location-specific manner.

2. The method according to claim 1, characterized in that, Determine the difference between the desired shape and the current shape. Based on the difference, the mesh model (GS) of the desired shape is adapted to the current shape, and The physical properties of the workpiece (WS) in the current shape are simulated based on the adapted mesh model (GA).

3. The method according to claim 1 or 2, characterized in that, Through deformation, the mesh model of the desired shape (GS) is transformed into the mesh model of the current shape (GA), and / or into the mesh model of the repaired shape (GE).

4. The method according to claim 1 or 2, characterized in that, Within the repaired shape mesh model (GE), the spatial areas to be filled with 3D printing material (DM) are determined. The physical properties of the 3D printing material (DM) are assigned to a defined spatial region in a location-specific manner, and When simulating the physical properties of the workpiece (WS) in the repaired shape, the physical properties of the 3D printing material (DM) are considered in a location-specific manner.

5. The method according to claim 1 or 2, characterized in that, The adaptation of the digital twin (DT) is continuously performed during additive repair and / or subtractive processing of the workpiece (WS).

6. The method according to claim 1 or 2, characterized in that, In order to transform the workpiece (WS) into the repaired shape, the sequence of additive repair steps and subtractive machining steps, tool paths and / or tools are determined based on the current shape, the repaired shape and / or simulation results.

7. The method according to claim 1 or 2, characterized in that, Based on the current shape, the repaired shape, and / or simulation results, modify the subsequent production chain processing steps for the workpiece (WS).

8. An apparatus (RE) for repairing a workpiece (WS), configured to perform the method according to any one of claims 1 to 7.

9. A computer program product configured to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program product according to claim 9.

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