Method for repairing and remanufacturing spatial curved surface parts based on height self-adaptive printing

Abstract

The present invention relates to a method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing. In the above-mentioned method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing, while the deposition print head moves and scans for repair on the surface to be repaired of the spatial curved surface part to be repaired along the preset linear printing direction, on-line real-time detection and calculation are carried out on the surface to be repaired of the spatial curved surface part to be repaired in the height direction, so as to realize on-line real-time height 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, ensuring the stability of the distribution and action effect of the laser energy on the surface to be repaired, so as to reduce the defects such as delamination, pores, cracks, etc. in the repaired and remanufactured part, improving the repair printing quality, reducing the engineering and technical difficulty of printing and remanufacturing metal parts with a curved surface shape, and improving the applicability of laser directed energy deposition in the field of repair and remanufacturing of curved surface parts.

Description

Technical Field

[0001] The present invention relates to the technical field of spatial curved surface part repair, and particularly to a method for repairing and remanufacturing spatial curved surface parts based on height 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 construction machinery parts. In particular, the laser energy directed deposition additive manufacturing technology has a low heat input, which can effectively reduce the warping and deformation problems of parts; a fast cooling rate, which can ensure stable material properties and achieve excellent metallurgical bonding between deposition layers; at the same time, it can accurately repair damaged components and restore the parts to their original shape by replenishing the materials lost during use.

[0003] Currently, during the process of manufacturing parts by laser energy directed deposition additive manufacturing, based on the established 3D model, a post-processing CAM software is used to edit the tool path, thereby forming the motion code for the laser directed energy deposition printing path planning. This processing method requires professional personnel to use. However, for parts with complex feature surfaces, during the additive manufacturing process, unstable layer height will lead to problems such as dimensional deviation of the part in the height direction, increased steps and surface roughness, and even damage the originally uniform metallurgical bonding strength between deposition layers. In the remanufacturing field, generally, professional personnel need to use a laser 3D scanner to extract and secondary process cloud data points to form a digital 3D model of the accurate repair area. Due to the curved surface features in the repair area, it will increase the complexity of controlling the height of the print head from the part surface. The height change will change the distribution and action effect of the laser energy on the part surface. When the height increases, there will be more losses in the transmission process of the laser energy, resulting in insufficient melting of the material and a decrease in the bonding strength between layers. Stratification defects may appear inside the part. When the height decreases, the laser energy is too concentrated, causing the local temperature to be too high, leading to excessive melting or even evaporation of the material, and generating defects such as pores and cracks, seriously affecting the mechanical properties of the part. Summary of the Invention

[0004] Based on this, it is necessary to provide a method for repairing and remanufacturing spatial curved surface parts based on height adaptive printing that can get rid of the need for three-dimensional part modeling and pre-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 spatial curved surface parts based on height adaptive printing includes the steps:

[0006] Provide 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 on the mobile end of the multi-degree-of-freedom motion mechanism, and both the feeding nozzle and the distance detection device are installed on the deposition printing head;

[0007] Set the printing process parameters for the part to be repaired on the space curved surface part to be repaired;

[0008] Fix the space curved surface part to be repaired on the platform of the multi-degree-of-freedom motion mechanism;

[0009] Move the deposition printing head to the initial printing position;

[0010] Use the distance detection device to obtain the distance between the feeding nozzle and the initial printing position on the space curved surface part to be repaired, so as to obtain the initial printing height;

[0011] According to the printing process parameters, control the deposition printing head to move and print on the surface to be repaired of the space curved surface part to be repaired along the preset linear printing direction starting from the initial printing position; the preset linear printing direction is perpendicular to the height direction of the deposition printing head;

[0012] During the moving printing process, use the distance detection device to obtain the distance between the feeding nozzle and the current printing position on the space curved surface part to be repaired in real time, so as to obtain the actual printing height;

[0013] When the actual printing height is less than the initial printing height, use the multi-degree-of-freedom motion mechanism to control the deposition printing head to stop moving in the preset linear printing direction, and drive the deposition printing head to perform upward compensation printing;

[0014] When the actual printing height is greater than the initial printing height, use the multi-degree-of-freedom motion mechanism to control the deposition printing head to stop moving in the preset linear printing direction, and drive the deposition printing head to perform downward compensation printing;

[0015] Return to execute the step of obtaining the actual printing height, and perform upward compensation printing when the currently measured actual printing height is less than the previously measured actual printing height, and perform downward compensation printing when the currently measured actual printing height is greater than the previously measured actual printing height;

[0016] After the printing repair of the space curved surface part to be repaired along the preset linear printing direction is completed, offset the deposition printing head by a preset offset distance in a direction perpendicular to the preset linear printing direction;

[0017] Return to execute the mobile printing step until the repair printing of the entire surface to be repaired on the space curved surface part to be repaired is completed;

[0018] Wherein, the preset offset distance is the width of the deposited layer formed by the printing laser beam emitted by the deposition printing head on the printing surface.

[0019] The above method for repairing and remanufacturing space curved surface parts based on height adaptive printing, while the deposition printing head performs mobile scanning repair on the surface to be repaired of the space curved surface part to be repaired along the preset linear printing direction, on-line real-time detection and calculation are carried out on the surface to be repaired of the space curved surface part to be repaired in the height direction, realizing on-line real-time height compensation of the deposition printing head, so that the entire process of repairing and remanufacturing the space curved surface part to be repaired does not require three-dimensional modeling, ensuring the stability of the layer height during the repair printing process, solving 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 solving the problem of the change in the distance between the deposition printing head and the surface to be repaired caused by unstable layer height, thus affecting the instability of the distribution and action effect of the laser energy on the surface to be repaired of the space curved surface part to be repaired, ensuring the stability of the distribution and action effect of the laser energy on the surface to be repaired, so as to reduce the occurrence of defects such as delamination, pores, cracks, etc. inside the repaired and remanufactured parts, improving the repair printing quality, reducing the engineering and technical difficulty of printing and remanufacturing metal parts with curved surface shapes, and improving the applicability of laser directed energy deposition in the field of repairing and remanufacturing curved surface parts. Description of the Drawings

[0020] Figure 1 It is a schematic flow chart of the method for repairing and remanufacturing space curved surface parts based on height adaptive printing in a preferred embodiment of the present invention;

[0021] Figure 2 is Figure 1 A schematic flow chart of step S50 in the method for repairing and remanufacturing space curved surface parts based on height adaptive printing shown;

[0022] Figure 3 is Figure 1 A schematic flow chart of step S70 in the method for repairing and remanufacturing space curved surface parts based on height adaptive printing shown;

[0023] Figure 4 is Figure 1 A schematic flow chart of steps S201 to S203 in the method for repairing and remanufacturing space curved surface parts based on height adaptive printing shown;

[0024] Figure 5 is Figure 1Flow schematic diagrams of steps S301 to S308 in the method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing as shown;

[0025] Figure 6 For Figure 1 Flow schematic diagrams of step S401 and step S402 added before step S50 in the method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing as shown;

[0026] Figure 7 For Figure 1 Flow schematic diagrams of steps S1 to S3 for implementing step S50 and step S70 in the method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing as shown;

[0027] Figure 8 For Figure 7 Flow schematic diagrams of steps S01 to S04 added before step S1 in the method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing as shown. Detailed implementation manners

[0028] For ease of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown 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, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the specification of the present invention herein 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.

[0030] 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 also be an intermediate element. It can also be 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 also be one or more intermediate elements.

[0031] When using "including", "having", and "comprising" described herein, unless a clear limiting term is used, such as "only", "consisting of", etc., another component can also be added. Unless otherwise mentioned, terms in the singular form can include the plural form and should not be understood as having a quantity of one.

[0032] Please refer toFigure 1 In a preferred embodiment of the present invention, the method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing includes steps S10 to S120.

[0033] Step S10: Provide a laser deposition printing system. The laser deposition printing system includes a multi-degree-of-freedom motion mechanism, a deposition printing head, a feed nozzle, and a distance detection device. The deposition printing head is installed on the mobile end of the multi-degree-of-freedom motion mechanism, and both the feed nozzle and the distance detection device are installed on the deposition printing head.

[0034] 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 measure the distance between the feed nozzle and the spatial curved surface part to be repaired positioned on the platform of the multi-degree-of-freedom motion mechanism, and the feed nozzle is used to introduce metal powder onto the surface to be repaired of the spatial curved surface part to be repaired.

[0035] Step S20: Set the printing process parameters for the part to be repaired on the spatial curved surface part to be repaired.

[0036] Among them, the printing process parameters include the scanning movement speed, the power of the laser used to emit the printing laser beam, the feeding speed of the feeding unit used to convey metal powder into the feed nozzle, etc.

[0037] Step S30: Fix the spatial curved surface part to be repaired on the platform of the multi-degree-of-freedom motion mechanism.

[0038] Step S40: Move the deposition printing head to the initial printing position.

[0039] That is, use the multi-degree-of-freedom motion mechanism to move the deposition printing head to the initial printing position. And the initial printing position is consistent with the initial repair position on the surface to be repaired of the spatial curved surface part to be repaired.

[0040] Step S50: Use the distance detection device to obtain the distance between the feed nozzle and the initial printing position on the spatial curved surface part to be repaired to obtain the initial printing height.

[0041] Step S60: According to the printing process parameters, control the deposition printing head to move and print along the preset straight printing direction on the surface to be repaired of the spatial curved surface part to be repaired starting from the initial printing position. When the spatial curved surface part to be repaired is placed horizontally, the preset straight printing direction is the horizontal direction perpendicular to the height direction of the deposition printing head.

[0042] Step S70: While performing step S60, use the distance detection device to continuously obtain the distance between the feed nozzle and the current printing position on the spatial curved surface part to be repaired to obtain the actual printing height.

[0043] Step S80, when the actual printing height is less than the initial printing height, use the multi-degree-of-freedom motion mechanism to control the deposition print head to stop moving in the preset linear printing direction, and drive the deposition print head to perform upward compensation printing.

[0044] Step S90, when the actual printing height is greater than the initial printing height, use the multi-degree-of-freedom motion mechanism to control the deposition print head to stop moving in the preset linear printing direction, and drive the deposition print head to perform downward compensation printing.

[0045] Step S100, return to execute Step S70, and execute Step S80 when the actually measured printing height in the current measurement is less than the actually measured printing height in the previous measurement, and execute Step S90 when the actually measured printing height in the current measurement is greater than the actually measured printing height in the previous measurement.

[0046] Step S110, after the printing of the part with the space curved surface to be repaired is completed along the preset linear printing direction, offset the deposition print head by a preset offset distance in the direction perpendicular to the preset linear printing direction. Wherein, 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.

[0047] Step S120, return to execute Step S60 until the repair printing of the entire surface to be repaired on the part with the space curved surface to be repaired is completed.

[0048] Thus, Step S100 is to repeatedly execute Step S70 to Step S90 multiple times until the repair and remanufacturing work of a part with a space curved surface to be repaired in the preset linear printing direction is completed. Step S120 is to repeatedly execute Step S60 to Step S110 until the repair and remanufacturing work of the entire surface to be repaired on the part with the space curved surface to be repaired is completed.

[0049] By executing Step S10 to Step S120, the repair and remanufacturing work of the part with the space curved surface to be repaired is completed. By executing Step S10 and Step S30, the preparatory work before repair printing is realized; by executing Step S40 to Step 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 part with the space curved surface to be repaired in the preset linear printing direction is realized; by executing Step S110 and Step S120, all the repair work of the surface to be repaired on the part with the space curved surface to be repaired is completed.

[0050] Therefore, in steps S50 to S100, while the deposition print head moves and scans for repairing the surface to be repaired of the spatial curved surface part to be repaired along 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 the height direction in real time, realizing real-time online height compensation of the deposition print head. As a result, the entire repair and remanufacturing process of the spatial curved surface part to be repaired does not require three-dimensional modeling, ensuring the stability of the layer height during the repair printing process, solving the problems of dimensional deviation, increased steps, and surface roughness of the repaired part in the height direction caused by unstable layer height during the repair printing process, and solving the problem of the change in the distance between the deposition print head and the surface to be repaired due to unstable layer height, thereby affecting the unstable distribution and action effect of the laser energy on the surface to be repaired of the spatial curved surface part to be repaired. This ensures the stable distribution and action effect of the laser energy on the surface to be repaired, reducing the occurrence of defects such as delamination, pores, and cracks inside the repaired and remanufactured parts, improving the repair printing quality, reducing the engineering and technical difficulties of printing and remanufacturing metal parts with curved surface shapes, and improving the applicability of laser directed energy deposition in the field of repair and remanufacturing of curved surface parts.

[0051] In some embodiments, there are multiple distance detection devices, and the multiple distance detection devices are arranged at intervals along the circumferential direction of the feeding nozzle. The feeding nozzle vertically feeds materials onto the surface to be repaired of the spatial curved surface part to be repaired. The acquisition 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 acquisition beam are focused at the same printing position on the spatial curved surface part to be repaired.

[0052] Please refer to Figure 2 , step S50 includes step S501 and step S502.

[0053] Step S501, using multiple distance detection devices to simultaneously obtain the distances 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.

[0054] Step S502, selecting the minimum value among the multiple initial measurement data as the initial printing height.

[0055] Please refer to Figure 3 , step S70 includes step S701 and step S702.

[0056] Step S701, using multiple distance detection devices to simultaneously obtain the distances 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.

[0057] Step S702, selecting the minimum value among the multiple actual distance measurement data as the actual printing height.

[0058] Therefore, by performing step S501 and step S502 to collect multiple initial distance measurement data at the same time and obtaining the final initial printing height based on the multiple initial measured distances, and performing step S701 and step S702 to collect multiple actual distance measurement data at the same time to obtain the final actual printing height based on the multiple actual distance measurement data, through the coupling design between the light spots of the collection light beams emitted by multiple distance detection devices and the light spots of the printing laser beams emitted by the deposition printing head, and through quantitative data calculation and parameter discrimination methods, the measurement accuracy of the distance between the feeding nozzle and the surface to be repaired of the space curved surface part to be repaired is improved, the precise control of the distance height between the deposition printing head and the surface to be repaired of the space curved surface part is greatly improved, the continuous manufacturing of the printing repair of the space curved surface part is realized, and the occurrence of printing interruption caused by the change of the laser focus is reduced.

[0059] Further, in some embodiments, the distance detection device is a laser ranging device.

[0060] After step S10, the method further includes the step of debugging the printing laser beam emitted by the deposition printing head and the collection light beam emitted by the distance detection device until 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 printing head is less than or equal to a preset angle, and the energies of the laser beam emitted by the deposition printing head and the collection light beam emitted by the distance detection device meet the preset requirements.

[0061] In this way, by debugging the printing laser beam emitted by the deposition printing head and the collection light beam emitted by the distance detection device, the laser energies of the printing laser beam and the collection laser beam irradiated on the surface to be repaired of the space curved surface part to be repaired are precisely controlled, so as to further improve the repair printing accuracy and the collection accuracy of the distance detection device.

[0062] Furthermore, in some embodiments, the deposition printing head is a multi-beam focused energy deposition printing head capable of emitting multiple printing laser beams, and multiple light-emitting ports for emitting multiple printing laser beams on the deposition printing head are arranged at intervals along the circumferential direction of the feeding nozzle.

[0063] Please refer to Figure 4 simultaneously, 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 printing head is less than or equal to the preset angle, and is obtained through the following steps S201 to S203:

[0064] Step S201, obtaining the included angle between the printing laser beam emitted by the deposition printing head and the center line of the feeding nozzle ;

[0065] Step S202: Obtain the angle between the acquisition light beam emitted by the distance detection device and the center line of the feeding nozzle ;

[0066] Step S203: By adjusting the optical paths of the printing laser beam emitted by the deposition print head and the acquisition light beam emitted by the distance detection device, make and satisfy the following relationship: Preset angle. Specifically, the preset angle is between 5° and 10°.

[0067] Specifically, the center line of the feeding nozzle is a vertical line perpendicular to the preset linear printing angle.

[0068] Therefore, during the debugging process of the printing laser beam and the acquisition light beam, use " Preset angle" to represent that the absolute value of the difference between the incident angle of the acquisition 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 Step S201 to Step S203, it is possible to accurately know whether the incident angle of the printing laser beam emitted by the deposition print head and the incident angle of the acquisition light beam emitted by the distance detection device meet the requirements, improving the operability.

[0069] In Steps S201 and S202, the angles and the angle are both measured with the center line of the feeding chamfer as the reference line to accurately obtain the incident angle of the acquisition 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 acquisition light beam emitted by the distance detection device and the printing laser beam emitted by the deposition print head.

[0070] Please refer to Figure 5 together. Further, in some embodiments, the energies of the printing laser beam emitted by the deposition print head and the acquisition light beam emitted by the distance detection device meet the preset requirements, which are obtained through the following Steps S301 to S308:

[0071] Step S301: Horizontally place the spectral acceptance analyzer on the platform of the multi-degree-of-freedom motion mechanism and move the platform to be directly below the deposition print head;

[0072] Step S302: Use the multi-degree-of-freedom motion mechanism to adjust the position height of the deposition print head until the feeding nozzle reaches the initial printing position;

[0073] Step S303: Obtain the spot projection area of the printing laser beam emitted by the deposition print head on the spectral acceptance analyzer ;

[0074] Step S304: Obtain the spot projection area of the acquisition light beam emitted by the distance detection device on the spectral acceptance analyzer as , and make the spot formed by the printing laser beam irradiating on the spectral acceptance analyzer coincide with the spot formed by the acquisition light beam irradiating on the spectral acceptance analyzer;

[0075] Step S305: By debugging the optical path of the printing laser beam emitted by the deposition printing head and the optical path of the acquisition light beam emitted by the distance detection device, make and satisfy the following relationship: Preset spot area;

[0076] Step S306: Obtain the spot envelope area of multiple printing laser beams emitted by the deposition printing head on the spectral acceptance analyzer ;

[0077] Step S307: Obtain the spot envelope area of the acquisition light beams emitted by multiple distance detection devices on the spectral acceptance analyzer ;

[0078] Step S308: By debugging the optical path of the printing laser beam emitted by the deposition printing head and the optical path of the acquisition light beam emitted by the distance detection device, make and satisfy the following relationship: Preset envelope area.

[0079] Therefore, during the debugging process of the printing laser beam and the acquisition light beam, use " Preset spot area" and " Preset envelope area" to ensure that the laser energy of the printing laser beam emitted by the deposition printing head and the laser energy of the acquisition light beam emitted by the distance detection device meet the requirements. By executing Step S301 to Step S308, and through " Preset spot area" and Preset envelope area", it is possible to accurately know whether the laser energy of the printing laser beam emitted by the deposition printing head and the laser energy of the acquisition light beam emitted by the distance detection device meet the requirements, improving the operability.

[0080] In some embodiments, the deposition printing head is a multi-beam focused energy deposition printing head capable of emitting multiple printing laser beams.

[0081] Please refer to Figure 6 together. Before Step S50, it further includes Step S401 and Step S402.

[0082] Step S401: Adjust the position height of the laser receiving end of the distance detection device to be the same as the position height of the feeding nozzle.

[0083] Step S402: Obtain the angle between the acquisition beam emitted by the distance detection device and the center line of the feeding nozzle .

[0084] Please refer to Figure 7 together. The steps of Step S50 and Step S70 are the same, both including Step S1 to Step S3.

[0085] Step S1: Use the distance detection device to collect the distance between the light spot of the acquisition beam emitted by the distance detection device on the part of the space curved surface to be repaired and the receiving end of the distance detection device ;

[0086] Step S2: Calculate the distance between the feeding nozzle and the printing position on the part of the space curved surface to be repaired by using the following formula :[[]]END]]

[0087] .

[0088] Step S3: Select the minimum value in as the initial printing height or the actual printing height.

[0089] In this way, by executing Step S401, Step S402, Step S1 to Step S3, the distance between the light spot of the acquisition beam on the part of the space curved surface to be repaired and the receiver of the distance detection device ; and according to the distance calculate the distance between the feeding nozzle obtained by each distance detection device and the surface to be repaired of the part of the space curved surface to be repaired , and select the smallest one from multiple distances as the final measurement result to accurately obtain the initial printing height and the actual printing height.

[0090] Furthermore, in some embodiments, the distance detection device is configured to be able to periodically collect the distance between the feeding nozzle and the printing position on the part of the space curved surface to be repaired. In this way, when executing Step S70, after the distance detection device collects each actual printing height, it is necessary to wait for a period of time before collecting the actual printing height again, so as to perform multiple actual printing height collection operations during the entire repair printing process in each preset linear printing direction.

[0091] Specifically, the sampling analysis period 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, so as to improve the accuracy of the online height real-time compensation of the deposition printing head.

[0092] Please refer to Figure 8, Further, in some embodiments, before step S1, steps S01 to S04 are further included.

[0093] Step S01, perform differential processing on the surface of the space curved surface part to be repaired according to the calculus principle.

[0094] Step S02, set the differential length of the deposition print head moving on the surface to be repaired of the space curved surface part to be repaired within the sampling interval time of the distance detection device as .

[0095] Step S03, obtain the total differential length of the surface to be repaired of the space curved surface part to be repaired in the preset linear printing direction .

[0096] Step S04, calculate the number of sampling times required for the distance detection device to perform sampling after each complete repair printing in the preset linear printing direction through the following formula ,

[0097] .

[0098] In this way, by executing steps S1 to S4, before the initial printing height measurement, parameters such as the differential length scanned by the deposition print head on the surface to be repaired of the space curved surface part to be repaired within the acquisition interval time of the distance detection device, and the number of sampling times required for the distance detection device to complete a complete repair printing in the preset linear printing direction are set to ensure the smooth progress of the subsequent work of the distance detection device to obtain the initial printing height and the actual printing height.

[0099] Further, in some embodiments, the scanning speed of the deposition print head . In this way, the time required for the deposition print head to scan a differential length is greater than the sampling period of the distance detection device , and the time difference between the time required for the deposition print head to scan a differential length and the sampling period of the distance detection device is used as the time for the deposition print head to make a height adjustment response to ensure the printing accuracy and printing quality of the deposition print head's upward compensation printing and downward compensation printing.

[0100] In one embodiment, the differential length is 1 mm, , then .

[0101] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as falling within the scope described in this specification.

[0102] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A method for repairing and remanufacturing a spatial curved surface part based on height self-adaptive printing, characterized in that, Including the steps: 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 on the mobile 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; Setting the printing process parameters for the part to be repaired on the surface of the space curved part to be repaired; Fixing the space curved part to be repaired on the platform of the multi-degree-of-freedom motion mechanism; Moving the deposition printing head to the initial printing position; Using the distance detection device to obtain the distance between the feeding nozzle and the initial printing position on the space curved part to be repaired, so as to obtain the initial printing height; Controlling the deposition printing head to move and print on the surface to be repaired of the space curved part to be repaired from the initial printing position along the preset straight printing direction according to the printing process parameters; the preset straight printing direction is perpendicular to the height direction of the deposition printing head; During the moving printing process, using the distance detection device to obtain the distance between the feeding nozzle and the current printing position on the space curved part to be repaired in real time, so as to obtain the actual printing height; When the actual printing height is less than the initial printing height, using the multi-degree-of-freedom motion mechanism to control the deposition printing head to stop moving in the preset straight printing direction, and driving the deposition printing head to perform upward compensation printing; When the actual printing height is greater than the initial printing height, using the multi-degree-of-freedom motion mechanism to control the deposition printing head to stop moving in the preset straight printing direction, and driving the deposition printing head to perform downward compensation printing; Returning to execute the step of obtaining the actual printing height, and performing upward compensation printing when the actually measured printing height in the current measurement is less than the actually measured printing height in the previous measurement, and performing downward compensation printing when the actually measured printing height in the current measurement is greater than the actually measured printing height in the previous measurement; After the printing repair of the space curved part to be repaired is completed along the preset straight printing direction, offsetting the deposition printing head by a preset offset distance in a direction perpendicular to the preset straight printing direction; Returning to execute the moving printing step until the repair printing of the entire surface to be repaired on the space curved part to be repaired is completed; Wherein, the preset offset distance is the width of the deposition layer formed by the printing laser beam emitted by the deposition printing head on the printing surface; 2. The method for repairing and remanufacturing a spatial curved surface part based on height self-adaptive printing according to claim 1, wherein There are multiple distance detection devices, and the multiple distance detection devices are arranged at intervals along the circumferential direction of the feeding nozzle; The step of obtaining the initial printing height includes: Using the multiple distance detection devices to simultaneously obtain the distances between the feeding nozzle of the deposition printing head and the initial printing position of the space curved part to be repaired, so as to obtain multiple initial distance measurement data; Selecting the minimum value among the multiple initial distance measurement data as the initial printing height; The step of obtaining the actual printing height includes: Simultaneously acquire the distances between the feeding nozzle of the deposition printing head and the current printing positions of the space curved surface part to be repaired by using multiple said distance detection devices, so as to obtain multiple actual distance measurement data; Select the minimum value among the multiple actual distance measurement data as the actual printing height.

3. The method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing according to claim 2, wherein The distance detection device is a laser ranging device; After the step of providing a laser deposition printing system, it further includes the step: debug the printing laser beam emitted by the deposition printing head and the acquisition beam emitted by the distance detection device until the absolute value of the difference between the incident angle of the acquisition beam emitted by the distance detection device and the incident angle of the printing laser beam emitted by the deposition printing head is less than or equal to a preset angle, and the energies of the printing laser beam emitted by the deposition printing head and the acquisition beam emitted by the distance detection device meet the preset requirements.

4. The method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing according to claim 3, wherein, The deposition printing head is a multi-beam focused energy deposition printing head capable of emitting multiple printing laser beams, and multiple light-emitting ports for emitting multiple printing laser beams on the deposition printing head are arranged at intervals along the circumferential direction of the feeding nozzle; The absolute value of the difference between the incident angle of the acquisition beam emitted by the distance detection device and the incident angle of the printing laser beam emitted by the deposition printing head is less than or equal to a preset angle, and is obtained through the following steps: Obtain the included 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 acquisition beam emitted by the distance detection device and the center line of the feeding nozzle ; By debugging the optical path of the printing laser beam emitted by the deposition print head and the optical path of the acquisition beam emitted by the distance detection device, it is ensured that and satisfy the following relationship: Preset angle.

5. The method for repairing and remanufacturing a spatial curved surface part based on height self-adaptive printing according to claim 3, wherein, The energies of the printing laser beam emitted by the deposition printing head and the acquisition beam emitted by the distance detection device meet the preset requirements, and are obtained through the following steps: Horizontally place the spectral acceptance analyzer on the platform of the multi-degree-of-freedom motion mechanism, and move the platform to make it directly below the deposition printing head; Use the multi-degree-of-freedom motion mechanism to adjust the position height of the deposition printing head until the feeding nozzle reaches the initial printing position; Obtaining the spot projection area of the printing laser beam emitted by the deposition print head on the spectral acceptance analyzer is ; Obtain the spot projection area of the acquisition light beam emitted by the distance detection device on the spectral acceptance analyzer as , and make the spot formed by the printing laser beam emitted by the deposition print head irradiating on the spectral acceptance analyzer coincide with the spot formed by the acquisition light beam emitted by the distance detection device irradiating on the spectral acceptance analyzer; By debugging the optical path of the printing laser beam emitted by the deposition print head and the optical path of the acquisition beam emitted by the distance detection device, such that and satisfy the following relationship: predetermined spot area; Obtain the spot envelope area of multiple printing laser beams emitted by the deposition print head on the spectral acceptance analyzer ; Obtain the spot envelope area of the acquisition beams emitted by multiple said distance detection devices on the spectral receiving analyzer ; By debugging the optical path of the printing laser beam emitted by the deposition print head and the optical path of the acquisition beam emitted by the distance detection device, such that and satisfy the following relationship: Preset envelope area.

6. The method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing according to claim 1, wherein The deposition printing head is a multi-beam focused energy deposition printing head capable of emitting multiple printing laser beams; Before the step of obtaining the initial printing height, it further includes the step: Adjust the position height of the laser receiving end of the distance detection device to be the same as the position height of the feeding nozzle; Obtain the angle between the acquisition light beam emitted by the distance detection device and the center line of the feeding nozzle ; The steps of obtaining the initial printing height and obtaining the actual printing height are the same, and both include: Collect the distance between the light spot of the acquisition light beam emitted by the distance detection device on the surface part of the space to be repaired and the receiving end of the distance detection device by using the distance detection device ; Calculate the distance between the feeding nozzle and the printing position on the spatial curved surface part to be repaired by using the following formula :[[]]END]] ； Select the minimum value among them as the initial printing height or the actual printing height.

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

8. The method for repairing and remanufacturing a spatial curved surface part based on height self-adaptive printing according to claim 7, wherein, Sampling and analysis period of the distance detection device .

9. The method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing according to claim 7, wherein, Before the distance detection device acquires the distance between the printing position of the space curved surface part to be repaired and the feeding nozzle, it further includes the step: Differentiate the curved surface of the space curved surface part to be repaired according to the calculus principle; Set the differential length of the deposition print head moving on the surface to be repaired of the space curved surface part to be repaired within the sampling interval time of the distance detection device as ; Obtain the total differential length L of the surface to be repaired of the space curved surface part to be repaired in the preset linear printing direction; After each printing repair is completed in the preset linear printing direction, the number of sampling times required for the distance detection device to perform sampling is calculated by the following formula , 。 10. The method for repairing and remanufacturing a spatial curved surface part based on height adaptive printing according to claim 9, wherein, The scanning speed of the deposition print head .

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