Multi-robot collaborative cabin integrated additive manufacturing method and system

Abstract

The application provides a cabin integrated additive manufacturing method and system of multiple robots, comprising: establishing a new type of cabin coaxial powder feeding laser additive manufacturing model; segmenting into blocks according to features; layering and slicing according to the structural characteristics of the segmented blocks; trajectory filling of each slice layer of each segmented block according to the shape characteristics of the slice layer; selecting an optical head for additive manufacturing according to the structural characteristics; completing the manufacturing through heat treatment, machining and detection to obtain the final product. The application adopts a coaxial powder feeding laser additive manufacturing method, can realize the integrated forming of the cabin skin and the built-in hanging point, has a higher degree of flexibility compared with the traditional manufacturing method, avoids the problem that the weld quality is difficult to guarantee caused by welding and machining after sheet metal forming, saves the processing cost and period, is suitable for complex design, and can accelerate the iteration speed of the new type.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of additive manufacturing, and particularly relates to coaxial powder feeding laser additive manufacturing technology and titanium alloy cabin manufacturing technology, and especially to a cabin integrated additive manufacturing method with multiple mechanical arms cooperating. BACKGROUND

[0002] The coaxial powder feeding laser near-net-shape forming technology is a kind of additive manufacturing, and is a new type of advanced manufacturing technology integrating computer technology, laser technology, sensor technology and material solidification technology, and is suitable for forming of various materials such as metals and ceramics. The technology adopts a three-dimensional modeling software to build a part entity model and slice, generates a motion trajectory, and uses a high-energy laser beam to form a molten pool on the surface of a metal or ceramic, powder is delivered into the molten pool by inert gas, and a cladding layer is formed under the action of the laser, and a solid part is formed by layer-by-layer accumulation.

[0003] During the flight of an aircraft, power is consumed to drive the lift to balance the weight of the aircraft itself. The heavier the structure weight, the more power is consumed, and the higher the fuel consumption. The increase in fuel consumption will lead to an increase in the size of the structure, further causing a vicious cycle of additional weight. Therefore, the lightweight design and manufacturing of the structure have a great influence on the flight time and range.

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

[0005] The traditional manufacturing process of the titanium alloy cabin includes casting, forging, machining, spinning, welding and riveting processes. The welding of the titanium alloy cabin generally has the following problems: 1) high quality requirement of the weld, the cabin not only bears a large longitudinal and lateral overload during flight, so the cabin has high requirements for the quality and mechanical properties of the weld; 2) difficulty in ensuring the dimensional accuracy, the aircraft cabin structure is mostly thin-walled and circular / abnormal-shaped, and the rigidity is poor, so the welding deformation is difficult to effectively control; and 3) poor weldability of the material, and pores and cracks are prone to occur in high-strength titanium alloy and other materials.

[0006] The cabin of a certain new type of aircraft has an irregular cross-section and multiple instrument mounting points. The envelope size is approximately Φ340mm×638mm, and the material is TC4 titanium alloy. At this time, the traditional manufacturing process mostly adopts casting or forging plus machining, which is a whole forming process. This process is not only time-consuming and costly, but also has low material utilization, making it difficult to meet the manufacturing requirements of complex designs and high-frequency iterative designs of new models.

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

[0008] Therefore, there is an urgent need for a new integrated additive manufacturing method that improves material utilization, reduces costs, and shortens cycle time to meet the manufacturing needs of complex designs and high-frequency iterative designs. Summary of the Invention

[0009] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and system for integrated additive manufacturing of cabins using multiple robotic arms in collaboration.

[0010] According to the present invention, a multi-robotics-assisted integrated additive manufacturing method for cabin assembly includes:

[0011] Step S1: Establish a novel coaxial powder feeding laser additive manufacturing model for the cabin;

[0012] Step S2: Divide the model into blocks based on its features to obtain segmented blocks;

[0013] Step S3: Slice the block into layers according to its structural characteristics to obtain slice layers;

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

[0015] Step S5: Select the optical head for additive manufacturing based on the structural characteristics;

[0016] Step S6: The manufacturing process is completed through heat treatment, machining, and inspection to obtain the final product.

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

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

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

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

[0021] In step S4, square waveform scanning trajectory is selected for filling the cabin, and contour offset method and Z-shaped scanning strategy are used for filling the internal attachment points and internal rings of the cabin.

[0022] In step S5, a printing program is generated based on the printing order of the segmented blocks, the layered slicing, and the printing trajectory of each slice. According to the structural features and printing order, an additive manufacturing process is performed using a "1"-shaped optical head 9 and an internal hole laser cladding head 10 to obtain the additive cabin blank.

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

[0024] Preferably, the addition of unilateral allowance in step S1 includes the addition of unilateral allowance on the inner and outer sides. The unilateral allowance on the outer side of the cabin is 2mm to 4mm, and the unilateral allowance on the inner side is 1mm to 2mm. The holes are filled.

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

[0026] The cutting direction of the internal attachment points and the internal ring of the cabin is the direction of the concentric circles of the cabin skin, and the forming direction is along the normal direction of the cabin skin.

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

[0028] Preferably, in step S5, the cabin is manufactured on a robotic 8-axis linkage arc additive manufacturing equipment. The cabin skin is made of a "1"-shaped optical head 9, and the printing direction is perpendicular to the direction of the slice layer. The internal hanging points and the inner ring of the cabin are made of an inner hole laser cladding head 10. The turntable is rotated 90° and the forming direction is along the normal direction of the cabin.

[0029] The printing sequence is as follows: 5. Cabin skin, 6. Cabin internal mounting points, and 7. Cabin internal ring.

[0030] The annealing temperature in the heat treatment is 990℃±5℃, the time is 2 to 3 hours, and the air is cooled.

[0031] Low-temperature annealing: 500℃±5℃ for 3 to 5 hours, followed by air cooling.

[0032] Preferably, the model modification includes adding 1 / 2 mm allowances on the inner and outer sides, with an outer 1 / 2 mm allowance added and an inner 1.5 mm allowance added, and removing openings, threaded holes, grooves, rounded corners and bevels on the cabin skin.

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

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

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

[0036] In step S6, the additively manufactured cabin blank and the substrate are heat-treated together. The annealing time is 2.5 hours, and the aging time for low-temperature annealing is 4 hours.

[0037] According to the present invention, a multi-robotics-assisted integrated cabin additive manufacturing system includes:

[0038] Module M1: Establish a novel coaxial powder-feeding laser additive manufacturing model for cabins;

[0039] Module M2: Divides the model into blocks based on its features to obtain segmented blocks;

[0040] Module M3: Based on the structural characteristics of the segmented blocks, it performs layer slicing to obtain slice layers;

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

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

[0043] Module M6: The final product is obtained by completing the manufacturing process through heat treatment, machining, and inspection.

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

[0045] The module M1 modifies the model by adding single-sided allowance, filling grooves, filling holes on the hull, and filling threaded holes to obtain a hull printing model.

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

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

[0048] In module M4, square waveform scanning trajectory is selected for filling the cabin, and contour offset method and zigzag scanning strategy are used for filling the internal attachment points and internal rings of the cabin.

[0049] In module M5, a printing program is generated based on the printing order of the segmented blocks, the layered slicing, and the printing trajectory of each slice. According to the structural features and printing order, an additive manufacturing process is performed using a "1"-shaped optical head 9 and an internal hole laser cladding head 10 to obtain an additive cabin blank.

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

[0051] Preferably, the addition of single-sided allowance in module M1 includes the addition of single-sided allowance on the inner and outer sides. The single-sided allowance on the outer side of the cabin is 2mm to 4mm, and the single-sided allowance on the inner side is 1mm to 2mm. The holes are filled.

[0052] In module M2, the slicing direction of the cabin skin is horizontal, and the forming direction is vertical.

[0053] The cutting direction of the internal attachment points and the internal ring of the cabin is the direction of the concentric circles of the cabin skin, and the forming direction is along the normal direction of the cabin skin.

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

[0055] Preferably, the cabin in module M5 is manufactured on a robotic 8-axis linkage arc additive manufacturing equipment. The cabin skin is made of a "1"-shaped optical head 9, and the printing direction is perpendicular to the direction of the slice layer. The internal hanging points and the inner ring of the cabin are made of an inner hole laser cladding head 10. The turntable is rotated 90° and the forming direction is along the normal direction of the cabin.

[0056] The annealing temperature in the heat treatment is 990℃±5℃, the time is 2 to 3 hours, and the air is cooled.

[0057] The printing sequence is as follows: 5. Cabin skin, 6. Cabin internal mounting points, and 7. Cabin internal ring.

[0058] Low-temperature annealing: 500℃±5℃ for 3 to 5 hours, followed by air cooling.

[0059] Preferably, the model modification includes adding 1 / 2 mm allowances on the inner and outer sides, with an outer 1 / 2 mm allowance added and an inner 1.5 mm allowance added, and removing openings, threaded holes, grooves, rounded corners and bevels on the cabin skin.

[0060] The module M2 uses a "1"-shaped optical head for cabin skin printing and an internal hole laser cladding head for printing internal hanging points and internal rings. During the printing process, the water and oxygen content is below 50 ppm.

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

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

[0063] In module M6, the additively manufactured cabin blank and the substrate are heat-treated together, with an annealing time of 2.5 hours and a low-temperature annealing aging time of 4 hours.

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

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

[0066] 2. This invention avoids the long cycle problem caused by traditional forging or casting followed by machining, saves processing costs and cycle time, and is suitable for complex designs.

[0067] 3. This invention achieves rapid and low-cost development of novel cabins through coaxial powder feeding laser near-net-shape forming technology, with dual-robot collaborative printing, focusing on solving the problem of integrated additive manufacturing of parts with internal structures, and can accelerate the iteration speed of new products. Attached Figure Description

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

[0069] Figure 1 A schematic diagram of the additive manufacturing process for the new cabin hull;

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

[0071] Figure 3 A schematic diagram showing the structural features of the new cabin.

[0072] Figure 4 Schematic diagram of additive manufacturing equipment for a new type of cabin;

[0073] Figure 5 This is a schematic diagram of the short square waveform scanning trajectory.

[0074] The diagram shows:

[0075] 1 built-in hanging point 2 titanium alloy skin 3 cabin body opening 4 cabin body printing model 5 cabin body skin 6 cabin body internal hanging point 7 cabin body inner ring 8 laser additive robot 9 "1" type optical head 10 inner hole laser cladding head 11 inner hole laser cladding robot 12 two-dimensional turnover workbench 13 cabin body 14 additive manufacturing base Detailed Implementation

[0076] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0077] The present invention provides a multi-robot collaborative additive manufacturing method for an integrated cabin, comprising the following:

[0078] By employing coaxial powder-feed laser additive manufacturing technology, through steps such as model segmentation, layer slicing, trajectory planning, printing program generation, and production processing, a one-piece molding of a cabin with built-in mounting points is achieved. This avoids the problems of long processing cycles, high costs, and low material utilization rates caused by traditional casting or forging followed by machining, thus accelerating the development of new cabins. It also avoids the difficulty in ensuring weld quality caused by welding and machining after sheet metal forming.

[0079] Specifically, the hull structure includes: hull skin, internal attachment points, and internal rings within the hull, i.e., hull openings, to... Figure 1 For example, the steps include:

[0080] Step S1: Establish a novel coaxial powder feeding laser additive manufacturing model for the cabin;

[0081] Specifically, the new aircraft cabin structure, with Figure 2For example, it mainly consists of internal mounting points 1, titanium alloy skin 2, and cabin openings 3. Based on the characteristics of coaxial powder-feed laser additive manufacturing technology, a coaxial powder-feed 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 modified, mainly including adding single-sided allowance, filling grooves, filling holes on the cabin, and filling threaded holes, to meet the forming process requirements and the stress deformation requirements of the forming and heat treatment processes on structural rigidity and machining needs. Considering the processing accuracy and deformation trend of coaxial powder-feed laser additive manufacturing, the single-sided allowance on the outer side of the cabin is 2mm-4mm, and the single-sided allowance on the inner side is 1mm-2mm. According to the characteristics of the coaxial powder-feed laser additive manufacturing process, through holes, blind holes, threaded holes, and other holes in the cabin need to be filled to obtain the cabin printing model.

[0082] In more preferred examples, taking TC4 titanium alloy as an example, the model modification mainly includes the addition of single-sided allowances on the inner and outer sides, with a single-sided allowance of 3mm on the outer side of the cabin and 1.5mm on the inner side; according to the forming size constraints, local small-sized features such as openings, threaded holes, grooves, rounded corners, and bevels on the cabin skin are removed.

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

[0084] Considering the requirements of different optical heads for features such as the cabin, internal attachment points, and printed ring, the printed model was segmented. Based on structural characteristics, the titanium alloy cabin of the new aircraft was divided into blocks, with the cabin printed model divided into three parts: the titanium alloy cabin skin, the internal attachment points (i.e., the internal attachment points), and the 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 attachment point; and 7 is the cabin internal ring.

[0085] Step S3: Slice the segmented block into layers according to its structural characteristics;

[0086] Specifically, the slicing direction is along the normal of the segmented block surface and is always perpendicular to the forming direction. The thickness of the slice layer is the increase along the deposition direction. The slicing direction of the hull skin is horizontal, and the forming direction is vertical. The slicing direction of the internal mounting points and inner rings of the hull is the direction of the concentric circles of the hull skin, and the forming direction is along the normal direction of the hull skin.

[0087] In more preferred embodiments, based on the structural characteristics of each segmented block, the layer thickness, i.e., the deposition lift, is set to 1 mm. The selected process parameters are: laser power 1200 W, scanning speed 8 mm / s, and powder feed rate 5.3 g / min. The trajectory fill 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 of the segmented block's surface, and the optical head is perpendicular to the slicing direction.

[0088] Step S4: Fill the trajectory of 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 filling the titanium alloy chamber, in order to... Figure 5 For example, the swing 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 trajectories are used for overlapping and filling, with an overlap spacing of 0.45 times the width of the cladding channel. For the internal mounting points and the internal ring of the cabin, a contour offset method and a Z-shaped scanning strategy are used for filling.

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

[0091] Specifically, a printing program is generated based on the printing order of the segmented blocks, the layered slicing, and the printing trajectory of each layer. Additive manufacturing is performed using "1"-shaped and internal hole laser cladding optical heads, respectively, according to the structural features and printing order.

[0092] In more preferred examples, the water and oxygen content during the printing process is controlled to be below 50 ppm. The printing sequence of coaxial powder-fed laser additive manufacturing, which is also the additive manufacturing sequence, is as follows: titanium alloy skin of the cabin, internal mounting points of the cabin, and openings in the cabin.

[0093] The cabin body is manufactured using a robotic 8-axis linkage arc additive manufacturing equipment. The titanium alloy cabin skin utilizes a "1"-shaped coaxial powder-feeding laser cladding head, i.e., a "1"-shaped optical head, with the printing direction always perpendicular to the direction of the sliced ​​layers. The internal mounting points and internal rings are manufactured using an internal hole laser cladding optical head. When printing the aircraft cabin skin, the 2D turntable is horizontal, and the "1"-shaped coaxial powder-feeding laser cladding head is used for printing; when printing the internal mounting points, the 2D turntable is at a 90° vertical position, and the "internal hole" coaxial powder-feeding laser cladding head is used for printing. In other words, the internal hole laser cladding head performs additive manufacturing, and the turntable needs to be rotated 90° during the forming process to ensure the forming direction is along the cabin's normal direction. Dual robots collaborate in printing, thus achieving integrated additive manufacturing of the aircraft cabin with internal mounting points, focusing on solving the challenges of integrated additive manufacturing of cabins with internal mounting points.

[0094] In more preferred examples, Figure 4 For example, the blocks with filled tracks are used to generate a printing program that the robot can recognize using specialized software. The printing software used is Robotmaster. The program is copied to the robot control cabinet, and the titanium alloy cabin skin, the internal attachment points of the titanium alloy cabin, and the internal rings of the cabin are printed sequentially. Finally, the new titanium alloy cabin blank is formed.

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

[0096] Specifically, a titanium alloy cabin blank is obtained through coaxial powder-feed laser additive manufacturing. The overall mechanical properties of the titanium alloy cabin are then enhanced through heat treatment: annealing at 990℃±5℃ for 2-3 hours followed by air cooling; and low-temperature annealing at 500℃±5℃ for 3-5 hours followed by air cooling. After heat treatment, the cabin blank is machined to remove excess material, and after passing non-destructive testing, the final product manufacturing is completed.

[0097] In more preferred embodiments, the completed titanium alloy cabin blank and substrate are subjected to a heat treatment process together to improve comprehensive mechanical properties. The annealing temperature is 990℃±5℃, the annealing time is 2.5h, and the substrate is air-cooled. The low-temperature annealing temperature is 500℃±5℃, the aging time is 4h, and the substrate is air-cooled.

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

[0099] Traditional manufacturing processes for titanium alloy cabins of new aircraft involve long production cycles, large material removal volumes, and high development costs. Furthermore, the design of new aircraft cabins is relatively complex, requiring frequent iterations. This invention, however, is applicable to the manufacturing of various titanium alloy cabins with built-in mounting points, offering advantages such as high flexibility, short process chains, short processing cycles, and low costs.

[0100] The present invention also provides a multi-robot collaborative integrated cabin additive manufacturing system. The multi-robot collaborative integrated cabin additive manufacturing system can be implemented by executing the process steps of the multi-robot collaborative integrated cabin additive manufacturing method. That is, those skilled in the art can understand the multi-robot collaborative integrated cabin additive manufacturing method as a preferred embodiment of the multi-robot collaborative integrated cabin additive manufacturing system.

[0101] According to the present invention, a multi-robotics-assisted integrated cabin additive manufacturing system includes:

[0102] Module M1: Establish a novel coaxial powder-feeding laser additive manufacturing model for cabins;

[0103] Module M2: Divides the model into blocks based on its features to obtain segmented blocks;

[0104] Module M3: Based on the structural characteristics of the segmented blocks, it performs layer slicing to obtain slice layers;

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

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

[0107] Module M6: The final product is obtained by completing the manufacturing process through heat treatment, machining, and inspection.

[0108] In more preferred embodiments, the novel cabin structure mainly includes built-in attachment points 1, titanium alloy skin 2, and cabin openings 3.

[0109] The module M1 modifies the model by adding single-sided allowance, filling grooves, filling holes on the hull, and filling threaded holes to obtain a hull printing model.

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

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

[0112] In module M4, square waveform scanning trajectory is selected for filling the cabin, and contour offset method and zigzag scanning strategy are used for filling the internal attachment points and internal rings of the cabin.

[0113] In module M5, a printing program is generated based on the printing order of the segmented blocks, the layered slicing, and the printing trajectory of each slice. According to the structural features and printing order, an additive manufacturing process is performed using a "1"-shaped optical head 9 and an internal hole laser cladding head 10 to obtain an additive cabin blank.

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

[0115] In more preferred embodiments, the addition of unilateral allowance in module M1 includes the addition of unilateral allowance on the inner and outer sides. The unilateral allowance on the outer side of the cabin is 2mm to 4mm, and the unilateral allowance on the inner side is 1mm to 2mm. The holes are filled.

[0116] In module M2, the slicing direction of the cabin skin is horizontal, and the forming direction is vertical.

[0117] The cutting direction of the internal attachment points and the internal ring of the cabin is the direction of the concentric circles of the cabin skin, and the forming direction is along the normal direction of the cabin skin.

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

[0119] In more preferred embodiments, the cabin in module M5 is manufactured on a robotic 8-axis linkage arc additive manufacturing equipment. The cabin skin is made of a "1"-shaped optical head 9, and the printing direction is perpendicular to the direction of the slice layer. The internal hanging points and the inner ring of the cabin are made of an inner hole laser cladding head 10. The turntable is rotated 90° and the forming direction is along the normal direction of the cabin.

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

[0121] The annealing temperature in the heat treatment is 990℃±5℃, the time is 2 to 3 hours, and the air is cooled.

[0122] Low-temperature annealing: 500℃±5℃ for 3 to 5 hours, followed by air cooling.

[0123] In more preferred embodiments, the model modification includes adding 1 / 2 mm allowances on the inner and outer sides, with the outer side allowance added by 3 mm and the inner side allowance added by 1.5 mm, and removing openings, threaded holes, grooves, rounded corners and bevels on the cabin skin.

[0124] The module M2 uses a "1"-shaped optical head for cabin skin printing and an internal hole laser cladding head for printing internal hanging points and internal rings. During the printing process, the water and oxygen content is below 50 ppm.

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

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

[0127] In module M6, the additively manufactured cabin blank and the substrate are heat-treated together, with an annealing time of 2.5 hours and a low-temperature annealing aging time of 4 hours.

[0128] The provided multi-robotics-assisted additive manufacturing method and system for integrated cabin construction avoids the problems of long processing cycles, high material removal rates, and high development costs associated with traditional processing methods. By replacing the optical head, integrated manufacturing of titanium alloy cabins with built-in mounting points is achieved. Ultimately, this enables rapid, flexible, short-chain, low-cost, and cycle-based additive manufacturing of new titanium alloy cabin products, promoting rapid iteration of new products.

[0129] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0130] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for integrated additive manufacturing of a cabin using multiple robotic arms in collaboration, characterized in that, include: Step S1: Establish a novel coaxial powder feeding laser additive manufacturing model for the cabin; Step S2: Divide the model into blocks based on its features to obtain segmented blocks; Step S3: Slice the block into layers according to its structural characteristics to obtain slice layers; Step S4: Fill the trajectory of each slice layer of each segmented block according to the shape characteristics of the slice layer; Step S5: Select the optical head for additive manufacturing based on the structural characteristics; Step S6: The manufacturing process is completed through heat treatment, machining, and inspection to obtain the final product; The novel cabin structure mainly includes built-in mounting points (1), titanium alloy skin (2), and cabin openings (3). In step S1, the model is modified by adding single-sided allowance, filling grooves, filling holes on the cabin and filling threaded holes to obtain the cabin printing model. In step S2, the cabin printing model is divided into cabin skin (5), cabin internal hanging points (6), and cabin internal ring (7). In step S3, the slicing direction is along the normal of the segmented block surface, the slicing layer thickness is the increase along the deposition direction, and the optical head is perpendicular to the slicing direction. In step S4, square waveform scanning trajectory is selected for filling the cabin, and contour offset method and Z-shaped scanning strategy are used to fill the internal attachment points and internal rings of the cabin. In step S5, a printing program is generated according to the printing order of the segmented blocks, the layered slices and the printing trajectory of each slice layer. According to the structural features and printing order, an "1"-shaped optical head (9) and an inner hole laser cladding head (10) are used for additive forming to obtain the additive cabin blank. In step S6, the additive cabin blank is heat-treated, then the excess is removed by machining, and after passing non-destructive testing, the final product is obtained. The addition of single-sided allowance in step S1 includes the addition of single-sided allowance on the inner and outer sides. The single-sided allowance on the outer side of the cabin is 2mm to 4mm, and the single-sided allowance on the inner side is 1mm to 2mm. The holes are filled. In step S2, the slicing direction of the cabin skin is horizontal, and the forming direction is vertical. The cutting direction of the internal attachment points and the internal ring of the cabin is the direction of the concentric circles 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 5mm to 10mm. When the scanning width is greater than 20mm, multiple square wave scanning trajectories are used for overlapping and filling, and the overlap spacing is 0.45 times the width of the cladding track. In step S5, the cabin is manufactured on a robotic 8-axis linkage electric arc additive manufacturing equipment. The cabin skin is made of a "1" shaped optical head (9). The printing direction is perpendicular to the direction of the slice layer. The internal hanging points and the internal ring of the cabin are made of an internal hole laser cladding head (10). The turntable is rotated 90° and the forming direction is along the normal direction of the cabin. The printing sequence is as follows: cabin skin (5), cabin internal attachment point (6), cabin internal ring (7). The annealing temperature in the heat treatment is 990℃±5℃, the time is 2 to 3 hours, and the air is cooled. Low-temperature annealing: 500℃±5℃ for 3 to 5 hours, followed by air cooling.

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

3. A multi-robotics-assisted integrated additive manufacturing system for cabin hulls, characterized in that, include: Module M1: Establish a novel coaxial powder-feeding laser additive manufacturing model for cabins; Module M2: Divides the model into blocks based on its features to obtain segmented blocks; Module M3: Based on the structural characteristics of the segmented blocks, it performs layer slicing to obtain slice layers; Module M4: Fills the trajectory of each slice layer of each segmented block according to the shape characteristics of the slice layer; Module M5: Selects the optical head for additive manufacturing based on structural features; Module M6: The final product is obtained through heat treatment, machining, and inspection. The novel cabin structure mainly includes built-in mounting points (1), titanium alloy skin (2), and cabin openings (3). In module M1, modifications are made to the model, including adding single-sided allowance, filling grooves, filling holes on the hull, and filling threaded holes, to obtain the hull printing model. In module M2, the cabin printing model is divided into cabin skin (5), cabin internal hanging points (6), and cabin internal ring (7). In module M3, the slicing direction is along the normal of the segmented block surface, the slice layer thickness is the increase along the deposition direction, and the optical head is perpendicular to the slicing direction. In module M4, square waveform scanning trajectory is selected for filling the cabin, and contour offset method and zig-shaped scanning strategy are used to fill the internal attachment points and internal rings of the cabin. In module M5, a printing program is generated according to the printing order of the segmented blocks, the layered slices and the printing trajectory of each slice layer. According to the structural features and printing order, an "1"-shaped optical head (9) and an inner hole laser cladding head (10) are used for additive forming to obtain the additive cabin blank. In module M6, the additive cabin blank is heat-treated, then the excess is removed by machining, and after passing non-destructive testing, the final product is obtained. The addition of single-sided allowance in module M1 includes the addition of single-sided allowance on the inner and outer sides. The single-sided allowance on the outer side of the cabin is 2mm to 4mm, and the single-sided allowance on the inner side is 1mm to 2mm. The holes are filled. In module M2, the slicing direction of the cabin skin is horizontal, and the forming direction is vertical. The cutting direction of the internal attachment points and the internal ring of the cabin is the direction of the concentric circles of the cabin skin, and the forming direction is along the normal direction of the cabin skin. The square wave amplitude of module M4 is 5mm to 10mm. When the scanning width is greater than 20mm, multiple square wave scanning trajectories are used for overlapping and filling, with an overlap spacing of 0.45 times the cladding width. The cabin in module M5 is manufactured on a robotic 8-axis linkage electric arc additive manufacturing equipment. The cabin skin uses a "1" shaped optical head (9). The printing direction is perpendicular to the direction of the slice layer. The internal hanging points and the internal ring of the cabin use an internal hole laser cladding head (10). The turntable is rotated 90° and the forming direction is along the normal direction of the cabin. The printing sequence is as follows: cabin skin (5), cabin internal attachment point (6), cabin internal ring (7). The annealing temperature in the heat treatment is 990℃±5℃, the time is 2 to 3 hours, and the air is cooled. Low-temperature annealing: 500℃±5℃ for 3 to 5 hours, followed by air cooling.

4. The multi-manipulator collaborative integrated cabin additive manufacturing system according to claim 3, characterized in that, The changes include adding 3mm of allowance on the inner and outer sides, and 1.5mm of allowance on the inner side, and removing openings, threaded holes, grooves, rounded corners and bevels on the hull skin. The module M2 uses a "1"-shaped optical head to print the cabin skin, and an internal hole laser cladding head to print the internal hanging points and internal rings of the cabin. During the printing process, the water and oxygen content is less than 50 ppm. The thickness of the slice layer is 1 mm. The process parameters for layered slicing include a laser power of 1200 W, a scanning speed of 8 mm / s, a powder feeding rate of 5.3 g / min, a trajectory filling spacing of 2.04 mm, a contour spacing of 1.02 mm, and a spot size of 3 mm. The printing software used is Robotmaster. The program is copied to the robot control cabinet and the printing of the cabin skin, the internal attachment points of the cabin, and the internal ring structure of the cabin is completed in sequence. In module M6, the additively manufactured cabin blank and the substrate are heat-treated together, with an annealing time of 2.5 hours and a low-temperature annealing aging time of 4 hours.

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