In-situ additive and subtractive manufacturing equipment

Abstract

The application discloses in-situ additive and subtractive manufacturing equipment, including mobile climbing platform, dry operation system and additive and subtractive repair platform; the mobile climbing platform includes a hollow platform frame, a four-wheel differential chassis and a magnetic attraction module arranged at the bottom of the platform frame; the dry operation system is installed in the hollow area of the platform frame, including a work cabin, the upper end surface of the work cabin is fixed with the platform frame through a guide table type air cylinder; the bottom plate of the work cabin is provided with a through opening, the outer side surface of the through opening is provided with an outer convex groove, and the outer convex groove is embedded with an inflatable sealing ring; the inside of the work cabin is provided with a flat door matched with the through opening, and the flat door is fixed with the inner wall of the work cabin through an opening and closing assembly; the additive and subtractive repair platform is fixed in the inside of the work cabin, and cooperates with the mobile climbing platform and the dry operation system to perform additive and subtractive repair work on the surface to be repaired. The application can break through the limitation of traditional underwater repair and realize integrated composite repair of additive and subtractive measurement.

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 device. Background Art

[0002] Ships and large offshore platforms face risks such as biochemical corrosion and fatigue damage during their service, leading to coating damage and even structural failure, posing a significant threat to the equipment's operational safety. Currently, the most common repair methods for damage are dry docking or disassembly and return to the factory for repair. This downtime disrupts the equipment's scheduled work schedule and increases maintenance costs.

[0003] To this end, the most economical and feasible solution is in-situ repair. The current in-situ repair method based on manual underwater welding is difficult and risky. 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 announcement number CN215205293U discloses an application for a multi-tool ship maintenance robot, in which the robot's mobile body includes a body bracket and a working module installed on the body bracket; the body bracket includes a crawler walking device, a double-row sprocket and an anti-overturning mechanism, and the crawler walking device includes a magnetic adsorption device and a double-row chain with a bent plate; 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 transmission mechanism; the working module includes a cleaning module, a rust removal module and a paint spraying module.

[0005] For example, Chinese patent publication CN216830899U discloses an underwater maintenance robot comprising two multifunctional manipulators equipped with various tools, a bottom-mounted crawler track, and an instant mixing chamber. The instant mixing chamber uses a motor-driven mixing roller to prepare the repair materials on-site. A sliding door and a material discharge port precisely control the raw material ratio, and the manipulator grabs the target for repair.

[0006] For example, the Chinese patent document with publication number CN115921905A discloses an application for a deep-sea in-situ laser cladding device and method, in which a deep-sea operation robot is fixed to a deep-sea laser cladding operation platform by a clamping structure, and the deep-sea laser cladding operation platform and the part to be repaired can be fixed by telescoping the output end of the clamping cylinder, and the telescopic rod is driven by the output end of the telescopic cylinder to move the telescopic head, so that a lateral repair operation can be performed on the part to be repaired, and then the output end of the deep-water motor is used to rotate forward or reverse, thereby driving the underwater laser cladding terminal to rotate back and forth through the cooperation of the gear and the arc rack, so that a circumferential repair operation can be performed on the part to be repaired, and a gas-powder mixing channel is used for coaxial gas and powder delivery during the laser cladding process, and a gas-liquid two-phase flow stabilizer is used to form a stable "waterless environment" in the repair area during the laser cladding process to ensure the laser cladding operation.

[0007] However, the existing automatic in-situ repair equipment has a single operation means, mainly additive repair, and the surface quality after repair is poor. Moreover, under the harsh underwater working conditions, especially in the case of aquatic organisms attachment, the combination of the repair material and the substrate is poor, resulting in poor repair quality, which is difficult to meet the application scenarios of high strength. SUMMARY

[0008] To solve the problems of single repair means and poor scene versatility of the existing underwater in-situ repair equipment, the present application provides an in-situ additive and subtractive manufacturing equipment, which creates a water-free operation environment underwater through a dry operation system, breaks through the limitation of liquid medium on the repair process, and provides stable implementation conditions for various additive and subtractive processes.

[0009] An in-situ additive and subtractive manufacturing equipment, comprising a mobile climbing platform, a dry operation system and an additive and subtractive repair platform.

[0010] The mobile climbing platform comprises a hollow platform frame, a four-wheel differential chassis and a magnetic attraction module arranged at the bottom of the platform frame.

[0011] The dry operation system is installed in the hollow area of the platform frame and comprises a work cabin, the upper end face of which is fixed to the platform frame through a guide table type cylinder, and the lifting of the work cabin is controlled through the guide table type cylinder; the bottom plate of the work cabin is provided with a through opening, the outer side face of the through opening is provided with an outer convex groove, and a pneumatic sealing ring is embedded in the outer convex groove.

[0012] A flat door matched with the through opening is arranged inside the work cabin, and the flat door is fixed to the inner wall of the work cabin through an opening and closing assembly.

[0013] The additive and subtractive repair platform is fixed inside the work cabin and cooperates with the mobile climbing platform and the dry operation system; after the mobile climbing platform moves to the underwater working area, the guide table type cylinder controls the bottom plate of the work cabin to adhere to the surface to be repaired, then the opening and closing assembly controls the flat door to open, and the additive and subtractive repair platform performs additive and subtractive repair work on the surface to be repaired through the through opening.

[0014] Further, the four-wheel differential chassis comprises four independently driven wheel set mechanisms, each wheel set mechanism comprising a shell, a wheel set frame, a rubber wheel and a through flange.

[0015] The shell and the wheel set frame are sealingly fixed through a waterproof dynamic sealing flange; a servo motor is arranged in the shell; the through flange is rigidly connected with the rubber wheel arranged on the inner side of the wheel set frame and is drivingly connected with the output shaft of the servo motor through a speed reducer.

[0016] The wheel set frame is fixed to the bottom of the platform frame. Two side walls of the wheel set frame are provided with a pair of angular contact ball bearings. Interference fit is adopted between the through flange and the angular contact ball bearings.

[0017] Furthermore, the housing is composed of a horizontal housing a and a vertical housing b, presenting an L-shaped structure. The servo motor is vertically fixed in the housing b, and the reducer is an angle reducer.

[0018] Furthermore, the magnetic attraction module includes a U-shaped adjustment block, a distance adjustment block, a first NiFeB permanent magnet and a yoke iron;

[0019] The first RuFeB permanent magnet is arranged in an NSN manner and fixed to the lower end of the yoke. An aluminum spacer block is 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, which are fixed to the bottom of the platform frame by bolts. The upper end of the yoke is fixed to the bottom of the U-shaped adjustment block through a distance adjustment block. The distance adjustment block cooperates with the U-shaped adjustment block to support the Z-direction height adjustment of the magnetic suction module, which is suitable for the adsorption requirements in different posture scenarios.

[0020] Furthermore, the inner side wall of the platform frame is provided with a vertically arranged guide rail, and the outer side wall of the working cabin is provided with a slider that cooperates with the guide rail.

[0021] Furthermore, a second NiFeB permanent magnet and height-adjustable support feet are evenly provided on the lower end surface of the bottom plate of the working cabin around the through opening.

[0022] Furthermore, the cylinder piston rod of the guide cylinder is fixedly connected to the upper end surface of the working cabin, and the cylinder body of the guide cylinder is fixedly connected to the platform frame;

[0023] The air circuit of the cylinder body is equipped with a two-way control valve. 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 can fit with the surface to be repaired under the adsorption force of the second NiFeB permanent magnet. When the working cabin is lifted, the two-way control valve switches to pressurizing the air intake into the lower chamber of the cylinder, driving the cylinder piston rod to contract along the Z axis, driving the working cabin to separate from the repaired surface and rise.

[0024] Furthermore, the opening and closing assembly includes an electric cylinder and a hinge; the swing door is fixedly connected to the bottom plate of the working cabin through the hinge, one end of the electric cylinder is hinged to the inner wall of the working cabin through a rotating shaft, and the other end is hinged to the swing door through a rotating shaft; the swing door is driven to open and close around the hinge by controlling the shortening and extension of the electric cylinder.

[0025] Further, the peripheral of the overhead door is wrapped with a flexible space-occupying material. The flexible space-occupying material is pressed to realize primary drainage, and the inflatable sealing ring is inflated to expand to form annular sealing at the outer convex groove to realize secondary drainage, so that the external area of the overhead door is approximately in a water-free state, and at this time, the electric cylinder drives the overhead door to open to perform repair work.

[0026] Further, the additive and subtractive material repair platform comprises a three-axis motion platform and an additive and subtractive displacement machining head;

[0027] The additive and subtractive displacement machining head comprises a sliding table air cylinder mounted on the z-axis of the three-axis motion platform, a needle tube clamp, an electric spindle clamp and a pen type air cylinder;

[0028] The needle tube clamp is clamped and fixed with an extrusion needle tube, the sliding table air cylinder is provided with a linear module, the slider of the linear module is fixed with a push rod clamp, and the push rod clamp is fixed with a push rod of the extrusion needle tube; the electric spindle clamp is clamped and fixed with an electric spindle, and the extending end of the pen type air cylinder is provided with a contact type measuring head.

[0029] In the present application, the main process of repair is that the electric spindle performs surface shaping and removes attached objects such as aquatic organisms on the area to be repaired, the contact type measuring head is intervened to measure the area to obtain the macroscopic morphology of defects, additive path planning is performed in combination with the morphology, and after the additive is completed, the subtractive is continued to remove excess repair materials and achieve the purpose of shaping.

[0030] Compared with the prior art, the present application has the following beneficial effects:

[0031] The present application is composed of a mobile climbing system, a dry operation system and a repair execution system; through multi-system collaborative optimization, a high-efficiency, reliable and adaptable solution is provided for underwater steel structure repair. The mobile climbing system ensures the reliable operation of the whole device in the complex underwater environment through stable adsorption and precise movement technology; the dry operation system adopts a dry sealed cabin structure, realizes the switching of equipment movement and repair mode in combination with a lifting mechanism, and effectively breaks through the limitations of traditional underwater repair through the two-stage waterproof mechanism of flexible material extrusion drainage and inflation dynamic sealing; the repair execution system covers multi-module integration of morphology measurement, cutting and decontamination, additive repair and cutting shaping, and realizes integrated repair of additive and subtractive measurement. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the in-situ additive and subtractive manufacturing equipment of the present application.

[0033] Figure 2 It is a structural schematic diagram of the mobile climbing platform in the embodiment of the present application.

[0034] Figure 3It is a schematic view of the wheel group mechanism of the four-wheel differential chassis in the embodiment of the present application.

[0035] Figure 4 It is a schematic view of the magnetic attraction module in the embodiment of the present application.

[0036] Figure 5 It is a schematic view of the upper part of the dry operation system in the embodiment of the present application.

[0037] Figure 6 It is a schematic view of the lower part of the dry operation system in the embodiment of the present application.

[0038] Figure 7 It is a schematic view of the internal part of the dry operation system in the embodiment of the present application.

[0039] Figure 8 It is a schematic view of the structure of the additive and subtractive repair platform in the embodiment of the present application.

[0040] Figure 9 It is a schematic view of the structure of the additive and subtractive displacement machining head in the embodiment of the present application.

[0041] 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 group frame, 112, rubber wheel, 113, through flange, 114, waterproof dynamic sealing flange, 115, speed reducer, 116, servo motor, 117, a shell, 118, b shell, 131, U-shaped adjusting block, 132, distance adjusting block, 133, first iron boron permanent magnet, 134, aluminum spacer block, 135, yoke, 21, work cabin angle steel outer frame, 22, acrylic plate, 23, guide table type cylinder, 24, organ type sealing cover, 25, guide rail, 26, sliding block, 27, bottom plate, 28, supporting leg, 29, second iron boron permanent magnet, 210, outer convex groove, 211, inflatable sealing ring, 212, sealing groove, 213, flexible space-occupying material, 214, vertical hinged door, 215, electric cylinder, 216, rotating shaft, 217, hinge, 218, additive and subtractive displacement machining head, 2181, linear module, 2182, sliding table cylinder, 2183, push rod chuck, 2184, needle tube chuck, 2185, extrusion needle tube, 2186, electric spindle chuck, 2187, electric spindle, 2188, pen type cylinder, 2189, contact type measuring head, 219, three-axis motion platform. DETAILED DESCRIPTION

[0042] The present application will be further described in detail below in conjunction with the drawings and embodiments, and it should be pointed out that the following described embodiments are intended to facilitate the understanding of the present application and do not have any limiting effect on the same.

[0043] As Figure 1As 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.

[0044] As shown in Figure 2 The mobile climbing platform 1 includes a platform frame 12, a magnetic attraction module 13, and a four-wheel differential chassis 11.

[0045] The four-wheel differential chassis 11 is composed of four independently driven wheelset mechanisms, as shown in Figure 3 The wheelset mechanism includes a wheelset frame 111, a rubber wheel 112, a through flange 113, a waterproof dynamic sealing flange 114, a speed reducer 115, a servo motor 116, and a shell. In this embodiment, the shell is an L-shaped structure composed of a shell a 117 and a shell b 118, which are connected by bolts and provided with rubber gaskets at the connection to achieve static sealing. The speed reducer 115 is an angle speed reducer. The through flange 113 is connected to the rubber wheel 112 through an array of circumferential holes, and the through flange 113 is connected to the speed reducer 115 through a key. The wheelset frame 111 contains a pair of angular contact ball bearings inside, and the through flange is interference-fitted with the bearings to achieve rotation. The waterproof dynamic sealing flange 114 achieves dynamic sealing of the rotating shaft through an O-ring and an oil seal inside, and achieves static sealing with the shell a 117 through a rubber gasket.

[0046] As shown in Figure 4 The magnetic attraction module 13 includes a U-shaped adjustment block 131, a distance adjustment block 132, a first rare earth permanent magnet 133, an aluminum spacer block 134, and a yoke 135. The U-shaped adjustment block 131 is connected to the platform frame 12 by bolts and is provided with a waist-shaped mounting hole to adjust the mounting height in the z direction. The first rare earth permanent magnets 133 are arranged in an N-S-N pattern, and the yoke 135 is installed on the array of the first rare earth permanent magnets 133, with an aluminum spacer block 134 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.

[0047] As shown in Figures 5 to 7 The dry operation system 2 includes a work cabin angle steel outer frame 21, an acrylic plate 22, a guide table type cylinder 23, an organ type sealing cover 24, a guide rail 25, a sliding block 26, a bottom plate 27, a support foot 28, a second rare earth permanent magnet 29, an outer convex groove 210, an inflatable sealing ring 211, a sealing groove 212, a flexible space-occupying material 213, a vertical hinged door 214, an electric cylinder 215, a rotating shaft 216, and a hinge 217.

[0048] As shown in Figure 6 and Figure 7As shown, the guide rail 25 cooperates with the slider 26 as a guide mechanism, the slider 26 is installed on the working cabin angle steel outer frame 21, the guide rail 25 is installed on the platform frame 12, the bottom plate 27 is provided with the second r-Fe-B permanent magnet 29 and the supporting leg 28, and the supporting leg 28 can adjust the height through a nut.

[0049] The cylinder 23 is connected with the platform frame 12, in the process of lowering the working cabin, the bidirectional control valve connects the two chambers of the cylinder and is connected to the atmospheric exhaust port, under the action of the second r-Fe-B permanent magnet 29, the working cabin can be passively close to the surface to be repaired, when the working cabin is lifted, the bidirectional control valve is switched to pressurize the lower chamber of the cylinder to intake air, the piston rod of the guide table type cylinder 23 is driven to shrink along the Z axis, and the working cabin is lifted along the z axis direction.

[0050] As shown in Figure 7 , a through opening matching the size of the vertical hinged door 214 is formed in the middle of the bottom plate 27, and outer convex grooves 210 are symmetrically arranged on both sides of the through opening, and the inflatable sealing ring 211 is installed inside the outer convex grooves 210 and will protrude when inflated. The cylinder 215 is connected with the working cabin angle steel outer frame 21 and the vertical hinged door 214 through the shaft 216 at both ends, respectively, the vertical hinged door 214 can rotate around the hinge 217, and the opening and closing of the vertical hinged door is realized through the extension and retraction of the cylinder 215. When the vertical hinged door 214 is closed, the edge thereof forms a press-fit contact with the sealing groove 212, thereby constituting a mechanical sealing interface. The flexible space-occupying material 213 is bonded around the vertical hinged door, which has good flexibility and waterproofness, can be continuously compressed when the working cabin outer frame is lowered, thereby occupying the entire space inside the outer convex groove, and realizing physical drainage.

[0051] As shown in Figure 8 , the additive and subtractive repair platform 3 includes an additive and subtractive displacement machining head 218 and a three-axis motion platform 219, and the additive and subtractive displacement machining head 218 is installed on the z axis of the three-axis motion platform 219.

[0052] As shown in Figure 9 , the additive and subtractive displacement machining head 218 includes a linear module 2181, a sliding table cylinder 2182, a push rod chuck 2183, a needle tube chuck 2184, an extrusion needle tube 2185, an electric spindle chuck 2186, an electric spindle 2187, a pen type cylinder 2188, and a contact type measuring head 2189.

[0053] 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 needle tube 2185 is fixed by the push rod clamp 2183, the body of the extrusion needle tube 2185 is fixed by the needle tube clamp 2184, the push rod clamp 2183 is installed on the sliding block of the linear module 2181, and moves with the linear module 2181 to realize the extrusion of the repair slurry. The electric spindle clamp 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 writing cylinder 2188 is installed on the z-axis of the three-axis motion platform 219, and the contact measuring head 2189 is installed on the extension end of the writing cylinder 2188, which extends with the writing cylinder 2188, and realizes the measurement function through the movement of the three-axis motion platform 219.

[0054] The working process of the in-situ additive and subtractive manufacturing equipment of the application will be explained below through a specific scene. It is assumed that the curvature change of the outer surface of the device to be repaired is uniform, and the specific steps are as follows:

[0055] Step one: the in-situ additive and subtractive manufacturing equipment moves to the damaged outer surface of the ship or large ocean platform by means of the support, and clings to the surface by means of the magnetic attraction module 13.

[0056] Step two: the in-situ additive and subtractive manufacturing equipment moves to the underwater area to be modified by means of the four-wheel differential chassis 11, covers the entire path from a certain point, avoids obstacles by means of the laser sensor during the movement, and takes pictures of the surface to be detected by means of the camera. When a defect is identified, stop moving.

[0057] Step three: after the movement stops, the two-way control valve connects the two chambers of the guide table type cylinder 23 to the atmosphere, and 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 occupying material 213 outside the vertical door 214 is continuously compressed, and at the end of the stroke, the working cabin is adsorbed on the surface to be detected by means of the second rhenium-iron-boron permanent magnet 29 and the height-adjustable supporting foot 28 at the bottom, and after stabilization, the inflatable sealing ring 211 is inflated to realize the adaptive sealing of the curved surface.

[0058] Step four: open the vertical door 214, first use the contact measuring head 2189 to obtain the topographic features of the repair area, then use the electric spindle 2187 to cut and clean the target area, and then use the extrusion type slurry additive. The material used is a general type of repair material suitable for metal. After the additive is completed, the additive surface is processed by subtractive, to restore the accurate shape of the repaired position.

[0059] Step five: close the vertical door 214, lift the working cabin, and continue to move according to the predetermined trajectory until the next defect position is found. Repeat steps three and four above until the entire area is covered.

[0060] The above-described embodiments have described the technical solutions and beneficial effects of the present application in detail, and it should be understood that the above-described is only a specific embodiment of the present application and is not used to limit the present application, and any modification, supplement and equivalent replacement made within the principle range of the present application should be included in the protection range of the present application.

Claims

1. An in-situ additive and subtractive manufacturing equipment, characterized in that: It includes a mobile climbing platform (1), a dry operation system (2) and an additive 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 includes 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 inner side wall of the platform frame (12) is provided with a vertically arranged guide rail (25), and the outer side wall of the working cabin is provided with a slider (26) that cooperates with the guide rail (25); The bottom plate (27) of the working cabin is provided with a through opening, the outer side surface of the through opening is provided with an outer convex groove (210), and an inflatable sealing ring (211) is embedded in the outer convex groove (210); the lower end surface of the bottom plate of the working cabin is evenly provided with a second Ru-Fe-B permanent magnet (29) and a height-adjustable support foot (28) around the through opening; A flat door (214) matching the through opening is provided inside the working cabin, and the flat door (214) is fixed to the inner wall of the working cabin via an opening and closing assembly; the outer periphery of the flat door (214) is wrapped with a flexible space-occupying material (213); The cylinder piston rod of the guide cylinder (23) is fixedly connected to the upper end surface of the working cabin, and the cylinder body of the guide cylinder (23) is fixedly connected to the platform frame (12); a two-way control valve is built into the air circuit 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 is attached to the surface to be repaired under the adsorption force of the second Ni-Fe-B permanent magnet (29); when the working cabin is lifted, the two-way control valve switches to pressurizing the lower chamber of the cylinder to drive the cylinder piston rod to contract along the Z axis, driving the working cabin to separate from the repaired surface and rise; 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 flat 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, characterized in that: The four-wheel differential chassis (11) includes four independently driven wheel assembly mechanisms, each wheel assembly mechanism including a housing, a wheel assembly frame (111), a rubber wheel (112) and a through flange (113); The housing and the wheel frame (111) are sealed and fixed via a waterproof dynamic sealing flange (114); a servo motor (116) is provided in the housing; the through flange (113) is rigidly connected to a rubber wheel (112) provided inside the wheel frame (111), and is transmission-connected to an output shaft of the servo motor (116) via a speed reducer (115); The wheel set frame (111) is fixed to the bottom of the platform frame (12), and a pair of angular contact ball bearings are provided on two side walls of the wheel set frame (111). 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) adopts an angled 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 an NSN manner and fixed to the lower end of the yoke (135), and 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 opening and closing assembly comprises an electric cylinder (215) and a hinge (217); the swing door (214) is fixedly connected to the bottom plate of the working cabin via the hinge (217); one end of the electric cylinder (215) is hinged to the inner wall of the working cabin via a rotating shaft, and the other end is hinged to the swing door (214) via a rotating shaft; the swing door (214) is driven to open and close around the hinge (217) by controlling the shortening and extension of the electric cylinder (215).

6. The in-situ additive and subtractive manufacturing equipment according to claim 1, characterized in that: The additive and subtractive material repair platform (3) comprises a three-axis motion platform (219) and an additive and subtractive displacement measurement processing head (218); The increasing / decreasing displacement measuring machining head (218) comprises a slide cylinder (2182), a needle chuck (2184), an electric spindle chuck (2186), and a pen-type cylinder (2188) mounted on the z-axis of a three-axis motion platform (219); An extrusion needle tube (2185) is clamped and fixed on the needle tube chuck (2184); a linear module (2181) is provided on the slide cylinder (2182); a push rod chuck (2183) is fixed on the slider of the linear module (2181); the push rod chuck (2183) is fixed to the push rod of the extrusion needle tube (2185); an electric spindle (2187) is clamped and fixed on the electric spindle chuck (2186); and a contact measuring head (2189) is installed on the protruding end of the pen-type cylinder (2188).

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