A component repair method and device based on arc wire additive manufacturing

Abstract

The present invention relates to a component repair method and device based on arc wire additive manufacturing, belonging to the technical field of arc wire additive manufacturing. The method includes: calibrating the position coordinates of a positioner and the position coordinates of a workpiece based on a built positioner arc wire additive manufacturing platform; performing structural zoning on the component to be repaired based on the calibrated position coordinates to obtain a plurality of structural zones; determining the additive direction, the slice intersection plane groups of each structural zone, the additive trajectory, and the movement angle of the positioner based on the plurality of structural zones; adjusting the additive process parameters according to the additive direction, the slice intersection plane groups, the additive trajectory, and the movement angle of the positioner, and performing additive manufacturing on the component to be repaired based on the additive process parameters. The present invention improves the raw material utilization rate of the arc wire additive technology, reduces the repair difficulty of the failed substrate, and realizes the high-efficiency and high-quality repair of thin-walled high-reinforcement parts.

Description

Technical Field

[0001] The present invention relates to the technical field of arc wire additive manufacturing, and in particular to a component repair method and device based on arc wire additive manufacturing. Background Art

[0002] Currently, the fields of aerospace, military, energy, etc. are developing towards lightweight, large-scale and integrated manufacturing, which puts forward higher requirements for the manufacturing of large thin-walled high-reinforcement components they need. At present, a large number of components used in rocket cylinders, missile bays, aircraft webs, nuclear reactor core enclosures, etc. are thin-walled high-reinforcement parts. Due to their structural characteristics, the repair and remanufacturing of thin-walled high-reinforcement parts are quite difficult. However, due to the thin-walled structure of the parts, their strength and stiffness are relatively low and they are easily damaged. Secondly, the structural complexity and precision requirements of the high-reinforcement part increase the difficulty of repair and remanufacturing. In addition, due to factors such as the material characteristics, structural features and performance requirements of the parts, a series of special technologies and measures need to be taken during the repair and remanufacturing process. The arc wire additive manufacturing technology has advantages such as large forming size, low manufacturing cost, simple equipment, high material utilization rate and deposition efficiency, and has become one of the additive remanufacturing methods for high-quality and rapid prototyping of large metal components to effectively solve such problems.

[0003] The arc wire additive manufacturing technology (Wire and arc additive manufacturing, WAAM) uses an arc as the heat source, metal wire as the raw material, and is based on the cold metal transfer process (Cold Metal TranSfer, CMT). The wire is melted according to a specific forming path and is gradually accumulated from two dimensions to three dimensions to finally realize the prototyping of parts. Compared with additive manufacturing using lasers and electron beams as heat sources, arc wire additive manufacturing has obvious advantages in the high-efficiency and low-cost manufacturing of large and complex components, can significantly improve the raw material utilization rate, and shorten the manufacturing cycle.

[0004] However, during the process of arc additive manufacturing, due to the instability of the molten pool morphology and local heat input, the residual stress is relatively large, resulting in the appearance of pores, cracks and deformation during the forming process of the parts, thus reducing the forming accuracy and performance, and restricting the further popularization of arc wire additive manufacturing. The two-degree-of-freedom positioner is a positioner with two degrees of freedom, which can realize the positioning and fixing of an object in two directions, and can alleviate to a certain extent the problem of relatively large residual stress caused by the change of the molten pool morphology during arc additive manufacturing. However, by fixing the molten pool structure with the positioner, the residual stress caused by the instability of local heat input in arc wire additive manufacturing cannot be completely eliminated, resulting in low precision of the repaired components and inability to meet industrial requirements. Summary of the Invention

[0005] In view of this, it is necessary to provide a component repair method and device based on arc wire additive manufacturing to solve the technical problem of how to eliminate the residual stress in the process of arc wire additive manufacturing, so as to achieve high-precision repair of components.

[0006] To solve the above problems, the present invention provides a component repair method based on arc wire additive manufacturing, including:

[0007] Calibrate the position coordinates of the positioner and the workpiece based on the established positioner arc wire additive manufacturing platform;

[0008] Based on the calibrated position coordinates, perform structural zoning on the component to be repaired to obtain multiple structural zones;

[0009] Based on the multiple structural zones, determine the additive direction, the set of slice intersection surfaces of each structural zone, the additive trajectory, and the movement angle of the positioner;

[0010] According to the additive direction, the set of slice intersection surfaces, the additive trajectory, and the movement angle of the positioner, adjust the additive process parameters, and perform additive manufacturing on the component to be repaired based on the additive process parameters.

[0011] In a possible implementation manner, the step of calibrating the position coordinates of the positioner and the workpiece based on the established positioner arc wire additive manufacturing platform includes:

[0012] Calibrate the position coordinates of the positioner based on the robot base coordinate system;

[0013] Calibrate the coordinate system of the robot working end by using a preset six-point method, and calibrate the position coordinates of the workpiece coordinate system by using a preset three-point method based on the robot base coordinate system.

[0014] In a possible implementation manner, the step of performing structural zoning on the component to be repaired based on the calibrated position coordinates to obtain multiple structural zones includes:

[0015] Based on the calibrated position coordinates, model the component to be repaired to obtain a three-dimensional model of the target position to be repaired;

[0016] Based on the three-dimensional model of the target position to be repaired, use a preset Boolean operation to obtain a solid three-dimensional model to be repaired;

[0017] According to the solid three-dimensional model to be repaired, obtain three-dimensional mesh data and structural feature parameters;

[0018] Use the three-dimensional mesh data and structural feature parameters as input parameters of a preset clustering algorithm, and output multiple structural zones.

[0019] In one possible implementation, based on the multiple structural partitions, determining the additive manufacturing direction, the slice intersection plane groups of each structural partition, the additive manufacturing trajectory, and the movement angles of the positioner includes:

[0020] Traverse the multiple structural partitions, and use the preset direction bounding box method to determine the slice intersection plane groups of each structural partition;

[0021] Based on the slice intersection plane groups, starting from the outer contour of the solid three-dimensional model, offset towards the inner contour according to the height of the cutting plane to obtain the additive manufacturing trajectory;

[0022] Based on the workpiece coordinate system, determine the flipping angle and rotation angle of the positioner according to the additive manufacturing growth direction.

[0023] In one possible implementation, the flipping angle and rotation angle of the positioner can be expressed by the following formula:

[0024] α = arccos(k)

[0025]

[0026] Where, α represents the flipping angle, β represents the rotation angle, and i, j, k respectively represent the vector nb = (i, j, k) corresponding to the partition additive manufacturing direction.

[0027] In one possible implementation, according to the additive manufacturing direction, slice intersection plane groups, additive manufacturing trajectory, and the movement angles of the positioner, adjust the additive manufacturing process parameters, including adjusting the wire feeding speed, welding voltage, and welding speed of the arc wire melting.

[0028] In one possible implementation, after additive manufacturing the component to be repaired based on the additive manufacturing process parameters, it further includes: performing tempering heat treatment on the component after additive manufacturing is completed to obtain the target repaired component.

[0029] In a second aspect, the present invention further provides a component repair device based on arc wire melting additive manufacturing, including:

[0030] A position calibration module, configured to calibrate the position coordinates of the positioner and the position coordinates of the workpiece based on the built positioner arc wire melting additive manufacturing platform;

[0031] A structural partition determination module, configured to perform structural partitioning on the component to be repaired based on the calibrated position coordinates to obtain multiple structural partitions;

[0032] A parameter determination module, configured to determine the additive manufacturing direction, the slice intersection plane groups of each structural partition, the additive manufacturing trajectory, and the movement angles of the positioner based on the multiple structural partitions;

[0033] A repair module, configured to adjust additive manufacturing process parameters according to the additive direction, the slice intersection plane group, the additive trajectory, and the positioner movement angle, and perform additive manufacturing on the component to be repaired based on the additive manufacturing process parameters.

[0034] In a third aspect, the present invention further provides an electronic device, including: a processor and a memory;

[0035] A computer-readable program executable by the processor is stored on the memory;

[0036] When the processor executes the computer-readable program, the steps in the component repair method based on arc wire additive manufacturing as described above are implemented.

[0037] In a fourth aspect, the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the component repair method based on arc wire additive manufacturing as described above.

[0038] The beneficial effects of the present invention are as follows: First, based on the established positioner arc wire additive manufacturing platform, the position coordinates of the positioner and the workpiece are calibrated; through the positioning and fixation of the positioner, the accuracy of arc wire additive manufacturing is improved, and based on the calibrated position coordinates, the component to be repaired is structurally partitioned to obtain multiple structural partitions, thereby avoiding the adverse dragging effect of gravity on the melt during non-horizontal position additive manufacturing, optimizing the residual stress distribution, and reducing the generation of pores and deformation. Subsequently, based on the multiple structural partitions, the additive direction, the slice intersection plane group of each structural partition, the additive trajectory, and the positioner movement angle are determined; according to the additive direction, the slice intersection plane group, the additive trajectory, and the positioner movement angle, the additive manufacturing process parameters are adjusted, and additive manufacturing is performed on the component to be repaired based on the additive manufacturing process parameters. Further, the raw material utilization rate of the arc wire additive manufacturing technology is improved, the repair difficulty of the failed substrate is reduced, and the high-efficiency and high-quality repair of thin-walled high-reinforcement parts is achieved. Description of the Drawings

[0039] Figure 1 It is a flowchart of a method according to an embodiment of the component repair method based on arc wire additive manufacturing provided by the present invention;

[0040] Figure 2 It is a schematic structural diagram of a target thin-walled high-reinforcement part in the component repair method based on arc wire additive manufacturing provided by the present invention;

[0041] Figure 3 It is a schematic diagram of sectional variable-position additive manufacturing in a frustum thin-walled area in the component repair method based on arc wire additive manufacturing provided by the present invention;

[0042] Figure 4 In the component repair method based on arc wire - feeding additive manufacturing provided by the present invention, it is a schematic diagram of sectional variable - position additive manufacturing in the vertical rib plate area;

[0043] Figure 5 In the component repair method based on arc wire - feeding additive manufacturing provided by the present invention, it is a flowchart of a method of an embodiment of step S102;

[0044] Figure 6 In the component repair method based on arc wire - feeding additive manufacturing provided by the present invention, it is a sliced model of the part to be additively manufactured after zoning;

[0045] Figure 7 In the component repair method based on arc wire - feeding additive manufacturing provided by the present invention, it is a flowchart of a method of an embodiment of step S103;

[0046] Figure 8 It is a schematic diagram of an embodiment of a component repair device based on arc wire - feeding additive manufacturing provided by the present invention;

[0047] Figure 9 It is a schematic diagram of the operating environment of an embodiment of an electronic device provided by the present invention. Detailed implementation manners

[0048] The following combines the accompanying drawings to specifically describe the preferred embodiments of the present invention. Among them, the accompanying drawings form a part of this application and are used together with the embodiments of the present invention to explain the principle of the present invention, rather than to limit the scope of the present invention.

[0049] The present invention is applicable to the arc wire - feeding additive remanufacturing of key components such as rocket barrels, missile magazines, aircraft webs, and nuclear reactor core casings, where a large number of components are thin - walled and high - rib components. Through structural zoning and a rotating work platform, in the arc - shaped thin walls and vertical high - rib areas of thin - walled and high - rib shaped components, sectional variable - position arc wire - feeding additive remanufacturing is adopted, and combined with the use of a two - degree - of - freedom positioner, it can greatly improve the flexibility and precision of the robot in the prior art to achieve rapid and precise control, effectively avoiding phenomena such as molten pool instability and uneven local temperature distribution. At the same time, it can also overcome the problem of molten pool flow during the forming of side stiffeners of thin - walled parts, thereby ensuring the accuracy and performance of the formed parts. Thus, it avoids the adverse dragging effect of gravity on the melt during additive manufacturing in non - horizontal positions, optimizes the residual stress distribution, and reduces the generation of pores and deformations. In addition, the advanced sensors and control systems of the two - degree - of - freedom positioner can achieve real - time monitoring and positioning, and cooperate with the linkage operation of the robot to achieve precise control during the additive manufacturing process, providing an automated and high - precision solution for the repair work of failed substrates.

[0050] A specific embodiment of the present invention discloses a component repair method based on arc wire - feeding additive manufacturing. Please refer toFigure 1 , including:

[0051] S101. Calibrate the position coordinates of the turntable and the workpiece based on the built arc wire and arc additive manufacturing platform for the turntable;

[0052] S102. Based on the calibrated position coordinates, perform structural zoning on the component to be repaired to obtain multiple structural zones;

[0053] S103. Based on the multiple structural zones, determine the additive manufacturing direction, the set of slice intersection surfaces of each structural zone, the additive manufacturing trajectory, and the movement angle of the turntable;

[0054] S104. Adjust the additive manufacturing process parameters according to the additive manufacturing direction, the set of slice intersection surfaces, the additive manufacturing trajectory, and the movement angle of the turntable, and perform additive manufacturing on the component to be repaired based on the additive manufacturing process parameters.

[0055] In this embodiment, first, based on the built arc wire and arc additive manufacturing platform for the turntable, calibrate the position coordinates of the turntable and the workpiece; by positioning and fixing the turntable, improve the accuracy of arc wire and arc additive manufacturing, and based on the calibrated position coordinates, perform structural zoning on the component to be repaired to obtain multiple structural zones, thereby avoiding the adverse dragging effect of gravity on the melt during additive manufacturing at non-horizontal positions, optimizing the residual stress distribution, and reducing the generation of pores and deformation. Subsequently, based on the multiple structural zones, determine the additive manufacturing direction, the set of slice intersection surfaces of each structural zone, the additive manufacturing trajectory, and the movement angle of the turntable; adjust the additive manufacturing process parameters according to the additive manufacturing direction, the set of slice intersection surfaces, the additive manufacturing trajectory, and the movement angle of the turntable, and perform additive manufacturing on the component to be repaired based on the additive manufacturing process parameters. Further improve the raw material utilization rate of the arc wire and arc additive manufacturing technology, reduce the repair difficulty of the failed substrate, and achieve high-efficiency and high-quality repair of thin-walled high-reinforcement components.

[0056] It should be noted that, please refer to Figure 2 , this embodiment of the present invention is mainly aimed at the repair of high-reinforcement thin-walled components.

[0057] In step S101, the calibration of the position coordinates of the turntable and the workpiece based on the built arc wire and arc additive manufacturing platform for the turntable includes:

[0058] Calibrate the position coordinates of the turntable based on the robot base coordinate system;

[0059] Use the preset six-point method to calibrate the coordinate system of the robot working end, and based on the robot base coordinate system, use the preset three-point method to calibrate the position coordinates of the workpiece coordinate system.

[0060] Specifically, build an arc additive platform of a six-axis arc welding robot + a two-degree-of-freedom turntable asFigure 3 and Figure 4 As shown in Figure 4 , the positioner and the robot are set to a linkage mode, and the position coordinates of the positioner in the robot base coordinate system are set in the robot control system. Specifically, the two axes of the positioner are respectively added as the seventh axis and the eighth axis of the additional axes of the robot for subsequent motion control and coordinate transformation.

[0061] Furthermore, the TCP coordinate system of the welding torch at the working end of the robot is calibrated by the six-point method of the robot. An additive manufacturing substrate is installed on the positioner workbench, and a workpiece coordinate system Wobj1 is set on the substrate. The position of the workpiece coordinate system in the robot base coordinate system is calibrated by the three-point method of the robot.

[0062] Even further, after the substrate is installed, verification and debugging are carried out to ensure the normal operation of the robot and the positioner in the linkage mode and the accurate positioning of the workpiece coordinate system in the base coordinate system.

[0063] In some embodiments, based on the calibrated position coordinates, the component to be repaired is structurally partitioned to obtain a plurality of structural partitions. Please refer to Figure 5 , including:

[0064] S501. Based on the calibrated position coordinates, model the component to be repaired to obtain a three-dimensional model of the target position to be repaired;

[0065] S502. Based on the three-dimensional model of the target position to be repaired, use a preset Boolean operation to obtain a three-dimensional solid model to be repaired;

[0066] S503. According to the three-dimensional solid model to be repaired, obtain three-dimensional mesh data and structural feature parameters;

[0067] S504. Use the three-dimensional mesh data and structural feature parameters as input parameters of a preset clustering algorithm, and output to obtain a plurality of structural partitions.

[0068] In this embodiment, the component to be repaired is preprocessed, the failed area of the failed mold is removed, the three-dimensional models of the target thin-walled high-strength parts and the failed matrix are extracted by a three-dimensional scanner or directly using image software for modeling, and a Boolean operation is performed to obtain a three-dimensional solid model of the part to be added, and it is exported as an STL file for preprocessing to obtain the parameters of the three-dimensional mesh data and structural features, such as wall thickness, curvature, angle, etc. At the same time, the obtained feature parameters are used as input data of the K-means clustering algorithm, and an appropriate number of clusters k is set. Iteration is performed according to the K-means algorithm. The specific formula is as follows:

[0069] c (i) = argmin||x i - μ j ||2

[0070]

[0071]

[0072] where c (i) is the index of the cluster center to which each data point belongs, x (i) is the i-th data point, and μ j is the j-th cluster center. After the iteration of the clustering algorithm formula, a three-dimensional model after structural partitioning can be obtained, which contains information such as the segmented regions, their characteristic parameters, and boundaries. In this example, the model of the thin-walled high-reinforcement special-shaped component after Boolean subtraction is divided into 7 regions, among which 6 regions are vertical high-reinforcement regions and 1 region is a frustum thin-walled region, as Figure 6 shown.

[0073] It should be noted that when the K-means algorithm iterates, the number of structural partitions needs to be determined according to the task requirements and data characteristics, and an appropriate k value is selected. Through the gradual iteration of the structural characteristic parameters, the sample points will be continuously divided into the cluster center closest to them, and the position of the cluster center will be updated. This process is repeated until convergence to the termination condition.

[0074] Furthermore, when the K-means algorithm iterates, the K-SSE curve can be obtained by calculating the SSE value, so as to realize the evaluation of the selection of the K value. When the K value is less than the true number of clusters, since the increase of the K value will greatly increase the aggregation degree of each cluster, the decrease amplitude of the SSE will be very large. When the K value reaches the true number of clusters, the return of the aggregation degree obtained by increasing the K value will rapidly become smaller, so the decrease amplitude of the SSE will suddenly decrease and then tend to be flat as the K value continues to increase. Finding the inflection point during the descent can determine the optimal value of the K value. In this embodiment, the value of K is 7.

[0075] After obtaining multiple structural partitions, in some embodiments, please refer to Figure 7 , based on the multiple structural partitions, determine the additive manufacturing direction, the set of slice intersection surfaces of each structural partition, the additive manufacturing trajectory, and the movement angles of the positioner, including:

[0076] S701. Traverse the multiple structural partitions, and use the preset direction bounding box method to determine the set of slice intersection surfaces of each structural partition;

[0077] S702. Based on the set of slice intersection surfaces, starting from the outer contour of the solid three-dimensional model, offset towards the inner contour according to the cutting plane height to obtain the additive manufacturing trajectory;

[0078] S703. Based on the workpiece coordinate system, determine the flipping angle and rotation angle of the positioner according to the additive manufacturing growth direction.

[0079] In this embodiment, the additive direction, the slice intersection surface group of each structural partition, the additive trajectory and the positioner movement angle are determined, so as to achieve high efficiency and optimization of the additive manufacturing process.

[0080] Specifically, in step S701, each structural partition of the obtained complex thin-walled high-rib structure is traversed one by one, and the mutually orthogonal three-axis directions nx, ny and nz and the lengths DX, DY and DZ of each direction are determined by the directional bounding box (OBB) algorithm. The direction with the longest length is the subsequent additive growth direction nb = (i, j, k), the plane perpendicular to nb is the slice plane S, and the thickness d is the slice thickness. A plurality of parallel plane groups {Si} with a distance d are obtained by offsetting, and the plane group {Si} is intersected with the current region entity to obtain the intersecting slice surface group {Pi} of the three-dimensional entity, and all partitions are traversed one by one to obtain the intersecting slice surface groups of each partition, such as Figure 6 shown.

[0081] It should be noted that in the application of the directional bounding box algorithm, it is necessary to obtain the coordinate information of each vertex of the model as the input data of the algorithm.

[0082] In step S702, according to the slice intersection face group {Pi} of each partition, each slice intersection face is traversed one by one, with the outer contour as the starting trajectory, gradually offset from the outer contour to the inner contour, and the offset distance is w, where w is the weld overlap width. At the same time, the trajectory planning of the thin-walled area is completed as the cutting height of the cutting plane increases. Finally, the trajectory file is output, including the position and posture of each trajectory point S i =|x i ,y i ,z i ,u i ,0,w i |, where

[0083] It should be noted that the posture vector of each trajectory point Keep it parallel to the slice direction nb=(i,j,k) of the partition where it is located.

[0084] Furthermore, in the output trajectory file, XYZ coordinates of the trajectory point Negate the normal vector at the trajectory point on the intersecting cutting surface.

[0085] In step S703, in order to ensure that the molten pool is always in a horizontal position during the additive manufacturing of each partition, thereby reducing flow and collapse, it is necessary to adjust the workpiece pose through a positioner to ensure that the additive manufacturing direction of the current partition is parallel to the direction of gravity, that is, it is necessary to rotate the vector nb = (i, j, k) to a direction parallel to the gravitational acceleration G; calculate the tilting angle α and the rotation angle β of the positioner according to the additive growth direction nb = (i, j, k), and the specific formulas are as follows:

[0086] α = arccos(k)

[0087]

[0088] Specifically, based on the workpiece coordinate system wobj1, after calculating the angles of the positioner, adjust the position and pose respectively to make the normal vectors of the slices of each partition parallel to the direction of the gravitational acceleration G.

[0089] It should be noted that the additive manufacturing trajectory codes of each partition are output in sequence, and the codes include the positions of each trajectory point, the angles of the positioner, the posture data of the welding torch, the start / stop arc control instructions, etc.

[0090] In some embodiments, according to the material properties and manufacturing requirements of the thin-walled high-reinforcement special-shaped components, adjust appropriate process parameters such as wire feeding speed, welding voltage, and welding speed. At the same time, during the additive remanufacturing process, monitor and control the displacement path and angle of the two-degree-of-freedom positioner in real time to ensure the stability of the molten pool, and pause the robot for inspection and cleaning after each layer of additive manufacturing is completed to reduce the residual stress.

[0091] It should be noted that when pausing for inspection at the end of each layer of additive manufacturing, if the actual additive layer thickness is greater than the planned layer thickness, appropriately increase the welding speed during the next layer of additive manufacturing; if the actual additive layer thickness is less than the planned layer thickness, appropriately reduce the welding speed during the next layer of additive manufacturing.

[0092] Furthermore, after the additive manufacturing is completed, wait for the complex thin-walled high-reinforcement additive part to cool to room temperature, remove it from the fixture, and place it in a heat treatment furnace. The holding temperature is set at 475 °C, and after holding for 4 hours, it is cooled with the furnace.

[0093] Based on the above-mentioned component repair method based on arc wire additive manufacturing, the present invention also provides a component repair device based on arc wire additive manufacturing. Please refer to Figure 8 , including a position calibration module 810, a structure partition determination module 820, a parameter determination module 830, and a repair module 840.

[0094] The position calibration module 810 is used to calibrate the position coordinates of the positioner and the position coordinates of the workpiece based on the built positioner arc wire additive manufacturing platform;

[0095] A structural partition determination module 820, configured to perform structural partitioning on a component to be repaired based on calibrated position coordinates, so as to obtain a plurality of structural partitions;

[0096] A parameter determination module 830, configured to determine an additive manufacturing direction, a set of slice intersection surfaces of each structural partition, an additive manufacturing trajectory, and a positioner movement angle based on the plurality of structural partitions;

[0097] A repair module 840, configured to adjust additive manufacturing process parameters according to the additive manufacturing direction, the set of slice intersection surfaces, the additive manufacturing trajectory, and the positioner movement angle, and perform additive manufacturing on the component to be repaired based on the additive manufacturing process parameters.

[0098] As Figure 9 shown, based on the above-mentioned component repair method based on arc wire additive manufacturing, the present invention also correspondingly provides an electronic device, which may be a computing electronic device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device includes a processor 910, a memory 920, and a display 930. Figure 9 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all the shown components, and more or fewer components may be alternatively implemented.

[0099] The memory 920 may be an internal storage unit of the electronic device in some embodiments, such as a hard disk or a memory of the electronic device. The memory 920 may also be an external storage electronic device of the electronic device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device. Further, the memory 920 may also include both an internal storage unit of the electronic device and an external storage electronic device. The memory 920 is used to store application software installed on the electronic device and various types of data, such as program codes installed on the electronic device. The memory 920 may also be used to temporarily store data that has been output or will be output. In one embodiment, a component repair program 940 based on arc wire additive manufacturing is stored on the memory 920, and the component repair program 940 based on arc wire additive manufacturing can be executed by the processor 910, so as to implement the component repair method based on arc wire additive manufacturing in various embodiments of the present application.

[0100] The processor 910 may be a central processing unit (CPU), a microprocessor, or other data processing chips in some embodiments, and is used to run program codes stored in the memory 920 or process data, such as executing the component repair method based on arc wire additive manufacturing, etc.

[0101] In some embodiments, the display 930 may be an LED display, a liquid crystal display, a touch liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 930 is used to display information of the component repair electronic device based on arc fuse additive manufacturing and to display a visual user interface. Components 910-930 of the electronic device communicate with each other through the system bus.

[0102] Those skilled in the art can understand that all or part of the processes for implementing the methods of the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a disk, an optical disc, a read-only memory, or a random access memory, etc.

[0103] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A component repair method based on arc wire additive manufacturing, characterized in that, Including: Based on the established positioner arc fuse additive manufacturing platform, calibrate the position coordinates of the positioner and the position coordinates of the workpiece; Based on the calibrated position coordinates, model the component to be repaired to obtain a three-dimensional model of the target position to be repaired; based on the three-dimensional model of the target position to be repaired, use a preset Boolean operation to obtain a three-dimensional solid model to be repaired; according to the three-dimensional solid model to be repaired, obtain three-dimensional grid data and structural feature parameters; use the three-dimensional grid data and structural feature parameters as input parameters of a preset clustering algorithm, and output multiple structural partitions; Traverse multiple said structural partitions, and use the preset oriented bounding box method to determine the slice intersection plane groups of each structural partition; Based on the slice intersection plane groups, with the outer contour of the three-dimensional solid model as the starting trajectory, offset towards the inner contour according to the cutting plane height to obtain an additive manufacturing trajectory; Based on the workpiece coordinate system, determine the flipping angle and rotation angle of the positioner according to the additive manufacturing growth direction; According to the additive manufacturing trajectory, additive manufacturing growth direction, flipping angle and rotation angle of the positioner, adjust the additive manufacturing process parameters, and perform additive manufacturing on the component to be repaired based on the additive manufacturing process parameters.

2. The method for repairing components based on arc wire additive manufacturing according to claim 1, characterized in that The calibrating the position coordinates of the positioner and the position coordinates of the workpiece based on the established positioner arc fuse additive manufacturing platform includes: Calibrate the position coordinates of the positioner based on the robot base coordinate system; Use the preset six-point method to calibrate the coordinate system of the robot working end, and based on the robot base coordinate system, use the preset three-point method to calibrate the position coordinates of the workpiece coordinate system.

3. The component repair method based on arc wire additive manufacturing according to claim 1, characterized in that, The flipping angle and rotation angle of the positioner can be expressed by the following formula: Among them, α represents the flipping angle, β represents the rotation angle, i, j, k respectively represent the vectors corresponding to the sectional additive directions nb = (i, j, k) .

4. The component repair method based on arc wire additive manufacturing according to claim 1, characterized in that According to the additive manufacturing trajectory, additive manufacturing growth direction, flipping angle and rotation angle of the positioner, adjusting the additive manufacturing process parameters includes adjusting the wire feeding speed, welding voltage and welding speed of the arc fuse.

5. The component repair method based on arc wire additive manufacturing according to claim 1, wherein After performing additive manufacturing on the component to be repaired based on the additive manufacturing process parameters, it further includes: performing post-weld heat treatment on the component completed with additive manufacturing to obtain a target repaired component.

6. A component repair device based on arc wire additive manufacturing, characterized in that, Including: A position calibration module for calibrating the position coordinates of the positioner and the position coordinates of the workpiece based on the established positioner arc fuse additive manufacturing platform; A structural partition determination module for modeling the component to be repaired based on the calibrated position coordinates to obtain a three-dimensional model of the target position to be repaired; based on the three-dimensional model of the target position to be repaired, using a preset Boolean operation to obtain a three-dimensional solid model to be repaired; according to the three-dimensional solid model to be repaired, obtaining three-dimensional grid data and structural feature parameters; using the three-dimensional grid data and structural feature parameters as input parameters of a preset clustering algorithm, and outputting multiple structural partitions; A parameter determination module for traversing multiple said structural partitions and using the preset oriented bounding box method to determine the slice intersection plane groups of each structural partition; Based on the slice intersection plane groups, with the outer contour of the three-dimensional solid model as the starting trajectory, offset towards the inner contour according to the cutting plane height to obtain an additive manufacturing trajectory; Based on the workpiece coordinate system, determine the flipping angle and rotation angle of the positioner according to the additive manufacturing growth direction; A repair module, configured to adjust additive manufacturing process parameters according to the additive manufacturing trajectory, additive growth direction, tilter flipping angle, and rotation angle, and perform additive manufacturing on the component to be repaired based on the additive manufacturing process parameters.

7. An electronic device, characterized in that, It includes: a processor and a memory; a computer-readable program executable by the processor is stored on the memory; when the processor executes the computer-readable program, the steps in the component repair method based on arc wire additive manufacturing as claimed in claims 1-5 are implemented.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the component repair method based on arc wire additive manufacturing as claimed in claims 1-5.

Images