Space curved surface part repairing and remanufacturing method based on highly self-adaptive printing

Abstract

The invention relates to a space curved surface part repairing and remanufacturing method based on highly self-adaptive printing. According to the space curved surface part repairing and remanufacturing method based on height self-adaptive printing, when the deposition printing head conducts moving scanning repairing on the to-be-repaired face of the to-be-repaired space curved surface part in the preset linear printing direction, online real-time detection and calculation are conducted on the to-be-repaired face of the to-be-repaired space curved surface part in the height direction; on-line height real-time compensation of the deposition printing head is achieved, three-dimensional modeling is not needed in the whole repairing and remanufacturing process of the to-be-repaired space curved surface part, it is guaranteed that the distribution and acting effect of laser energy on the to-be-repaired surface is stable, the defects of layering, air holes, cracks and the like in the repaired and remanufactured part are reduced, the repairing and printing quality is improved, and the repairing and remanufacturing efficiency is improved. The engineering technical difficulty of printing and remanufacturing of the curved-surface-shaped metal part is reduced, and the applicability of laser directional energy deposition in the field of curved-surface part repairing and remanufacturing is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of repairing spatial curved surface parts, and in particular to a method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing. Background Art

[0002] As an extremely flexible additive manufacturing technology, directed energy deposition has shown unique advantages in the manufacturing and repair of aerospace and engineering machinery parts. In particular, laser energy directed deposition additive manufacturing technology has low heat input, which can effectively reduce the warping and deformation problems of parts; fast cooling speed can ensure stable material properties, and excellent metallurgical bonding between deposited layers; at the same time, it can accurately repair damaged components and restore parts to their original shape by replenishing the material lost during use.

[0003] At present, in the process of laser energy directional deposition additive manufacturing parts, based on the established three-dimensional model, the tool path is edited by post-processing CAM software to form the laser directional energy deposition printing path planning motion code. This processing method requires professional personnel to use. However, for parts with complex characteristic surfaces, the unstable layer height will lead to the dimensional deviation of the parts in the height direction, increase the steps and surface roughness problems, and even destroy the originally uniform metallurgical bonding strength between the deposited layers during the additive manufacturing process. In the field of remanufacturing, professionals are generally required to use laser 3D scanners to extract cloud data points and perform secondary processing to form an accurate digital 3D model of the repair area. Due to the surface features in the repair area, the complexity of controlling the height of the print head from the part surface will increase. Height changes will change the distribution and effect of laser energy on the surface of the part. As the height increases, the laser energy will have more losses during the transmission process, so that the material cannot be fully melted, resulting in a decrease in the bonding strength between layers, and delamination defects may appear inside the part. When the height decreases, the laser energy is too concentrated, which will cause the local temperature to be too high, causing excessive melting or even evaporation of the material, resulting in defects such as pores and cracks, which seriously affect the mechanical properties of the part. Summary of the invention

[0004] Based on this, it is necessary to provide a spatial curved surface part repair and remanufacturing method based on highly adaptive printing that can get rid of the need for three-dimensional part modeling and preliminary path planning to improve the applicability of laser directed energy deposition in the field of curved surface part repair and remanufacturing.

[0005] A method for repairing and remanufacturing a spatial curved surface part based on highly adaptive printing, comprising the steps of: A laser deposition printing system is provided; the laser deposition printing system comprises a multi-degree-of-freedom motion mechanism, a deposition printing head, a feeding nozzle, and a distance detection device, wherein the deposition printing head is mounted on a moving end of the multi-degree-of-freedom motion mechanism, and the feeding nozzle and the distance detection device are both mounted on the deposition printing head; Setting the printing process parameters of the part to be repaired on the spatial curved surface part to be repaired; Fixing the spatial curved surface part to be repaired on the platform of the multi-degree-of-freedom motion mechanism; moving the deposition print head to an initial printing position; The distance detection device is used to obtain the distance between the feeding guide nozzle and the initial printing position on the spatial curved surface part to be repaired, so as to obtain the initial printing height; According to the printing process parameters, the deposition print head is controlled to move and print the to-be-repaired surface of the to-be-repaired spatial curved surface part starting from the initial printing position along a preset straight line printing direction; the preset straight line printing direction is perpendicular to the height direction of the deposition print head; During the mobile printing process, the distance detection device is used to obtain in real time the distance between the feeding nozzle and the current printing position on the spatial curved surface part to be repaired, so as to obtain the actual printing height; When the actual printing height is less than the initial printing height, the multi-degree-of-freedom motion mechanism is used to control the deposition print head to stop moving in the preset straight line printing direction, and the deposition print head is driven to perform rise compensation printing; When the actual printing height is greater than the initial printing height, the deposition printing head is controlled to stop moving in the preset straight line printing direction by using a multi-degree-of-freedom motion mechanism, and the deposition printing head is driven to perform descent compensation printing; Return to the step of obtaining the actual printing height, and perform ascending compensation printing when the actual printing height measured currently is less than the actual printing height measured previously, and perform descending compensation printing when the actual printing height measured currently is greater than the actual printing height measured previously; After the spatial curved surface part to be repaired is printed and repaired along the preset straight line printing direction, the deposition print head is offset by a preset offset distance in a direction perpendicular to the preset straight line printing direction; Returning to execute the mobile printing step until the repair printing of the entire surface to be repaired on the spatial curved surface part to be repaired is completed; The preset offset distance is the width of the deposition layer formed by the printing laser beam emitted by the deposition print head on the printing surface.

[0006] The above-mentioned method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing performs online real-time detection and calculation of the surface to be repaired of the spatial curved surface parts to be repaired in the height direction while the deposition print head performs moving scanning and repair along the preset straight line printing direction. This realizes online real-time height compensation of the deposition print head, so that the entire repair and remanufacturing process of the spatial curved surface parts to be repaired does not require three-dimensional modeling, and ensures the stability of the layer height during the repair printing process, solves the problems of dimensional deviation, increased steps and surface roughness of the repaired parts in the height direction caused by unstable layer height during the repair printing process, and solves the problem of changes in the distance between the deposition print head and the surface to be repaired caused by unstable layer height, thereby affecting the distribution of laser energy on the surface to be repaired of the spatial curved surface parts to be repaired and the problem of unstable effect, so as to ensure the stability of the distribution and effect of laser energy on the surface to be repaired, so as to reduce the occurrence of defects such as stratification, pores, cracks, etc. in the repaired and remanufactured parts, improve the repair printing quality, reduce the engineering and technical difficulty of printing and remanufacturing of metal parts with curved shapes, and improve the applicability of laser directional energy deposition in the field of repair and remanufacturing of curved surface parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a schematic flow chart of a method for repairing and remanufacturing a spatial curved surface part based on highly adaptive printing in a preferred embodiment of the present invention; Figure 2 for Figure 1 The flowchart of step S50 in the method for repairing and remanufacturing a spatial curved surface part based on highly adaptive printing is shown; Figure 3 for Figure 1 The flowchart of step S70 in the method for repairing and remanufacturing a spatial curved surface part based on highly adaptive printing is shown; Figure 4 for Figure 1 A schematic flow chart of steps S201 to S203 in the method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing is shown; Figure 5 for Figure 1 A schematic flow chart of steps S301 to S308 in a method for repairing and remanufacturing a spatial curved surface part based on highly adaptive printing is shown; Figure 6 for Figure 1 The flowchart of step S401 and step S402 added before step S50 in the method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing is shown; Figure 7 for Figure 1A schematic flow chart of steps S1 to S3 for implementing steps S50 and S70 in the method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing is shown; Figure 8 for Figure 7 The flowchart shown is of steps S01 to S04 added before step S1 in the method for repairing and remanufacturing spatial surface parts based on highly adaptive printing. DETAILED DESCRIPTION

[0008] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0009] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0010] When describing positional relationships, unless otherwise specified, when an element is referred to as being "on" another element, it can be directly on the other element or there can be an intermediate element. It is also understood that when an element is referred to as being "between" two elements, it can be the only one between the two elements, or there can be one or more intermediate elements.

[0011] In the case of using “including”, “having”, and “comprising” described herein, another component may be added unless a clear limiting term such as “only”, “consisting of”, etc. is used. Unless mentioned otherwise, a term in the singular form may include a plural form and should not be understood as being one in number.

[0012] See also Figure 1 The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing in a preferred embodiment of the present invention includes steps S10 to S120.

[0013] Step S10, providing a laser deposition printing system. The laser deposition printing system includes a multi-degree-of-freedom motion mechanism, a deposition printing head, a feeding nozzle, and a distance detection device. The deposition printing head is installed at the moving end of the multi-degree-of-freedom motion mechanism, and the feeding nozzle and the distance detection device are both installed on the deposition printing head.

[0014] Among them, the multi-degree-of-freedom motion mechanism can be a five-axis linkage machine tool, a six-joint arm motion robot system, etc. The distance detection device is used to obtain the distance between the feeding guide nozzle and the spatial curved surface part to be repaired positioned on the platform of the multi-degree-of-freedom motion mechanism by measuring, and the feeding guide nozzle is used to introduce metal powder onto the surface to be repaired of the spatial curved surface part to be repaired.

[0015] Step S20, setting printing process parameters of the to-be-repaired portion of the to-be-repaired spatial curved surface part.

[0016] The printing process parameters include scanning movement speed, power of a laser for emitting a printing laser beam, feeding speed of a feeding unit for conveying metal powder into a feeding nozzle, and the like.

[0017] Step S30, fixing the spatial curved surface part to be repaired on the platform of the multi-degree-of-freedom motion mechanism.

[0018] Step S40, moving the deposition print head to an initial printing position.

[0019] That is, the deposition print head is moved to the initial printing position by using a multi-degree-of-freedom motion mechanism, and the initial printing position is consistent with the initial repair position of the surface to be repaired on the spatial curved surface part to be repaired.

[0020] Step S50, using a distance detection device to obtain the distance between the feeding nozzle and the initial printing position on the spatial curved surface part to be repaired, so as to obtain an initial printing height.

[0021] Step S60, according to the printing process parameters, the deposition print head is controlled to move and print the surface to be repaired of the spatial curved surface part to be repaired starting from the initial printing position along a preset straight line printing direction. When the spatial curved surface part to be repaired is placed horizontally, the preset straight line printing direction is a horizontal direction perpendicular to the height direction of the deposition print head.

[0022] Step S70, while executing step S60, using a distance detection device to obtain in real time the distance between the feeding nozzle and the current printing position on the spatial curved surface part to be repaired, so as to obtain the actual printing height.

[0023] Step S80: When the actual printing height is less than the initial printing height, the multi-degree-of-freedom motion mechanism is used to control the deposition print head to stop moving in the preset straight line printing direction, and the deposition print head is driven to perform rise compensation printing.

[0024] Step S90: When the actual printing height is greater than the initial printing height, the multi-degree-of-freedom motion mechanism is used to control the deposition print head to stop moving in the preset straight line printing direction, and the deposition print head is driven to perform descent compensation printing.

[0025] Step S100, return to step S70, and execute step S80 when the actual printing height measured currently is less than the actual printing height measured previously, and execute step S90 when the actual printing height measured currently is greater than the actual printing height measured previously.

[0026] Step S110, after the repair of the spatial curved surface part to be repaired is completed along the preset straight line printing direction, the deposition print head is offset by a preset offset distance in a direction perpendicular to the preset straight line printing direction. The preset offset distance is the width of the deposition layer formed by the printing laser beam emitted by the deposition print head on the printing surface.

[0027] Step S120, returning to step S60, until the repair printing of the entire surface to be repaired on the spatial curved surface part to be repaired is completed.

[0028] Thus, step S100 is to repeat steps S70 to S90 for multiple times until the repair and remanufacturing work of the spatial curved surface part to be repaired in the preset straight line printing direction is completed. Step S120 is to repeat steps S60 to S110 until the repair and remanufacturing work of the entire surface to be repaired on the spatial curved surface part to be repaired is completed.

[0029] By executing steps S10 to S120, the repair and remanufacturing work of the spatial curved surface part to be repaired is completed. By executing steps S10 and S30, the preparation work before the repair printing is completed; by executing steps S40 to S100, the repair printing work of a deposition layer with a width equal to the width of the laser beam emitted by the deposition print head and a length equal to the length of the surface to be repaired of the spatial curved surface part to be repaired in the preset straight line printing direction is completed; by executing steps S110 and S120, all the repair work of the surface to be repaired on the spatial curved surface part to be repaired is completed.

[0030] Therefore, in step S50 to step S100, while the deposition print head moves and scans the surface to be repaired of the spatial curved surface part to be repaired in the preset straight line printing direction, the surface to be repaired of the spatial curved surface part to be repaired is detected and calculated online in real time in the height direction, so as to realize online height real-time compensation of the deposition print head, so that the entire repair and remanufacturing process of the spatial curved surface part to be repaired does not require three-dimensional modeling, and the layer height stability during the repair printing process is ensured, and the problems of dimensional deviation, increased steps and surface roughness of the repaired parts in the height direction caused by unstable layer height during the repair printing process are solved, and the problem of change in the distance between the deposition print head and the surface to be repaired caused by unstable layer height, thereby affecting the distribution of laser energy on the surface to be repaired of the spatial curved surface part to be repaired and the unstable effect is solved, so as to ensure that the distribution of laser energy on the surface to be repaired and the effect are stable, so as to reduce the occurrence of defects such as stratification, pores, cracks, etc. inside the repaired and remanufactured parts, improve the repair printing quality, reduce the engineering technical difficulty of printing and remanufacturing of metal parts with curved shapes, and improve the applicability of laser directional energy deposition in the field of repair and remanufacturing of curved surface parts.

[0031] In some embodiments, there are multiple distance detection devices, which are arranged at intervals along the circumference of the feeding guide nozzle. The feeding guide nozzle feeds vertically to the surface to be repaired of the spatial curved surface part to be repaired, and the collection beam of the distance detection device and the printing laser beam emitted by the deposition print head are both obliquely incident on the surface to be repaired of the spatial curved surface part to be repaired, and the printing laser beam and the collection beam are focused on the same printing position of the spatial curved surface part to be repaired.

[0032] Please also read Figure 2 , step S50 includes step S501 and step S502.

[0033] Step S501, using multiple distance detection devices to simultaneously acquire the distance between the feeding nozzle and the starting printing position of the spatial curved surface part to be repaired, so as to obtain multiple initial distance measurement data.

[0034] Step S502, selecting the minimum value among a plurality of initial measurement data as the initial printing height.

[0035] Please also read Figure 3 , step S70 includes step S701 and step S702.

[0036] Step S701, using multiple distance detection devices to simultaneously acquire the distance between the feeding nozzle and the current printing position of the spatial curved surface part to be repaired, so as to obtain multiple actual distance measurement data.

[0037] Step S702: Select the minimum value among a plurality of actual distance measurement data as the actual printing height.

[0038] Therefore, by executing step S501 and step S502, multiple initial distance measurement data are collected at the same time, and the final initial printing height is obtained according to the multiple initial measurement distances, and by executing step S701 and step S702, multiple actual distance measurement data are collected at the same time, and the final actual printing height is obtained according to the multiple actual distance measurement data, thereby through the coupling design between the light spot of the collection light beam emitted by the multiple distance detection devices and the light spot of the printing laser beam emitted by the deposition print head, through quantitative data calculation and parameter discrimination methods, the measurement accuracy of the distance between the feeding guide nozzle and the to-be-repaired surface of the spatial curved surface part to be repaired is improved, the precise control of the distance height between the deposition print head and the to-be-repaired surface of the spatial curved surface part to be repaired is greatly improved, the continuous manufacturing of printing and repair of spatial curved surface parts is realized, and the occurrence of printing interruption caused by changes in laser focus is reduced.

[0039] Furthermore, in some embodiments, the distance detection device is a laser distance measuring device.

[0040] After step S10, the method further includes the steps of debugging the printing laser beam emitted by the deposition print head and the collection beam emitted by the distance detection device until the absolute value of the difference between the incident angle of the collection beam emitted by the distance detection device and the incident angle of the printing laser beam emitted by the deposition print head is less than or equal to a preset angle, and the energies of the laser beam emitted by the deposition print head and the collection beam emitted by the distance detection device meet preset requirements.

[0041] In this way, by debugging the printing laser beam emitted by the deposition print head and the collection light beam emitted by the distance detection device, the laser energy of the printing laser beam and the collection laser beam irradiated on the repaired surface of the spatial curved surface part to be repaired can be accurately controlled to further improve the repair printing accuracy and the collection accuracy of the distance detection device.

[0042] Furthermore, in some embodiments, the deposition print head is a multi-beam focused energy deposition print head capable of emitting multiple printing laser beams, and multiple light outlets on the deposition print head for emitting multiple printing laser beams are arranged at intervals along the circumference of the feed guide nozzle.

[0043] Please also read Figure 4 , the absolute value of the difference between the incident angle of the collection light beam emitted by the distance detection device and the incident angle of the printing laser beam emitted by the deposition print head is less than or equal to the preset angle, obtained by the following steps S201 to S203: Step S201, obtaining the angle between the printing laser beam emitted by the deposition print head and the center line of the feeding nozzle ; Step S202, obtaining the angle between the collection light beam emitted by the distance detection device and the center line of the feeding nozzle ; Step S203, by debugging the optical path of the printing laser beam emitted by the deposition print head and the optical path of the collection beam emitted by the distance detection device, and The following relations are satisfied: Preset angle: Specifically, the preset angle is between 5° and 10°.

[0044] Specifically, the center line of the feeding guide nozzle is a vertical line perpendicular to the preset straight line printing angle.

[0045] Therefore, in the debugging process of printing laser beam and collecting beam, use " The “preset angle” is used to indicate that the absolute value of the difference between the incident angle of the collection light beam emitted by the distance detection device and the incident angle of the laser beam emitted by the deposition print head is less than or equal to the preset angle. By executing steps S201 to S203, it can be accurately known whether the incident angle of the printing laser beam emitted by the deposition print head and the incident angle of the collection light beam emitted by the distance detection device meet the requirements, thereby improving operability.

[0046] In step S201 and step S202, the angle and angle The measurements are all made with the center line of the feeding chamfer as the reference line, so as to accurately obtain the incident angle of the collection light beam emitted by the distance detection device and the incident angle of the laser beam emitted by the deposition print head, thereby improving the debugging accuracy of the collection light beam emitted by the distance detection device and the printing laser beam emitted by the deposition print head.

[0047] Please also read Figure 5 Furthermore, in some embodiments, the energies of the printing laser beam emitted by the deposition print head and the collection beam emitted by the distance detection device meet the preset requirements, which are obtained by following the steps S301 to S308: Step S301, placing the spectrum acceptor analyzer horizontally on a platform of a multi-degree-of-freedom motion mechanism, and moving the platform so that it is directly below the deposition print head; Step S302, using a multi-degree-of-freedom motion mechanism to adjust the position height of the deposition print head until the feeding guide nozzle reaches the initial printing position; Step S303, obtaining the projection area of ​​the laser beam emitted by the deposition print head on the spectrum receiving analyzer ; Step S304, obtaining the projection area of ​​the light spot of the collection light beam emitted by the distance detection device on the spectrum receiving analyzer as and make the light spot formed by the printing laser beam irradiating the spectrum receiving analyzer coincide with the light spot formed by the collection light beam irradiating the spectrum receiving analyzer; Step S305, by debugging the optical path of the printing laser beam emitted by the deposition print head and the optical path of the collection beam emitted by the distance detection device, and The following relations are satisfied: Preset spot area; Step S306, obtaining the light spot envelope area of ​​the multiple printing laser beams emitted by the deposition print head on the spectrum receiving analyzer ; Step S307, obtaining the light spot envelope area of ​​the collection light beams emitted by the multiple distance detection devices on the spectrum receiving analyzer ; Step S308, by debugging the optical path of the printing laser beam emitted by the deposition print head and the optical path of the collection beam emitted by the distance detection device, and The following relations are satisfied: Preset envelope area.

[0048] Therefore, during the debugging process of printing laser beam and collecting beam, the Preset spot area" and The preset envelope area is used to ensure that the laser energy of the printing laser beam emitted by the deposition print head and the collection beam emitted by the distance detection device meets the requirements, by executing steps S301 to S308, and by " Preset spot area" and The "preset envelope area" can accurately know whether the laser energy of the printing laser beam emitted by the deposition print head and the laser energy of the collection beam emitted by the distance detection device meet the requirements, thereby improving operability.

[0049] In some embodiments, the deposition print head is a multi-beam focused energy deposition print head capable of emitting multiple printing laser beams.

[0050] Please also read Figure 6 , before step S50, it also includes step S401 and step S402.

[0051] Step S401, adjusting the height of the laser receiving end of the distance detection device to be consistent with the height of the feeding guide nozzle.

[0052] Step S402, obtaining the angle between the collection light beam emitted by the distance detection device and the center line of the feeding nozzle .

[0053] Please also read Figure 7 , step S50 and step S70 are the same, both including step S1 to step S3.

[0054] Step S1, using a distance detection device to collect the distance between the spot of the collection light beam emitted by the distance detection device on the spatial curved surface part to be repaired and the receiving end of the distance detection device ; Step S2, using the following formula to calculate the distance between the feeding nozzle and the printing position on the spatial curved surface part to be repaired : .

[0055] Step S3, select The minimum value in is used as the initial printing height or the actual printing height.

[0056] Thus, by executing step S401, step S402, and step S1 to step S3, the distance between the spot of the light beam on the spatial curved surface part to be repaired and the receiver of the distance detection device is collected. ; and according to the distance Calculate the distance between the feeding nozzle obtained by each distance detection device and the repaired surface of the spatial curved surface part to be repaired , and from multiple distances Select the smallest one as the final measurement result to accurately obtain the initial printing height and the actual printing height.

[0057] Furthermore, in some embodiments, the distance detection device is configured to periodically collect the distance between the feeding nozzle and the printing position on the spatial curved surface part to be repaired. Thus, when executing step S70, after each actual printing height is collected, the distance detection device collects the actual printing height again after a period of time, thereby collecting the actual printing height multiple times during the entire repair printing process in each preset straight line printing direction.

[0058] Specifically, the sampling and analysis cycle of the distance detection device In this way, the sampling time interval between two adjacent actual printing heights of the distance detection device is very small, thereby improving the accuracy of the real-time online height compensation of the deposition print head.

[0059] Please also read Figure 8 Furthermore, in some embodiments, before step S1, steps S01 to S04 are also included.

[0060] Step S01, performing differentiation processing on the surface of the spatial curved surface part to be repaired according to the principle of calculus.

[0061] Step S02, setting the differential length of the deposition print head moving on the repaired surface of the spatial curved surface part to be repaired within the sampling interval of the distance detection device to be .

[0062] Step S03, obtaining the total differential length of the surface to be repaired of the spatial curved surface part to be repaired in the preset straight line printing direction .

[0063] Step S04, the number of sampling times that the distance detection device needs to perform after each printing repair in the preset straight line printing direction is calculated by the following formula: , .

[0064] In this way, by executing steps S1 to S4, before the initial printing height measurement, the differential length of the deposition print head scanning on the to-be-repaired surface of the spatial curved surface part to be repaired during the collection interval of the distance detection device, the number of sampling times required for the distance detection device to complete a complete repair printing in a preset straight line printing direction and other parameters are set to ensure that the subsequent distance detection device obtains the initial printing height and the actual printing height smoothly.

[0065] Furthermore, in some embodiments, the scanning speed of the deposition print head In this way, the deposition print head scans a differential length The time required is greater than the sampling period of the distance detection device , and the deposition print head scans a differential length The time required and the sampling period of the distance detection device The time difference between them is used for the time for the deposition print head to make a height adjustment response, so as to ensure the printing accuracy and printing quality of the rising compensation printing and the falling compensation printing of the deposition print head.

[0066] In one embodiment, the differential length 1mm, ,So .

[0067] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing, characterized in that: Includes steps: A laser deposition printing system is provided; the laser deposition printing system comprises a multi-degree-of-freedom motion mechanism, a deposition printing head, a feeding nozzle, and a distance detection device, wherein the deposition printing head is mounted on a moving end of the multi-degree-of-freedom motion mechanism, and the feeding nozzle and the distance detection device are both mounted on the deposition printing head; Setting the printing process parameters of the part to be repaired on the spatial curved surface part to be repaired; Fixing the spatial curved surface part to be repaired on the platform of the multi-degree-of-freedom motion mechanism; moving the deposition print head to an initial printing position; The distance detection device is used to obtain the distance between the feeding guide nozzle and the initial printing position on the spatial curved surface part to be repaired, so as to obtain the initial printing height; According to the printing process parameters, the deposition print head is controlled to move and print the to-be-repaired surface of the to-be-repaired spatial curved surface part starting from the initial printing position along a preset straight line printing direction; the preset straight line printing direction is perpendicular to the height direction of the deposition print head; During the mobile printing process, the distance detection device is used to obtain in real time the distance between the feeding nozzle and the current printing position on the spatial curved surface part to be repaired, so as to obtain the actual printing height; When the actual printing height is less than the initial printing height, the multi-degree-of-freedom motion mechanism is used to control the deposition print head to stop moving in the preset straight line printing direction, and the deposition print head is driven to perform rise compensation printing; When the actual printing height is greater than the initial printing height, the deposition printing head is controlled to stop moving in the preset straight line printing direction by using a multi-degree-of-freedom motion mechanism, and the deposition printing head is driven to perform descent compensation printing; Return to the step of obtaining the actual printing height, and perform ascending compensation printing when the actual printing height measured currently is less than the actual printing height measured previously, and perform descending compensation printing when the actual printing height measured currently is greater than the actual printing height measured previously; After the spatial curved surface part to be repaired is printed and repaired along the preset straight line printing direction, the deposition print head is offset by a preset offset distance in a direction perpendicular to the preset straight line printing direction; Returning to execute the mobile printing step until the repair printing of the entire surface to be repaired on the spatial curved surface part to be repaired is completed; The preset offset distance is the width of the deposition layer formed by the printing laser beam emitted by the deposition print head on the printing surface.

2. The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing according to claim 1, characterized in that: There are multiple distance detection devices, and the multiple distance detection devices are arranged at intervals along the circumference of the feeding guide nozzle; The steps to obtain the initial printing height include: Using a plurality of the distance detection devices to simultaneously acquire the distance between the feed guide nozzle of the deposition print head and the initial printing position of the spatial curved surface part to be repaired, so as to obtain a plurality of initial distance measurement data; Selecting a minimum value among a plurality of the initial distance measurement data as the initial printing height; The steps to obtain the actual printing height include: Using a plurality of the distance detection devices to simultaneously acquire the distance between the feeding nozzle of the deposition print head and the current printing position of the spatial curved surface part to be repaired, so as to obtain a plurality of actual distance measurement data; The minimum value among the plurality of actual distance measurement data is selected as the actual printing height.

3. The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing according to claim 2 is characterized in that: The distance detection device is a laser distance measuring device; After the step of providing a laser deposition printing system, the step further includes: debugging the printing laser beam emitted by the deposition print head and the collection beam emitted by the distance detection device until the absolute value of the difference between the incident angle of the collection beam emitted by the distance detection device and the incident angle of the printing laser beam emitted by the deposition print head is less than or equal to a preset angle, and the energy of the printing laser beam emitted by the deposition print head and the collection beam emitted by the distance detection device meets the preset requirements.

4. The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing according to claim 3 is characterized in that: The deposition print head is a multi-beam focusing energy deposition print head capable of emitting multiple printing laser beams, and multiple light outlets on the deposition print head for emitting multiple printing laser beams are arranged at intervals along the circumference of the feeding guide nozzle; The absolute value of the difference between the incident angle of the collection light beam emitted by the distance detection device and the incident angle of the printing laser beam emitted by the deposition print head is less than or equal to a preset angle, which is obtained by the following steps: Obtaining the angle between the printing laser beam emitted by the deposition print head and the center line of the feeding nozzle ; Obtain the angle between the collection light beam emitted by the distance detection device and the center line of the feeding nozzle ; By adjusting the optical path of the printing laser beam emitted by the deposition print head and the optical path of the collection light beam emitted by the distance detection device, and The following relations are satisfied: Preset angles.

5. The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing according to claim 3 is characterized in that: The energies of the printing laser beam emitted by the deposition print head and the collection light beam emitted by the distance detection device meet the preset requirements and are obtained by the following steps: Placing a spectrum acceptor analyzer horizontally on the platform of the multi-degree-of-freedom motion mechanism, and moving the platform so that it is directly below the deposition print head; Using the multi-degree-of-freedom motion mechanism to adjust the position height of the deposition print head until the feeding guide nozzle reaches the initial printing position; The light spot projection area of ​​the printing laser beam emitted by the deposition print head on the spectrum receiving analyzer is obtained as ; The light spot projection area of ​​the collection light beam emitted by the distance detection device on the spectrum receiving analyzer is obtained as and making the light spot formed by the printing laser beam emitted by the deposition print head irradiating the spectrum acceptance analyzer coincide with the light spot formed by the collection light beam emitted by the distance detection device irradiating the spectrum acceptance analyzer; By adjusting the optical path of the printing laser beam emitted by the deposition print head and the optical path of the collection light beam emitted by the distance detection device, and The following relations are satisfied: Preset spot area; Obtaining the spot envelope area of ​​the multiple printing laser beams emitted by the deposition print head on the spectrum receiving analyzer ; Obtain the light spot envelope area of ​​the collection light beams emitted by the multiple distance detection devices on the spectrum receiving analyzer ; By adjusting the optical path of the printing laser beam emitted by the deposition print head and the optical path of the collection light beam emitted by the distance detection device, and The following relations are satisfied: Preset envelope area.

6. The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing according to claim 1, characterized in that: The deposition print head is a multi-beam focusing energy deposition print head capable of emitting multiple printing laser beams; Before the step of obtaining the initial printing height, the steps are also included: Adjust the height of the laser receiving end of the distance detection device to be consistent with the height of the feeding guide nozzle; Obtain the angle between the collection light beam emitted by the distance detection device and the center line of the feeding nozzle ; The steps to obtain the initial print height and the actual print height are the same, including: The distance detection device is used to collect the distance between the spot of the collection light beam emitted by the distance detection device on the spatial curved surface part to be repaired and the receiving end of the distance detection device. ; The distance between the feeding nozzle and the printing position on the spatial curved surface part to be repaired is calculated using the following formula: : ； Select The minimum value in is used as the initial printing height or the actual printing height.

7. The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing according to claim 6, characterized in that: The distance detection device is constructed to be able to periodically collect the distance between the feeding nozzle and the printing position on the spatial curved surface part to be repaired.

8. The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing according to claim 7, characterized in that: The sampling and analysis cycle of the distance detection device .

9. The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing according to claim 7, characterized in that: Before the distance detection device acquires the distance between the printing position of the spatial curved surface part to be repaired and the feeding guide nozzle, the step further includes: Performing differential processing on the surface of the spatial curved surface part to be repaired according to the principle of calculus; The differential length of the deposition print head moving on the repaired surface of the spatial curved surface part to be repaired within the sampling interval of the distance detection device is set to ; Obtaining the differential total length L of the surface to be repaired of the spatial curved surface part to be repaired in the preset straight line printing direction; The number of sampling times that the distance detection device needs to perform after each printing repair in the preset straight line printing direction is calculated by the following formula: , 。 10. The method for repairing and remanufacturing spatial curved surface parts based on highly adaptive printing according to claim 9, characterized in that: The scanning speed of the deposition print head .

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