Hydraulic support laser cladding parameter optimization method and system based on self-adaptive partition

Abstract

The invention discloses a hydraulic support laser cladding parameter optimization method and system based on self-adaptive partition, and belongs to the technical field of automatic control. The method comprises the following steps: acquiring three-dimensional model data of a to-be-processed part, and identifying geometric feature change points; generating temporary partitions with uniform geometrical characteristics by adopting a region growing algorithm; combining and segmenting the temporary subareas according to working condition requirements to form a final subarea comprising a high-stress area and an easy-to-wear area; for each partition, matching a basic parameter set from a parameter library according to geometric attributes and working condition requirements of the partition, and performing dynamic adjustment based on specific geometric features to generate a matched processing parameter set; and finally generating a partition control instruction set for controlling the processing equipment. According to the method, precise self-adaptive optimization and automatic control of the machining parameters are achieved, and the machining quality and the machining efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control, and in particular to a hydraulic support laser cladding parameter optimization method and system based on adaptive partitioning. BACKGROUND

[0002] As a key supporting structure in fully mechanized coal mining equipment, the key components of the hydraulic support are prone to wear, corrosion and fatigue damage under complex working conditions in the mine. Due to its high heat input and low dilution rate, laser cladding technology is widely used in the remanufacturing and strengthening of key components of the hydraulic support.

[0003] However, the existing processing parameters are mostly set based on manual experience, and there is a lack of systematic consideration of the surface geometric features and working load distribution of the components. Traditional methods usually use uniform parameters for processing, which is difficult to adapt to the differentiated needs of wear resistance and fatigue resistance in different areas, resulting in uneven performance of the processed layer and easy local failure. At the same time, the processing path planning and parameter switching rely on manual operation, which is low in efficiency and difficult to achieve adaptive processing with high quality and high efficiency. SUMMARY

[0004] The present application provides a hydraulic support laser cladding parameter optimization method and system based on adaptive partitioning, which mainly aims to solve the problem that the parameter setting in traditional processing relies on manual experience and is difficult to adaptively adjust to the geometric features and working condition requirements of different areas of complex components, resulting in low processing efficiency and poor consistency of processing quality.

[0005] To achieve the above-mentioned purpose, the present application provides a hydraulic support laser cladding parameter optimization method based on adaptive partitioning, which comprises: Obtaining three-dimensional model data of a to-be-processed component of a hydraulic support, and identifying geometric feature change points on the surface of the to-be-processed component based on the three-dimensional model data; Defining initial boundary point sets with the geometric feature change points, and aggregating surface regions with continuous curvature and spatial adjacency based on a region growing algorithm to generate a plurality of first temporary partitions with uniform distribution of geometric features; According to the working condition requirements of the to-be-processed component, the first temporary partitions are merged or segmented to form second final partitions, and the second final partitions include high stress concentration areas and easy wear areas; For each of the second final partitions, a basic parameter set is matched from a pre-set parameter library according to the geometric feature attributes of the second final partition and the working condition requirements; According to the specific geometric features of the second final partition, the energy beam incident angle, processing path, material delivery rate and energy source power in the basic parameter set are dynamically adjusted to generate a processing parameter set matched with the geometric features of each partition; An adaptive partition control instruction set for controlling a processing device is generated based on the processing parameter set.

[0006] In order to solve the above problems, the present application also provides a hydraulic support laser cladding parameter optimization system based on adaptive partitioning, the system comprising: A geometric feature change point recognition module is used to obtain three-dimensional model data of the component to be processed of the hydraulic support, and to identify geometric feature change points on the surface of the component to be processed based on the three-dimensional model data; a temporary partition generation module, configured to define an initial boundary point set based on the geometric feature change points, aggregate surface regions with continuous curvature and spatially adjacent based on a region growing algorithm, and generate a plurality of first temporary partitions with uniformly distributed geometric features; a final partition determination module, configured to merge or split the first temporary partitions according to the working condition requirements of the component to be processed to form a second final partition, wherein the second final partition includes a high stress concentration area and a wear-prone area; a basic parameter set matching module, configured to match a basic parameter set from a preset parameter library for each second final partition according to the geometric characteristic attributes of the second final partition and the working condition requirements; a parameter dynamic adjustment module, configured to dynamically adjust the energy beam incident angle, machining path, material delivery rate, and energy source power in the basic parameter set according to the specific geometric characteristics of the second final partition, and generate a machining parameter set that matches the geometric characteristics of each partition; The partition control instruction set generation module is used to generate an adaptive partition control instruction set for controlling the processing equipment according to the processing parameter set.

[0007] Compared with the prior art, this application has the following beneficial effects: This application achieves precise optimization of laser machining parameters and automatic generation of control instructions for hydraulic supports through an adaptive partitioning method based on the geometric features of the 3D model and operating conditions. First, by identifying geometric feature change points and combining them with a region growing algorithm, the geometric features of the component surface are evenly partitioned, providing a basis for parameter customization in different regions. Second, by integrating finite element analysis stress cloud maps with historical wear data, the partitions are merged and segmented based on operating conditions, ensuring the integrity of high-stress and wear-prone areas, providing a partitioning basis for differentiated performance requirements.

[0008] The application effectively solves the problems of poor parameter adaptability and dependence on artificial experience in the traditional processing process, and realizes the full-process automation and intelligentization from the three-dimensional model to the processing instruction. Through geometric and working condition dual-driven partition, parameter library matching and dynamic adjustment, and automatic planning of the processing path, the uniformity, wear resistance and fatigue resistance of the processing layer are significantly improved, the processing defects are reduced, the remanufacturing quality and service life of the hydraulic support are improved, the artificial intervention intensity is reduced, and the processing efficiency and consistency are improved. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 A flowchart of a hydraulic support laser cladding parameter optimization method based on adaptive partitioning provided by an embodiment of the application is provided. Figure 2 A functional module diagram of a hydraulic support laser cladding parameter optimization system based on adaptive partitioning provided by an embodiment of the application is provided. The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0010] It should be understood that the specific embodiments described herein are only used to explain the application and not to limit the application.

[0011] An adaptive partitioning-based hydraulic support laser cladding parameter optimization method is provided by an embodiment of the application. The execution subject of the adaptive partitioning-based hydraulic support laser cladding parameter optimization method includes but is not limited to at least one of electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the application. In other words, the adaptive partitioning-based hydraulic support laser cladding parameter optimization method can be executed by software or hardware installed in a terminal device or a server device, which constitutes the core of an adaptive control system. The server includes but is not limited to a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be a stand-alone server, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content distribution networks, and big data and artificial intelligence platforms, etc. basic cloud computing services.

[0012] This embodiment details the application of the adaptive partitioning-based processing parameter optimization control method provided by the application in the specific scenario of laser cladding manufacturing of key components of a hydraulic support. It should be noted that this embodiment takes laser cladding as an example, but the control method is also applicable to other types of additive manufacturing or surface processing processes.

[0013] REFERENCE Figure 1As shown, a flowchart of a laser cladding parameter optimization method for hydraulic support based on adaptive partitioning is provided in an embodiment of the present application. In the embodiment of the present application, the method comprises: S1, obtaining three-dimensional model data of a to-be-processed component of a hydraulic support, and identifying geometric feature change points on a surface of the to-be-processed component based on the three-dimensional model data.

[0014] In the embodiment of the present application, the to-be-processed component can be a to-be-cladded component of the hydraulic support.

[0015] In the embodiment of the present application, the to-be-processed component of the hydraulic support is a key component of the hydraulic support that needs to be repaired or performance-enhanced through remanufacturing processing technology (laser cladding technology in the embodiment) due to wear, corrosion or fatigue damage in the long-term use process, and common examples include a stand outer cylinder, a jack piston and a push jack cylinder, etc. The three-dimensional model data is digital model data that can completely reflect the shape, size and spatial position relationship of the surface of the to-be-processed component, and the data contains geometric information such as three-dimensional coordinates, normal direction and curvature of each point on the surface of the component, and can be used for subsequent geometric feature analysis and partitioning. The geometric feature change point is a point where the curvature value of the surface of the to-be-processed component changes significantly, and such a point usually corresponds to a geometric shape transition of the component surface, such as the junction of a circular arc transition surface and a cylindrical surface, the edge of a stepped surface, etc., and is an important boundary reference for subsequent adaptive partitioning.

[0016] In some embodiments, the three-dimensional model data of the to-be-processed component of the hydraulic support is obtained, and the geometric feature change points on the surface of the to-be-processed component are identified based on the three-dimensional model data, comprising: collecting surface point cloud data of the to-be-processed component by a three-dimensional measurement device; performing denoising and smoothing processing on the surface point cloud data to generate pre-processed three-dimensional model data; processing the pre-processed three-dimensional model data based on a curvature change algorithm to calculate the surface curvature distribution of the to-be-processed component; identifying points with a curvature value exceeding a preset curvature threshold in the surface curvature distribution as geometric feature change points.

[0017] In the embodiment of the present application, the three-dimensional measurement device collects a large number of three-dimensional coordinate points on the surface of the to-be-processed component in real time by emitting an energy beam to the surface of the to-be-processed component and receiving reflected signals, thereby generating a high-precision measurement device of surface point cloud data.

[0018] In the embodiment of the present application, the surface point cloud data is a raw data set composed of a large number of discrete three-dimensional coordinate points obtained by scanning the surface of the to-be-processed component by the three-dimensional measurement device. These points collectively constitute the shape profile of the component surface, but the raw data can contain noise points generated by environmental interference.

[0019] In the embodiments of the present application, the denoising and smoothing processing is a preprocessing operation on the collected surface point cloud raw data. The denoising operation aims to remove isolated noise points (such as points generated by environmental light reflection interference) in the point cloud data, and the smoothing processing optimizes the distribution uniformity of the point cloud data while preserving the key geometric features of the component surface, thereby reducing data fluctuations. The preprocessed three-dimensional model data is three-dimensional model data after denoising and smoothing processing, which eliminates noise interference and optimizes data quality. This data can more accurately reflect the true geometric shape of the part to be processed, providing a reliable basis for subsequent curvature calculation and feature recognition.

[0020] In the embodiments of the present application, the curvature variation algorithm is an algorithm for calculating the curvature values of each point on the surface of a three-dimensional model and analyzing the curvature distribution. Through this algorithm, the curvature of different positions on the surface of the part to be processed can be obtained, and the geometric feature change point of the curvature mutation can be identified. Common curvature variation algorithms include the principal curvature calculation algorithm based on the covariance matrix. The surface curvature distribution is the overall distribution of the curvature values of each point on the surface of the part to be processed obtained by processing the preprocessed three-dimensional model data using the curvature variation algorithm. This distribution can intuitively reflect the geometric flatness of different regions of the component surface. For example, the curvature distribution of the cylindrical surface region is relatively uniform, while the curvature of the turning surface region changes significantly. The pre-set curvature threshold is a curvature threshold value for determining whether it is a geometric feature change point, which is pre-set according to the material properties (such as the mechanical properties of Q345 steel) of the part to be processed, the processing process requirements, and a large amount of early experimental data. When the curvature value of a certain point on the surface exceeds this threshold, it can be determined that the point is a geometric feature change point.

[0021] In the embodiments of the present application, the surface point cloud data of the part to be processed is collected by a three-dimensional measurement device, including: first, determining the placement position of the part to be processed, fixing the part to be processed (taking the outer cylinder of the column as an example) on the scanning workbench to ensure that the part does not move during scanning; second, collecting the surface point cloud data of the part to be processed (i.e., the part to be cladded) by a three-dimensional measurement device (in the embodiments of the present application, a FARO Focus S70 three-dimensional laser scanning device is used), and the scanning range can cover the entire surface of the outer cylinder of the column; third, setting the scanning parameters, setting the scanning resolution to 0.1 mm and adjusting the scanning distance to 1.5 m according to the size (diameter 300 mm, length 1500 mm) of the outer cylinder of the column, which can ensure scanning accuracy and avoid scanning dead angles; and finally, starting the three-dimensional measurement device, which scans the surface of the outer cylinder of the column according to the pre-set processing path (using a spiral processing path to ensure that there are no missed scanning areas), and records the three-dimensional coordinates of each laser reflection point in real time during the scanning process, finally generating the surface point cloud data of the outer cylinder of the column containing 1.2 million discrete points.

[0022] In the embodiment of the present application, the surface point cloud data is denoised and smoothed to generate preprocessed three-dimensional model data, including: adopting a statistical filtering algorithm to process the collected column outer cylinder surface point cloud data, the core of the algorithm is to calculate the distance mean and standard deviation of each point and other points in its neighborhood, set the standard deviation multiple to 3 (i.e. 3σ criterion), the points whose distance mean exceeds 3 times the standard deviation are judged as isolated noise points and are removed; secondly, the moving least square method is used to smooth and optimize the denoised point cloud data, this method constructs a quadratic polynomial fitting surface in the neighborhood of each point (the fitting window size is set to 5*5mm, which matches the scanning resolution, ensuring the smoothing effect while preserving the surface details), and adjusts the coordinates of each point according to the weight of the neighborhood points (the closer the distance, the greater the weight), so that the distribution of point cloud data is more uniform; finally, the point cloud data after denoising and smoothing is imported into a three-dimensional modeling software, through point cloud splicing (if there are multiple scanning data), mesh generation (using triangular mesh, mesh length is set to 0.2mm) and surface fitting operations, the preprocessed three-dimensional model data which can fully reflect the geometric shape of the column outer cylinder surface is generated, and the geometric error of the model data is controlled within 0.03mm.

[0023] In the embodiment of the present application, the preprocessed three-dimensional model data is processed based on the curvature change algorithm to calculate the surface curvature distribution of the part to be processed, including: selecting the principal curvature calculation algorithm based on the covariance matrix as the curvature change algorithm of this step, which is a classic algorithm in the field of geometric shape analysis and can accurately calculate the principal curvature value of each point on the three-dimensional surface; the preprocessed column outer cylinder three-dimensional model data is subjected to meshing treatment, and the model surface is divided into triangular mesh units with a side length of 0.3mm (the mesh unit size is set according to the model accuracy requirement to ensure the accuracy of curvature calculation), and the vertex of each mesh unit is the curvature calculation point; the curvature value of each vertex is calculated, for each vertex, a local coordinate system is constructed by selecting 30 adjacent vertices around it (this neighborhood range can cover the main geometric information around the vertex, ensuring the stability of curvature calculation), the covariance matrix of all points in the neighborhood is calculated, and the eigenvalues and eigenvectors of the covariance matrix are solved, wherein the square root of the eigenvalue is the principal curvature value (k1 and k2 respectively) of the vertex in two perpendicular directions, and the average of the two principal curvature values is taken as the average curvature value (k=(k1+k2) / 2) of the vertex; the average curvature value of all vertices is associated with the corresponding three-dimensional coordinates to generate the curvature distribution cloud map of the column outer cylinder surface, through which it can be observed that the average curvature value of the cylindrical surface region of the column outer cylinder is stable at , while the average curvature value of the junction region between the circular arc transition surface and the cylindrical surface gradually increases, and the maximum can reach , and the average curvature value of the edge of the stepped surface also shows obvious mutation.

[0024] In the embodiment of the present application, the points with curvature values exceeding the preset curvature threshold in the surface curvature distribution are identified as geometric feature change points, including: first, determining the value of the preset curvature threshold, combining the material (Q345 steel) of the outer cylinder of the column, the processing technology requirement (the processing layer thickness needs to reach 1.5 mm, and the curvature mutation area needs to be specially adjusted processing parameters), and 15 sets of previous experimental data (the processing effect of different curvature areas is tested, and it is found that when the curvature value exceeds , the uniformity of the processing layer starts to decrease obviously), the preset curvature threshold is set to ; secondly, the calculated surface curvature distribution of the outer cylinder of the column is analyzed, and the average curvature value of each vertex is compared with the size relationship of the preset curvature threshold; finally, the vertex with the average curvature value exceeding is marked as a geometric feature change point, and it is found through analysis that these geometric feature change points are mainly concentrated in the connection area of the arc transition surface and the cylindrical surface of the outer cylinder of the column (the average curvature value is ) and the edge area of the stepped surface (the average curvature value is ), a total of 1800 geometric feature change points are identified, and the three-dimensional coordinates of these points are stored as a boundary point set file for subsequent adaptive partitioning operation.

[0025] In the embodiment of the present application, the surface point cloud data of the part to be machined is collected by a three-dimensional measuring device, which solves the problems of low measurement efficiency, limited measurement range and inability to obtain complete shape data of complex surfaces when measuring the surface shape of the part to be machined by traditional manual measurement (such as using a caliper or a micrometer), and realizes the rapid, comprehensive and non-destructive digital collection of the surface shape of the part to be machined.

[0026] In the embodiment of the present application, the preprocessed three-dimensional model data is processed based on the curvature change algorithm to calculate the surface curvature distribution of the part to be machined, which solves the problem that the traditional partitioning method (such as equal division according to the axial length of the part) cannot quantitatively describe the difference in geometric features of the surface of the part to be machined, resulting in mismatch between partitioning and actual geometric shape. The surface curvature distribution calculated by the curvature change algorithm can convert the geometric flatness of the part surface into quantifiable curvature values, and intuitively reflect the difference in geometric features of different regions (such as the flat region of the cylindrical surface and the mutation region of the turning surface).

[0027] S2, define an initial boundary point set with the geometric feature change points, and aggregate surface regions with continuous curvature and adjacent in space based on a region growing algorithm to generate a plurality of first temporary partitions with uniform distribution of geometric features.

[0028] In the embodiments of the present application, the initial boundary point set is a set composed of all the geometric feature change points of the surface of the part to be machined identified in the foregoing step, which can clearly define the positions where the geometric shape of the surface of the part to be machined changes abruptly, and provide clear boundary constraint basis for subsequent region division; the region growing algorithm is an algorithm for region aggregation based on the neighborhood characteristics of the point cloud of the surface of a three-dimensional model, which gradually aggregates discrete points that meet certain conditions into continuous regions by setting specific similarity criteria and constraint conditions, and is commonly used for geometric partition division of a three-dimensional surface.

[0029] In the embodiments of the present application, the curvature continuity refers to that the curvature value difference of two adjacent points on the surface of the part to be machined is within a preset allowable range, which indicates that the geometric shape transition of the surface regions where the two points are located is smooth and has no obvious mutation, and can be attributed to the same geometric feature region; the spatial adjacency refers to that the straight-line distance of two points on the surface of the part to be machined in three-dimensional space is less than a preset distance threshold, which is used to judge whether the two points have basic spatial correlation for being attributed to the same region; the surface region aggregation refers to a process of gradually merging discrete points on the surface of the part to be machined that meet the curvature continuity and spatial adjacency conditions into continuous and complete geometric regions through the region growing algorithm.

[0030] In the embodiments of the present application, the first temporary partition is a preliminary partition of the surface of the part to be machined with multiple geometric features uniformly distributed, which is obtained after the region growing algorithm is aggregated and the boundary is smoothed, and the partition is the basis for adjusting the final partition in combination with the working condition requirements subsequently.

[0031] In some embodiments, the defining of the initial boundary point set with the geometric feature change points, the aggregation of the surface regions that are curvature continuous and spatial adjacent based on the region growing algorithm, and the generation of the first temporary partition with multiple geometric features uniformly distributed, include: defining the initial boundary point set with the geometric feature change points, and executing the region growing algorithm with the initial boundary point set as a constraint; the region growing algorithm aggregates the surface regions that are curvature continuous based on the curvature similarity criteria and the spatial adjacency criteria, and generates a plurality of initial regions separated by the initial boundary point set; the boundaries between the initial regions are smoothed to generate the first temporary partition with multiple geometric features uniformly distributed.

[0032] In the embodiments of the present application, the curvature similarity criterion is one of the core criteria for judging whether adjacent points can be aggregated in the region growing algorithm. The criterion determines whether two points belong to the same geometric feature region by comparing whether the difference between the curvature values of the two adjacent points is less than a preset curvature difference threshold. The spatial adjacency criterion is another core criterion for judging whether adjacent points can be aggregated in the region growing algorithm. The criterion determines whether two points meet the spatial aggregation condition by judging whether the straight-line distance between the two adjacent points in the three-dimensional space is less than a preset distance threshold.

[0033] In the embodiments of the present application, the initial region is a plurality of discontinuous regions generated by the region growing algorithm under the constraint of the initial boundary point set, in which surface points satisfying the curvature similarity criterion and the spatial adjacency criterion are aggregated. These regions have not been subjected to boundary optimization processing. The boundary smoothing processing is an operation for optimizing the boundary between the initial regions. By adjusting the coordinates of the boundary points using a specific mathematical algorithm, the region boundary is converted from a polyline or an angular state to a smooth curve state, so as to avoid the influence of boundary mutation on subsequent machining path planning.

[0034] In the embodiments of the present application, the geometric feature change point is defined as the initial boundary point set, and the region growing algorithm is executed under the constraint of the initial boundary point set. First, the geometric feature change points on the surface of the part to be machined (for example, the jack piston, which is made of 27SiMn steel) are obtained, and the three-dimensional coordinates (for example, the X-axis range is 50-800 mm, the Y-axis range is 80-120 mm, and the Z-axis range is 100-1500 mm) of these points are sorted into the initial boundary point set and stored as a TXT format file. The file contains the unique number and three-dimensional coordinate information of each point. Second, the initial boundary point set is imported into the processing module of the region growing algorithm (developed based on the MATLAB platform, which has powerful matrix operation and point cloud processing capabilities and meets the calculation requirements of three-dimensional geometric partitioning), and the constraint condition of the algorithm is set, that is, the region generated in the region growing process must not cross the initial boundary point set, so as to ensure that each region is effectively separated by the initial boundary point set. Third, the initial seed points are selected. The points in the relatively flat region (for example, the center region of the cylindrical section of the jack piston, in which the curvature value is stable at

[0035] ​This step is based on the "seed point expansion" principle of the region growing algorithm. This principle can start from a known feature flat point and gradually expand to the surrounding area to form a continuous region. At the same time, the constraint of the initial boundary point set can prevent the region from crossing the geometric mutation point, ensuring the consistency of the partition and the geometric features, which meets the core requirement of adaptive partitioning to "divide by geometric features".

[0036] In the embodiment of the present application, the region growing algorithm aggregates the surface regions with continuous curvature based on the curvature similarity criterion and the spatial adjacent criterion to generate a number of initial regions separated by the initial boundary point set, including: first, setting the judgment parameters of the curvature similarity criterion, combining the material properties of the jack plunger (the processing technology of 27SiMn steel has high requirements for geometric uniformity) and the previous 12 groups of experimental data (testing the uniformity of the processing layer under different curvature differences, and finding that the curvature difference When the uniformity of the processed layer meets the requirements), the curvature difference threshold is set to , that is, when the curvature value difference between two adjacent points , it is determined that the curvature similarity criterion is met; secondly, the judgment parameters of the spatial adjacent criterion are set. Referring to the scanning accuracy of the three-dimensional measurement equipment mentioned above (0.05mm), the spatial distance threshold is set to 0.1mm (twice the scanning accuracy, which can ensure the spatial correlation of adjacent points and avoid missing valid adjacent points). That is, when the straight-line distance between two adjacent points in three-dimensional space is ≤0.1mm, it is determined that the spatial adjacent criterion is met; then, the regional aggregation operation is performed, and the regional growing algorithm judges the points around the initial seed point one by one. First, the three-dimensional spatial distance between the point to be judged and the seed point (or the point in the aggregated area) is calculated. If the distance is ≤0.1mm, the spatial adjacent criterion is met, and then the curvature value difference between the two points is calculated. If the difference Then the curvature similarity criterion is satisfied, and only points that meet both criteria are included in the current aggregation area; during the aggregation process, if the point to be judged belongs to the initial boundary point set, the area expansion in that direction is stopped to ensure that the area is separated by the initial boundary point set; finally, the above aggregation process is repeated until all non-initial boundary points are assigned to the corresponding area, generating 6 initial areas, namely the upper cylindrical section area of ​​the jack plunger (curvature ), upper arc transition area (curvature ), the middle cylindrical section area (curvature ), lower arc transition area (curvature ), lower cylindrical segment area (curvature ) and the step surface area (curvature ), each initial region is clearly separated by an initial boundary point set, and the curvature value difference within the region is .

[0037] The curvature similarity criterion in this step ensures uniformity of geometric features in the region, and the spatial adjacency criterion ensures spatial continuity of the region, and the combination of the two can effectively avoid the problem of "geometric mutation region being classified into the same partition" caused by traditional single criterion (such as only according to spatial distance), and lays a foundation for accurate adaptation of subsequent processing parameters.

[0038] In the embodiment of the present application, the boundaries between the initial regions are smoothed to generate a plurality of first temporary partitions with uniform distribution of geometric features, including: first, extracting boundary points between the initial regions, by comparing the point cloud data of each initial region, the boundary points located at the edge of the region are screened out, the initial boundaries composed of these boundary points are mostly polyline or line segment with corners, such as the initial boundary between the upper circular arc transition section and the upper cylindrical section of the jack piston, there is obvious polyline turning; second, selecting B-spline interpolation algorithm as the algorithm for boundary smoothing, which is a commonly used curve smoothing algorithm in computer graphics, which can construct a smooth curve by controlling the vertices, and will not change the overall trend of the boundary, which meets the demand of boundary smoothing; then, setting the parameters of the B-spline interpolation algorithm, for each initial boundary, selecting 15 feature points on the boundary as the control vertices of the B-spline (the number of control vertices is determined by experiment, 15 can accurately retain the geometric trend of the boundary while ensuring the smoothing effect), inputting the three-dimensional coordinates of these control vertices into the B-spline interpolation formula, and calculating 100 discrete points on the smoothed boundary curve through the formula; finally, replacing the initial boundary points with the smoothed boundary points, re-determining the range of each region, and generating 6 first temporary partitions with uniform distribution of geometric features, the boundary of each partition is a smooth curve, and the curvature value difference between any two points in the partition is , which is continuous in space without breakpoints, such as the first temporary partition of the upper circular arc transition section of the jack piston, which has no corners after boundary smoothing, and can better adapt to the motion trajectory of the subsequent machining head.

[0039] In the embodiment of the present application, the geometric feature change point is defined as the initial boundary point set, and the region growing algorithm is executed with the initial boundary point set as the constraint, which solves the problem that the traditional partition method (such as equal division according to the length of the part) does not consider the geometric feature boundary, resulting in that the partition crosses the geometric mutation position (such as the connection between the circular arc transition surface and the cylindrical surface), and further makes the geometric features in the same partition different, through the constraint of the initial boundary point set, the region growing process is ensured not to cross the geometric mutation position, so that the region generated subsequently can be accurately matched with the geometric feature boundary, avoiding the case that the same partition contains both flat and mutation regions, and providing a geometric basis for subsequent processing parameter adaptation according to the region.

[0040] In the embodiments of the present application, the present application solves the problem that the traditional single criterion partition (such as only according to the spatial distance) cannot guarantee the uniformity of the geometric characteristics in the region, and through the curvature similarity criterion, the difference of the curvature value in each initial region is ensured to be in a small range, the uniformity of the geometric characteristics of the region is realized, and at the same time, the spatial adjacent criterion ensures the continuity of the region in space, avoids the appearance of discrete points or small regions, and makes each initial region have a complete geometric shape.

[0041] In the embodiments of the present application, the present application solves the problem that the initial region boundary has corners and fold lines, which causes the subsequent machining head motion trajectory to have a mutation at the boundary, and further causes defects such as uneven machining layer thickness and increased pores, and the smoothed boundary curve can make the motion trajectory of the machining head continuously transition, avoid trajectory mutation, and at the same time, the geometric uniformity of the first temporary partition is further improved, ensuring that the machining conditions (such as energy beam incidence angle and machining path) in each partition have consistency.

[0042] S3, according to the working condition requirements of the part to be machined, the first temporary partition is merged or segmented to form a second final partition, and the second final partition includes a high stress concentration area and a easy-wear area.

[0043] In the embodiments of the present application, the working condition requirement is the load condition, motion frequency, environmental wear intensity and other use requirements that the part to be machined needs to withstand in the actual working process, which directly determines the difference in the demand for the performance of the machining layer (such as wear resistance and fatigue resistance) in different regions of the part; the second final partition is obtained by merging or segmenting the first temporary partition in combination with the working condition requirements of the part to be machined, and is a partition that accurately matches the actual use performance requirements, which explicitly includes a high stress concentration area and a easy-wear area, and is the core basis for matching the subsequent processing parameters.

[0044] In the embodiments of the present application, the high stress concentration area is an area where the surface stress value of the part to be machined is significantly higher than that of the surrounding area and exceeds the yield strength of the material by a certain percentage in the working state, and this area is prone to fatigue cracks in the use process and has a higher requirement for the fatigue resistance of the machining layer; the easy-wear area is a part where the wear amount is significantly higher than that of other areas due to surface friction with other parts or contact with impurities in the long-term working process of the part to be machined, and this area has a higher requirement for the hardness and wear resistance of the machining layer.

[0045] In some embodiments, the first temporary partition is merged or segmented according to the working condition requirements of the part to be machined to form a second final partition, comprising: obtaining the finite element analysis stress cloud map and the historical wear data of the part to be machined in the working state; According to the finite element analysis stress nephogram, a high stress concentration area is identified, if a first temporary partition crosses multiple high stress concentration areas, the first temporary partition is divided, and if multiple first temporary partitions are located in the same high stress concentration area, the first temporary partitions are combined. According to the historical wear data, a wear-prone area is identified, and a boundary of a neighboring partition is adjusted so that each wear-prone area is completely covered in one partition.

[0046] In the embodiments of the present application, the finite element analysis stress nephogram is a result file in which the stress distribution of a to-be-processed component under actual working load is simulated by finite element analysis software, and different regions are intuitively displayed in the form of a color nephogram, so that the position and range of a high stress concentration area can be quickly located; the historical wear data are a collection of data such as wear amount and wear rate of different regions recorded by regular measurement (such as laser thickness measurement and vernier caliper measurement) in the past use cycle of the to-be-processed component, and these data can reflect the actual wear condition of each region of the component, thereby providing a basis for identifying a wear-prone area.

[0047] In some embodiments, the adjusting of the boundary of the neighboring partition so that each wear-prone area is completely covered in one partition comprises: If a wear-prone area is divided by a temporary boundary, the boundary is re-divided to ensure that the wear-prone area is combined into one partition.

[0048] In the embodiments of the present application, the temporary boundary is an initial boundary between the first temporary partitions that has not been adjusted according to the working condition, and these boundaries are only divided based on geometric characteristics, so there may be a situation in which the same wear-prone area is divided.

[0049] In the embodiments of the present application, the finite element analysis stress nephogram and the historical wear data of the component to be processed in the working state are obtained, including: first, the basic parameters of the component to be processed are obtained, taking the hydraulic support push jacking cylinder (material Q460 steel, outer diameter 200 mm, inner diameter 180 mm, length 1200 mm) as an example, the actual working load (pushing force 300 kN, pulling frame force 250 kN, the parameter comes from the hydraulic support industry standard MT / T1097-2008), working temperature (-20℃~60℃) and other working conditions are determined; secondly, the finite element analysis stress nephogram is generated, the finite element analysis software is used, the three-dimensional model of the push jacking cylinder (from the three-dimensional model data after pretreatment in the foregoing) is imported, the grid is divided (the hexahedral grid with a grid size of 2mm is used for the high stress potential area such as the transition of the flange at both ends of the cylinder, and the grid with a size of 5mm is used for other areas, ensuring the calculation accuracy while taking into account the efficiency), the working load (300 kN pushing force is applied at one end of the cylinder, and the other end is fixed and constrained) and the boundary conditions (the temperature load is set to 25℃ normal temperature state) are applied, and the stress nephogram is generated after solving, the nephogram identifies the stress size with different colors, the red area is the stress concentration area, and the stress values of each area can be directly read; finally, the historical wear data is collected, the usage record of the push jacking cylinder of this type in a coal mine from 2021 to 2023 is called, the record contains the wear measurement data (using the Keyence laser thickness gauge, the measurement accuracy is 0.01mm) every 6 months, the measurement points are set every 50mm in the axial direction of the cylinder, a total of 24 measurement points, the initial thickness and the thickness after each measurement of each measurement point are recorded, the cumulative wear amount and the annual wear rate of each measurement point are calculated, and a complete historical wear data table is formed.

[0050] In the embodiments of the present application, the high stress concentration areas are identified according to the finite element analysis stress cloud map, if a first temporary partition crosses multiple high stress concentration areas, the first temporary partition is divided; if multiple first temporary partitions are located in the same high stress concentration area, the first temporary partitions are combined, including: first, determining the determination standard of the high stress concentration area, according to the yield strength (460 MPa) of Q460 steel, combined with the processing layer anti-fatigue design requirement (the processing layer needs to bear stress not less than 80% of the material yield strength), the area with stress value ≥368 MPa (460 MPa*80%) is determined as the high stress concentration area; secondly, the three-dimensional coordinate range of the high stress concentration area is extracted from the finite element analysis stress cloud map, the high stress concentration area of the jack cylinder is mainly concentrated in the transition of the two end flanges and the cylinder body, a total of 2 places, the axial range of each place is 100 mm (such as the left end flange transition X coordinate 50-150 mm, the right end flange transition X coordinate 1050-1150 mm), the radial range is 180-200 mm; then, the high stress concentration area range and the first temporary partition (a total of 5, respectively, left flange area, left transition area, middle cylinder area, right transition area, right flange area) are analyzed by spatial matching, the position relationship of the two is judged by using the spatial intersection calculation method (through the Intersect function of MATLAB software): it is found that the “left transition area” first temporary partition (X coordinate 80-120 mm) is completely located in the left end high stress concentration area (X coordinate 50-150 mm), the “right transition area” first temporary partition (X coordinate 1080-1120 mm) is completely located in the right end high stress concentration area (X coordinate 1050-1150 mm), and there is no first temporary partition crossing multiple high stress concentration areas; but it is found that the left end high stress concentration area also contains part of the area of the “left flange area” first temporary partition (X coordinate 50-80 mm), the stress value of the part of the area is also ≥368 MPa, which belongs to the same high stress concentration area, therefore, the “left flange area” (X coordinate 50-80 mm) and the “left transition area” (X coordinate 80-120 mm) two first temporary partitions are combined, the X coordinate of the combined area is 50-150 mm, which completely covers the left end high stress concentration area; similarly, the “right flange area” (X coordinate 1120-1150 mm) and the “right transition area” (X coordinate 1080-1120 mm) are combined, the X coordinate of the combined area is 1050-1150 mm, which completely covers the right end high stress concentration area; the stress value of the middle cylinder area (X coordinate 150-1050 mm) is all ≤200 MPa, there is no high stress concentration, the original partition is kept unchanged; finally, three transition partitions containing high stress concentration areas are formed.

[0051] In the embodiment of the present application, the easy-wearing areas are identified according to the historical wear data, and the boundaries of the adjacent sub-zones are adjusted so that each easy-wearing area is completely covered in one sub-zone, including: first, determining the determination criteria of the easy-wearing area, combining the use requirements of the push jack cylinder barrel (the maximum wear allowed in the normal use period is 0.3 mm, and the annual wear rate is ≤0.15 mm / year), and determining the area with an annual wear rate >0.15 mm / year in the historical wear data as the easy-wearing area; secondly, analyzing the historical wear data, among the 24 measurement points of the push jack cylinder barrel, the measurement points with X coordinate 300-400 mm (corresponding to the contact part of the guide sleeve of the cylinder barrel and the push beam) and X coordinate 800-900 mm (corresponding to the sealing part of the cylinder barrel and the base) have an annual wear rate of 0.18 mm / year and 0.17 mm / year respectively, both of which are >0.15 mm / year, so these two parts are identified as easy-wearing areas, and their three-dimensional coordinate ranges are X coordinate 300-400 mm (radial 180-200 mm) and X coordinate 800-900 mm (radial 180-200 mm) respectively; then, the easy-wearing area range is matched with the current transition sub-zone (left high stress area 50-150 mm, middle cylinder barrel area 150-1050 mm, right high stress area 1050-1150 mm), it is found that both easy-wearing areas are located in the “middle cylinder barrel area” transition sub-zone, and the temporary boundaries (150 mm and 1050 mm) of the transition sub-zone do not divide the easy-wearing areas; but further inspection finds that the easy-wearing area with X coordinate 300-400 mm is adjacent to the internal temporary sub-boundary (X coordinate 350 mm, which is a fine boundary left by the first temporary sub-zone and not completely eliminated) of the middle cylinder barrel area on the right side, which divides the easy-wearing area into two parts X 300-350 mm and X 350-400 mm; finally, the boundaries of the adjacent sub-zones are adjusted, the internal temporary sub-boundary with X coordinate 350 mm is deleted, the internal range of the middle cylinder barrel area is redefined, the easy-wearing area with X coordinate 300-400 mm is completely contained in the same sub-zone, and at the same time, it is ensured that the easy-wearing area with X coordinate 800-900 mm is not divided by the boundary, and finally five second final sub-zones are formed, which are left high stress area (50-150 mm), first easy-wearing area (300-400 mm), middle normal area (150-300 mm, 400-800 mm, 900-1050 mm combined, which has no high stress and high wear), second easy-wearing area (800-900 mm), and right high stress area (1050-1150 mm), each high stress concentrated area and easy-wearing area is completely covered in an independent sub-zone.

[0052] In the embodiments of the present application, if a wear-prone area is divided by a temporary boundary, the boundary is re-divided to ensure that the wear-prone area is merged into one partition, including: taking the history wear data of another batch of jack cylinder as an example, assuming that in this batch of data, the area with X coordinate 600-700 mm is identified as a wear-prone area (annual wear rate 0.19 mm / year), but this area is divided into two parts of X600-650 mm and X650-700 mm by the temporary boundary of X coordinate 650 mm left by the first temporary partition, and the two parts belong to two temporary partitions of “middle cylinder sub-zone 1” (X400-650 mm) and “middle cylinder sub-zone 2” (X650-900 mm) respectively; first, the complete three-dimensional coordinate range (X600-700 mm, radial 180-200 mm) of the wear-prone area and the coordinate (X650 mm) of the temporary boundary are obtained; second, the partition attributes on both sides of the temporary boundary are analyzed, both “middle cylinder sub-zone 1” and “middle cylinder sub-zone 2” are conventional areas (without high stress concentration), and only X600-700 mm is a wear-prone area; then, using the boundary re-dividing algorithm, taking the center coordinate (X650 mm, which is the geometric center of the wear-prone area, ensuring that the re-divided boundary is symmetrical) of the wear-prone area as the reference, the original temporary boundary of X650 mm is adjusted to X700 mm, so that the wear-prone area of X600-700 mm is completely merged into “middle cylinder sub-zone 1”, and the adjusted range of “middle cylinder sub-zone 1” is X400-700 mm, and the range of “middle cylinder sub-zone 2” is X700-900 mm; finally, it is verified whether the re-divided boundary completely covers the wear-prone area, and it is confirmed by spatial coordinate comparison that the wear-prone area of X600-700 mm is not divided by any boundary, and the adjusted partition does not affect the integrity of other areas (such as high stress concentration areas), ensuring that the wear-prone area is merged into one partition, and the uniform high wear resistance processing parameters can be matched for the partition in the future.

[0053] In the embodiments of the present application, the present application solves the problem that the traditional geometric partitioning may cause the high stress area to be fragmented or different stress areas to be merged, thereby causing the processing layer to have insufficient or excessive fatigue resistance, by merging the temporary partitions of the same high stress area to ensure that the area receives uniform fatigue resistance strengthening parameters, and by dividing the partitions across multiple high stress areas to avoid the problem that a single parameter cannot adapt to different stress requirements, thereby improving the fatigue resistance life of the processing layer of the high stress area and reducing the probability of fatigue crack generation.

[0054] In the embodiments of the present application, the present application solves the problem that the traditional geometric partitioning may segment the easy-wear region, leading to large differences in processing parameters of different partitions, and the local premature failure of the easy-wear region. By adjusting the boundary, the easy-wear region is ensured to be completely included in one partition, and a uniform high-wear-resistance parameter can be matched for the partition, so as to improve the hardness and wear resistance of the processing layer of the easy-wear region and prolong the overall service life of the part.

[0055] In the embodiments of the present application, if an easy-wear region is segmented by a temporary boundary, the boundary is redivided to ensure that the easy-wear region is merged into one partition, thereby solving the remaining problem of the easy-wear region segmentation caused by the temporary boundary. Through targeted redivision of the boundary, the segmentation state is completely eliminated, the easy-wear region is ensured to be continuously and uniformly wear-resistant, the premature scrapping of the part caused by local insufficient strengthening is avoided, and the overall effect of the processing technology is further ensured.

[0056] S4. For each of the second final partitions, a basic parameter set is matched from a preset parameter library according to geometric feature attributes of the second final partition and the working condition requirement.

[0057] In the embodiments of the present application, the geometric feature attributes are a parameter set capable of quantitatively describing the surface geometry of the second final partition, and these parameters directly affect the action mode of the energy beam and the workpiece surface in the processing process and the forming effect of the processing layer.

[0058] In some embodiments, the matching of the basic parameter set for each of the second final partitions according to the geometric feature attributes of the second final partition and the working condition requirement from the preset parameter library comprises: extracting geometric feature attributes of the second final partition, the geometric feature attributes including surface curvature, inclination angle and partition area; obtaining working condition requirement attributes corresponding to the second final partition, the working condition requirement attributes including wear resistance grade and fatigue resistance grade; matching the optimal basic parameter set in the preset parameter library by taking the geometric feature attributes and the working condition requirement attributes as joint query conditions.

[0059] In the embodiments of the present application, the surface curvature is a quantitative index of the bending degree of the surface of the second final partition, by which it can be judged whether the partition surface is a plane, a cylindrical surface or a complex curved surface. Different bending degrees correspond to different laser energy distribution requirements. The inclination angle is the included angle between the surface of the second final partition and the horizontal plane. The angle affects the accumulation state of the processing powder on the workpiece surface and the energy reflectivity of the energy beam, and the processing parameters need to be adjusted accordingly. The partition area is the surface area size of the second final partition in the three-dimensional space. The area size determines the planning mode of the processing path and the processing efficiency, and further affects the parameter selection.

[0060] In the embodiment of the present application, the working condition requirement attribute is a specific requirement index of the processing layer performance converted according to the load, wear and other conditions of the second final partition in the working process of the hydraulic support, and is one of the core bases for matching the processing parameters; the wear resistance grade is a grading index for measuring the resistance of the processing layer of the second final partition to wear, and is set according to historical wear data and use requirements, and the higher the grade, the higher the requirement for the hardness and density of the processing layer; the fatigue resistance grade is a grading index for measuring the resistance of the processing layer of the second final partition to fatigue crack generation and expansion, and is set according to the stress value of the finite element analysis, and the higher the grade, the higher the requirement for the uniformity and bonding strength of the processing layer.

[0061] In the embodiment of the present application, the preset parameter library is a processing parameter set constructed and stored in advance, which contains a large number of “geometric feature attributes + working condition requirement attributes - processing parameters” mapping relationships verified by experiments, and provides data support for rapid parameter matching.

[0062] In the embodiment of the present application, the joint query condition is a query basis formed by combining the geometric feature attribute and the working condition requirement attribute of the second final partition, and the precise positioning of the optimal parameters in the preset parameter library can be realized through multi-dimensional attribute combination.

[0063] In the embodiment of the present application, the basic parameter set is a processing parameter combination matched from the preset parameter library and preliminarily adapted to the geometric and working condition requirements of the second final partition, which contains initial values of core parameters such as energy beam incident angle, processing path, material conveying rate and energy source power.

[0064] In the embodiment of the present application, the geometric feature attribute of the second final partition is extracted, and the geometric feature attribute includes surface curvature, inclination angle and partition area, which includes: first, determining the second final partition to be extracted, taking the second final partition of the hydraulic support stand column as an example (including left high stress area, first easy wear area, middle normal area, second easy wear area and right high stress area, and the material is Q345 steel), and selecting the left high stress area as the target partition for attribute extraction; second, extracting the surface curvature, importing the three-dimensional model data (from the three-dimensional model after preprocessing in the foregoing) of the left high stress area into GeomagicControlX software, adopting the principal curvature calculation method based on the covariance matrix, selecting 100 uniformly distributed sampling points (the number of sampling points is determined through experiments, and 100 can balance the calculation accuracy and efficiency) in the partition, calculating the principal curvature value of each sampling point and taking the average value, and obtaining the surface curvature of the left high stress area as , which indicates that the surface of the partition is a circular arc transition surface; then, the inclination angle is extracted, the angle between the surface normal of the left high stress area and the vertical direction (the inclination angle is defined as the angle between the surface and the horizontal plane, which can be converted through the normal angle) is measured by software, 20 evenly distributed measurement points are selected, and the average inclination angle is calculated to be 30°, which reflects the inclination degree of the surface of the partition; finally, the partition area is extracted, the surface within the boundary of the left high stress area is meshed (the mesh size is set to 0.5 mm, which matches the scanning accuracy) by using the area measurement function in the software, the areas of all mesh elements are calculated and summed up, and the partition area of the left high stress area is obtained as ; similarly, the surface curvature, inclination angle and partition area of other second final partitions are extracted in the same way, such as the surface curvature , inclination angle , and partition area of the first easy wear area.

[0065] In the embodiments of the present application, the working condition requirement attribute corresponding to the second final partition is obtained, and the working condition requirement attribute includes wear resistance grade and fatigue resistance grade, including: first, determining the grading standard of the working condition requirement attribute, referring to the hydraulic support laser processing industry standard and 10 groups of early experimental data (testing the use effect of different performance processing layers), the grading rules of wear resistance grade and fatigue resistance grade are formulated: the wear resistance grade is divided into 5 levels, level 1 corresponds to an annual wear rate ≤0.05 mm / year, level 2 corresponds to 0.05-0.1 mm / year, level 3 corresponds to 0.1-0.15 mm / year, level 4 corresponds to 0.15-0.2 mm / year, and level 5 corresponds to >0.2 mm / year; the fatigue resistance grade is divided into 5 levels, level 1 corresponds to a stress ≤50% of the material yield strength, level 2 corresponds to 50%-60%, level 3 corresponds to 60%-70%, level 4 corresponds to 70%-80%, and level 5 corresponds to >80%; secondly, the working condition data of the left high stress area is obtained, the average stress value of the left high stress area is read from the stress cloud map in the finite element analysis in the foregoing, which is 280 MPa, the yield strength of Q345 steel is 345 MPa, and the ratio of stress to yield strength is 81% (280÷345≈0.81), according to the fatigue resistance grade grading rule, the ratio belongs to the range of >80%, so the fatigue resistance grade of the left high stress area is level 5; the annual wear rate of the left high stress area is read from the historical wear data, which is 0.12 mm / year, according to the wear resistance grade grading rule, the rate belongs to the range of 0.1-0.15 mm / year, so the wear resistance grade of the left high stress area is level 3; finally, the working condition requirement attribute of other second final partitions is obtained in the same way, such as the annual wear rate of the first easy wear area is 0.18 mm / year (wear resistance grade 4), and the stress value is 180 MPa (fatigue resistance grade 2), to ensure that the working condition requirement attribute of each partition has a clear quantitative basis.

[0066] In the embodiment of the present application, the geometric feature attributes and the working condition requirement attributes are used as joint query conditions to match the optimal basic parameter set in the preset parameter library, including: first, constructing a preset parameter library based on 1200 sets of processing experimental data (the experimental materials cover common materials of hydraulic supports such as Q345 steel and 27SiMn steel, and the experimental variables include surface curvature , tilt angle , partition area , wear resistance level 1-5, fatigue resistance level 1-5) and use MySQL database for storage; secondly, determine the joint query conditions. Taking the left high stress area as an example, the joint query conditions are "surface curvature +Tilt Angle +Zone Area + wear resistance level 3 + fatigue resistance level 5"; then, query matching is performed, and the K-nearest neighbor (KNN) algorithm is used as the query matching algorithm (the K value is set to 5, and it is verified through experiments that this K value can ensure matching accuracy while avoiding overfitting). The algorithm calculates the similarity between the query condition and each data record in the preset parameter library. The similarity calculation is based on the Euclidean distance formula (the smaller the Euclidean distance, the higher the similarity). Each attribute value in the query condition is standardized (such as the surface curvature). Normalized to 0.6, based on the curvature range After conversion), substitute the Euclidean distance formula to calculate the distance with the records in the library; finally, select the 5 records with the smallest Euclidean distance, calculate the average value of each parameter in these 5 records as the optimal basic parameter set, and the basic parameter set obtained by matching the left high stress area is: energy beam incident angle (Initially set to vertical surface), serpentine machining path (suitable for medium area partition), material delivery rate 8g / min, energy source power 1800W; similarly, the first easy wear area is based on "surface curvature +Tilt Angle +Zone Area + wear resistance level 4 + fatigue resistance level 2" query conditions, the basic parameter set obtained by matching is: energy beam incident angle , spiral processing path (suitable for small area partitioning), material delivery rate 7g / min, energy source power 1600W.

[0067] In the embodiments of the present application, the present application solves the problem that traditional parameter selection cannot accurately match the working conditions, resulting in excess or insufficient performance of the processing layer. By converting the working conditions into quantifiable grade indicators, the parameter matching can be directly carried out around the performance requirements, ensuring that the wear resistance and fatigue resistance of the processing layer are consistent with the actual use requirements of the partition, avoiding premature failure of components due to insufficient performance, or cost waste due to excess performance.

[0068] S5, dynamically adjusting the energy beam incident angle, the machining path, the material delivery rate and the energy source power in the basic parameter set according to the specific geometric characteristics of the second final partition, to generate a machining parameter set matched with the geometric characteristics of the second final partition.

[0069] In the embodiments of the present application, the specific geometric characteristics are unique geometric parameters of the second final partition that distinguish it from other partitions, and the influence of these parameters on the machining process is more significant, so the basic parameters need to be adjusted specifically to ensure the machining quality; the adjustment amount of the energy beam incident angle is the angle value that needs to be adjusted for the initial energy beam incident angle in the basic parameter set to make the energy beam perpendicular to the surface of the machining point of the second final partition, and the value is calculated from the surface curvature; the machining parameter set is a combination of machining parameters that fully adapt to the specific geometric characteristics of the second final partition after dynamic adjustment, and includes the adjusted energy beam incident angle, the machining path, the material delivery rate and the energy source power. The parameter set can be directly used to control the machining equipment as the output of the control system.

[0070] In some embodiments, the dynamic adjustment of the energy beam incident angle, the machining path, the material delivery rate and the energy source power in the basic parameter set comprises: calculating the adjustment amount of the energy beam incident angle based on the surface curvature to ensure that the energy beam is always perpendicular to the surface of the machining point; determining the machining path according to the partition area; when the inclination angle increases, increasing the proportional relationship between the material delivery rate and the energy source power.

[0071] In the embodiments of the present application, the constant related to the machining material is a fixed value determined by a large number of experiments according to the thermal physical properties of the machining material (such as Fe-Cr-B-Si alloy powder), such as melting point, specific heat capacity, heat of fusion, etc. The value ensures that the proportion of the energy source power and the material delivery rate meets the material melting requirement; the increasing function that increases with the increase of the inclination angle is a function fitted based on the machining experimental data under different inclination angles. The output value of the function will increase with the increase of the inclination angle of the second final partition, and is used to compensate for the energy loss and powder accumulation changes caused by the inclined surface.

[0072] In some embodiments, the proportional relationship between the material delivery rate and the energy source power is:

[0073] wherein, is the energy source power (in the embodiments of the present application, it is the laser power), is the material delivery rate (in the embodiments of the present application, it is the powder feeding rate), is a constant related to the machining material, is an increasing function that increases with the increase of the inclination angle, is the inclination angle.

[0074] Further, in the laser cladding scenario applied to the embodiment, the control system dynamically adjusts according to the formula. When the control system identifies that the inclination angle of a certain subzone is 30°, it calculates a new power value according to the formula and adjusts the control signal output to the processing equipment (laser and powder feeder).

[0075] In the embodiment, the ratio of the material delivery rate and the energy source power is a quantitative relationship between the energy source power and the material delivery rate, which is adjusted according to the change of the second final subzone inclination angle to ensure that the processing layer energy and the powder amount are matched.

[0076] In the embodiment, the adjustment amount of the energy beam incidence angle is calculated based on the surface curvature to ensure that the energy beam is always perpendicular to the surface of the processing point, including: first, determining the adjustment target of the energy beam incidence angle, which means that the energy beam incidence angle (the angle between the energy beam and the normal line of the processing point surface) is When the second final subzone surface has curvature, the normal direction of the processing point will change with the surface bending, and the adjustment amount needs to be calculated to keep the energy beam incidence angle ; second, determining the adjustment amount calculation method, using the calculation formula "incidence angle adjustment amount = arcsin (surface curvature x neighborhood radius)", wherein the neighborhood radius is the point cloud range around the processing point for calculating the normal direction, based on the scanning accuracy (0.05mm) of the three-dimensional measuring device in the foregoing, the neighborhood radius is set to 1mm (this size can cover enough point cloud to calculate the normal, and will not cause normal deviation due to too large range); then, taking the left high stress area (second final subzone, surface curvature ) of the hydraulic support stand as an example for calculation, substituting the surface curvature and the neighborhood radius 1mm into the formula, the incidence angle adjustment amount is obtained as ; finally, performing incidence angle adjustment, the initial energy beam incidence angle of the left high stress area in the basic parameter set is , according to the calculated adjustment amount , the energy beam incidence angle is adjusted to , and the posture of the laser head is controlled in real time through the five-axis linkage system (such as THK five-axis machining platform) of the processing equipment to ensure that the energy beam incidence angle of each processing point in the processing process is the adjusted angle, and the energy beam is always perpendicular to the surface.

[0077] In the embodiment, the processing path is determined according to the subzone area , including: first, dividing the subzone area interval, based on the area range of the second final subzone in the foregoing ) and 50 sets of different area partition processing experimental data (experimental comparison of the uniformity of three processing paths: serpentine, spiral, and parallel line), to determine the corresponding relationship between the area interval and the processing path: partition area When the serpentine processing path is adopted (small area partition serpentine path has no obvious idle stroke, and the processing uniformity is good), When the parallel line processing path is adopted (the medium area partition parallel line path is simple to plan and has high efficiency), the partition area When the spiral processing path is adopted (the large area partition spiral path can expand from the center to avoid edge accumulation); secondly, the partition area of the target partition is determined, taking the second final partition of the hydraulic support column as an example, the partition area of the left high stress area is , the partition area of the first easy-wear area is , and the partition area of the middle conventional area is ; then, match the processing path, the left high stress area ( ) and the first easy-wear area ( ) belong to the interval of , so the serpentine processing path is determined, the middle conventional area ( ) belongs to the interval of , so the spiral processing path is determined; finally, refine the processing path parameters, the path interval (the distance between adjacent scanning lines) of the serpentine processing path is set to 0.8 mm (based on the processing layer width of 1 mm, to ensure that there is 20% overlap between adjacent processing paths to avoid un-melted gaps), the starting radius of the spiral processing path is set to 5 mm (starting from the center of the partition to ensure that the center area is fully processed), and the scanning speed is set to 5 mm / s (based on the material delivery rate and energy source power matching determined in the previous basic parameter set to avoid insufficient processing due to excessive speed).

[0078] Further, in the laser cladding scene applied in the embodiment, when the inclination angle increases, the matching relationship between the material delivery rate and the energy source power is increased, including: first, determining the values of each parameter in the mathematical expression of the matching relationship, the processing material is Fe-Cr-B-Si alloy powder commonly used in hydraulic supports, through 20 sets of matching experiments of different material delivery rates and energy source powers (material delivery rate 5-15 g / min, energy source power 1500-2500 W), the constant K related to the processing material is measured K=225 (unit: W•min / g, this value ensures that the processing layer density is ≥98% when the powder and power are matched); based on the processing experimental data of different inclination angles (0°-60°), the increasing function ( unit: °), experimental verification shows that this function can compensate for the changes in energy and powder at inclination angles of 0°-60°, such as = 0°, f(0) = 1, a = 30°, f(30) = 1 + 0.0067 * 30 = 1.2, a = 60°, f(60) = 1 + 0.0067 * 60 = 1.4; then, taking the left high stress area (inclination angle 30°, material conveying rate v = 8 g / min in the basic parameter set) as an example for calculation, K = 225, v = 8 g / min, = 30° (f(30) = 1.2) into the formula, the energy source power P = 225 * 8 * 1.2 = 2160 W; finally, the material conveying rate and the energy source power are adjusted, the energy source power of the left high stress area in the basic parameter set is 1800 W, according to the calculation result, the energy source power is adjusted to 2160 W, the material conveying rate remains 8 g / min unchanged, so that the matching relationship of the two is adjusted from 1800 W / 8 g / min to 2160 W / 8 g / min, realizing the increase of the matching relationship when the inclination angle increases; for the first easy-wear area with an inclination angle of 0° (material conveying rate 7 g / min in the basic parameter set), f(0) = 1 is substituted into = 0° (f(0) = 1), P = 225 * 7 * 1 = 1575 W is obtained, 1600 W in the basic parameter set is adjusted to 1575 W, ensuring that the matching relationship of different inclination angle partitions is adapted.

[0079] In the embodiments of the present application, the processing parameter set matched with the geometric characteristics of each partition is generated, including: first, integrating the parameter adjustment results, for each second final partition, after completing the dynamic adjustment of the energy beam incident angle, the machining path, the material conveying rate and the energy source power, respectively, collect all the adjusted parameters; second, taking the left high stress area as an example to integrate the parameters, the adjusted energy beam incident angle 1.7°, the machining path snake shape (path spacing 0.8 mm, scanning speed 5 mm / s), the material conveying rate 8 g / min, the energy source power 2160 W, and these parameters are combined into the processing parameter set of the left high stress area; then, the parameters of other partitions are integrated in the same way, such as the adjustment results of the first easy-wear area (inclination angle 0°, surface curvature ) are: energy beam incident angle 0.6° (calculated formula arcsin(0.01 * 1) = 0.6°), machining path snake shape (path spacing 0.8 mm), material conveying rate 7 g / min, energy source power 1575 W, which are combined into the processing parameter set of the partition; finally, the consistency of the parameter set is verified, whether the values of the parameters with the same meaning (such as scanning speed, path spacing) in the parameter sets of all partitions are uniform is checked to ensure that the parameters in the whole text are consistent, and at the same time, the parameter set is simulated for machining through a virtual simulation software (such as SimufactWelding) to verify whether the machining layer thickness and the density meet the requirements, and the final processing parameter set is determined after the simulation is qualified.

[0080] In the embodiments of the present application, the present application solves the problem that the traditional fixed incidence angle cannot adapt to curved surface machining, resulting in low laser energy utilization rate and uneven machining layer thickness. After adjustment, the laser energy utilization rate is significantly improved, the machining layer thickness deviation is greatly reduced, and the defects of un-melting or over-melting in the curved surface area are avoided, providing energy guarantee for subsequent machining quality.

[0081] In the embodiments of the present application, the present application solves the problem that the traditional single machining path cannot adapt to different area partitions, resulting in more idle travel in small area partitions and uneven machining in large area partitions. After matching the corresponding path for different area partitions, the machining efficiency is improved, and the machining layer uniformity is significantly improved, avoiding the performance difference of the machining layer caused by improper path.

[0082] In the embodiments of the present application, the present application solves the problem of low machining layer density and insufficient thickness caused by powder sliding and laser reflection in inclined surface machining. Through ratio adjustment, the inclined surface machining layer quality is on par with the horizontal surface, ensuring consistent machining performance of different inclined angle partitions and meeting the working condition use requirements.

[0083] S6. Generating an adaptive partition control instruction set for controlling the machining equipment according to the machining parameter set.

[0084] In the embodiments of the present application, the adaptive partition control instruction set is a set of instructions that can drive the machining equipment to automatically switch machining parameters and adjust the motion trajectory according to the geometry and working condition requirements of different second final partitions. It can be directly recognized and executed by the equipment control system.

[0085] In some embodiments, generating an adaptive partition control instruction set for controlling the machining equipment according to the machining parameter set comprises: Converting the machining parameter set into control instructions for the machining equipment; Planning a machining path sequence of the machining equipment according to the position of the second final partition in the three-dimensional space; Generating a control instruction set for controlling the machining platform and the machining head to move to the second final partition according to the machining path sequence, and configuring a corresponding machining parameter set.

[0086] In the embodiments of the present application, the control instructions are the conversion of energy source power, material delivery rate and other parameters in the machining parameter set and motion requirements into codes that meet the communication protocol of the machining equipment, which is the direct basis for the equipment to perform machining operations. The position in the three-dimensional space is the three-dimensional coordinate range of the second final partition in the equipment coordinate system, which clearly defines the specific position of the partition in the equipment machining space and provides a spatial reference for planning the machining path. The machining path sequence is the sequence of machining each partition and the motion trajectory of the laser head in the partition determined according to the three-dimensional position and working condition importance of the second final partition, taking into account the machining efficiency and quality.

[0087] In the embodiments of the present application, the machining platform is a mechanical structure for fixing the parts to be machined, which can realize multi-axis movement and attitude adjustment according to control instructions, and the motion accuracy affects the accuracy of the machining position; the machining head is the core executive component of the machining equipment for emitting energy beams and conveying machining powder, and its attitude and position need to be adjusted synchronously to ensure accurate parameter application.

[0088] In the embodiments of the present application, the machining parameter set is converted into control instructions of the machining equipment, including: first, determining that the machining equipment adopts the ISO6983 standard G / M code protocol, which is a general protocol for numerical control equipment, ensuring the compatibility of the instructions; second, establishing the mapping relationship between the parameters and the instructions according to the equipment manual and the 80-group parameter-instruction matching experiment, the energy source power (P) corresponds to the M code "M03S×××" (S is followed by the power value, unit W), the material conveying rate (v) corresponds to the M code "M08F×××" (F is followed by the material conveying rate, unit g / min), and the scanning speed corresponds to the G code "G01F×××" (F is followed by the scanning speed, unit mm / s); then, taking the left high-stress area machining parameter set (energy source power 2160W, material conveying rate 8g / min, scanning speed 5mm / s) as an example, the energy source power 2160W is converted into "M03S2160", the material conveying rate 8g / min is converted into "M08F8", and the scanning speed 5mm / s is converted into "G01F5"; finally, the converted instructions are imported into the equipment simulation system for verification, confirming that there is no syntax error and the parameter transmission is accurate, avoiding abnormal execution of the equipment.

[0089] In the embodiments of the present application, according to the position of the second final partition in the three-dimensional space, the machining path sequence of the machining equipment is planned, including: first, extracting the three-dimensional coordinate range of the second final partition, the left high-stress area (X50-150mm, Y80-120mm, Z100-200mm), the first easy-wear area (X300-400mm, Y80-120mm, Z100-200mm), etc.; second, setting the machining priority, the high-stress area priority coefficient is 1.5, the easy-wear area is 1.2, and the conventional area is 1.0, and the higher the coefficient, the more in advance the machining; then, the A* algorithm is used to plan the sequence, taking the initial position (X0Y0Z0) of the equipment as the starting point, constructing the cost function (cost=empty travel distance / priority coefficient), calculating the cost of the left high-stress area as 100, the first easy-wear area as 291.7, etc., and determining the sequence as "left high-stress area→first easy-wear area→middle conventional area→second easy-wear area→right high-stress area" according to the cost from small to large; finally, the trajectory in the partition is refined, the left high-stress area is generated according to the snake-shaped path, the trajectory points are generated in the coordinate range, the distance between adjacent points is 0.8mm, and the whole partition is ensured to be covered.

[0090] In the embodiment of the present application, the control instruction set for moving the processing platform and the processing head to the second final partition according to the processing path sequence is generated, and the corresponding processing parameter set is configured, including: first, a processing platform movement instruction is generated, from the initial position (X0Y0Z0) to the left high stress area starting point (X50Y80Z150), using the fast movement instruction "G00X50Y80Z150F500" (F500 is the movement speed, unit: mm / min); second, a processing head posture instruction is generated, the left high stress area energy beam incident angle is 1.7°, and the posture is ensured to be accurate through the A-axis adjustment instruction "G68.2X50Y80Z150A1.7"; then, the parameter instruction is combined with the movement and posture instructions to form the left high stress area instruction segment "G00X50Y80Z150F500; G68.2X50Y80Z150A1.7; M03S2160; M08F8; G01X50Y120Z150F5; ……";Next, the same logic is used to generate other partition instruction segments, and the parameter switching instruction (such as "M05; M09;" to close the laser and powder feeding, and then load new parameters) is added between adjacent partitions; finally, all instruction segments are integrated, the initialization instruction "G21G90;" is added at the beginning, and the reset instruction "G00X0Y0Z0; M30;" is added at the end to form a complete adaptive partition control instruction set, which is verified by a simulation system to be free of interference risks.

[0091] In the embodiment of the present application, the problems of low efficiency and easy error in traditional manual instruction writing are solved, the accurate parameter conversion into device executable code is ensured, and the processing defects caused by instruction errors are avoided.

[0092] In the embodiment of the present application, the control instruction set for moving the processing platform and the processing head to the second final partition according to the processing path sequence is generated, and the corresponding processing parameter set is configured, which is the final integration step, integrating the outputs of the previous two steps to form an instruction set that can directly control the device; this step closely connects with the processing parameter set output by the S5 step in the foregoing, and together completes the "parameter-instruction-device control" closed loop.

[0093] As Figure 2 shown is a functional module diagram of a hydraulic support laser cladding parameter optimization system based on adaptive partitioning provided by an embodiment of the present application.

[0094] The adaptive partition-based hydraulic support laser cladding parameter optimization system 100 described in the present application can be installed in an electronic device. According to the functions implemented, the adaptive partition-based hydraulic support laser cladding parameter optimization system 100 can include a geometric feature change point identification module 101, a temporary partition generation module 102, a final partition determination module 103, a basic parameter set matching module 104, a parameter dynamic adjustment module 105, and a partition control instruction set generation module 106. The modules described in the present application can also be referred to as units, which refer to a series of computer program segments that can be executed by an electronic device processor and can complete a fixed function, which are stored in the memory of the electronic device.

[0095] In the embodiments of the present application, the functions of each module / unit are as follows: The geometric feature change point identification module 101 is configured to obtain three-dimensional model data of a component to be machined of a hydraulic support, and identify geometric feature change points on the surface of the component to be machined based on the three-dimensional model data. The temporary partition generation module 102 is configured to define an initial boundary point set based on the geometric feature change points, aggregate surface regions with continuous curvature and adjacent in space based on a region growing algorithm, and generate a plurality of first temporary partitions with uniform distribution of geometric features. The final partition determination module 103 is configured to merge or segment the first temporary partitions according to the working condition requirements of the component to be machined, to form second final partitions, and the second final partitions include high stress concentration regions and easy wear regions. The basic parameter set matching module 104 is configured to, for each of the second final partitions, match a basic parameter set from a pre-set parameter library according to the geometric feature attributes of the second final partition and the working condition requirements. The parameter dynamic adjustment module 105 is configured to dynamically adjust the energy beam incident angle, the machining path, the material delivery rate, and the energy source power in the basic parameter set according to the specific geometric features of the second final partition, and generate a machining parameter set matched with the geometric features of each partition. The partition control instruction set generation module 106 is configured to generate an adaptive partition control instruction set for controlling a machining device according to the machining parameter set.

[0096] In the embodiments of the present application, the system is integrated in an industrial control computer or a cloud control platform, and can perform real-time data interaction and control instruction issuing with a laser cladding device.

[0097] In several embodiments provided in the present application, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the system embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and another division method can be used in actual implementation.

[0098] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of the modules may be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0099] In addition, the functional modules in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0100] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application.

[0101] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence refers to the theories, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use knowledge to achieve optimal results.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A method for optimizing laser cladding parameters of hydraulic supports based on adaptive partitioning, characterized in that: The method comprises: Acquire three-dimensional model data of a component to be processed of the hydraulic support, and identify geometric feature change points on the surface of the component to be processed based on the three-dimensional model data; An initial boundary point set is defined by the geometric feature change points, and surface regions with continuous curvature and spatially adjacent are aggregated based on a region growing algorithm to generate a plurality of first temporary partitions with uniform distribution of geometric features; Merging or dividing the first temporary partitions according to working condition requirements of the component to be processed to form second final partitions, wherein the second final partition includes a high stress concentration area and a wear-prone area; For each of the second final partitions, matching a basic parameter set from a preset parameter library according to the geometric characteristic attributes of the second final partition and the working condition requirements; Dynamically adjusting the energy beam incident angle, processing path, material delivery rate, and energy source power in the basic parameter set according to the specific geometric characteristics of the second final partition to generate a processing parameter set that matches the geometric characteristics of each partition; An adaptive partition control instruction set for controlling a processing device is generated based on the processing parameter set.

2. The method for optimizing parameters of laser cladding of hydraulic supports based on adaptive partitioning according to claim 1, characterized in that: The step of acquiring three-dimensional model data of a component to be processed of the hydraulic support and identifying geometric feature change points on the surface of the component to be processed based on the three-dimensional model data includes: Collecting surface point cloud data of the part to be processed by a three-dimensional measuring device; De-noising and smoothing the surface point cloud data to generate pre-processed three-dimensional model data; Processing the pre-processed three-dimensional model data based on a curvature variation algorithm to calculate the surface curvature distribution of the part to be processed; Points in the surface curvature distribution whose curvature values ​​exceed a preset curvature threshold are identified as geometric feature change points.

3. The method for optimizing parameters of laser cladding of hydraulic supports based on adaptive partitioning according to claim 1, characterized in that: The method of defining an initial boundary point set based on the geometric feature change points, aggregating surface regions with continuous curvature and spatially adjacent based on a region growing algorithm, and generating a plurality of first temporary partitions with uniform distribution of geometric features includes: Defining an initial boundary point set based on the geometric feature change points, and executing a region growing algorithm based on the initial boundary point set as a constraint; The region growing algorithm aggregates surface regions with continuous curvature based on a curvature similarity criterion and a spatial proximity criterion to generate a plurality of initial regions separated by the initial boundary point set; The boundaries between the initial regions are smoothed to generate a plurality of first temporary partitions in which geometric features are evenly distributed.

4. The method for optimizing parameters of laser cladding of hydraulic supports based on adaptive partitioning according to claim 1, characterized in that: The step of merging or dividing the first temporary partitions according to the working condition requirements of the component to be processed to form a second final partition includes: Obtaining a finite element analysis stress cloud diagram and historical wear data of the component to be processed in a working state; Identify high stress concentration areas based on the finite element analysis stress cloud map, and if a first temporary partition spans multiple high stress concentration areas, split the first temporary partition; if multiple first temporary partitions are located in the same high stress concentration area, merge the first temporary partitions; Identify wear-prone areas based on the historical wear data, and adjust the boundaries of adjacent partitions so that each wear-prone area is completely covered by one partition. If a wear-prone area is divided by a temporary boundary, redraw the boundary to ensure that the wear-prone area is merged into one partition.

5. The method for optimizing parameters of laser cladding of hydraulic supports based on adaptive partitioning according to claim 4, characterized in that: The step of adjusting the boundaries of adjacent partitions so that each easily-worn area is completely covered within one partition includes: If a wear-prone area is divided by a temporary boundary, the boundary is re-divided to ensure that the wear-prone area is merged into one partition.

6. The method for optimizing parameters of laser cladding of hydraulic supports based on adaptive partitioning according to claim 1, characterized in that: For each of the second final partitions, matching a basic parameter set from a preset parameter library according to the geometric feature attributes of the second final partition and the operating condition requirements includes: Extracting geometric feature attributes of the second final partition, wherein the geometric feature attributes include surface curvature, tilt angle, and partition area; Obtaining operating condition requirement attributes corresponding to the second final partition, the operating condition requirement attributes including a wear resistance level and a fatigue resistance level; The geometric feature attributes and the working condition requirement attributes are used as joint query conditions to match the optimal basic parameter set in the preset parameter library.

7. The method for optimizing parameters of laser cladding of hydraulic supports based on adaptive partitioning according to claim 6, characterized in that: The dynamic adjustment of the energy beam incident angle, processing path, material delivery rate and energy source power in the basic parameter set includes: Calculating an adjustment amount of the incident angle of the energy beam based on the surface curvature to ensure that the energy beam is always perpendicular to the surface of the processing point; determining a processing path according to the partitioned area; When the inclination angle increases, the ratio between the material conveying rate and the energy source power increases.

8. The method for optimizing parameters of laser cladding of hydraulic supports based on adaptive partitioning according to claim 7, characterized in that: The ratio between the material delivery rate and the energy source power is: in, is the energy source power, is the material transport rate, is a constant related to the processed material, It is an increasing function that increases with the increase of the tilt angle. is the tilt angle.

9. The method for optimizing parameters of laser cladding of hydraulic supports based on adaptive partitioning according to claim 1, characterized in that: Generating an adaptive partition control instruction set for controlling a processing device according to the processing parameter set includes: converting the processing parameter set into control instructions for processing equipment; planning a processing path sequence of the processing equipment according to the position of the second final partition in the three-dimensional space; A control instruction set for controlling the machining platform and the machining head to move to the second final partition according to the machining path sequence is generated, and a corresponding machining parameter set is configured.

10. A hydraulic support laser cladding parameter optimization system based on adaptive partitioning, characterized in that: The system comprises: A geometric feature change point recognition module is used to obtain three-dimensional model data of the component to be processed of the hydraulic support, and to identify geometric feature change points on the surface of the component to be processed based on the three-dimensional model data; a temporary partition generation module, configured to define an initial boundary point set based on the geometric feature change points, aggregate surface regions with continuous curvature and spatially adjacent based on a region growing algorithm, and generate a plurality of first temporary partitions with uniformly distributed geometric features; a final partition determination module, configured to merge or split the first temporary partitions according to the working condition requirements of the component to be processed to form a second final partition, wherein the second final partition includes a high stress concentration area and a wear-prone area; a basic parameter set matching module, configured to match a basic parameter set from a preset parameter library for each second final partition according to the geometric characteristic attributes of the second final partition and the working condition requirements; a parameter dynamic adjustment module, configured to dynamically adjust the energy beam incident angle, machining path, material delivery rate, and energy source power in the basic parameter set according to the specific geometric characteristics of the second final partition, and generate a machining parameter set that matches the geometric characteristics of each partition; The partition control instruction set generation module is used to generate an adaptive partition control instruction set for controlling the processing equipment according to the processing parameter set.

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