Shape control and property control method for casting and increasing collaborative manufacturing of large complex components of ships and warships

Abstract

The invention discloses a shape control and property control method for casting and increasing collaborative manufacturing of large complex components of ships and warships. The method comprises the following steps: designing a casting and increasing collaborative technological process; building a shape-control and performance-control hardware system and environment for casting and increasing collaborative manufacturing of the ship large-scale complex component; calibration of a casting-increasing cooperative unified reference surface and a reference coordinate system and high-precision measurement of a casting-increasing joint surface; and the shape and the property are controlled through casting and increasing cooperation. According to the method, the problem that an effective shape control and property control technical means is lacked in the casting and increasing collaborative manufacturing process of the ship large-scale complex component is solved, the forming precision and mechanical property of the large-scale complex component are improved, the manufacturing efficiency and quality are improved, and high-precision, high-performance and high-efficiency manufacturing of the ship large-scale complex component is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of manufacturing large and complex components of ships, and particularly relates to a method for controlling shape and properties in the collaborative casting and additive manufacturing of large and complex components of ships. Background Art

[0002] With the development of ship manufacturing technology towards high performance and lightweight, the demand for large and complex components is increasing day by day. Traditional manufacturing processes such as forging and welding splicing have problems such as low material utilization rate, long processing cycle, and difficulty in manufacturing complex internal structures. As an emerging additive manufacturing technology, arc additive manufacturing has advantages such as high deposition efficiency and low cost. However, it faces many challenges when manufacturing large and complex components of ships. For example, during the multi-layer and multi-pass deposition process, due to factors such as heat accumulation and unstable molten pool flow, it is easy to cause difficulties in controlling the shape accuracy of components, resulting in problems such as dimensional deviation and deformation. At the same time, in terms of microstructure, it is easy to generate coarse grains and uneven phase distribution, affecting the mechanical properties of components and making it difficult to meet the stringent requirements of ship components such as high strength, high toughness, and corrosion resistance.

[0003] Large and complex components of ships, such as stern shaft brackets, rudder hanging arms, and propeller hubs of ships, have extremely high requirements for structural strength, accuracy, and overall performance. Traditional single casting processes can form complex shapes, but have problems such as long die manufacturing cycle, high cost, and difficulty in achieving fine control of complex internal structures. Additive manufacturing, although having a high degree of design freedom and being able to quickly construct complex geometric shapes, has relatively low efficiency when manufacturing large components, and there are challenges in ensuring the mechanical properties of some thick and large-sized parts. The collaborative casting and additive manufacturing mode that combines the two is expected to overcome these limitations. However, there is currently a lack of effective technical means for controlling shape and properties, resulting in poor collaborative effects and being unable to meet the high-precision and high-performance requirements of large and complex components of ships. Patent CN106735967B discloses a method for controlling shape and properties in ultrasonic vibration-assisted arc additive manufacturing. This method uses the acoustic streaming stirring effect of non-contact ultrasonic vibration on the molten pool and the tool head with controllable ultrasonic vibration intensity to strengthen and finish the surface of each cladding layer, improving the dimensional accuracy of the cladding layer and reducing residual stress to achieve shape and property control in arc additive manufacturing. Patent CN110465657B discloses a method for controlling the shape of deposited laser additive manufacturing of alloy steel, which realizes good shape control of the laser-deposited alloy structure through synchronous powder feeding - gradient laser deposition. The above patents only use auxiliary means or methods during the arc or laser additive deposition process to solve the problem of shape and property control of local cladding layers, but lack effective technical means for controlling the overall structure of large and complex components and shape and property control in the collaborative casting and additive manufacturing mode. Summary of the Invention

[0004] The object of the present invention is to provide a shape and property control method for the casting and additive manufacturing collaboration of large and complex ship components in view of problems such as the lack of effective technical means for shape and property control in the casting and additive manufacturing collaboration process of large and complex ship components.

[0005] The technical solution for achieving the object of the present invention is as follows: On the one hand, a shape and property control method for the casting and additive manufacturing collaboration of large and complex ship components is provided. The method includes:

[0006] Step 1, designing a casting and additive manufacturing collaborative process flow, where the casting and additive manufacturing collaboration is "casting base + additive" collaboration;

[0007] Step 2, building a shape and property control hardware system for the casting and additive manufacturing collaboration of large and complex ship components;

[0008] Step 3, based on the system built in Step 2, determining a unified reference plane for casting and additive manufacturing collaboration, calibrating the reference coordinate system, and performing high-precision measurement of the casting and additive manufacturing joint surface;

[0009] Step 4, based on Steps 1 to 3, performing shape and property control for casting and additive manufacturing collaboration.

[0010] Further, the design of the casting and additive manufacturing collaborative process flow in Step 1 specifically includes:

[0011] Step 1-1, based on the performance requirements and three-dimensional structure model of the ship component, using a topology optimization algorithm to partition and plan the ship component, and dividing the ship component into a basic structure area suitable for casting and a fine feature area suitable for additive manufacturing;

[0012] Step 1-2, formulating a process connection process, including performing surface pretreatment on the casting after the basic structure is completed to ensure good bonding during additive manufacturing; at the same time, designing the starting position and deposition path of additive manufacturing to adapt to the residual stress distribution of the casting part.

[0013] Further, in Step 2, the shape and property control hardware system for the casting and additive manufacturing collaboration of large and complex ship components includes a high-precision laser measurement tracker, a cross laser marker, a mobile gantry, a main arc additive manufacturing robot, a large-scene laser vision scanning sensor, a large and complex ship component, a slave arc additive manufacturing robot, an end laser vision sensor, an infrared thermal imaging sensor, a molten pool observation camera, an ultrasonic transducer, a sound sensor, a conformal cooling device, a welding torch, a roller rack, a workpiece preheating and heating device, and a welding power source;

[0014] The high-precision laser measurement tracker and the cross laser marker are used to calibrate the reference zero point, coordinate system of the additive manufacturing workpiece, and unify the coordinate systems of the two robots, and at the same time, to detect the consistency between the actual additive manufacturing position of the robot and the theoretical position of the layer slicing software model of the total control system in real time, so as to control the actual shape error of the additive manufacturing workpiece;

[0015] The main arc additive manufacturing robot and the slave arc additive manufacturing robot are respectively installed upside down on both sides of the mobile gantry, and can move in a large range in the three-dimensional space in the X, Y, and Z directions, and are used to realize the arc additive manufacturing of large and complex components of ships;

[0016] The molten pool observation camera is installed at the end of the main arc additive manufacturing robot and the slave arc additive manufacturing robot, and is used to collect the molten pool images during the arc additive manufacturing process;

[0017] The welding torch is installed at the end of the main arc additive manufacturing robot and the slave arc additive manufacturing robot, and is used to perform the arc additive manufacturing operation;

[0018] The end laser vision sensor is installed at the front end of the welding torch, and is used to scan the morphology of the cladding layer, and control the distance from the welding torch nozzle to the cladding layer to ensure the consistency of the wire dry elongation and the welding current;

[0019] The ultrasonic transducer is installed at the end of the main arc additive manufacturing robot and the slave arc additive manufacturing robot, and is used to apply ultrasonic vibrations with a specific frequency and amplitude to the molten pool, generate cavitation effects and acoustic streaming stirring effects, refine grains, and promote uniform mixing of the molten pool components;

[0020] The sound sensor is installed at the end of the main arc additive manufacturing robot and the slave arc additive manufacturing robot, and is used to collect sounds during the arc additive manufacturing process;

[0021] The conformal cooling device is installed at the rear end of the welding torch, and improves the temperature field and the interlayer heat accumulation situation by using high-pressure cooling gas to spray the component along with it, and ensures the deposition quality of the subsequent layer;

[0022] The infrared thermal imaging sensor is installed at the rear end of the welding torch, and is used to measure the interlayer temperature in real time during the arc additive manufacturing process;

[0023] The large-scene laser vision scanning sensor is installed on the mobile gantry, and is used to periodically perform visual scanning on the overall additive manufacturing morphology of the workpiece after the workpiece is arc-added to a certain height, and detect the error between the actual additive manufacturing workpiece size and the drawing;

[0024] The roller rack is connected to the total control system through a control line, and is used to realize the auxiliary position change of large and complex components of ships;

[0025] The workpiece preheating heating device is installed at the bottom of the roller rack, and is used for the preheating heating of large and complex components of ships;

[0026] The welding power source is connected to the main arc additive manufacturing robot and the slave arc additive manufacturing robot through a network cable, and is used to control the setting and acquisition of arc additive manufacturing process parameters such as welding current and welding voltage.

[0027] Furthermore, the shape and property control hardware system for the collaborative casting and additive manufacturing of large and complex ship components also includes a guide rail, and the mobile gantry is installed on the guide rail and can move along the guide rail.

[0028] Furthermore, the high-precision laser measurement tracker includes five target balls, three of which are attached to a unified reference surface for determining the reference zero point and reference coordinate system of the additive workpiece, and the other two target balls are respectively attached to the fixtures of the welding guns of the main arc additive robot and the slave arc additive robot for real-time measurement of the actual additive positions and relative position relationship of the master and slave additive robots.

[0029] Furthermore, the unified reference plane for casting and augmentation coordination in step 3 is determined, specifically including:

[0030] Select the casting reference surface;

[0031] Complete high-precision machining of the casting reference surface through mechanical processing;

[0032] The casting reference surface is placed in the fixing fixture of the roller frame and is clamped and fixed by the clamping fixture.

[0033] Furthermore, the reference coordinate system calibration in step 3 specifically includes:

[0034] (1) The reference coordinate system of the casting reference surface is calibrated using a high-precision laser measurement tracker and a cross laser marker, specifically including:

[0035] Step 3-1, adjust the cross laser marker so that its horizontal laser marking line coincides with the horizontal reference edge of the fixed tooling, so that the cross laser marker, the fixed tooling, and the casting are on the same horizontal plane;

[0036] Step 3-2: Adjust the height of the horizontal laser line of the cross laser marker so that the horizontal laser marking line intersects with the casting reference plane, i.e., the unified reference plane, at two points P and Q. Attach the target ball of the high-precision laser measurement tracker to points P and Q, record the spatial coordinates of points P and Q, and calculate the distance between points P and Q.

[0037] Step 3-3, repeat step 3-2 several times to obtain multiple pairs of points P, Q, and their corresponding coordinate values and distance length values;

[0038] Step 3-4: record the coordinates of points P and Q corresponding to the maximum distance length value in step 3-3 at point P o , click Q o In the figure, take O as the origin of the reference coordinate system and adsorb the target ball onto point O;

[0039] Step 3-5, according to the right-hand rule, define the positive direction of the y-axis of the reference coordinate system as vector And perform unitization to obtain

[0040] Step 3-6: Adjust the vertical laser line of the cross laser marker so that the vertical laser marking line intersects the reference plane of the casting at two points M and N. Adsorb the target ball of the high-precision laser measurement tracker to point M and point N, record the spatial coordinate values of points M and N, and calculate the distance length value between points M and N;

[0041] Step 3-7: Repeat Step 3-6 several times to obtain multiple pairs of points M and N, as well as the corresponding coordinate values and distance length values;

[0042] Step 3-8: Record the coordinates of points M and N corresponding to the maximum distance length value in Step 3-7 at point M o and point N o ;

[0043] Step 3-9: According to the right-hand rule, define the positive direction of the z-axis of the reference coordinate system as the vector And perform unitization to obtain

[0044] Step 3-10: According to the right-hand rule, define the positive direction of the x-axis of the reference coordinate system as

[0045] Thus, a unified reference space rectangular coordinate system O-xyz for casting and additive manufacturing collaboration is obtained;

[0046] (2) Use the wire contact three-point method to calibrate the workpiece coordinate systems of the main arc additive manufacturing robot and the slave arc additive manufacturing robot respectively to achieve the unification of the reference space rectangular coordinate system for casting and additive manufacturing collaboration, specifically including:

[0047] Step 3-11: Align the end wire of the main arc additive manufacturing robot with the target ball center of the origin O of the unified reference space rectangular coordinate system O-xyz for casting and additive manufacturing collaboration, record the origin position, align with the target ball center of point P0 in the positive y-axis direction in sequence, record the y-axis direction of the main arc additive manufacturing robot, align with the target ball center of point M0 in the positive z-axis direction in sequence, record the z-axis direction of the main arc additive manufacturing robot, and calculate the positive x-axis direction of the main arc additive manufacturing robot

[0048] Step 3-12: Align the end wire of the slave arc additive manufacturing robot with the target ball center of the origin O of the unified reference space rectangular coordinate system O-xyz for casting and additive manufacturing collaboration, record the origin position, align with the target ball center of point P0 in the positive y-axis direction in sequence, record the y-axis direction of the slave arc additive manufacturing robot, align with the target ball center of point M0 in the positive z-axis direction in sequence, record the z-axis direction of the slave arc additive manufacturing robot, and calculate the positive x-axis direction of the slave arc additive manufacturing robot

[0049] Further, the high-precision measurement of the casting and additive manufacturing joint surface in Step 3 specifically includes:

[0050] After casting is completed, a high-precision laser measurement tracker and a large-scene laser vision scanning sensor are used to detect the surface of the casting area to obtain accurate dimensional deviation data;

[0051] The dimensional deviation data is fed back to the additive manufacturing process through a data processing system to calibrate the starting position and deposition path of additive manufacturing.

[0052] Further, the shape and property control in the casting and additive manufacturing coordination in Step 4 specifically includes:

[0053] Step 4-1, shape and property control in the casting process

[0054] Using digital casting technology, the mold design is optimized through numerical simulation to accurately determine the positions and sizes of the gating and risering systems, ensuring smooth and orderly filling of the liquid metal in the cavity;

[0055] At the same time, during the casting process, an appropriate amount of rare earth elements is added to the liquid metal;

[0056] Step 4-2, shape and property control in the arc additive manufacturing process

[0057] (1) Through a large number of process experiments, combined with the shape and property control hardware system for the casting and additive manufacturing coordination of large and complex ship components, the effects of different additive process parameters and different temperature fields on the size, microstructure, mechanical properties, and stress distribution of components are qualitatively and quantitatively analyzed to establish a mapping relationship between "process parameters - forming quality" and form a continuous mapping model of "process parameters - forming quality";

[0058] (2) Through the shape and property control collaborative optimization planning method, the optimal path for shape and property control and the combination of surfacing process parameters are obtained. Specifically:

[0059] Taking the bead forming law under the dual-robot additive path as the constraint condition for arc additive manufacturing, under the sub-region path planning scheme, with forming quality, forming efficiency, and forming accuracy as the optimization objectives, by optimizing variables such as slice thickness, deposition process parameters, and forming path parameters, the optimal path for shape and property control and the combination of surfacing process parameters are obtained; as Figure 4 shown;

[0060] (3) Through the shape and property control hardware system for the casting and additive manufacturing coordination of large and complex ship components, all information during the casting and additive manufacturing coordination process is monitored, information characteristics related to forming quality are extracted, and then combined with the continuous mapping model of "process parameters - forming quality" to dynamically adjust the process parameters;

[0061] Step 4-3, deformation coordination during the casting and additive manufacturing coordination

[0062] Establish a thermo-mechanical coupling model combining casting and additive manufacturing to simulate the heat transfer and stress distribution in different process stages;

[0063] Based on the model prediction, during the collaborative manufacturing process of casting and additive manufacturing, adopt active temperature control measures, and set local heating or cooling devices at the joint of the casting area and the additive manufacturing area to balance the thermal stress.

[0064] On the other hand, a shape and property control system for the collaborative manufacturing of large and complex ship components by casting and additive manufacturing is provided. The system includes:

[0065] The first module is used to design the process flow of casting and additive manufacturing collaboration, and the casting and additive manufacturing collaboration is "casting-based + additive" collaboration;

[0066] The second module is used to build the shape and property control hardware system for the collaborative manufacturing of large and complex ship components by casting and additive manufacturing;

[0067] The third module is used to determine the unified reference plane, calibrate the reference coordinate system, and perform high-precision measurement of the casting and additive manufacturing joint surface for the shape and property control hardware system of the collaborative manufacturing of large and complex ship components;

[0068] The fourth module is used to perform shape and property control for the collaboration of casting and additive manufacturing.

[0069] Compared with the prior art, the remarkable advantages of the present invention are:

[0070] (1) The present invention manufactures large and complex ship components with high precision and high performance through a shape and property control method for the collaborative manufacturing of large and complex ship components by casting and additive manufacturing, and can effectively solve the problems such as difficult modeling, high cost, poor accuracy of formed parts, low performance, and long cycle in the current manufacturing process of large and complex ship components.

[0071] (2) The present invention provides new ideas and methods for the high-precision and high-performance manufacturing of large and complex ship components in China in the future, and has certain reference significance for China to manufacture a large number of high-performance large and complex ship components, thereby improving the overall performance of ships.

[0072] (3) The shape and property control method for the collaborative manufacturing of large and complex ship components of the present invention has been successfully applied to the manufacturing of ship stern brackets. Compared with traditional single casting, the mold cost is reduced by about 50%, and the manufacturing cycle is shortened by 30%; compared with pure additive manufacturing, the efficiency is increased by more than 40%, the component size accuracy can reach within ±1 mm, and the mechanical properties such as tensile strength are increased by 15%, and the yield strength is increased by 20%, effectively solving the manufacturing problems of ship stern brackets and providing a strong guarantee for the reliable navigation of ships.

[0073] The present invention will be further described in detail below with reference to the accompanying drawings. Description of the Drawings

[0074] Figure 1 It is a schematic diagram of the shape and property control method for the collaborative casting and additive manufacturing of large and complex ship components in one embodiment.

[0075] Figure 2 It is a composition diagram of the shape and property control hardware system for the collaborative casting and additive manufacturing of large and complex ship components in one embodiment.

[0076] Figure 3 It is a schematic diagram for calibrating the unified reference plane and reference coordinate system in the collaborative casting and additive manufacturing in one embodiment.

[0077] Figure 4 It is a diagram of the collaborative optimization planning method for shape and property control in one embodiment.

[0078] Figure 5 It is a flowchart of the feature fusion and real-time processing of multi-source heterogeneous information in the additive manufacturing process in one embodiment. Specific implementation manners

[0079] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0080] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0081] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0082] In one embodiment, in combination with Figure 1 , a shape and property control method for the collaborative casting and additive manufacturing of large and complex ship components is provided, and the method includes:

[0083] Step 1, design the process flow of casting and additive manufacturing collaboration, where the casting and additive manufacturing collaboration is "casting-based + additive" collaboration;

[0084] Step 2, build a shape and property control hardware system for the collaborative manufacturing of large and complex ship components by casting and additive manufacturing;

[0085] Step 3, based on the system built in Step 2, determine the unified reference plane, calibrate the reference coordinate system, and perform high-precision measurement of the casting and additive manufacturing joint surface for casting and additive manufacturing collaboration;

[0086] Step 4, based on Steps 1 to 3, perform shape and property control for casting and additive manufacturing collaboration.

[0087] Preferably, in some embodiments, the process flow of designing the casting and additive manufacturing collaboration in Step 1 specifically includes:

[0088] Step 1-1, based on the performance requirements and three-dimensional structure model of the ship component, use the topology optimization algorithm to partition and plan the ship component, and divide the ship component into a basic structure area suitable for casting and a fine feature area suitable for additive manufacturing;

[0089] For example, for the hub of a ship propeller, the thick hub body in the center adopts the casting process, and its advantages such as high forming efficiency and batch production are used to quickly construct the general shape; while the complex cooling channels on the hub and the fine strengthening structures at the blade roots are completed by additive manufacturing in the subsequent process, realizing the complementary advantages of the two.

[0090] For the ship stern frame, the thick shaft hub part in the center is planned as the casting area, and the high forming efficiency and stability of the casting process are used to ensure the overall structural strength; the local strengthening structure support arms in the complex streamlined structure with stress concentration are planned as the additive manufacturing area, giving play to the precise geometric shape construction ability of additive manufacturing.

[0091] Step 1-2, formulate a process connection process, including pre-treating the surface of the basic structure after casting (including removing oxide scales, grinding rough surfaces, etc.) to ensure good bonding during additive manufacturing; at the same time, design the starting position and deposition path of additive manufacturing to adapt to the residual stress distribution of the casting part and avoid deformation caused by stress superposition.

[0092] Preferably, in some embodiments, in combination with Figure 2In step 2, the shape and controllability hardware system for the collaborative casting and additive manufacturing of large and complex ship components includes a high-precision laser measurement tracker 1, a cross laser marker 2, a mobile gantry 3, a main arc additive robot 4, a large-scene laser vision scanning sensor 5, a large and complex ship component 6, a slave arc additive robot 7, an end-user laser vision sensor 8, an infrared thermal imaging sensor 9, a molten pool observation camera 10, an ultrasonic transducer 11, a sound sensor 12, a conformal cooling device 13, a welding gun 14, a roller frame 15, a workpiece preheating device 16, a welding power supply 17, etc.;

[0093] The high-precision laser measurement tracker and cross laser marker are used to calibrate the reference zero point, coordinate system and coordinate system 1 of the additive workpiece, and simultaneously detect the consistency between the actual additive position of the robot and the theoretical position of the layered slicing software model of the master control system in real time, thereby controlling the actual shape error of the additive workpiece;

[0094] The main arc additive robot and the slave arc additive robot are respectively mounted upside down on both sides of the mobile gantry and can move over a large range in three-dimensional space in the X, Y, and Z directions, and are used to realize arc additive manufacturing of large and complex components of ships;

[0095] The molten pool observation camera is installed at the end of the main arc additive robot and the slave arc additive robot to collect the molten pool image during the arc additive process;

[0096] The welding gun is installed at the end of the main arc additive robot and the slave arc additive robot to perform arc additive operations;

[0097] The end laser vision sensor is installed at the front end of the welding gun to scan the morphology of the cladding layer and control the distance from the welding gun nozzle to the cladding layer to ensure the wire extension and welding current consistency;

[0098] The ultrasonic transducer is installed at the end of the main arc additive robot and the slave arc additive robot, and is used to apply ultrasonic vibration of a specific frequency and amplitude to the molten pool, generating cavitation effect and acoustic flow stirring effect, thereby refining the grains and promoting uniform mixing of the molten pool components;

[0099] The sound sensor is installed at the ends of the main arc additive robot and the slave arc additive robot to collect sound during the arc additive process;

[0100] The conformal cooling device is installed at the rear end of the welding gun, and improves the temperature field and the interlayer heat accumulation by using high-pressure cooling gas to spray the components, thereby ensuring the quality of subsequent layer deposition;

[0101] The infrared thermal imaging sensor is installed at the rear end of the welding gun and is used to measure the interlayer temperature in real time during the arc additive process;

[0102] The large-scene laser vision scanning sensor is installed on the mobile gantry and is used to periodically perform visual scanning on the overall additive manufacturing morphology of the workpiece after the workpiece is arc-additively manufactured to a certain height, and detect the error between the actual size of the additively manufactured workpiece and the drawing.

[0103] The roller rack is connected to the total control system through a control line and is used to realize the auxiliary position change of large and complex ship components (such as the hub of the stern shaft bracket).

[0104] The workpiece preheating and heating device is installed at the bottom of the roller rack and is used for preheating and heating large and complex ship components.

[0105] The welding power source is connected to the main arc additive manufacturing robot and the slave arc additive manufacturing robot through a network cable and is used to control the setting and acquisition of arc additive manufacturing process parameters such as welding current and welding voltage.

[0106] Preferably, in some embodiments, the shape and property control hardware system for the casting and additive manufacturing of large and complex ship components further includes a guide rail, and the mobile gantry is installed on the guide rail and can move along the guide rail.

[0107] Preferably, in some embodiments, the high-precision laser measurement and tracking instrument includes five target balls, three of which are attached to the same reference plane to determine the reference zero point and reference coordinate system of the additively manufactured workpiece, and the other two target balls are respectively attached to the fixtures of the welding torches of the main arc additive manufacturing robot and the slave arc additive manufacturing robot, and are used to measure the actual additive manufacturing positions and relative position relationships of the main and slave additive manufacturing robots in real time, which can ensure the accuracy of the additive manufacturing positions and lay a foundation for the precise shape and property control of the casting and additive manufacturing of large and complex ship components.

[0108] Preferably, in some embodiments, the determination of the unified reference plane for casting and additive manufacturing in step 3 specifically includes:

[0109] Select the casting reference plane;

[0110] Complete the high-precision machining of the casting reference plane through mechanical machining;

[0111] Place the casting reference plane in the fixed tooling of the roller rack and clamp and fix it through the clamping tooling.

[0112] Here, taking the ship stern shaft bracket as an example, the thick shaft hub part in the center is planned as the casting area, and the casting reference plane is selected as the circumferential surface on one side of the shaft hub of the stern shaft bracket.

[0113] Preferably, in some embodiments, the calibration of the reference coordinate system in step 3 specifically includes:

[0114] (1) Calibrate the reference coordinate system of the casting reference plane through the high-precision laser measurement and tracking instrument and the cross laser marker, specifically including:

[0115] Step 3-1: Adjust the cross laser marker so that its horizontal laser marking line coincides with the horizontal reference edge of the fixed tooling, and make the cross laser marker, the fixed tooling, and the casting on the same horizontal plane;

[0116] Step 3-2: Adjust the height of the horizontal laser line of the cross laser marker so that the horizontal laser marking line intersects the reference plane of the casting, i.e., the unified reference plane, at two points P and Q. Adsorb the target ball of the high-precision laser measurement tracker to point P and point Q, record the spatial coordinate values of points P and Q, and calculate the distance length value between points P and Q;

[0117] Step 3-3: Repeat Step 3-2 several times to obtain multiple pairs of points P and Q, as well as the corresponding coordinate values and distance length values;

[0118] Step 3-4: Record the coordinates of points P and Q corresponding to the maximum distance length value in Step 3-3 in point P o , point Q o as the origin O of the reference coordinate system, and adsorb the target ball to point O;

[0119] Step 3-5: According to the right-hand rule, define the positive direction of the y-axis of the reference coordinate system as the vector and perform unitization to obtain

[0120] Step 3-6: Adjust the vertical laser line of the cross laser marker so that the vertical laser marking line intersects the reference plane of the casting at two points M and N. Adsorb the target ball of the high-precision laser measurement tracker to point M and point N, record the spatial coordinate values of points M and N, and calculate the distance length value between points M and N;

[0121] Step 3-7: Repeat Step 3-6 several times to obtain multiple pairs of points M and N, as well as the corresponding coordinate values and distance length values;

[0122] Step 3-8: Record the coordinates of points M and N corresponding to the maximum distance length value in Step 3-7 in point M o , point N o ;

[0123] Step 3-9: According to the right-hand rule, define the positive direction of the z-axis of the reference coordinate system as the vector and perform unitization to obtain

[0124] Step 3-10: According to the right-hand rule, define the positive direction of the x-axis of the reference coordinate system as

[0125] Thus, a unified reference space rectangular coordinate system O-xyz for casting enhancement collaboration is obtained;

[0126] (2) Use the wire contact three - point method to calibrate the workpiece coordinate system of the main arc additive manufacturing robot and the slave arc additive manufacturing robot respectively, so as to realize the unification of the casting - additive collaborative reference space rectangular coordinate system. Specifically, it includes:

[0127] Step 3 - 11: Align the wire at the end of the main arc additive manufacturing robot with the center of the target ball at the origin O of the unified reference space rectangular coordinate system O - xyz for casting - additive collaboration, record the origin position, then align it with the center of the target ball at point P0 in the positive y - axis direction in turn, record the y - axis direction of the main arc additive manufacturing robot, then align it with the center of the target ball at point M0 in the positive z - axis direction in turn, record the z - axis direction of the main arc additive manufacturing robot, and calculate the positive x - axis direction of the main arc additive manufacturing robot

[0128] Step 3 - 12: Align the wire at the end of the slave arc additive manufacturing robot with the center of the target ball at the origin O of the unified reference space rectangular coordinate system O - xyz for casting - additive collaboration, record the origin position, then align it with the center of the target ball at point P0 in the positive y - axis direction in turn, record the y - axis direction of the slave arc additive manufacturing robot, then align it with the center of the target ball at point M0 in the positive z - axis direction in turn, record the z - axis direction of the slave arc additive manufacturing robot, and calculate the positive x - axis direction of the slave arc additive manufacturing robot

[0129] Here, taking the ship stern shaft bracket as an example for illustration, the thick shaft hub part at its center is planned as the casting area. First, adjust the triangular support of the cross - laser marker so that the horizontal laser marking line of the cross - laser marker coincides with the horizontal reference edge of the fixing fixture, ensuring that the cross - laser marker, the fixing fixture, and the stern shaft bracket hub casting are on the same horizontal plane; second, adjust the height of the horizontal laser line of the cross - laser marker so that the horizontal laser marking line intersects the reference inner circumferential surface of the stern shaft bracket hub at two points P and Q. Adsorb the target ball of the laser measurement tracker to point P and point Q, use the laser measurement tracker to record the spatial coordinate values of point P and point Q, and calculate the distance length value between point P and point Q. Due to the deviation of the human eye, it is very difficult to directly align the horizontal laser marking line directly to the diameter of the reference inner circumferential surface. The method of taking the maximum value of the PQ length through multiple measurements is used to determine the diameter of the reference circumference of the stern shaft bracket hub. Each measurement obtains a set of coordinate values of point P i and point Q i P i (x pi , y pi , z pi ), Q i (x qi , y qi , z qi ), and calculate the distance between point P and point Q Generally, measure and calculate 5 - 10 groups to obtain L pqiThe maximum value is the diameter of the reference circumference of the stern frame hub, and let L pqi The coordinates of the point P corresponding to the maximum value i and the point Q i are recorded in the points P0 and Q0. Among them, P0(x p0 , y p0 , z p0 ), Q0(x q0 , y q0 , z q0 ). Then, calculate the coordinates of the center O of the reference circumference of the stern frame hub as Take this center O as the origin of the reference coordinate system, and adsorb the target ball to the point O. According to the right-hand rule, define the positive direction of the y-axis of the reference coordinate system as the vector Normalize it to get

[0130] Again, adjust the vertical laser line of the cross laser marker so that the vertical laser marking line intersects the reference inner circumferential surface of the stern frame hub at two points M and N. Adsorb the target ball of the laser measurement tracker to the points M and N, use the laser measurement tracker to record the spatial coordinate values of the points M and N, and calculate the distance length value between the points M and N. Due to the deviation of the human eye, it is very difficult to directly align the vertical laser marking line to the diameter of the reference inner circumferential surface. The method of taking the maximum value of the length of PQ by multiple measurements is used to determine the diameter of the reference circumference of the stern frame hub. Each measurement obtains a set of coordinate values of the points M i and the point N i as M i (x mi , y mi , z mi ), N i (x ni , y ni , z ni ). Calculate the distance between the points P and Q Generally, measure and calculate 5 to 10 groups to obtain L mni The maximum value is the diameter of the reference circumference of the stern frame hub, and let L mni The coordinates of the point M corresponding to the maximum value i and the point N i are recorded in the points M0 and N0. Among them, M0(x m0 , y m0 , z m0 ), N0(x n0 , y n0 , z n0 ). According to the right-hand rule, define the positive direction of the z-axis of the reference coordinate system as the vector Normalize it to obtain Finally, according to the right-hand rule, define the positive direction of the x-axis of the reference coordinate system as In this way, a unified reference space rectangular coordinate system O-xyz for casting and additive manufacturing synergy is established with the center O as the origin. For details, see Figure 3 .

[0131] Preferably, in some embodiments, the high-precision measurement of the casting and additive manufacturing joint surface in step 3 specifically includes:[[]]

[0132] After casting is completed, use a high-precision laser measurement tracker and a large-scene laser vision scanning sensor to detect the surface of the casting area to obtain accurate dimensional deviation data;

[0133] Feed the dimensional deviation data back to the additive manufacturing process through a data processing system to calibrate the starting position and deposition path of additive manufacturing.

[0134] Here, a special transition material can also be developed, whose composition is between the casting and additive materials, and is pre-deposited in the transition zone between the casting area and the additive area to promote good metallurgical bonding and reduce interface defects.

[0135] Preferably, in some embodiments, the shape and property control of casting and additive manufacturing synergy in step 4 specifically includes:[[]]

[0136] Step 4-1, shape and property control in the casting process

[0137] Using digital casting technology, optimize the mold design through numerical simulation, accurately determine the position and size of the gating and risering systems to ensure smooth and orderly filling of the liquid metal in the cavity; adjust parameters such as casting temperature and speed according to the simulation results to control the surface roughness Ra of the casting within the range of 10-12.5μm and the dimensional accuracy to reach the national standard CT5-CT6 level, effectively reducing surface defects and dimensional deviations;

[0138] At the same time, during the casting process, add appropriate rare earth elements such as cerium and lanthanum to the liquid metal, and utilize their characteristics of refining grains and improving phase structure to enhance the matrix properties of the casting;

[0139] Step 4-2, shape and property control in the arc additive manufacturing process

[0140] (1) Through a large number of process experiments, combined with the shape and property control hardware system for the casting and additive manufacturing synergy of large and complex ship components, qualitatively and quantitatively analyze the effects of different additive manufacturing process parameters (welding current, welding voltage, welding speed, etc.) and different temperature fields (preheating temperature, interlayer temperature, heat preservation process, etc.) on the component size, microstructure, mechanical properties, and stress distribution, establish a mapping relationship between "process parameters - forming quality", and form a continuous mapping model of "process parameters - forming quality";

[0141] (2) By means of the collaborative optimization planning method for shape and property control, obtain the optimal path for shape and property control and the combination of surfacing process parameters, specifically as follows:

[0142] Taking the bead forming law under the additive path of dual robots as the constraint condition of arc additive manufacturing, under the sub-region path planning scheme, with the forming quality, forming efficiency and forming accuracy as the optimization objectives, by optimizing these variables such as slice thickness, deposition process parameters and forming path parameters (types of path planning for each sub-region, path spacing), establish a multi-objective collaborative optimization control theory to obtain the optimal path for shape and property control and the combination of surfacing process parameters;

[0143] (3) Through the shape and property control hardware system for the casting and additive collaborative manufacturing of large and complex ship components, monitor all information during the casting and additive collaborative manufacturing process, extract information features related to the forming quality, and then combine with the "process parameter - forming quality" continuous mapping model to dynamically adjust the process parameters;

[0144] Here, use multi-source sensors such as large-scene laser vision scanning sensors, end laser vision sensors, infrared thermal imaging sensors, molten pool observation cameras, ultrasonic transducers, and sound sensors in the system to monitor the whole process of information such as the geometric contour, temperature field, molten pool image, current and voltage of the manufacturing process and the workpiece, extract welding zone visual features, molten pool features, and temperature field features related to the forming quality, realize the adaptation of various information features to the machine learning algorithm model, and dynamically adjust the subsequent layers according to the calculation results of the algorithm model. For example, if it is found that the thickness of the deposited layer is too thin, increase the wire feeding speed in a timely manner to ensure that the height deviation of each layer of the additive part is within ±0.3 mm and the width deviation is within ±0.5 mm, and achieve high-precision control of the forming size (shape control) and internal quality (property control). See Figure 5 . At the same time, use ultrasonic micro-vibration assistance, acting on the molten pool with a specific frequency and amplitude, to refine grains, improve the microstructure, promote uniform mixing of the molten pool components, reduce segregation phenomena, and enhance the consistency of mechanical properties.

[0145] Step 4-3, deformation coordination in the casting and additive collaborative process

[0146] Establish a thermal-mechanical coupling model for casting and additive combination to simulate the heat transfer and stress distribution in different process stages;

[0147] Based on model prediction, during the casting and additive collaborative manufacturing process, adopt active temperature control measures, and set local heating or cooling devices at the combination part of the casting area and the additive area to balance the thermal stress.

[0148] In one embodiment, a shape and property control system for the casting and additive collaborative manufacturing of large and complex ship components is provided. The system includes:

[0149] The first module is used to design the technological process of casting and additive manufacturing collaboration, where the casting and additive manufacturing collaboration is "casting-based + additive" collaboration;

[0150] The second module is used to build the shape and property control hardware system for the collaborative manufacturing of large and complex ship components through casting and additive manufacturing;

[0151] The third module is used to determine the unified reference plane, calibrate the reference coordinate system, and perform high-precision measurement of the casting and additive manufacturing joint surface for the shape and property control hardware system of the collaborative manufacturing of large and complex ship components;

[0152] The fourth module is used to perform shape and property control of casting and additive manufacturing collaboration.

[0153] For the specific limitations of the shape and property control system for the collaborative manufacturing of large and complex ship components through casting and additive manufacturing, reference can be made to the limitations of the shape and property control method for the collaborative manufacturing of large and complex ship components described above, which will not be elaborated here. Each module in the above-mentioned shape and property control system for the collaborative manufacturing of large and complex ship components through casting and additive manufacturing can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor of a computer device in hardware form or be independent of it, or be stored in the memory of the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0154] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the shape and property control method for the collaborative manufacturing of large and complex ship components through casting and additive manufacturing.

[0155] For the specific limitations of each step, reference can be made to the limitations of the shape and property control method for the collaborative manufacturing of large and complex ship components described above, which will not be elaborated here.

[0156] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the shape and property control method for the collaborative manufacturing of large and complex ship components through casting and additive manufacturing is implemented.

[0157] For the specific limitations of each step, reference can be made to the limitations of the shape and property control method for the collaborative manufacturing of large and complex ship components described above, which will not be elaborated here.

[0158] In summary, the present invention uses a method for controlling shape and properties in the collaborative casting and additive manufacturing of large and complex ship components to manufacture the stern frame with high precision and high performance, solving the problems of difficult modeling, high cost, poor accuracy of formed parts, low performance, and long cycle in the current manufacturing process of ship stern frames. The present invention provides new ideas and methods for the high-precision and high-performance manufacturing of stern frames in China in the future, and has certain reference significance for mass-producing high-performance stern frames in China and then improving the overall performance of ships.

[0159] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling the shape and properties of cast-incremental collaborative manufacturing of large and complex components of ships, characterized in that, The method includes the following steps: Step 1: Design a casting and additive manufacturing collaborative process, where the casting and additive manufacturing collaboration is "casting-based + additive" collaboration; Step 2: Build a shape and property control hardware system for the collaborative manufacturing of large and complex ship components through casting and additive manufacturing; Step 3: Based on the system built in Step 2, determine the unified reference plane, calibrate the reference coordinate system, and perform high-precision measurement of the casting and additive manufacturing joint surface for casting and additive manufacturing collaboration; Step 4: Based on Steps 1 to 3, perform shape and property control for casting and additive manufacturing collaboration.

2. The shape and property control method for the casting and incremental collaborative manufacturing of large and complex components of ships according to claim 1, wherein, The process of designing the casting and additive manufacturing collaborative process described in Step 1 specifically includes: Step 1-1: Based on the performance requirements and three-dimensional structure model of the ship component, use the topology optimization algorithm to conduct zoning planning on the ship component, and divide the ship component into a basic structure area suitable for casting and a fine feature area suitable for additive manufacturing; Step 1-2: Develop a process connection process, including pre-treating the surface of the basic structure after casting to ensure good bonding during additive manufacturing; at the same time, design the starting position and deposition path of additive manufacturing to make it adapt to the residual stress distribution of the casting part.

3. The shape and property control method for the casting and incremental collaborative manufacturing of large and complex ship components according to claim 2, characterized in that In Step 2, the shape and property control hardware system for the collaborative manufacturing of large and complex ship components through casting and additive manufacturing includes a high-precision laser measurement tracker, a cross laser marker, a mobile gantry, a main arc additive manufacturing robot, a large-scene laser vision scanner, a large and complex ship component, a secondary arc additive manufacturing robot, an end laser vision sensor, an infrared thermal imaging sensor, a molten pool observation camera, an ultrasonic transducer, a sound sensor, a conformal cooling device, a welding torch, a roller rack, a workpiece preheating and heating device, and a welding power source; The high-precision laser measurement tracker and the cross laser marker are used to calibrate the reference zero point, coordinate system of the additive manufacturing workpiece, and unify the coordinate systems of the dual robots, and at the same time, they can detect the consistency between the actual additive manufacturing position of the robot and the theoretical position of the layer-by-layer slicing software model of the total control system in real time, so as to control the actual shape error of the additive manufacturing workpiece; The main arc additive manufacturing robot and the secondary arc additive manufacturing robot are respectively installed upside down on both sides of the mobile gantry and can perform large-range three-dimensional movement in the X, Y, and Z directions, and are used to realize the arc additive manufacturing of large and complex ship components; The molten pool observation camera is installed at the end of the main arc additive manufacturing robot and the secondary arc additive manufacturing robot, and is used to collect the molten pool images during the arc additive manufacturing process; The welding torch is installed at the end of the main arc additive manufacturing robot and the secondary arc additive manufacturing robot, and is used to perform arc additive manufacturing operations; The end laser vision sensor is installed at the front end of the welding torch and is used to scan the morphology of the cladding layer and control the distance between the welding torch nozzle and the cladding layer to ensure the consistency of the wire dry elongation and welding current; The ultrasonic transducer is installed at the end of the main arc additive manufacturing robot and the secondary arc additive manufacturing robot, and is used to apply ultrasonic vibration with a specific frequency and amplitude to the molten pool, generating cavitation effects and acoustic streaming stirring effects, refining grains, and promoting uniform mixing of the molten pool components; The sound sensor is installed at the end of the main arc additive manufacturing robot and the secondary arc additive manufacturing robot, and is used to collect sounds during the arc additive manufacturing process; The conformal cooling device is installed at the rear end of the welding torch. By using high-pressure cooling gas to spray along with the component, it improves the temperature field, reduces the interlayer heat accumulation, and ensures the deposition quality of subsequent layers. The infrared thermal imaging sensor is installed at the rear end of the welding torch and is used to measure the interlayer temperature in real time during the arc additive manufacturing process. The large-scene laser vision scanning sensor is installed on the moving gantry and is used to visually scan the overall additive morphology of the workpiece periodically after the workpiece has been arc-added to a certain height, and to detect the error between the actual size of the additive workpiece and the drawing. The roller rack is connected to the total control system through a control line and is used to realize the auxiliary position change of large and complex ship components. The workpiece preheating heating device is installed at the bottom of the roller rack and is used for the preheating of large and complex ship components. The welding power source is connected to the main arc additive manufacturing robot and the slave arc additive manufacturing robot through a network cable and is used to control the setting and acquisition of arc additive manufacturing process parameters such as welding current and welding voltage.

4. The shape and property control method for the casting and additive manufacturing collaboration of large and complex ship components according to claim 3, characterized in that The shape and property control hardware system for the casting and additive manufacturing of large and complex ship components further includes a guide rail. The moving gantry is installed on the guide rail and can move along the guide rail.

5. The shape and property control method for the casting and incremental collaborative manufacturing of large and complex ship components according to claim 3, characterized in that The high-precision laser measurement and tracking instrument includes five target balls. Three of the target balls are attached to the same reference plane to determine the reference zero point and reference coordinate system of the additive workpiece. The other two target balls are respectively attached to the fixtures of the welding torches of the main arc additive manufacturing robot and the slave arc additive manufacturing robot, and are used to measure the actual additive positions and relative position relationships of the main and slave additive manufacturing robots in real time.

6. The shape and property control method for the casting and additive manufacturing collaboration of large and complex ship components according to claim 3, characterized in that, In step 3, the determination of the unified reference plane for casting and additive manufacturing specifically includes: Select the casting reference plane; Complete the high-precision machining of the casting reference plane through mechanical machining methods; Place the casting reference plane in the fixed fixture of the roller rack and clamp and fix it through the clamping fixture.

7. The shape and property control method for the casting and forging collaborative manufacturing of large and complex ship components according to claim 5 or 6, characterized in that, In step 3, the calibration of the reference coordinate system specifically includes: (1) Calibrate the reference coordinate system of the casting reference plane through the high-precision laser measurement and tracking instrument and the cross laser marker, specifically including: In step 3-1, adjust the cross laser marker so that its horizontal laser marking line coincides with the horizontal reference edge of the fixed fixture, and make the cross laser marker, the fixed fixture, and the casting be in the same horizontal plane; In step 3-2, adjust the height of the horizontal laser line of the cross laser marker so that the horizontal laser marking line intersects the casting reference plane, that is, the unified reference plane, at two points P and Q. Adsorb the target balls of the high-precision laser measurement and tracking instrument to point P and point Q, record the spatial coordinate values of point P and point Q, and calculate the distance length value between point P and point Q; In step 3-3, repeat step 3-2 several times to obtain multiple pairs of points P and Q, as well as the corresponding coordinate values and distance length values; Step 3-4: Record the coordinates of points P and Q corresponding to the maximum value of the distance length in Step 3-3 in point P o , point Q o , and use it as the origin O of the reference coordinate system, and adsorb the target ball onto point O; Step 3-5, according to the right-hand rule, define the positive direction of the y-axis of the reference coordinate system as the vector and perform unitization to obtain In step 3-6, adjust the vertical laser line of the cross laser marker so that the vertical laser marking line intersects the casting reference plane at two points M and N. Adsorb the target balls of the high-precision laser measurement and tracking instrument to point M and point N, record the spatial coordinate values of point M and point N, and calculate the distance length value between point M and point N; In step 3-7, repeat step 3-6 several times to obtain multiple pairs of points M and N, as well as the corresponding coordinate values and distance length values; Step 3-8, record the coordinates of points M and N corresponding to the maximum value of the distance length in Step 3-7 at point M o , point N o ; Step 3-9, according to the right-hand rule, define the positive direction of the z-axis of the reference coordinate system as the vector and perform unitization to obtain Step 3-10, according to the right-hand rule, define the positive direction of the x-axis of the reference coordinate system as Thus, the unified reference space rectangular coordinate system O-xyz for casting and additive manufacturing is obtained. (2) Use the wire contact three - point method to calibrate the workpiece coordinate systems of the main - arc additive manufacturing robot and the slave - arc additive manufacturing robot respectively, so as to realize the unification of the casting - additive collaborative reference space rectangular coordinate system, specifically including: Step 3-11: Align the end wire of the main arc additive manufacturing robot with the target ball center at the origin O of the unified reference space rectangular coordinate system O-xyz for casting and additive manufacturing collaboration, record the origin position, then align it with the target ball center at point P0 in the positive y-axis direction in sequence, record the y-axis direction of the main arc additive manufacturing robot, then align it with the target ball center at point M0 in the positive z-axis direction in sequence, record the z-axis direction of the main arc additive manufacturing robot, and obtain the positive x-axis direction of the main arc additive manufacturing robot through calculation Step 3-12: Align the center of the target ball at the end of the wire of the arc additive manufacturing robot with the origin O of the unified reference space rectangular coordinate system O-xyz for casting and additive manufacturing collaboration, record the origin position, then align the center of the target ball at point P0 in the positive y-axis direction in sequence, record the positive y-axis direction of the arc additive manufacturing robot, then align the center of the target ball at point M0 in the positive z-axis direction in sequence, record the positive z-axis direction of the arc additive manufacturing robot, and calculate the positive x-axis direction of the arc additive manufacturing robot 8. The shape and property control method for co-casting manufacturing of large and complex ship components according to claim 7, characterized in that, The high - precision measurement of the casting - additive joint surface in step 3, specifically including: After casting is completed, use a high - precision laser measurement and tracking instrument and a large - scene laser vision scanning sensor to detect the surface of the casting area to obtain accurate dimensional deviation data; Feed the dimensional deviation data back to the additive manufacturing link through a data - processing system to calibrate the additive starting position and deposition path.

9. The shape and property control method for the casting and incremental collaborative manufacturing of large and complex ship components according to claim 8, characterized in that, The shape and property control of casting - additive collaboration in step 4, specifically including: Step 4 - 1, shape and property control in the casting link Utilize digital casting technology, optimize the mold design through numerical simulation, accurately determine the positions and sizes of the gating and risering systems to ensure the smooth and orderly filling of liquid metal in the cavity; At the same time, during the casting process, add an appropriate amount of rare - earth elements to the liquid metal; Step 4 - 2, shape and property control in the arc additive manufacturing link (1) Through a large number of process experiments, combined with the shape and property control hardware system for the casting - additive collaborative manufacturing of large and complex ship components, qualitatively and quantitatively analyze the effects of different additive process parameters and different temperature fields on the component size, microstructure, mechanical properties, and stress distribution, establish a mapping relationship of "process parameters - forming quality", and form a continuous mapping model of "process parameters - forming quality"; (2) Through the shape and property control collaborative optimization planning method, obtain the optimal path of shape and property control and the combination of surfacing process parameters, specifically: Take the bead - forming law under the additive path of dual robots as the constraint condition of arc additive manufacturing. Under the sub - region path - planning scheme, with the forming quality, forming efficiency, and forming accuracy as the optimization objectives, optimize these variables such as slice thickness, deposition process parameters, and forming path parameters to obtain the optimal path of shape and property control and the combination of surfacing process parameters; (3) Through the shape and property control hardware system for the casting - additive collaborative manufacturing of large and complex ship components, monitor all information during the casting - additive collaborative manufacturing process, extract information features related to the forming quality, and then, combined with the continuous mapping model of "process parameters - forming quality", dynamically adjust the process parameters; Step 4 - 3, deformation coordination during the casting - additive collaboration Establish a thermo - mechanical coupling model for the casting - additive joint, and simulate the heat transfer and stress distribution in different process stages; Based on model prediction, during the casting - additive collaborative manufacturing process, adopt active temperature - control measures, and set local heating or cooling devices at the joint between the casting area and the additive area to balance the thermal stress.

10. A shape and property control system for casting and additive manufacturing collaborative manufacturing of large and complex ship components based on the method according to any one of claims 1 to 9, characterized in that, The system includes: The first module is used to design the process flow of casting - additive collaboration, and the casting - additive collaboration is "casting - based + additive" collaboration; The second module is used to build the shape and property control hardware system for the casting - additive collaborative manufacturing of large and complex ship components; The third module is used to determine the unified reference plane, calibrate the reference coordinate system, and perform high - precision measurement of the casting - additive joint surface for the shape and property control hardware system of the casting - additive collaborative manufacturing of large and complex ship components; The fourth module is used to perform the shape and property control of casting - additive collaboration.

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