Rapid repairing method based on mobile additive manufacturing device

Abstract

The invention discloses a quick repair method based on a mobile additive manufacturing device, which comprises the following steps: constructing a virtual space workstation and a world coordinate system of the virtual space workstation according to a mobile square cabin; marking feature points on the workbench, and determining coordinates of the feature points of the workbench in the world coordinate system; obtaining a to-be-repaired workpiece, and mounting the to-be-repaired workpiece on a workbench; marking feature points of a to-be-repaired workpiece and a workbench, and scanning to obtain point cloud data of the to-be-repaired workpiece and the workbench; obtaining a workpiece and workbench model according to the to-be-repaired workpiece and workbench point cloud data; the workpiece and the workbench model are imported into a virtual space workstation, the feature points correspond to the coordinates of the feature points, and the coordinates of the to-be-repaired workpiece are obtained; obtaining a to-be-repaired area path execution program according to the coordinates of the to-be-repaired workpiece; and the laser processing robot executes the program according to the to-be-repaired area path to carry out additive repair. According to the invention, the to-be-repaired workpiece can be quickly positioned and subjected to additive repair.

Description

Technical Field

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

[0002] Aerospace, weapons and ground special equipment are easily damaged in complex environments and wartime conditions. Rapid on-site emergency repair is the key to ensuring the continued stable service of equipment. Laser remanufacturing can provide important support for the rapid repair of parts. The timeliness / precision / quality required to ensure major engineering models is a key issue for mobile additive manufacturing equipment. Automatic identification and positioning of damaged areas is one of the solutions to achieve high-precision manufacturing and rapid repair of complex damaged components.

[0003] Based on the traditional laser remanufacturing method for processing and positioning damaged areas, it is necessary to use the robot manual teaching method to move the processing head to the processing area, and locate the processing point after measuring the focal length multiple times. For the repair of complex components, it is necessary to use the off-campus programming processing trajectory. The acquisition of the actual position coordinates of the workpiece to be repaired requires multiple manual teaching calibrations and gradual adjustments. The error is large and does not meet the timeliness of on-site mobile repairs. Summary of the invention

[0004] In order to solve the technical problems existing in the background technology, the present invention proposes a rapid repair method based on a mobile additive manufacturing device.

[0005] The present invention proposes a rapid repair method based on a mobile additive manufacturing device, wherein the mobile additive manufacturing device includes a mobile cabin, a laser processing robot installed in the mobile cabin, a single-axis positioner, a double-axis positioner, and a workbench for connecting the single-axis positioner or the double-axis positioner;

[0006] The method comprises:

[0007] According to the mobile cabin, a virtual space workstation and a world coordinate system of the virtual space workstation are constructed;

[0008] Mark feature points on the workbench;

[0009] Determine the coordinates of the feature points on the workbench installed on the single-axis positioner and the feature points on the workbench installed on the dual-axis positioner in the world coordinate system;

[0010] Obtaining a workpiece to be repaired and installing the workpiece to be repaired on a workbench;

[0011] The workbench is fixed on a single-axis positioner or a double-axis positioner according to the type of workpiece to be repaired;

[0012] Mark the characteristic points of the workpiece to be repaired and the workbench respectively;

[0013] Scan the workpiece to be repaired and the workbench after marking the feature points to obtain point cloud data of the workpiece to be repaired and the workbench;

[0014] According to the point cloud data of the workpiece to be repaired and the workbench, the workpiece and workbench models are obtained;

[0015] Import the workpiece and workbench model into the virtual space workstation, and align the coordinates of the feature points on the workbench in the workpiece and workbench model with the feature points on the workbench installed on the single-axis positioner or the feature points on the workbench installed on the dual-axis positioner in the world coordinate system to obtain the coordinates of the workpiece to be repaired in the world coordinate system;

[0016] According to the coordinates of the workpiece to be repaired in the world coordinate system, the path of the area to be repaired is planned to obtain the path execution program of the area to be repaired;

[0017] The laser processing robot executes the program according to the path of the area to be repaired to perform additive repair on the workpiece to be repaired.

[0018] Preferably, constructing a virtual space workstation and a world coordinate system of the virtual space workstation according to the mobile cabin specifically includes:

[0019] A robot world coordinate system is established at the bottom surface of the robot's starting end, and a tool coordinate system is established at the end of the robot;

[0020] A virtual space workstation is constructed based on the mobile cabin, and the robot world coordinate system is used as the world coordinate system of the virtual space workstation.

[0021] Preferably, determining the coordinates of the feature points installed on the workbench of the single-axis positioner and the feature points installed on the workbench of the dual-axis positioner in the world coordinate system specifically includes:

[0022] The worktables are installed on the single-axis positioner and the double-axis positioner respectively;

[0023] The end of the robot is used to calibrate the feature points close to the workbench, and the coordinates of the feature points on the workbench installed on the single-axis positioner and the feature points on the workbench installed on the dual-axis positioner in the tool coordinate system are obtained respectively;

[0024] The coordinates of the feature points installed on the workbench of the single-axis positioner and the feature points installed on the workbench of the dual-axis positioner in the tool coordinate system are respectively converted into the coordinates of the feature points installed on the workbench of the single-axis positioner and the feature points installed on the workbench of the dual-axis positioner in the world coordinate system.

[0025] Stickers are used to mark feature points on the workbench so that at least three feature points are marked in the transition area between each surface of the workbench.

[0026] Preferably, the workpiece and workbench model is obtained according to the point cloud data of the workpiece to be repaired and the workbench, which specifically includes:

[0027] When the workpiece to be repaired has an original model, the workpiece and workbench models are obtained by performing inversion based on the point cloud data of the workpiece to be repaired and the workbench and the original model;

[0028] When the workpiece to be repaired does not have an original model, manual modeling is performed based on the point cloud data of the workpiece to be repaired and the workbench to obtain the workpiece and workbench models.

[0029] Preferably, the laser process parameters of the laser processing robot during additive repair include: laser power 1000-3000W, laser beam adopts a circular spot with a spot diameter of 3.5mm, a scanning line speed of 10mm / s, an overlap rate of 50%, and an argon protection flow rate of 40-50ml / min.

[0030] In the present invention, a rapid repair method based on a mobile additive manufacturing device is proposed. A virtual space workstation is established in advance according to the spatial structure of the mobile cabin, and a virtual space world coordinate system is established according to the virtual space workstation. Then, the workpiece and the workbench model are coupled with the virtual space workstation using the point cloud data of the workpiece to be repaired and the workbench, so as to automatically obtain the position coordinates of the workpiece and the workbench model in the virtual space world coordinate system. There is no need to manually extract the coordinates of each workpiece to be repaired one by one, which is conducive to rapid positioning and additive repair of the workpiece to be repaired. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a structural schematic diagram of a rapid repair method based on a mobile additive manufacturing device proposed in the present invention. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] Reference Figure 1 The present invention proposes a rapid repair method based on a mobile additive manufacturing device, wherein the mobile additive manufacturing device includes a mobile cabin, a laser processing robot installed in the mobile cabin, a single-axis positioner, a double-axis positioner, and a workbench for connecting the single-axis positioner or the double-axis positioner;

[0034] The method comprises:

[0035] According to the mobile cabin, a virtual space workstation and a world coordinate system of the virtual space workstation are constructed;

[0036] Mark feature points on the workbench;

[0037] Determine the coordinates of the feature points on the workbench installed on the single-axis positioner and the feature points on the workbench installed on the dual-axis positioner in the world coordinate system;

[0038] Obtaining a workpiece to be repaired and installing the workpiece to be repaired on a workbench;

[0039] The workbench is fixed on a single-axis positioner or a double-axis positioner according to the type of workpiece to be repaired;

[0040] Mark the characteristic points of the workpiece to be repaired and the workbench respectively;

[0041] Scan the workpiece to be repaired and the workbench after marking the feature points to obtain point cloud data of the workpiece to be repaired and the workbench;

[0042] According to the point cloud data of the workpiece to be repaired and the workbench, the workpiece and workbench models are obtained;

[0043] Import the workpiece and workbench model into the virtual space workstation, and align the coordinates of the feature points on the workbench in the workpiece and workbench model with the feature points on the workbench installed on the single-axis positioner or the feature points on the workbench installed on the dual-axis positioner in the world coordinate system to obtain the coordinates of the workpiece to be repaired in the world coordinate system;

[0044] According to the coordinates of the workpiece to be repaired in the world coordinate system, the path of the area to be repaired is planned to obtain the path execution program of the area to be repaired;

[0045] The laser processing robot executes the program according to the path of the area to be repaired to perform additive repair on the workpiece to be repaired.

[0046] The present invention establishes a virtual space workstation in advance according to the spatial structure of the mobile cabin, and establishes a virtual space world coordinate system according to the virtual space workstation; then uses the point cloud data of the workpiece to be repaired and the workbench to couple the workpiece and the workbench model with the virtual space workstation, thereby automatically obtaining the position coordinates of the workpiece and the workbench model in the virtual space world coordinate system, without manually extracting the coordinates of each workpiece to be repaired one by one, which is conducive to quickly positioning and additive repairing the workpiece to be repaired.

[0047] It should be understood that the workbench in this embodiment is used to fix the workpiece to be repaired, and the workbench can be a platform or a fixture.

[0048] In this embodiment, a virtual space workstation and a world coordinate system of the virtual space workstation are constructed according to the mobile cabin, specifically including:

[0049] A robot world coordinate system is established at the bottom surface of the robot's starting end, and a tool coordinate system is established at the end of the robot;

[0050] According to the mobile cabin, a virtual space workstation is constructed through three-dimensional modeling, and the robot world coordinate system is used as the world coordinate system of the virtual space workstation.

[0051] In this embodiment, determining the coordinates of the feature points installed on the workbench of the single-axis positioner and the feature points installed on the workbench of the dual-axis positioner in the world coordinate system specifically includes:

[0052] The worktables are installed on the single-axis positioner and the double-axis positioner respectively;

[0053] The end of the robot is used to calibrate the feature points close to the workbench, and the coordinates of the feature points on the workbench installed on the single-axis positioner and the feature points on the workbench installed on the dual-axis positioner in the tool coordinate system are obtained respectively;

[0054] The coordinates of the feature points installed on the workbench of the single-axis positioner and the feature points installed on the workbench of the dual-axis positioner in the tool coordinate system are respectively converted into the coordinates of the feature points installed on the workbench of the single-axis positioner and the feature points installed on the workbench of the dual-axis positioner in the world coordinate system.

[0055] In this embodiment, the feature points of the workpiece to be repaired and the workbench are marked, specifically including:

[0056] The workbench is marked with stickers with characteristic points, so that at least three characteristic points are marked in the transition area between each surface of the workbench.

[0057] In this embodiment, the workpiece and workbench model are obtained according to the point cloud data of the workpiece to be repaired and the workbench, which specifically includes:

[0058] When the workpiece to be repaired has an original model, the workpiece and workbench models are obtained by performing inversion based on the point cloud data of the workpiece to be repaired and the workbench and the original model;

[0059] When the workpiece to be repaired does not have an original model, manual modeling is performed based on the point cloud data of the workpiece to be repaired and the workbench to obtain the workpiece and workbench models.

[0060] In this embodiment, manual modeling is performed based on the point cloud data of the workpiece to be repaired and the workbench to obtain the workpiece and workbench model, which specifically includes: importing the point cloud data of the workpiece to be repaired and the workbench into the reverse software of the computer for processing to obtain the workpiece and workbench model.

[0061] In this embodiment, the laser process parameters of the laser processing robot during additive repair include: laser power 1000-3000W, laser beam using a circular spot, spot diameter 3.5mm, scanning line speed 10mm / s, overlap rate 50%, argon protection flow 40-50ml / min.

[0062] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A rapid repair method based on a mobile additive manufacturing device, characterized in that: The mobile additive manufacturing device includes a mobile cabin, a laser processing robot installed in the mobile cabin, a single-axis positioner, a double-axis positioner, and a workbench for connecting the single-axis positioner or the double-axis positioner; The method comprises: According to the mobile cabin, a virtual space workstation and a world coordinate system of the virtual space workstation are constructed; Mark feature points on the workbench; Determine the coordinates of the feature points on the workbench installed on the single-axis positioner and the feature points on the workbench installed on the dual-axis positioner in the world coordinate system; Obtaining a workpiece to be repaired and installing the workpiece to be repaired on a workbench; The workbench is fixed on a single-axis positioner or a double-axis positioner according to the type of workpiece to be repaired; Scan the workpiece to be repaired and the workbench to obtain point cloud data of the workpiece to be repaired and the workbench; According to the point cloud data of the workpiece to be repaired and the workbench, the workpiece and workbench models are obtained; Import the workpiece and workbench model into the virtual space workstation, and align the coordinates of the feature points on the workbench in the workpiece and workbench model with the feature points on the workbench installed on the single-axis positioner or the feature points on the workbench installed on the dual-axis positioner in the world coordinate system to obtain the coordinates of the workpiece to be repaired in the world coordinate system; According to the coordinates of the workpiece to be repaired in the world coordinate system, the path of the area to be repaired is planned to obtain the path execution program of the area to be repaired; The laser processing robot executes the program according to the path of the area to be repaired to perform additive repair on the workpiece to be repaired.

2. The rapid repair method based on a mobile additive manufacturing device according to claim 1, characterized in that: According to the mobile cabin, a virtual space workstation and the world coordinate system of the virtual space workstation are constructed, including: A robot world coordinate system is established at the bottom surface of the robot's starting end, and a tool coordinate system is established at the end of the robot; A virtual space workstation is constructed based on the mobile cabin, and the robot world coordinate system is used as the world coordinate system of the virtual space workstation.

3. The rapid repair method based on a mobile additive manufacturing device according to claim 1, characterized in that: Determine the coordinates of the feature points installed on the workbench of the single-axis positioner and the feature points installed on the workbench of the dual-axis positioner in the world coordinate system, specifically including: The worktables are installed on the single-axis positioner and the double-axis positioner respectively; The end of the robot is used to calibrate the feature points close to the workbench, and the coordinates of the feature points on the workbench installed on the single-axis positioner and the feature points on the workbench installed on the dual-axis positioner in the tool coordinate system are obtained respectively; The coordinates of the feature points installed on the workbench of the single-axis positioner and the feature points installed on the workbench of the dual-axis positioner in the tool coordinate system are respectively converted into the coordinates of the feature points installed on the workbench of the single-axis positioner and the feature points installed on the workbench of the dual-axis positioner in the world coordinate system.

4. The rapid repair method based on a mobile additive manufacturing device according to claim 1, characterized in that: Mark feature points on the workbench, including: Stickers are used to mark feature points on the workbench so that at least three feature points are marked in the transition area between each surface of the workbench.

5. The rapid repair method based on a mobile additive manufacturing device according to claim 1, characterized in that: According to the point cloud data of the workpiece to be repaired and the workbench, the workpiece and workbench model is obtained, which specifically includes: When the workpiece to be repaired has an original model, the workpiece and workbench models are obtained by performing inversion based on the point cloud data of the workpiece to be repaired and the workbench and the original model; When the workpiece to be repaired does not have an original model, manual modeling is performed based on the point cloud data of the workpiece to be repaired and the workbench to obtain the workpiece and workbench models.

6. The rapid repair method based on a mobile additive manufacturing device according to claim 1, characterized in that: The laser process parameters of the laser processing robot during additive repair include: laser power 1000-3000W, laser beam adopts a circular spot with a spot diameter of 3.5mm, a scanning line speed of 10mm / s, an overlap rate of 50%, and an argon protection flow rate of 40-50ml / min.

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