Multi-manipulator collaborative cabin integrated additive manufacturing method and system

Abstract

The invention provides a multi-manipulator collaborative cabin integrated additive manufacturing method and system. The multi-manipulator collaborative cabin integrated additive manufacturing method comprises the steps that a novel cabin coaxial powder feeding laser additive manufacturing model is established; segmenting into blocks according to the features; performing layered slicing according to the structural characteristics of the segmented blocks; performing track filling on each slice layer of each segmented block according to the shape characteristics of the slice layers; an optical head is selected for additive manufacturing according to the structural features; manufacturing is completed through heat treatment, machining and detection, and a final product is obtained. A coaxial powder feeding laser additive manufacturing mode is adopted, integrated forming of the cabin skin and the built-in hanging point can be achieved, compared with a traditional manufacturing mode, the flexibility degree is higher, and the problem that the welding seam quality is difficult to guarantee due to welding and machining after metal plate forming is avoided; the method saves the processing cost and period, adapts to complex design, and can accelerate the novel iteration speed.

Description

Technical Field

[0001] The present invention belongs to additive manufacturing technology, specifically, to coaxial powder feeding laser additive manufacturing technology and titanium alloy cabin manufacturing technology, especially to a cabin integrated additive manufacturing method coordinated by multiple manipulators. Background Art

[0002] Coaxial powder feeding laser near-net forming technology is a type of additive manufacturing. It is a new advanced manufacturing technology that integrates computer technology, laser technology, sensor technology, material solidification technology, etc. It is affected by multiple factors and is suitable for the forming of various materials such as metals and ceramics. This technology uses 3D modeling software to build a part solid model and slice it in layers to generate a motion trajectory, and uses a high-energy laser beam to form a molten pool on the surface of the metal or ceramic. The powder is transported into the molten pool by an inert gas, and a cladding layer is formed under the action of the laser, and a solid part is formed through layer-by-layer accumulation.

[0003] During the flight of an aircraft, it balances its own weight by expending power to drive lift. The heavier the structure, the more power it consumes and the higher the fuel consumption. Increased fuel consumption will lead to an increase in structural size, further generating additional weight and creating a vicious cycle. Therefore, lightweight structural design and manufacturing have a greater impact on flight time and range.

[0004] The cabin structure is an important part of the aircraft. The main functions of the cabin include: 1) connecting the payload, power unit, and control system into a whole; 2) providing a good aerodynamic shape; 3) bearing various loads during ground transportation, operation, and flight; 4) protecting various devices inside the cabin and providing the necessary environmental protection to complete the predetermined tasks. The structural weight of the aircraft cabin accounts for about 14%-20% of the aircraft body. The lightweight structure of the aircraft has a significant effect on improving the overall performance. The material of the cabin is mainly related to the flight speed and load state, including: aluminum alloy, magnesium alloy, titanium alloy, high-strength alloy steel and stainless steel.

[0005] Traditional manufacturing methods for titanium alloy cabins include casting, forging, machining, spinning, welding, riveting and other processes. The welding of titanium alloy cabins generally has the following problems: 1) High weld quality requirements. During flight, the cabin not only has to withstand large longitudinal and lateral overloads, so the cabin has high requirements for weld quality and mechanical properties; 2) Dimensional accuracy is difficult to ensure. The aircraft cabin structure is mostly thin-walled, circular / special-shaped, with poor rigidity, and welding deformation is difficult to effectively control; 3) The weldability of the material is poor. For high-strength titanium alloys and other materials, defects such as pores and cracks are prone to occur.

[0006] The cabin of a new aircraft has a special-shaped cross-section, with multiple instrument hanging points built in, an envelope size of about Φ340mm×638mm, and is made of TC4 titanium alloy. At this time, the traditional preparation process mostly uses casting or forging plus machining, an overall forming process, which not only has a long cycle, high cost and low material utilization, but also cannot meet the manufacturing requirements of complex design and high-frequency iterative design of new models.

[0007] The patent document "New In-beam Coaxial Powder Feeding Laser Composite Additive Manufacturing Method and Device" (CN112276083A) discloses a composite laser additive manufacturing method, which is a coaxial combination of continuous laser and pulsed laser. The continuous laser forms a stable molten pool, and the pulsed laser achieves micro-forging of the molten pool, which achieves the effect of refining grains and reducing stress. However, it does not mention the forming method for parts with internal structures such as aircraft cabins with built-in hanging points.

[0008] Therefore, there is an urgent need for a new integrated additive manufacturing method that can improve material utilization, reduce costs and shorten cycles to meet the manufacturing needs of complex designs and high-frequency iterative designs. Summary of the invention

[0009] In view of the defects in the prior art, the object of the present invention is to provide a cabin integrated additive manufacturing method and system with multi-manipulator collaboration.

[0010] A multi-manipulator coordinated cabin integrated additive manufacturing method provided by the present invention comprises:

[0011] Step S1: Establishing a new cabin coaxial powder feeding laser additive manufacturing model;

[0012] Step S2: Segment the model into blocks according to its features to obtain segmented blocks;

[0013] Step S3: performing layered slicing according to the structural characteristics of the segmented block to obtain a slice layer;

[0014] Step S4: performing trajectory filling for each slice layer of each segmented block according to the shape characteristics of the slice layer;

[0015] Step S5: Select an optical head for additive manufacturing according to the structural features;

[0016] Step S6: Complete the manufacturing through heat treatment, machining and testing to obtain the final product.

[0017] Preferably, the novel cabin structure mainly includes built-in hanging points 1, titanium alloy skin 2 and cabin openings 3.

[0018] In the step S1, the model is modified by adding a single-side margin, filling the grooves, filling the holes on the cabin body and filling the threaded holes to obtain a cabin body printing model.

[0019] In step S2, the cabin body printing model is divided into a cabin body skin 5, cabin body internal hanging points 6 and a cabin body internal ring 7.

[0020] In step S3, the slicing direction is along the normal direction of the segmented block surface, the slice layer thickness is the lifting amount along the deposition direction, and the optical head is perpendicular to the slicing direction.

[0021] In step S4, a square waveform scanning trajectory is selected for filling the filling trajectory of the cabin, and a contour offset method and a Z-shaped scanning strategy are used to fill the hanging points inside the cabin and the circular ring inside the cabin.

[0022] In step S5, a printing program is generated according to the printing order of the divided blocks, the layered slicing and the printing trajectory of each slicing layer, and an "1"-shaped optical head 9 and an inner hole laser cladding head 10 are used for additive forming according to the structural characteristics and the printing order to obtain the cabin blank after additive forming.

[0023] In the step S6, the cabin body blank after material addition is heat treated, and then the excess is removed by machining, and the final product is obtained after passing the non-destructive test.

[0024] Preferably, the adding of unilateral margin in step S1 includes adding of inner and outer unilateral margins, the unilateral margin of the outer side of the cabin body is 2mm to 4mm, the unilateral margin of the inner side is 1mm to 2mm, and the holes are filled.

[0025] In step S2, the slicing direction of the cabin skin is along the horizontal direction, and the forming direction is along the vertical direction;

[0026] The slicing direction of the internal hanging points and the internal ring of the cabin is the concentric circle direction of the cabin skin, and the forming direction is along the normal direction of the cabin skin.

[0027] In step S4, the swing amplitude of the square wave is 5 mm to 10 mm. When the scanning width is greater than 20 mm, multiple square wave scanning tracks are used for overlapping filling, and the overlapping spacing is 0.45 times the cladding track width.

[0028] Preferably, in step S5, the cabin is manufactured on a robotic 8-axis arc additive manufacturing device, the cabin skin adopts a "1"-shaped optical head 9, the printing direction is kept perpendicular to the direction of the slicing layer, the cabin internal hanging points and the cabin internal rings adopt an inner hole laser cladding head 10, the turntable is flipped 90°, and the forming direction is along the cabin normal direction.

[0029] The printing order is respectively the cabin skin 5, the cabin internal hanging point 6, and the cabin internal ring 7.

[0030] The annealing temperature in the heat treatment is 990°C ± 5°C, the time is 2 to 3 hours, and air cooling;

[0031] Low temperature annealing temperature is 500℃±5℃, time is 3 to 5 hours, air cooling.

[0032] Preferably, the model modification includes adding inner and outer unilateral margins, adding 3mm to the outer unilateral margin and 1.5mm to the inner unilateral margin, and removing openings, threaded holes, grooves, fillets and bevels on the cabin skin.

[0033] In step S2, a "1"-shaped optical head is used to print the cabin skin, and an inner hole laser cladding head is used to print the cabin internal hanging points and the cabin internal rings. The water oxygen content during the printing process is less than 50ppm.

[0034] The slice layer thickness is 1 mm, and the process parameters of layered slicing include laser power of 1200 W, scanning speed of 8 mm / s, powder feeding rate of 5.3 g / min, track filling spacing of 2.04 mm, contour spacing of 1.02 mm, and spot size of 3 mm.

[0035] The software used for the printing is Robotmaster. The program is copied to the robot control cabinet to complete the printing of the cabin skin, the cabin internal hanging points, and the cabin internal ring structure in sequence.

[0036] In the step S6, the cabin blank and the substrate after material addition are heat treated together, the annealing time is 2.5 hours, and the aging time of low-temperature annealing is 4 hours.

[0037] According to the present invention, a multi-manipulator coordinated cabin integrated additive manufacturing system is provided, comprising:

[0038] Module M1: Establish a new cabin coaxial powder feeding laser additive manufacturing model;

[0039] Module M2: split the model into blocks according to its features to obtain segmented blocks;

[0040] Module M3: Perform layered slicing according to the structural characteristics of the segmented block to obtain slicing layers;

[0041] Module M4: Filling the track of each slice layer of each segmented block according to the shape characteristics of the slice layer;

[0042] Module M5: Selecting an optical head for additive manufacturing based on structural features;

[0043] Module M6: Complete manufacturing through heat treatment, machining and testing to obtain the final product.

[0044] Preferably, the novel cabin structure mainly includes built-in hanging points 1, titanium alloy skin 2 and cabin openings 3.

[0045] In the module M1, the model is modified by adding a single-side margin, filling the grooves, filling the holes on the cabin body and filling the threaded holes to obtain a cabin body printing model.

[0046] In the module M2, the cabin printing model is divided into a cabin skin 5, a cabin internal hanging point 6 and a cabin internal ring 7;

[0047] In the module M3, the slicing direction is along the normal direction of the segmented block surface, the slicing layer thickness is the lifting amount along the deposition direction, and the optical head is perpendicular to the slicing direction.

[0048] In the module M4, a square waveform scanning trajectory is selected for filling the filling trajectory of the cabin, and a contour offset method and a Z-shaped scanning strategy are used to fill the hanging points inside the cabin and the circular ring inside the cabin.

[0049] In the module M5, a printing program is generated according to the printing order of the divided blocks, the layered slicing and the printing trajectory of each slicing layer, and an "1"-shaped optical head 9 and an inner hole laser cladding head 10 are used for additive forming according to the structural characteristics and the printing order to obtain the cabin blank after additive forming.

[0050] In the module M6, the cabin body blank after material addition is heat treated, and then the excess is removed by machining, and the final product is obtained after passing the non-destructive test.

[0051] Preferably, the addition of unilateral margin in the module M1 includes the addition of inner and outer unilateral margins, the unilateral margin of the outer side of the cabin body is 2mm to 4mm, the unilateral margin of the inner side is 1mm to 2mm, and the holes are filled.

[0052] The slicing direction of the cabin skin in the module M2 is along the horizontal direction, and the forming direction is along the vertical direction;

[0053] The slicing direction of the internal hanging points and the internal ring of the cabin is the concentric circle direction of the cabin skin, and the forming direction is along the normal direction of the cabin skin.

[0054] The swing amplitude of the square wave in the module M4 is 5 mm to 10 mm. When the scanning width is greater than 20 mm, multiple square wave scanning tracks are used for overlapping filling, and the overlapping spacing is 0.45 times the cladding track width.

[0055] Preferably, the cabin in the module M5 is manufactured on a robotic 8-axis linkage arc additive manufacturing device, the cabin skin adopts a "1"-shaped optical head 9, the printing direction is kept perpendicular to the direction of the slicing layer, the internal hanging points and the internal rings of the cabin adopt an inner hole laser cladding head 10, the turntable is flipped 90°, and the forming direction is along the normal direction of the cabin.

[0056] The annealing temperature in the heat treatment is 990°C ± 5°C, the time is 2 to 3 hours, and air cooling;

[0057] The printing order is respectively the cabin skin 5, the cabin internal hanging point 6, and the cabin internal ring 7.

[0058] Low temperature annealing temperature is 500℃±5℃, time is 3 to 5 hours, air cooling.

[0059] Preferably, the model modification includes adding inner and outer unilateral margins, adding 3mm to the outer unilateral margin and 1.5mm to the inner unilateral margin, and removing openings, threaded holes, grooves, fillets and bevels on the cabin skin.

[0060] In the module M2, a "1"-shaped optical head is used to print the cabin skin, and an inner hole laser cladding head is used to print the cabin's internal hanging points and the cabin's internal rings. The water oxygen content during the printing process is less than 50ppm.

[0061] The slice layer thickness is 1 mm, and the process parameters of layered slicing include laser power of 1200 W, scanning speed of 8 mm / s, powder feeding rate of 5.3 g / min, track filling spacing of 2.04 mm, contour spacing of 1.02 mm, and spot size of 3 mm.

[0062] The software used for the printing is Robotmaster. The program is copied to the robot control cabinet to complete the printing of the cabin skin, the cabin internal hanging points, and the cabin internal ring structure in sequence.

[0063] In the module M6, the cabin blank and the substrate after material addition are heat treated together, the annealing time is 2.5 hours, and the aging time of low-temperature annealing is 4 hours.

[0064] Compared with the prior art, the present invention has the following beneficial effects:

[0065] 1. The present invention adopts a coaxial powder feeding laser additive manufacturing method, which can realize the integrated forming of the cabin skin and the built-in hanging points. Compared with the traditional manufacturing method, it has a higher degree of flexibility and avoids the problem of difficult to ensure weld quality caused by welding and machining after sheet metal forming.

[0066] 2. The present invention avoids the long cycle problem caused by the traditional forging or casting supplemented by machining manufacturing method, saves processing costs and cycles, and adapts to complex designs.

[0067] 3. The present invention realizes the rapid and low-cost development of a new cabin through coaxial powder feeding laser near-net forming technology, and dual robots collaborate in printing, focusing on solving the problem of integrated additive manufacturing of parts with internal structures, which can accelerate the iteration speed of new models. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0069] Figure 1 This is a schematic diagram of the additive manufacturing process flow for the new cabin;

[0070] Figure 2 This is a schematic diagram of the new cabin structure;

[0071] Figure 3 This is a block diagram of the structural features of the new cabin;

[0072] Figure 4 This is a schematic diagram of the additive manufacturing equipment for the new cabin;

[0073] Figure 5 Schematic diagram of the short square waveform scanning trajectory.

[0074] The figure shows:

[0075] 1 built-in hanging point 2Titanium alloy skin 3 Cabin openings 4 Cabin Printing Model 5. Cabin skin 6 internal hanging points 7. Inner ring of cabin 8Laser Additive Robot 9"1" shaped optical head 10 Inner hole laser cladding head 11Inner hole laser cladding robot 12 Two-dimensional flip table 13 Cabin 14 Additive Manufacturing Matrix DETAILED DESCRIPTION

[0076] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0077] A multi-manipulator coordinated cabin integrated additive manufacturing method provided by the present invention includes the following contents:

[0078] The coaxial powder feeding laser additive manufacturing technology is used to achieve the integrated forming of the cabin with built-in hanging points through the steps of model segmentation, layered slicing, trajectory planning, generation of printing program, production and processing, etc., avoiding the problems of long processing cycle, high cost and low material utilization caused by machining after traditional casting or forging manufacturing, and accelerating the development of new cabins. At the same time, it also avoids the problem of difficult to ensure weld quality caused by welding and machining after sheet metal forming.

[0079] Specifically, the cabin structure includes: cabin skin, cabin built-in hanging points, cabin inner ring, i.e. cabin opening, Figure 1 For example, the steps include:

[0080] Step S1: Establishing a new cabin coaxial powder feeding laser additive manufacturing model;

[0081] Specifically, the new aircraft cabin structure is Figure 2For example, it is mainly composed of built-in hanging points 1, titanium alloy skin 2, cabin opening 3 and other structures. According to the characteristics of coaxial powder feeding laser additive manufacturing technology, a coaxial powder feeding laser additive manufacturing model is created on the basis of the new cabin. According to the structural characteristics of the new titanium alloy cabin product, the model is changed, mainly including the addition of unilateral allowance, groove filling, filling of holes on the cabin, filling of threaded holes, etc., to meet the forming process requirements and the requirements of structural rigidity and machining for stress deformation during forming and heat treatment. Taking into account the processing accuracy and deformation trend of coaxial powder feeding laser additive manufacturing, the unilateral allowance of the outer side of the cabin is 2mm-4mm, and the unilateral allowance of the inner side is 1mm-2mm; according to the characteristics of the coaxial powder feeding laser additive manufacturing process, cabin through holes, blind holes, threaded holes and other holes need to be filled to obtain the cabin printing model.

[0082] In more preferred examples, taking TC4 titanium alloy as an example, the model changes mainly include the addition of inner and outer unilateral allowances, where the unilateral allowance on the outer side of the cabin is 3mm, and the unilateral allowance on the inner side is 1.5mm; according to the forming size constraints, the local small-size features such as openings, threaded holes, grooves, fillets, and bevels on the cabin skin are removed.

[0083] Step S2: dividing the cabin model into blocks according to the model features;

[0084] Considering the requirements of different optical heads for the cabin, built-in hanging points and printing rings, the printing model is segmented. The titanium alloy cabin of the new aircraft is segmented into blocks according to the structural characteristics, and the cabin printing model is segmented into three parts: titanium alloy cabin skin, cabin built-in hanging points, i.e. cabin internal hanging points, and cabin internal ring. Figure 3 For example, 4 is the modified titanium alloy cabin printing model; 5 is the cabin skin; 6 is the cabin internal hanging point; 7 is the cabin internal ring.

[0085] Step S3: slicing the segmented block in layers according to the structural characteristics of the segmented block;

[0086] Specifically, the slicing direction is along the normal direction of the segmented block surface, and is always perpendicular to the forming direction. The thickness of the slice layer is the lifting amount along the deposition direction. The slicing direction of the cabin skin is along the horizontal direction, and the forming direction is along the vertical direction; the slicing direction of the cabin built-in hanging point and inner ring is along the concentric circle direction of the cabin skin, and the forming direction is along the normal direction of the cabin skin.

[0087] In more preferred examples, according to the structural characteristics of each segmented block, the layer thickness, i.e., the deposition lift, is 1 mm, and the selected process parameters are laser power 1200 W, scanning speed 8 mm / s, and powder feeding rate 5.3 g / min. The track filling spacing is 2.04 mm, the contour spacing is 1.02 mm, and the spot size is 3 mm. The slicing direction is along the normal direction of the segmented block surface, and the optical head is perpendicular to the slicing direction.

[0088] Step S4: performing trajectory filling for each slice layer of each segmented block according to the shape characteristics of the slice layer;

[0089] Specifically, a short square waveform scanning trajectory is selected for the filling trajectory of the titanium alloy cabin. Figure 5 For example, the amplitude of the square wave is 5mm to 10mm. That is, when the width of the block, that is, the scanning width, is greater than 20mm, multiple square wave scanning tracks are used for overlapping filling, and the overlapping spacing is 0.45 times the cladding track width. For the built-in hanging point part of the cabin and the inner ring of the cabin, the contour offset method and Z-shaped scanning strategy are used for filling.

[0090] Step S5: selecting an inner hole cladding optical head and a "1"-shaped optical head for additive manufacturing according to the structural characteristics;

[0091] Specifically, the printing program is generated according to the printing order of the segmented blocks, the layered slices and the printing trajectory of each layer. According to the structural features and the printing order, the "1"-shaped and inner hole laser cladding optical heads are used for additive forming.

[0092] In more preferred embodiments, the water oxygen content is controlled to be less than 50 ppm during the printing process. The printing sequence of the coaxial powder feeding laser additive manufacturing, that is, the additive manufacturing sequence, is the cabin titanium alloy skin, the cabin built-in hanging point, and the cabin opening.

[0093] Among them, the cabin is manufactured on a robot-type 8-axis linkage arc additive manufacturing equipment. The titanium alloy cabin skin adopts a "1"-shaped coaxial powder feeding laser cladding head, that is, a "1"-shaped optical head, and the printing direction is always perpendicular to the direction of the slice layer. The cabin hanging point and cabin ring additive manufacturing adopts an inner hole laser cladding optical head. When printing the aircraft cabin skin, the two-dimensional turntable is in a horizontal state, and the "1"-shaped coaxial powder feeding laser cladding head is used for printing; when printing the built-in hanging point of the aircraft cabin, the two-dimensional turntable is in a 90° vertical state, and the "inner hole" coaxial powder feeding laser cladding head is used for printing. That is, the inner hole laser cladding head is used for additive manufacturing, and the turntable needs to be flipped 90° during the forming process to ensure that the forming direction is along the normal direction of the cabin. The dual robots cooperate in printing, thereby realizing the integrated additive manufacturing of the aircraft cabin with built-in hanging points, focusing on solving the problem of integrated additive manufacturing of the cabin with built-in hanging points.

[0094] In more preferred embodiments, Figure 4 For example, the block with the filled trajectory is used to generate a printing program that can be recognized by the robot using special software. The printing software used is Robotmaster. The program is copied to the robot control cabinet, and the titanium alloy cabin skin, titanium alloy cabin built-in hanging points, cabin inner ring and other structures are printed in sequence. Finally, the new titanium alloy cabin blank is formed.

[0095] Step S6: Complete product manufacturing through heat treatment, machining and testing.

[0096] Specifically, the titanium alloy cabin blank after additive manufacturing is obtained through the coaxial powder feeding laser additive manufacturing process, and the comprehensive mechanical properties of the titanium alloy cabin are strengthened through heat treatment. The annealing temperature is 990℃±5℃, the annealing time is 2h-3h, and the air cooling is carried out; the low-temperature annealing temperature is 500℃±5℃, the annealing time is 3h-5h, and the air cooling is carried out. The cabin blank after heat treatment is machined to remove the excess, and the final product is manufactured after passing the non-destructive test.

[0097] In more preferred examples, the finished titanium alloy cabin blank and substrate are subjected to heat treatment process together to improve the comprehensive mechanical properties, with annealing temperature of 990℃±5℃, annealing time of 2.5h, and air cooling. Low-temperature annealing temperature of 500℃±5℃, aging time of 4h, and air cooling.

[0098] Heat treatment of the substrate together can increase the rigidity of the blank and reduce the deformation of the blank caused by heat treatment. It is a commonly used consumable.

[0099] The traditional manufacturing process of titanium alloy cabins for new aircraft has a long production cycle, large material removal and high development cost. At the same time, the design of new aircraft cabins is relatively complex and the iteration frequency is high. The present invention is suitable for the manufacture of various titanium alloy cabins with built-in hanging points, and has the advantages of high flexibility, short process chain, short processing cycle and low cost.

[0100] The present invention also provides a cabin-integrated additive manufacturing system with multi-manipulator collaboration. The cabin-integrated additive manufacturing system with multi-manipulator collaboration can be realized by executing the process steps of the cabin-integrated additive manufacturing method with multi-manipulator collaboration, that is, those skilled in the art can understand the cabin-integrated additive manufacturing method with multi-manipulator collaboration as a preferred implementation of the cabin-integrated additive manufacturing system with multi-manipulator collaboration.

[0101] According to the present invention, a multi-manipulator coordinated cabin integrated additive manufacturing system is provided, comprising:

[0102] Module M1: Establish a new cabin coaxial powder feeding laser additive manufacturing model;

[0103] Module M2: split the model into blocks according to its features to obtain segmented blocks;

[0104] Module M3: Perform layered slicing according to the structural characteristics of the segmented block to obtain slicing layers;

[0105] Module M4: Filling the track of each slice layer of each segmented block according to the shape characteristics of the slice layer;

[0106] Module M5: Selecting an optical head for additive manufacturing based on structural features;

[0107] Module M6: Complete manufacturing through heat treatment, machining and testing to obtain the final product.

[0108] In more preferred examples, the novel cabin structure mainly includes a built-in hanging point 1, a titanium alloy skin 2 and a cabin opening 3.

[0109] In the module M1, the model is modified by adding a single-side margin, filling the grooves, filling the holes on the cabin body and filling the threaded holes to obtain a cabin body printing model.

[0110] In the module M2, the cabin printing model is divided into a cabin skin 5, a cabin internal hanging point 6 and a cabin internal ring 7;

[0111] In the module M3, the slicing direction is along the normal direction of the segmented block surface, the slicing layer thickness is the lifting amount along the deposition direction, and the optical head is perpendicular to the slicing direction.

[0112] In the module M4, a square waveform scanning trajectory is selected for filling the filling trajectory of the cabin, and a contour offset method and a Z-shaped scanning strategy are used to fill the hanging points inside the cabin and the circular ring inside the cabin.

[0113] In the module M5, a printing program is generated according to the printing order of the divided blocks, the layered slicing and the printing trajectory of each slicing layer, and an "1"-shaped optical head 9 and an inner hole laser cladding head 10 are used for additive forming according to the structural characteristics and the printing order to obtain the cabin blank after additive forming.

[0114] In the module M6, the cabin body blank after material addition is heat treated, and then the excess is removed by machining, and the final product is obtained after passing the non-destructive test.

[0115] In more preferred examples, the unilateral margin addition in the module M1 includes the addition of inner and outer unilateral margins, the unilateral margin of the outer side of the cabin body is 2mm to 4mm, the unilateral margin of the inner side is 1mm to 2mm, and the holes are filled.

[0116] The slicing direction of the cabin skin in the module M2 is along the horizontal direction, and the forming direction is along the vertical direction;

[0117] The slicing direction of the internal hanging points and the internal ring of the cabin is the concentric circle direction of the cabin skin, and the forming direction is along the normal direction of the cabin skin.

[0118] The swing amplitude of the square wave in the module M4 is 5 mm to 10 mm. When the scanning width is greater than 20 mm, multiple square wave scanning tracks are used for overlapping filling, and the overlapping spacing is 0.45 times the cladding track width.

[0119] In more preferred examples, the cabin in the module M5 is manufactured on a robotic 8-axis linkage arc additive manufacturing device, the cabin skin adopts a "1"-shaped optical head 9, the printing direction is kept perpendicular to the direction of the slicing layer, the internal hanging points and the internal rings of the cabin adopt an internal hole laser cladding head 10, the turntable is flipped 90°, and the forming direction is along the normal direction of the cabin.

[0120] The printing order of coaxial powder feeding laser additive manufacturing is as follows: cabin skin 5, cabin internal hanging point 6, and cabin internal ring 7.

[0121] The annealing temperature in the heat treatment is 990°C ± 5°C, the time is 2 to 3 hours, and air cooling;

[0122] Low temperature annealing temperature is 500℃±5℃, time is 3 to 5 hours, air cooling.

[0123] In more preferred examples, the model changes include adding inner and outer single-side allowances, adding 3mm to the outer single-side allowance and 1.5mm to the inner single-side allowance, and removing openings, threaded holes, grooves, fillets and bevels on the cabin skin.

[0124] In the module M2, a "1"-shaped optical head is used to print the cabin skin, and an inner hole laser cladding head is used to print the cabin's internal hanging points and the cabin's internal rings. The water oxygen content during the printing process is less than 50ppm.

[0125] The slice layer thickness is 1 mm, and the process parameters of layered slicing include laser power of 1200 W, scanning speed of 8 mm / s, powder feeding rate of 5.3 g / min, track filling spacing of 2.04 mm, contour spacing of 1.02 mm, and spot size of 3 mm.

[0126] The software used for the printing is Robotmaster. The program is copied to the robot control cabinet to complete the printing of the cabin skin, the cabin internal hanging points, and the cabin internal ring structure in sequence.

[0127] In the module M6, the cabin blank and the substrate after material addition are heat treated together, the annealing time is 2.5 hours, and the aging time of low-temperature annealing is 4 hours.

[0128] The multi-manipulator coordinated cabin integrated additive manufacturing method and system provided can avoid the problems of long processing cycle, high material removal rate, high development cost and so on caused by traditional processing methods; by replacing the optical head, the integrated manufacturing of titanium alloy cabin with built-in hanging point structure can be realized. Finally, the rapid, flexible, short-chain, low-cost and periodic additive manufacturing of new titanium alloy cabin products can be realized, promoting the rapid iteration of new products.

[0129] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0130] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A multi-manipulator coordinated cabin integrated additive manufacturing method, characterized in that: include: Step S1: Establishing a new cabin coaxial powder feeding laser additive manufacturing model; Step S2: Segment the model into blocks according to its features to obtain segmented blocks; Step S3: performing layered slicing according to the structural characteristics of the segmented block to obtain a slice layer; Step S4: performing trajectory filling for each slice layer of each segmented block according to the shape characteristics of the slice layer; Step S5: selecting an optical head for additive manufacturing according to the structural features; Step S6: Complete the manufacturing through heat treatment, machining and testing to obtain the final product.

2. The multi-manipulator coordinated cabin integrated additive manufacturing method according to claim 1, characterized in that: The novel cabin structure mainly comprises a built-in hanging point (1), a titanium alloy skin (2) and a cabin opening (3); In the step S1, the model is modified by adding a single-side margin, filling a groove, filling holes on the cabin body, and filling threaded holes to obtain a cabin body printing model; In the step S2, the cabin body printed model is divided into a cabin body skin (5), cabin body internal hanging points (6) and a cabin body internal ring (7); In step S3, the slicing direction is along the normal direction of the segmented block surface, the slice layer thickness is the lifting amount along the deposition direction, and the optical head is perpendicular to the slicing direction; In step S4, a square waveform scanning trajectory is selected for filling the filling trajectory of the cabin, and a contour offset method and a Z-shaped scanning strategy are used for filling the hanging points inside the cabin and the circular ring inside the cabin; In the step S5, a printing program is generated according to the printing sequence of the segmented blocks, the layered slices and the printing track of each slice layer, and an "1"-shaped optical head (9) and an inner hole laser cladding head (10) are used to perform additive forming according to the structural features and the printing sequence to obtain a cabin blank after additive forming; In the step S6, the cabin body blank after material addition is heat treated, and then the excess is removed by machining, and the final product is obtained after passing the non-destructive test.

3. The multi-manipulator coordinated cabin integrated additive manufacturing method according to claim 2, characterized in that: The addition of unilateral margin in step S1 includes the addition of unilateral margin on the inner side and the outer side. The unilateral margin on the outer side of the cabin is 2mm to 4mm, and the unilateral margin on the inner side is 1mm to 2mm. The holes are filled. In step S2, the slicing direction of the cabin skin is along the horizontal direction, and the forming direction is along the vertical direction; The slicing direction of the cabin's internal hanging points and the cabin's internal ring is the concentric circle direction of the cabin skin, and the forming direction is along the normal direction of the cabin skin; In step S4, the swing amplitude of the square wave is 5 mm to 10 mm. When the scanning width is greater than 20 mm, multiple square wave scanning tracks are used for overlapping filling, and the overlapping spacing is 0.45 times the cladding track width.

4. The multi-manipulator coordinated cabin integrated additive manufacturing method according to claim 2, characterized in that: In step S5, the cabin is manufactured on a robot-type 8-axis linkage arc additive manufacturing device, the cabin skin is manufactured using a "1"-shaped optical head (9), the printing direction is kept perpendicular to the direction of the slice layer, the cabin internal hanging points and the cabin internal ring are manufactured using an inner hole laser cladding head (10), the turntable is flipped 90 degrees, and the forming direction is along the cabin normal direction; The printing sequence is respectively the cabin skin (5), the cabin internal hanging point (6), and the cabin internal ring (7); The annealing temperature in the heat treatment is 990°C ± 5°C, the time is 2 to 3 hours, and air cooling; Low temperature annealing temperature is 500℃±5℃, time is 3 to 5 hours, air cooling.

5. The multi-manipulator coordinated cabin integrated additive manufacturing method according to claim 2, characterized in that: The model changes include adding inner and outer unilateral margins, adding 3mm to the outer unilateral margin and 1.5mm to the inner unilateral margin, and removing the openings, threaded holes, grooves, fillets and bevels on the cabin skin; In step S2, a "1"-shaped optical head is used to print the cabin skin, and an inner hole laser cladding head is used to print the cabin internal hanging points and the cabin internal rings, and the water oxygen content during the printing process is less than 50ppm; The slice layer thickness is 1 mm, and the process parameters of layered slicing include laser power of 1200 W, scanning speed of 8 mm / s, powder feeding rate of 5.3 g / min, track filling spacing of 2.04 mm, contour spacing of 1.02 mm, and spot size of 3 mm; The software used for printing is Robotmaster. The program is copied to the robot control cabinet to complete the printing of the cabin skin, the cabin internal hanging points, and the cabin internal ring structure in sequence; In the step S6, the cabin blank and the substrate after material addition are heat treated together, the annealing time is 2.5 hours, and the aging time of low-temperature annealing is 4 hours.

6. A cabin integrated additive manufacturing system with multi-manipulator collaboration, characterized in that: include: Module M1: Establish a new cabin coaxial powder feeding laser additive manufacturing model; Module M2: split the model into blocks according to its features to obtain segmented blocks; Module M3: Perform layered slicing according to the structural characteristics of the segmented block to obtain slicing layers; Module M4: Filling the track of each slice layer of each segmented block according to the shape characteristics of the slice layer; Module M5: Selecting an optical head for additive manufacturing based on structural features; Module M6: Complete manufacturing through heat treatment, machining and testing to obtain the final product.

7. The multi-manipulator coordinated cabin integrated additive manufacturing system according to claim 6, characterized in that: The novel cabin structure mainly comprises a built-in hanging point (1), a titanium alloy skin (2) and a cabin opening (3); In the module M1, the model is modified including adding a single-side margin, filling a groove, filling holes on the cabin body, and filling threaded holes to obtain a cabin body printing model; In the module M2, the cabin body printing model is divided into a cabin body skin (5), cabin body internal hanging points (6) and a cabin body internal ring (7); In the module M3, the slicing direction is along the normal direction of the segmented block surface, the slicing layer thickness is the lifting amount along the deposition direction, and the optical head is perpendicular to the slicing direction; In the module M4, a square waveform scanning trajectory is selected for filling the filling trajectory of the cabin, and a contour offset method and a Z-shaped scanning strategy are used for filling the hanging points inside the cabin and the circular ring inside the cabin; In the module M5, a printing program is generated according to the printing sequence of the segmented blocks, the layered slices and the printing track of each slice layer, and an "1"-shaped optical head (9) and an inner hole laser cladding head (10) are used to perform additive forming according to the structural features and the printing sequence to obtain a cabin blank after additive forming; In the module M6, the cabin body blank after material addition is heat treated, and then the excess is removed by machining, and the final product is obtained after passing the non-destructive test.

8. The multi-manipulator coordinated cabin integrated additive manufacturing system according to claim 7, characterized in that: The unilateral margin addition in the module M1 includes the addition of the inner and outer unilateral margins. The unilateral margin of the outer side of the cabin is 2mm to 4mm, and the unilateral margin of the inner side is 1mm to 2mm. The holes are filled; The slicing direction of the cabin skin in the module M2 is along the horizontal direction, and the forming direction is along the vertical direction; The slicing direction of the cabin's internal hanging points and the cabin's internal ring is the concentric circle direction of the cabin skin, and the forming direction is along the normal direction of the cabin skin; The swing amplitude of the square wave in the module M4 is 5 mm to 10 mm. When the scanning width is greater than 20 mm, multiple square wave scanning tracks are used for overlapping filling, and the overlapping spacing is 0.45 times the cladding track width.

9. The multi-manipulator coordinated cabin integrated additive manufacturing system according to claim 7, characterized in that: The cabin in the module M5 is manufactured on a robot-type 8-axis linkage arc additive manufacturing device. The cabin skin is manufactured using a "1"-shaped optical head (9). The printing direction is kept perpendicular to the direction of the slice layer. The cabin internal hanging points and the cabin internal ring are manufactured using an inner hole laser cladding head (10). The turntable is flipped 90 degrees, and the forming direction is along the cabin normal direction. The printing sequence is respectively the cabin skin (5), the cabin internal hanging point (6), and the cabin internal ring (7); The annealing temperature in the heat treatment is 990°C ± 5°C, the time is 2 to 3 hours, and air cooling; Low temperature annealing temperature is 500℃±5℃, time is 3 to 5 hours, air cooling.

10. The multi-manipulator coordinated cabin integrated additive manufacturing system according to claim 7, characterized in that: The model changes include adding inner and outer unilateral margins, adding 3mm to the outer unilateral margin and 1.5mm to the inner unilateral margin, and removing the openings, threaded holes, grooves, fillets and bevels on the cabin skin; In the module M2, a "1"-shaped optical head is used to print the cabin skin, and an inner hole laser cladding head is used to print the cabin internal hanging points and the cabin internal rings. The water oxygen content during the printing process is less than 50ppm; The slice layer thickness is 1 mm, and the process parameters of layered slicing include laser power of 1200 W, scanning speed of 8 mm / s, powder feeding rate of 5.3 g / min, track filling spacing of 2.04 mm, contour spacing of 1.02 mm, and spot size of 3 mm; The software used for printing is Robotmaster. The program is copied to the robot control cabinet to complete the printing of the cabin skin, the cabin internal hanging points, and the cabin internal ring structure in sequence; In the module M6, the cabin blank and the substrate after material addition are heat treated together, the annealing time is 2.5 hours, and the aging time of low-temperature annealing is 4 hours.

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