In-situ additive and subtractive manufacturing equipment

Abstract

The invention discloses in-situ additive and subtractive manufacturing equipment which comprises a movable climbing platform, a dry type operation system and an additive and subtractive repairing platform. The movable climbing platform comprises a hollow platform frame, and a four-wheel differential chassis and a magnetic suction module which are arranged at the bottom of the platform frame; the dry type operation system is installed in the hollow area of the platform frame and comprises a working cabin, and the upper end face of the working cabin is fixed to the platform frame through a guide table type air cylinder. A through opening is formed in a bottom plate of the working cabin, an outer convex groove is formed in the outer side face of the through opening, and an inflatable sealing ring is embedded in the outer convex groove; a vertical hinged door matched with the through opening is arranged in the working cabin, and the vertical hinged door is fixed to the inner wall of the working cabin through an opening and closing assembly; and the additive and subtractive repairing platform is fixed in the working cabin and is matched with the movable climbing platform and the dry type operation system to carry out additive and subtractive repairing work on the surface to be repaired. The limitation of traditional underwater repair can be broken through, and increase and decrease measurement integrated composite repair is achieved.

Description

Technical Field

[0001] The present invention relates to the field of printing equipment, and in particular to an in-situ additive and subtractive manufacturing equipment. Background Art

[0002] During the in-service process of ships and large offshore platforms, they face risks such as biochemical corrosion and fatigue damage, resulting in damaged coatings or even structural failures, which greatly threaten the service safety of the equipment. In response to the damage problem, the most commonly used current repair method is to return to the dock for repair or disassemble and return to the factory for repair. Shutting down for repair will affect the established work plan of the equipment and increase the maintenance cost.

[0003] Therefore, the most economical and feasible solution is in-situ repair. Currently, the in-situ repair method mainly based on manual underwater welding has high operation difficulty and high risk. Therefore, there is an urgent need for an automated underwater in-situ repair solution with strong adaptability and high reliability.

[0004] For example, the Chinese patent document with the publication number CN215205293U discloses a multi-tool ship repair robot. The robot moving body includes a body bracket and working modules installed on the body bracket; the body bracket includes a crawler walking device, a double-row sprocket, and an anti-overturning mechanism. The crawler walking device includes a magnetic adsorption device and a double-row chain with bent plates; the double-row sprocket is installed on the body bracket and cooperates with the double-row chain on the crawler walking device to form a chain drive mechanism; the working modules include a cleaning module, a rust removal module, and a painting module.

[0005] For example, the Chinese patent document with the publication number CN216830899U discloses an underwater repair robot, which includes two multi-functional manipulators carrying various operation tools, a walking crawler installed at the bottom, and an instant mixing bin. The instant mixing bin drives the mixing rollers through a motor to realize on-site preparation of repair raw materials, precisely controls the raw material ratio through a sliding door and a leakage port, and grabs the repair target through the manipulator.

[0006] For example, the Chinese patent document with the publication number CN115921905A discloses a deep-sea in-situ laser cladding device and method. The deep-sea operation robot is fixed to the deep-sea laser cladding operation platform through a clamping structure. The deep-sea laser cladding operation platform can be fixed to the part to be repaired by the telescopic output end of the clamping cylinder. The telescopic output end of the telescopic cylinder drives the telescopic rod to drive the telescopic head to move, which can realize the lateral repair operation of the part to be repaired. Then, the output end of the deep-water motor rotates forward or backward, so as to drive the underwater laser cladding terminal to rotate reciprocally through the cooperation of the gear and the arc-shaped rack, so as to be able to perform circumferential repair operation on the part to be repaired. The gas-powder mixing channel is used for coaxial gas and powder feeding during laser cladding, and the gas-liquid two-phase steady flow cover is used to form a stable "water-free environment" in the repair area during laser cladding to ensure laser cladding operation.

[0007] However, the existing automated in-situ repair equipment has a relatively simple operating method, mainly additive repair, resulting in poor surface quality after repair. Moreover, under harsh underwater working conditions, especially when aquatic organisms are attached, the bonding between the repair material and the matrix is poor, resulting in poor repair quality and making it difficult to meet high-intensity application scenarios. Summary of the invention

[0008] In order to solve the problems of the existing underwater in-situ repair equipment, such as the single repair means and poor scene versatility, the present invention provides an in-situ additive and subtractive material manufacturing equipment, which constructs a waterless operating environment underwater through a dry operating system, breaks through the limitations of liquid media on the repair process, and provides stable implementation conditions for a variety of additive and subtractive processes.

[0009] An in-situ additive and subtractive material manufacturing equipment, comprising a mobile climbing platform, a dry operation system and an additive and subtractive material repair platform; The mobile climbing platform includes a hollow platform frame and a four-wheel differential chassis and a magnetic suction module arranged at the bottom of the platform frame; The dry operation system is installed in the hollow area of the platform frame, and includes a working cabin, the upper end surface of which is fixed to the platform frame by a guide cylinder, and the lifting and lowering of the working cabin is controlled by the guide cylinder; the bottom plate of the working cabin is provided with a through opening, the outer side surface of the through opening is provided with an external convex groove, and an inflatable sealing ring is embedded in the external convex groove; A swing door matching the through opening is provided inside the working cabin, and the swing door is fixed to the inner wall of the working cabin through an opening and closing assembly; The additive and subtractive material repair platform is fixed inside the working cabin and cooperates with the mobile climbing platform and the dry operation system; after the mobile climbing platform moves to the underwater operation area, the guide cylinder controls the bottom plate of the working cabin to be attached to the surface to be repaired, and then the opening and closing component controls the swing door to open, and the additive and subtractive material repair platform performs additive and subtractive material repair work on the surface to be repaired through the through opening.

[0010] Furthermore, the four-wheel differential chassis includes four independently driven wheel set mechanisms, each wheel set mechanism includes a housing, a wheel set frame, a rubber wheel and a through flange; The housing and the wheel frame are sealed and fixed by a waterproof dynamic sealing flange; a servo motor is arranged in the housing; the through flange is rigidly connected to the rubber wheel arranged on the inner side of the wheel frame, and is drivingly connected to the output shaft of the servo motor through a reducer; The wheel set frame is fixed to the bottom of the platform frame, and two side walls of the wheel set frame are provided with a pair of angular contact ball bearings. An interference fit is adopted between the through flange and the angular contact ball bearings.

[0011] Further, the housing is composed of a horizontal a - housing and a vertical b - housing, presenting an L - shaped structure. The servo motor is vertically fixed in the b - housing, and the reducer used is a corner - folding reducer.

[0012] Further, the magnetic attraction module includes a U - shaped adjustment block, a distance adjustment block, a first neodymium - iron - boron permanent magnet, and a yoke iron. The first neodymium - iron - boron permanent magnets are arranged in the N - S - N manner and fixed to the lower end of the yoke iron. Aluminum spacer blocks are provided between adjacent permanent magnets to form magnetic circuit isolation. The U - shaped adjustment block is provided with a plurality of waist - shaped mounting holes and is fixed to the bottom of the platform frame through bolts. The upper end of the yoke iron is fixed to the bottom of the U - shaped adjustment block through the distance adjustment block. By cooperating with the U - shaped adjustment block through the distance adjustment block, the Z - direction height adjustment of the magnetic attraction module is supported, meeting the adsorption requirements in different attitude scenarios.

[0013] Further, vertical guide rails are provided on the inner side wall of the platform frame, and sliders matching the guide rails are provided on the outer side wall of the work cabin.

[0014] Further, on the lower end face of the bottom plate of the work cabin, second neodymium - iron - boron permanent magnets and height - adjustable support feet are evenly arranged around the through - opening.

[0015] Further, the cylinder piston rod of the guide - type cylinder is fixedly connected to the upper end face of the work cabin, and the cylinder body of the guide - type cylinder is fixedly connected to the platform frame. A two - way control valve is built in the air pipeline of the cylinder body. When the work cabin descends, the two - way control valve connects the two chambers of the cylinder body and conducts them to the atmospheric exhaust port, enabling the work cabin to fit with the surface to be repaired under the action of the adsorption force of the second neodymium - iron - boron permanent magnets. When the work cabin ascends, the two - way control valve switches to pressurize and introduce air into the lower chamber of the cylinder, driving the cylinder piston rod to contract along the Z - axis and driving the work cabin to rise away from the repaired surface.

[0016] Further, the opening - closing assembly includes an electric cylinder and a hinge. The flat door is fixedly connected to the bottom plate of the work cabin through the hinge. One end of the electric cylinder is hinged to the inner wall of the work cabin through a rotating shaft, and the other end is hinged to the flat door through a rotating shaft. By controlling the shortening and elongation of the electric cylinder, the flat door is driven to open and close around the hinge.

[0017] Further, the periphery of the flat door is wrapped with a flexible occupancy material. The flexible occupancy material is compressed to fill the gaps for the first - time drainage. After the inflatable seal ring is inflated, it forms an annular seal at the outer convex groove for the second - time drainage, ensuring that the external area of the flat door is approximately in a water - free state. At this time, the electric cylinder drives the flat door to open for the repair operation.

[0018] Further, the additive - subtractive repair platform includes a three - axis motion platform and an additive - subtractive measurement and displacement processing head. The incremental and decremental measurement and displacement processing head includes a slide cylinder, a syringe chuck, an electric spindle chuck, and a pen cylinder installed on the z-axis of a three-axis motion platform; An extrusion syringe is clamped and fixed on the syringe chuck. A linear module is provided on the slide cylinder. A push rod chuck is fixed on the slider of the linear module, and the push rod chuck is fixed to the push rod of the extrusion syringe. An electric spindle is clamped and fixed on the electric spindle chuck, and a contact measurement head is installed at the extending end of the pen cylinder.

[0019] In the present invention, the main repair process is that the electric spindle first performs surface shaping on the area to be repaired and removes attachments such as aquatic organisms. The contact measurement head intervenes to measure the area to obtain the macroscopic morphology of the defect. The additive manufacturing path is planned based on the morphology. After the additive manufacturing is completed, subtractive manufacturing continues to achieve the purpose of removing excess repair materials and shaping.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The present invention is composed of three parts: a mobile climbing system, a dry operation system, and a repair execution system. Through the collaborative optimization of multiple systems, it provides an efficient, reliable, and highly adaptable solution for underwater steel structure repair. Among them, the mobile climbing system ensures the reliable operation of the entire device in the complex underwater environment through stable adsorption and precise movement technology. The dry operation system adopts a dry sealed cabin structure, combines a lifting mechanism to realize the switching of equipment movement and repair modes, and effectively breaks through the limitations of traditional underwater repair through a two-stage waterproof mechanism of flexible material extrusion drainage and inflatable dynamic sealing. The repair execution system covers the multi-module integration of morphology measurement, cutting and decontamination, additive repair, and cutting and shaping, realizing the integrated composite repair of incremental and decremental measurement. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the overall structure of an in-situ incremental and subtractive manufacturing equipment of the present invention.

[0022] Figure 2 It is a schematic diagram of the structure of the mobile climbing platform in an embodiment of the present invention.

[0023] Figure 3 It is a schematic diagram of the composition of the wheel set mechanism in the four-wheel differential chassis in an embodiment of the present invention.

[0024] Figure 4 It is a schematic diagram of the composition of the magnetic adsorption module in an embodiment of the present invention.

[0025] Figure 5 It is a schematic diagram above the dry operation system in an embodiment of the present invention.

[0026] Figure 6 It is a schematic diagram below the dry operation system in an embodiment of the present invention.

[0027] Figure 7 It is an internal schematic diagram of the dry operation system in the embodiment of the present invention.

[0028] Figure 8 It is a structural schematic diagram of the additive and subtractive repair platform in the embodiment of the present invention.

[0029] Figure 9 It is a structural schematic diagram of the additive and subtractive displacement measuring machining head in the embodiment of the present invention.

[0030] In the figure: 1. Mobile climbing platform, 2. Dry operation system, 3. Additive and subtractive repair platform, 11. Four-wheel differential chassis, 12. Platform frame, 13. Magnetic attraction module, 111. Wheel set frame, 112. Rubber wheel, 113. Through flange, 114. Waterproof dynamic seal flange, 115. Reducer, 116. Servo motor, 117. a housing, 118. b housing, 131. U-shaped adjustment block, 132. Distance adjustment block, 133. First NdFeB permanent magnet, 134. Aluminum spacer block, 135. Yoke iron, 21. Outer frame of working cabin angle steel, 22. Acrylic plate, 23. Guide type cylinder, 24. Bellows seal, 25. Guide rail, 26. Slide block, 27. Bottom plate, 28. Support foot, 29. Second NdFeB permanent magnet, 210. Outer convex groove, 211. Inflatable sealing ring, 212. Sealing groove, 213. Flexible placeholder material, 214. French door, 215. Electric cylinder, 216. Rotating shaft, 217. Hinge, 218. Additive and subtractive displacement measuring machining head, 2181. Linear module, 2182. Slide table cylinder, 2183. Push rod chuck, 2184. Syringe chuck, 2185. Extrusion syringe, 2186. Electric spindle chuck, 2187. Electric spindle, 2188. Pen type cylinder, 2189. Contact type measuring head, 219. Three-axis motion platform. Detailed implementation manners

[0031] The following further describes the present invention in detail with reference to the drawings and embodiments. It should be noted that the following embodiments are intended to facilitate the understanding of the present invention and do not limit it in any way.

[0032] As Figure 1 shown, an in-situ additive and subtractive manufacturing equipment includes a mobile climbing platform 1, a dry operation system 2, and an additive and subtractive repair platform 3.

[0033] As Figure 2 shown, the mobile climbing platform 1 includes a platform frame 12, a magnetic attraction module 13, and a four-wheel differential chassis 11. Both the magnetic attraction module 13 and the four-wheel differential chassis 11 are connected to the bottom of the platform frame 12.

[0034] The four-wheel differential chassis 11 is composed of four independently driven wheel set mechanisms. As Figure 3As shown in the figure, the wheel set mechanism includes a wheel set frame 111, rubber wheels 112, a through flange 113, a waterproof dynamic seal flange 114, a speed reducer 115, a servo motor 116, and a housing. In this embodiment, the housing is an L-shaped structure, composed of two parts, namely, a housing 117 and a b housing 118, which are connected by bolts. A rubber gasket is provided at the connection to achieve static sealing. The speed reducer 115 is a corner reducer. The through flange 113 and the rubber wheel 112 are bolted together through an array of circumferential holes. The through flange 113 and the speed reducer 115 are key-connected. The inside of the wheel set frame 111 contains a pair of angular contact ball bearings. The through flange and the bearing are in interference fit to achieve rotation. The waterproof dynamic seal flange 114 realizes dynamic sealing of the rotating shaft through an O-ring and an oil seal inside, and realizes static sealing with the a housing 117 through a rubber gasket.

[0035] As Figure 4 shown, the magnetic attraction module 13 includes a U-shaped adjustment block 131, a distance adjustment block 132, a first NdFeB permanent magnet 133, an aluminum spacer block 134, and a yoke 135. The U-shaped adjustment block 131 is bolted to the platform frame 12, and is provided with kidney-shaped mounting holes to adjust the mounting height in the z direction. The first NdFeB permanent magnets 133 are arranged in the N-S-N pattern. The yoke 135 is installed on the array of the first NdFeB permanent magnets 133, and an aluminum spacer block 134 is provided between each magnet. The upper end of the yoke 135 is fixed to the bottom of the U-shaped adjustment block 131 through the distance adjustment block 132.

[0036] As Figures 5 to 7 shown, the dry operation system 2 includes an outer frame of working cabin angle steel 21, an acrylic board 22, a guide table cylinder 23, a bellows seal 24, a guide rail 25, a slider 26, a bottom plate 27, a support foot 28, a second NdFeB permanent magnet 29, an outward protruding groove 210, an inflatable sealing ring 211, a sealing groove 212, a flexible placeholder material 213, a French door 214, an electric cylinder 215, a rotating shaft 216, and a hinge 217.

[0037] As Figure 6 and Figure 7 shown, the guide rail 25 and the slider 26 cooperate as a guiding mechanism. The slider 26 is installed on the outer frame of working cabin angle steel 21, and the guide rail 25 is installed on the platform frame 12. The bottom plate 27 is equipped with a second NdFeB permanent magnet 29 and a support foot 28, and the support foot 28 can adjust the height through a nut.

[0038] The cylinder 23 is connected to the platform frame 12. During the lowering process of the working cabin, the two-way control valve connects the two chambers of the cylinder and conducts to the atmosphere exhaust port. Under the action of the second NdFeB permanent magnet 29, the working cabin can be passively close to the surface to be repaired. When the working cabin is lifted, the two-way control valve switches to pressurize and intake air into the lower chamber of the cylinder, driving the piston rod of the guide table cylinder 23 to contract along the Z axis, driving the working cabin to lift along the z axis direction.

[0039] As Figure 7 shown, a through-opening matching the size of the French door 214 is formed in the middle of the bottom plate 27. Outer convex grooves 210 are symmetrically arranged on both sides of the through-opening. The inflatable sealing ring 211 is installed inside the outer convex groove 210 and will protrude when inflated. Both ends of the electric cylinder 215 are respectively connected to the working cabin angle steel outer frame 21 and the French door 214 through the rotating shafts 216. The French door 214 can rotate around the hinge 217, and the opening and closing of the French door are realized by the telescopic movement of the electric cylinder 215. When the French door 214 is closed, its edge forms a press-fit contact with the inside of the sealing groove 212, constituting a mechanical seal interface. The flexible occupancy material 213 is bonded to the periphery of the French door. It has good stretchability and waterproofness, and can be continuously compressed when the outer frame of the working cabin is lowered, thereby occupying the complete space inside the outer convex groove and realizing physical drainage.

[0040] As Figure 8 shown, the additive and subtractive repair platform 3 includes an additive and subtractive displacement measuring processing head 218 and a three-axis motion platform 219. The additive and subtractive displacement measuring processing head 218 is installed on the z-axis of the three-axis motion platform 219.

[0041] As Figure 9 shown, the additive and subtractive displacement measuring processing head 218 includes a linear module 2181, a slide cylinder 2182, a push rod chuck 2183, a syringe chuck 2184, an extrusion syringe 2185, an electric spindle chuck 2186, an electric spindle 2187, a pen cylinder 2188, and a contact measuring head 2189.

[0042] The slide cylinder 2182 is fixed on the z-axis of the three-axis motion platform 219. The linear module 2181 is connected to the slide cylinder 2182. The push rod of the extrusion syringe 2185 is fixed by the push rod chuck 2183, and the body of the extrusion syringe 2185 is fixed by the syringe chuck 2184. The push rod chuck 2183 is installed on the slider of the linear module 2181 and moves with the linear module 2181 to realize the extrusion of the repair slurry. The electric spindle chuck 2186 is fixed on the z-axis of the three-axis motion platform 219 and moves with the z-axis to realize the subtractive function. The pen cylinder 2188 is installed on the z-axis of the three-axis motion platform 219, and the contact measuring head 2189 is installed at the extended end of the pen cylinder 2188. As it extends, the measuring function is realized through the movement of the three-axis motion platform 219.

[0043] The working process of the in-situ additive and subtractive manufacturing equipment of the present invention is explained below through a specific scenario. It is assumed that the curvature change of the outer surface of the device to be repaired is uniform. The specific steps are as follows: Step 1: The in-situ additive and subtractive manufacturing equipment moves to the damaged outer surface of a ship or a large offshore platform with the help of a bracket and realizes attachment with the help of the magnetic adsorption module 13.

[0044] Step 2: The in-situ additive and subtractive manufacturing equipment moves to the underwater area to be modified by means of a four-wheel differential chassis 11, and fully covers the area starting from a certain point. During the movement, it avoids obstacles with the help of a laser sensor and takes pictures of the surface to be detected with a camera. When a defect is recognized, the movement stops.

[0045] Step 3: After the movement stops, the two-way control valve connects the two chambers of the cylinder of the guide-type cylinder 23 and conducts them to the atmosphere. The working cabin gradually approaches the surface to be repaired under the positioning of the cylinder and the guide rail 25. At this time, the flexible occupancy material 213 outside the flat door 214 is continuously compressed. At the end of the stroke, the working cabin is adsorbed on the surface to be detected by the second neodymium iron boron permanent magnet 29 and the height-adjustable support feet 28 at the bottom. After stabilization, the inflatable sealing ring 211 is inflated to achieve curved surface adaptability sealing.

[0046] Step 4: Open the flat door 214. First, use the contact measuring head 2189 to obtain the morphological characteristics of the repair area, then clean the target area by means of the electric spindle 2187, and then use extrusion slurry additive manufacturing. The material used is a general-purpose repair material suitable for metals. After the additive manufacturing is completed, post-processing of subtractive manufacturing is carried out on the additive surface to achieve the purpose of restoring the precise shape of the repair position.

[0047] Step 5: Close the flat door 214, lift the working cabin, and continue to move along the predetermined trajectory until the next defect position is found. Repeat Steps 3 and 4 above until the entire area is covered.

[0048] The above-described embodiments have elaborated in detail the technical solutions and beneficial effects of the present invention. It should be understood that the above is only a specific embodiment of the present invention and is not used to limit the present invention. Any modification, supplement, and equivalent replacement made within the scope of the principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An in-situ additive and subtractive manufacturing equipment, characterized in that It comprises a mobile climbing platform (1), a dry operation system (2) and an augmentative and subtractive material repair platform (3); The mobile climbing platform (1) comprises a hollow platform frame (12) and a four-wheel differential chassis (11) and a magnetic attraction module (13) arranged at the bottom of the platform frame (12); The dry operation system (2) is installed in the hollow area of the platform frame (12), and comprises a working cabin. The upper end surface of the working cabin is fixed to the platform frame (12) by a guide cylinder (23), and the lifting and lowering of the working cabin is controlled by the guide cylinder (23); the bottom plate (27) of the working cabin is provided with a through opening, and the outer side surface of the through opening is provided with an external convex groove (210), and an inflatable sealing ring (211) is embedded in the external convex groove (210); A swing door (214) matching the through opening is provided inside the working cabin, and the swing door (214) is fixed to the inner wall of the working cabin via an opening and closing assembly; The additive and subtractive material repair platform (3) is fixed inside the working cabin and cooperates with the mobile climbing platform (1) and the dry operation system (2); after the mobile climbing platform (1) moves to the underwater operation area, the guide cylinder (23) controls the bottom plate of the working cabin to be attached to the surface to be repaired, and then the opening and closing component controls the swing door (214) to open, and the additive and subtractive material repair platform (3) performs additive and subtractive material repair work on the surface to be repaired through the through opening.

2. The in-situ additive and subtractive manufacturing equipment according to claim 1, wherein The four-wheel differential chassis (11) comprises four independently driven wheel assembly mechanisms, each wheel assembly mechanism comprising a housing, a wheel assembly frame (111), a rubber wheel (112) and a through flange (13); The housing and the wheel frame (111) are sealed and fixed via a waterproof dynamic sealing flange (114); a servo motor (116) is arranged in the housing; the through flange (13) is rigidly connected to a rubber wheel (112) arranged on the inner side of the wheel frame (111), and is drivingly connected to an output shaft of the servo motor (116) via a reducer (115); The wheel set frame (111) is fixed to the bottom of the platform frame (12); two side walls of the wheel set frame (111) are provided with a pair of angular contact ball bearings; and an interference fit is adopted between the through flange (113) and the angular contact ball bearings.

3. The in-situ additive and subtractive manufacturing equipment according to claim 2, characterized in that, The housing is composed of a horizontal housing a (117) and a vertical housing b (118), presenting an L-shaped structure. The servo motor (116) is vertically fixed in the housing b (118), and the reducer (115) is an angle reducer.

4. The in-situ additive and subtractive manufacturing equipment according to claim 1, characterized in that The magnetic attraction module (13) comprises a U-shaped adjustment block (131), a distance adjustment block (132), a first Ru-Fe-B permanent magnet (133) and a yoke iron (135); The first Ru-Fe-B permanent magnets (133) are arranged in a NSN manner and fixed to the lower end of the yoke (135); an aluminum spacer block (134) is provided between adjacent permanent magnets to form magnetic circuit isolation; the U-shaped adjustment block (131) is provided with a plurality of waist-shaped mounting holes and is fixed to the bottom of the platform frame (12) by bolts; the upper end of the yoke (135) is fixed to the bottom of the U-shaped adjustment block (131) by a distance adjustment block (132).

5. The in-situ additive and subtractive manufacturing equipment according to claim 1, characterized in that, The inner sidewall of the platform frame (12) is provided with vertically arranged guide rails (25), and the outer sidewall of the working cabin is provided with sliders (26) that cooperate with the guide rails (25).

6. The in-situ additive and subtractive manufacturing equipment according to claim 1, characterized in that, On the lower end surface of the bottom plate of the working cabin, second neodymium iron boron permanent magnets (29) and height-adjustable support feet (28) are evenly arranged around the through opening.

7. The in-situ additive and subtractive manufacturing equipment according to claim 6, characterized in that, The cylinder piston rod of the guide table cylinder (23) is fixedly connected to the upper end surface of the working cabin, and the cylinder body of the guide table cylinder (23) is fixedly connected to the platform frame (12); A two-way control valve is built in the air circuit pipeline of the cylinder body; when the working cabin descends, the two-way control valve connects the two chambers of the cylinder body and conducts them to the atmospheric exhaust port, so that the working cabin fits with the surface to be repaired under the action of the adsorption force of the second neodymium iron boron permanent magnet (29); when the working cabin ascends, the two-way control valve switches to pressurize and intake air into the lower chamber of the cylinder, driving the cylinder piston rod to contract along the Z axis and driving the working cabin to rise away from the repaired surface.

8. The in-situ additive and subtractive manufacturing equipment according to claim 1, characterized in that The opening and closing assembly includes an electric cylinder (215) and a hinge (217); the swing door (214) is fixedly connected to the bottom plate of the working cabin through the hinge (217), one end of the electric cylinder (215) is hinged to the inner wall of the working cabin through a rotating shaft, and the other end is hinged to the swing door (214) through a rotating shaft; by controlling the shortening and elongation of the electric cylinder (215), the swing door (214) is driven to open and close around the hinge (217).

9. The in-situ additive and subtractive manufacturing equipment according to claim 1, wherein The periphery of the swing door (214) is wrapped with a flexible occupancy material (213).

10. The in-situ additive and subtractive manufacturing equipment according to claim 1, wherein, The additive and subtractive repair platform (3) includes a three-axis motion platform (219) and an additive and subtractive measurement displacement processing head (218); The additive and subtractive measurement displacement processing head (218) includes a slide table cylinder (2182), a syringe chuck (2184), an electric spindle chuck (2186) and a pen-type cylinder (2188) installed on the z-axis of the three-axis motion platform (219); An extrusion syringe (2185) is clamped and fixed on the syringe chuck (2184), a linear module (2181) is arranged on the slide table cylinder (2182), a push rod chuck (2183) is fixed on the slider of the linear module (2181), and the push rod chuck (2183) is fixed to the push rod of the extrusion syringe (2185); an electric spindle (2187) is clamped and fixed on the electric spindle chuck (2186), and a contact measurement head (2189) is installed at the extending end of the pen-type cylinder (2188).

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