CN104674210A - Workpiece laser automatic repair method - Google Patents

Workpiece laser automatic repair method Download PDF

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Publication number
CN104674210A
CN104674210A CN201310632670.0A CN201310632670A CN104674210A CN 104674210 A CN104674210 A CN 104674210A CN 201310632670 A CN201310632670 A CN 201310632670A CN 104674210 A CN104674210 A CN 104674210A
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China
Prior art keywords
workpiece
laser
dimensional
repair
coordinate
Prior art date
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CN201310632670.0A
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Chinese (zh)
Inventor
杨艳
齐欢
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齐欢
杨艳
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Priority to CN201310632670.0A priority Critical patent/CN104674210A/en
Publication of CN104674210A publication Critical patent/CN104674210A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P6/00Restoring or reconditioning objects
    • B23P6/002Repairing turbine components, e.g. moving or stationary blades, rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03Observing, e.g. monitoring, the workpiece
    • B23K26/032Observing, e.g. monitoring, the workpiece using optical means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08Devices involving relative movement between laser beam and workpiece
    • B23K26/0869Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/14Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
    • B23K26/144Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor the fluid stream containing particles, e.g. powder
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/14Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
    • B23K26/1462Nozzles; Features related to nozzles
    • B23K26/1464Supply to, or discharge from, nozzles of media, e.g. gas, powder, wire
    • B23K26/147Features outside the nozzle for feeding the fluid stream towards the workpiece
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/34Laser welding for purposes other than joining
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01DNON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
    • F01D5/00Blades; Blade-carrying members; Heating, heat-insulating, cooling or antivibration means on the blades or the members
    • F01D5/005Repairing methods or devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/001Turbines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2103/00Materials to be soldered, welded or cut
    • B23K2103/18Dissimilar materials
    • B23K2103/26Alloys of Nickel and Cobalt and Chromium
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05DINDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2230/00Manufacture
    • F05D2230/30Manufacture with deposition of material
    • F05D2230/31Layer deposition

Abstract

The invention relates to a workpiece laser automatic repair method which comprises the following steps: 1) carrying out three-dimensional molding surface on-line scanning on the workpiece by a laser 3D scanner to obtain spatial sampling points on the workpiece surface, namely three-dimensional point cloud data; 2) carrying out coordinate transformation on the spatial sampling points obtained by scanning, and reconstructing a three-dimensional workpiece surface point set in a repair actuating mechanism coordinate system; 3) carrying out image processing on the point cloud data obtained in the step 1), and extracting boundary contour of the workpiece; 4) generating a laser cladding trajectory according to the boundary contour of the workpiece; 5) converting the laser cladding trajectory into machine recognition codes, and storing in a repair actuating mechanism; and 6) carrying out automatic repair on the workpiece according to the laser cladding trajectory by the repair actuating mechanism. Compared with the prior art, the method enhances the production efficiency, saves the time cost, implements mass production and the like.

Description

A kind of workpiece laser automatization restorative procedure

Technical field

The present invention relates to a kind of laser repair method, especially relate to a kind of workpiece laser automatization restorative procedure.

Background technology

There is large quantity high performance in Industrial products, the metallic element of high added value needs to repair, the turbine blade of such as internal combustion turbine and aircraft engine, oil drilling tools, injection moulding or press tool, roll, cutter etc.The key components and parts of these high performance materials determines the weak link in whole machine equipment life cycle life-span often.Adopt the advanced component of inspection and repair technology to existing defects and damage automatically to repair, make it again meet the service requirements of industrial equipment, and extend its work-ing life, considerable technology and economy benefit can be obtained.For turbine blade, due to its work under bad environment, the nickel base superalloy of select materials excellent performance often, material itself is expensive, and its shape and internal structure are extremely complicated, casting qualification rate is general very low, and therefore the cost of turbine blade is very high.In modern gas turbines, the cost of every sheet single crystal blade can up to 30,000 dollars, and in general, the cost mean value of blade reparation is only changes 20% of new blade cost, and therefore the reparation of high performance turbine blade can obtain considerable technical economic benefit.The common corrupted pattern of these metallic elements is the wearing and tearing, burn into crackle, material deficiency etc. on surface.Renovation technique needs cleaning, polishing damaged part usually, is disposed by the material of pollution, oxidation, corrosion, the material that the coating of recycling welding technology or regeneration make new advances.Current, the fusion welding method for high-performance metal part restore has argon tungsten-arc welding, plasma weldering, electron beam welding and Laser Welding etc.Traditional melting welding recovery technique general heat input means that are comparatively large, that be difficult to the manual argon arc welding accurately controlling melting welding pattern carry out rebuild part.Compared with other melting welding means, the fusion material microtexture often coarse grains that argon arc welding obtains, heat affected zone is comparatively large, the defect such as easily to crack.This makes the part strength after repairing, life-span and recoverable position have significant limitation.In addition, the efficiency of repaired by hand is low, and lack on-line checkingi in repair process, its result depends on the uncertain factors such as welder's skill widely.

These above-mentioned melting welding means and the numerical control device such as multi-axis NC Machine Tools or industrial robot are integrated, the movement locus of automatization and the reliable control of melting welding parameter can be realized, renovation technique is made to have good handiness, reliability, guarantee the supply of more accurate material and the input of energy, thus provide the flexibility of economic and reliable to repair means for the reparation of complex-shaped metallic element.Below for laser fusion welding means, the technical background of the automatization renovation technique that the present invention relates to is described.

The clean shape manufacturing technology of laser, or claim laser metal Direct precipitation manufacturing technology, be the nineties in 20th century on the basis of Rapid Prototyping technique, the one grown up in conjunction with laser melting and coating technique is without mould Rapid Manufacturing Technology.As shown in Figure 1, the clean shape repair system of existing laser all uses high-power laser beam 1` to melt by the raw material powder of powder feeder 3` synchronous transport by condensing lens 2`, under the routing motion being repaired part 4`, pointwise is built-up welding novel material successively, by constantly growing the part preparing three-dimensional structure.The clean shape of laser manufactures normally based on the automated execution mechanism such as numerically-controlled machine or robot, must generate machining locus and machined parameters before processing, or be referred to as machining path by numerical control programming.

Automatic laser reparation utilizes laser metal Direct precipitation manufacturing technology principle of work, is being repaired on part basis, is piling up certain material realize repairing effect according to part defect shape.Compared with manufacturing with the clean shape of laser, a very large difference is exactly the generation in Repair gene path.This is because the clean shape manufacturing technology of laser normally directly generates machining path according to three-dimensional model, and normally pile up in substantially free plane and form.And laser repairing needs the defect being repaired part to pile up, these positions can be planes, but are more often prior uncertain three-dimension curved surfaces.Meanwhile, metal parts normal conditions difference to be repaired is very large: on the one hand, and part to be repaired mostly is short run multiple types part; On the other hand, the defect that part to be repaired occurs after military service is different with distortion, and also difference is very large for the shape of needs repairing.Also have some time, when the accurate three-dimensional model being repaired part cannot be obtained, cannot according to model generation path.

Above reason causes the machining locus of laser repairing to be difficult to generate.Traditional method is the method for artificial teaching: first by staff manually movement be repaired part 4`, with the naked eye judge whether lasing point aligns area to be repaired, and record lathe or robot coordinate; Then according to area to be repaired shape, mobile laser nozzle several times, and the coordinate recording several points; Finally according to the machining path that these dot generation are applicable to.This process is very time-consuming bothersome, to such an extent as to the time of frequent generation pass (comprising artificial teaching) is considerably beyond the time of laser processing procedure itself.And the accuracy of artificial alignment is lower, the machining path of generation is also more coarse, and cause reparation precision usually very low, repeatability is not high.This reparation for some micro metal parts such as aerial blade is fatal deficiency.In addition, existing artificial melting welding and teaching detection method cannot carry out on-line measurement timely to the part after reparation.

Due to above problem, domestic laser repairing only uses usually on heavy parts or simple shape part, greatly reduces the use field of laser repairing.And abroad in some advanced prosthetic appliances and technology, the machine vision technique that have employed based on CCD or CMOS camera is treated rebuild part and is carried out automatic detection and positioning, and generates machining path thus.But this kind of method can only solve two-dimentional reparation problem, inapplicable to 3 d part reparation.

Summary of the invention

Object of the present invention be exactly in order to overcome above-mentioned prior art exist defect and a kind of automatization restorative procedure is provided, to solve the low and repairing quality of clean shape repair system remediation efficiency of the prior art and the not high problem of precision, thus enhance productivity, save time cost, realize large batch of process for processing, complete the automatic reparation to workpiece.This invention solves three dimensional type Surface scan, image procossing, laser melting coating Track Pick-up problem emphatically.

Object of the present invention can be achieved through the following technical solutions:

A kind of workpiece laser automatization restorative procedure, comprises the following steps:

1) laser 3D scanner carries out three-dimensional profile to workpiece and scans online, obtains the spatial sampling point of workpiece surface, i.e. three dimensional point cloud;

2) coordinate transform is carried out to scanning the spatial sampling point obtained, Reconstruction of three-dimensional workpiece surface point set in reparation topworks system of coordinates;

3) to step 1) cloud data that obtains carries out image procossing, extracts the boundary profile of workpiece;

4) laser melting coating track is generated according to workpiece boundary profile;

5) laser melting coating track is converted to machine recognition code storage to repairing in topworks;

6) repair topworks automatically to repair workpiece according to laser melting coating track.

Step 3) in, described image procossing is specially: carry out filtering process to cloud data; In three-dimensional system of coordinate, workpiece is placed on and is parallel on XY coordinate plane worktable, using the gray-scale value of the Z coordinate of workpiece in three-dimensional system of coordinate as image, different at the relative position of three-dimensional system of coordinate from worktable according to workpiece, thus draw the boundary profile of workpiece, extract frontier point cloud coordinate, and then spatial domain is changed in the workpiece boundary profile inversion obtained.

Described reparation topworks comprises multi-axis NC Machine Tools or robot system.

The method also comprises:

Adopt laser 3D scanner to step 6) repair after workpiece carry out at line sweep, three dimensional point cloud scanning obtained carries out comparison and detection with the workpiece mathematical model prestored, and according to Detection Information to workpiece size precision and shape is assessed and quantization signifying after reparation, judge that workpiece is repaired size and whether reached standard, if not, then re-execute step 1) ~ 6), secondary reparation and detection are carried out to workpiece, until size repaired by workpiece reach standard.

The present invention draws laser melting coating track by 3D scanner to workpiece with form surface scanning, with artificial teaching point will to be connected according to a certain specific mode between often again thus compared with the laser melting coating track obtained, present invention greatly reduces the time of laser melting coating Track Pick-up, overcome the problems such as artificial alignment accuracy is lower, generation machining path is coarse, reparation precision is lower.

One aspect of the present invention adopts filtering to reduce the appearance of noise, carries out edge extracting on the other hand, obtain image outline to a cloud.The computer-aided manufacturing module that the present invention is based on conventional three-dimensional modeling software has been carried out secondary development thus has obtained image outline, can obtain the track of laser melting coating fast.In whole flow process, instead of the traditional method of artificial teaching, greatly saved the time, improve the accuracy of generation pass, avoid machining path more coarse, repair the problems such as precision is lower.

Accompanying drawing explanation

Fig. 1 is that the clean shape of laser repairs schematic diagram;

Fig. 2 is the schematic flow sheet of part automatic measurement of the present invention and reparation;

Fig. 3 is three dimensional type Surface scan schematic diagram;

Fig. 4 is that boundary profile extracts schematic diagram;

Fig. 5 is laser melting coating Track Pick-up process schematic.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.The present embodiment is implemented premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.

A kind of workpiece laser automatization restorative procedure, first to the Shape measure (i.e. three dimensional type Surface scan) of workpiece, automatically generates laser repairing track, thus reaches the automatic reparation to workpiece; After workpiece is repaired, on-line checkingi is carried out to workpiece, inspection repairing effect.Repair track automatic generation function and mainly comprise the technology such as three dimensional type Surface scan, image procossing, filling.As shown in Figure 2, the method specifically comprises the following steps:

1) laser 3D scanner carries out three-dimensional profile to workpiece and scans online, obtains the spatial sampling point of workpiece surface, i.e. three dimensional point cloud.Laser 3D scanner is attached in laser metal straight forming system, it is a kind of non-contact measurement apparatus, based on optical triangulation theory, (namely 3D laser scanner launches one laser on determinand, and utilizes optical sensor to search laser spot on determinand.Along with the difference of determinand distance range of triangle 3D laser scanner distance, the position of laser spot in optical sensor picture is also different), according to light source, each point coordinate of geometry imaging relations determination scanned object between object and detector three, by catching the surface distance within the scope of scan vision, adjustment scanner and numerically-controlled machine or robot system, thus obtain the spatial sampling point of workpiece surface, i.e. cloud data.Repair workpiece three-dimensional scanner, as shown in Figure 3, laser 3D scanner 2 sends laser 1 and is radiated on the workpiece 3 below being positioned over, and carries out three dimensional type Surface scan to workpiece 3.

3D scanner can be detected and object analysis shape (geometric construction) and appearance data (as the character such as color, surface albedo), the data collected often are used to carry out three-dimensional reconstruction calculating, can simulate the digital model creating actual object.Because the sweep limit of spatial digitizer is limited, therefore often need the relative position of conversion scanner and object or object be positioned on electric rotary, through scanning repeatedly to piece together the complete model of object.

2) carry out coordinate transform to scanning the spatial sampling point obtained, Reconstruction of three-dimensional workpiece surface point set in reparation topworks system of coordinates, repairs topworks and comprises multi-axis NC Machine Tools or robot system.

3) to step 1) cloud data that obtains carries out image procossing, extracts the boundary profile of workpiece.

In the some cloud that three dimensional type Surface scan draws, be subject to restriction and the random disturbance of various condition, often there are some noises, so need to carry out filtering process to it to reduce noise, then Boundary Extraction is carried out to a cloud.As shown in Figure 4, in three-dimensional system of coordinate, workpiece is placed on and is parallel on XY coordinate plane worktable, according to the difference (workpiece have certain thickness) of workpiece relative to height of table (namely at Z coordinate), using the gray-scale value of the Z coordinate of workpiece in three-dimensional system of coordinate as image, different at the relative position of three-dimensional system of coordinate from worktable according to workpiece, thus draw the boundary profile of workpiece, extract frontier point cloud coordinate, and then spatial domain is changed in the workpiece boundary profile inversion obtained.

4) carry out filling according to workpiece boundary profile and generate laser melting coating track.Laser melting coating is a kind of increasing material manufacturing processed, and path is different from traditional manufacturing processed as milling, turning etc.

5) in order to obtain the machining path being suitable for laser melting coating, the computer-aided manufacturing module based on conventional three-dimensional modeling software has carried out secondary development.According to secondary development program, track is converted to the code (as Va13, G code etc.) of machine recognition, is stored in numerically-controlled machine or robot system.

6) numerically-controlled machine or robot system are repaired workpiece automatically according to laser melting coating track.Described numerically-controlled machine or robot system are the part in Automatic laser repair system.Automatic laser repair system comprises numerically-controlled machine or robot, laser apparatus, laser head, nozzle, control device, powder feeder and laser 3D scanner.

7) adopt same laser 3D scanner to step 6) repair after workpiece carry out at line sweep, three dimensional point cloud and workpiece digital-to-analogue (cad model) that scanning obtains are carried out comparison and detection, and according to Detection Information to reparation workpiece size precision and shape is assessed and quantization signifying afterwards.If it is not enough to find to repair workpiece size, can plane-generating laser melting coating track again, secondary reparation and detection are carried out to workpiece.Until size repaired by workpiece reach standard.

Illustrate below, utilize the Automatic laser restorative procedure implementation result on certain oil drilling tools part that the present invention relates to.It repairs the automatization generative process of track as shown in Figure 5.First, part 5` to be repaired is positioned on worktable, treats rebuild part by 3D scanner and carry out three-dimensional profile and scan online, obtain a cloud 6`.By coordinate transform, be transformed in numerically-controlled machine or robot coordinate system, reconstruct obtains three-dimensional object surface point set 7`.Point cloud chart picture is processed, comprises and filter noise and edge extracting, obtain image outline 8`.The track 9` of laser melting coating is obtained by the computer-aided manufacturing module of secondary development.According to laser melting coating track, carry out the clean shape of laser and repair, obtain the part 10` after repairing.Topography scan and detection are carried out to the part repaired, and carry out contrast 11` with the front scanning spot cloud of reparation, can detect the error size of repairing rear part and scanning before repairing between body on the one hand, the information after can repairing it is on the other hand fed back, and makes its precision more accurate.

For the 5` of part shown in Fig. 5, end face edge profile includes straight line, arc and circular camber line, under manual mode, by along the teaching of workpiece end face edge to point, then generating laser melting coating track by certain specific mode between points.Make the track of generation more accurate close to practical work piece end face edge path, need described point as much as possible.Therefore consume the plenty of time in its course of processing to laser melting coating Track Pick-up, greatly reduce formation efficiency; To the whether accurate precision being also directly connected to processing work of point.Adopt 3D scanner to carry out three-dimensional profile to scan online, can directly generate laser melting coating track, to the processing of a same workpiece, generate laser melting coating track required time for greatly reducing, the error between its edge track generated and practical work piece rim path is not as good as 50um.

Claims (4)

1. a workpiece laser automatization restorative procedure, is characterized in that, comprises the following steps:
1) laser 3D scanner carries out three-dimensional profile to workpiece and scans online, obtains the spatial sampling point of workpiece surface, i.e. three dimensional point cloud;
2) coordinate transform is carried out to scanning the spatial sampling point obtained, Reconstruction of three-dimensional workpiece surface point set in reparation topworks system of coordinates;
3) to step 1) cloud data that obtains carries out image procossing, extracts the boundary profile of workpiece;
4) laser melting coating track is generated according to workpiece boundary profile;
5) laser melting coating track is converted to machine recognition code storage to repairing in topworks;
6) repair topworks automatically to repair workpiece according to laser melting coating track.
2. a kind of workpiece laser automatization restorative procedure according to claim 1, is characterized in that, step 3) in, described image procossing is specially: carry out filtering process to cloud data; In three-dimensional system of coordinate, workpiece is placed on and is parallel on XY coordinate plane worktable, using the gray-scale value of the Z coordinate of workpiece in three-dimensional system of coordinate as image, different at the relative position of three-dimensional system of coordinate from worktable according to workpiece, thus draw the boundary profile of workpiece, extract frontier point cloud coordinate, and then spatial domain is changed in the workpiece boundary profile inversion obtained.
3. a kind of workpiece laser automatization restorative procedure according to claim 1, it is characterized in that, described reparation topworks comprises multi-axis NC Machine Tools or robot system.
4. a kind of workpiece laser automatization restorative procedure according to claim 1, it is characterized in that, the method also comprises:
Adopt laser 3D scanner to step 6) repair after workpiece carry out at line sweep, three dimensional point cloud scanning obtained carries out comparison and detection with the workpiece mathematical model prestored, and according to Detection Information to workpiece size precision and shape is assessed and quantization signifying after reparation, judge that workpiece is repaired size and whether reached standard, if not, then re-execute step 1) ~ 6), secondary reparation and detection are carried out to workpiece, until size repaired by workpiece reach standard.
CN201310632670.0A 2013-12-02 2013-12-02 Workpiece laser automatic repair method CN104674210A (en)

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CN105127421A (en) * 2015-09-01 2015-12-09 广东工业大学 Laser 3D printing repair method of damaged gear tooth surface
CN105154869A (en) * 2015-08-24 2015-12-16 苏州大学 Method for obtaining laser cladding scanning path for surface repairing of uniform-section solid
CN105256249A (en) * 2015-11-19 2016-01-20 中国航空工业集团公司北京航空材料研究院 Laser cladding repairing method for aircraft end-journal part surface
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CN107931834A (en) * 2017-11-16 2018-04-20 惠州市契贝科技有限公司 The processing method and welding equipment of mobile phone shell
CN108274187A (en) * 2018-04-27 2018-07-13 苏州艾弗伦智能技术有限公司 A kind of complex curved surface parts defect repair system and restorative procedure
CN109397072A (en) * 2017-08-18 2019-03-01 均豪精密工业股份有限公司 Work piece processing method and system of processing

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CN105154869A (en) * 2015-08-24 2015-12-16 苏州大学 Method for obtaining laser cladding scanning path for surface repairing of uniform-section solid
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