CN107009611A - A kind of coordinate transformation method of part repair process defect model - Google Patents
A kind of coordinate transformation method of part repair process defect model Download PDFInfo
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- CN107009611A CN107009611A CN201710203938.7A CN201710203938A CN107009611A CN 107009611 A CN107009611 A CN 107009611A CN 201710203938 A CN201710203938 A CN 201710203938A CN 107009611 A CN107009611 A CN 107009611A
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- laser
- printing system
- coordinate
- photoelectric sensor
- defect model
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
Abstract
The present invention discloses a kind of coordinate transformation method of part repair process defect model, and prosthetic device includes laser 3D printing system and more than four photoelectric sensors；Sensor is embedded on laser 3D printing system workbench face, wherein there are more than three photoelectric sensor upper surfaces parallel with work top, at least one photoelectric sensor protrudes from table plane, identification point is printed with or posts on each photoelectric sensor, identify dot center and photoelectric sensor upper surface center superposition, coordinate value of the laser 3D printing system according to the measurement coordinate value and identification point of identification point defect model inside laser 3D printing system, defect model and part registration to be repaired are directly automatically performed using " least square method " principle, this coordinate transformation method realizes the automatic conversion of defect model coordinate and part coordinate to be repaired, improve the reparation precision of part and repair success rate, the automatic reparation to being damaged parts can be realized.
Description
【Technical field】
The invention belongs to 3D printing technique, it is related to spare parts remanufacture technical field, and in particular to a kind of part was repaired
The coordinate transformation method of journey defect model.
【Background technology】
With the progress of society, resource consumption cumulative year after year, resource anxiety problem embodies already, therefore how to save
How the problem of resource rational utilization is faced as global range, while rapid economic development, accomplish that resource is maximum
The effective of limit utilizes one of the problem of turning into numerous scholar's research.Re-manufacturing technology is with to used facilities progress high-tech
Repair and transformation technology, waste and old equipment or parts can be made to recover its original function again, this is to economizing on resources, promoting
Economic development is significant.
Traditional re-manufacturing technology focuses primarily upon piece surface processing, damaged parts surface is sprayed, cladding etc.
Reason, then reverts to its original precision through over mechanical processing again.In addition also have and fracture the coarse of parts is remanufactured, first zero
Part is put on the table, and the continued face of fracture is horizontal, and then reverse comes out defect model, treating that reverse comes out
The type of repairing a die is input to inside repair system, and the printhead of 3D printing system is all around translated manually, and eye-observation makes defect mould
Whether type aligns with model to be repaired, and then unjustified just modification translational movement is observed again, untill being performed repeatedly until alignment, Ran Houjin
Row printing is repaired.
Either traditional mode that remanufactures can only carry out coating to surface, or beaten on the direct part to be repaired again without precision
(defect amount) is stamped, this repair mode can not accomplish accurate reparation, it is also possible to cause repairing failure part to be repaired is thoroughly scrapped；
For the reparation of high-precision part, not requiring nothing more than in repair process makes defect model and part precise alignment to be repaired, requires to repair again
Heat input is reduced during multiple, because heat input is bigger bigger to part matrix effect to be repaired, cumulative stress can be caused excessive
Cause the deformation of part to be repaired excessive, and tradition 3D Bead weld repairs are larger because of heat input, also can not be not to part base material to be repaired
Body tissue and performance, which have, accomplishes under the requirement of considerable influence into quasi- reparation, therefore for the higher part of required precision, tradition is repaiied
Compound formula has been difficult to tackle.
Prior art uses manual translation mode defect model is alignd with parts to be repaired substantially for fracture parts,
Traditional repair mode not only inefficiency and also repair precision can not also ensure that repairing quality also has much room for improvement.
【The content of the invention】
Present invention aims to overcome that there is provided a kind of part repair process defect model for the deficiency of prior art
Coordinate transformation method, the coordinate that defect model and part to be repaired can be achieved is unified automatically, realizes the accurate reparation of impaired parts.
To reach above-mentioned purpose, patent of the present invention, which is adopted the following technical scheme that, to be achieved：
A kind of coordinate transformation method of part repair process defect model,
The coordinate transformation method of the part repair process defect model of the present invention, prosthetic device includes laser 3D printing system
With more than four photoelectric sensors；Directly having abandoned the hand translation of traditional repair mode makes defect model and parts to be repaired
The primitive method of alignment, realizes the automatic conversion of coordinate system；Using laser 3D printing system, photoelectric sensor and mark are equipped with
Point methods, can precisely realize the coordinate unification between defect model and part to be repaired, realize the accurate reparation that part is remanufactured.Can be real
The automatic conversion of existing defect model coordinate and part coordinate to be repaired, improves the reparation precision of part and repairs success rate, and in fact
Now to the automatic reparation of impaired parts.Efficiency is not only improved, and improves reparation precision.
【Brief description of the drawings】
Fig. 1 is schematic three dimensional views of the present invention：
Wherein：1 it is laser red light, 2 be hot spot, 3 be workbench, 4 be photoelectric sensor, 5 is identification point.
【Embodiment】
The application particular content is described in detail below in conjunction with the drawings and specific embodiments.
With reference to Fig. 1, a kind of coordinate transformation method of part repair process defect model, including more than four photoelectric sensors
4, the identification point 5 of more than four, laser 3D printing system.Photoelectric sensor 4 is embedded in laser 3D printing system workbench 3.
Wherein there is the working face of more than three photoelectric sensors 4 parallel with the upper surface of workbench 3；At least one photoelectric sensor 4
Protrude from and be printed with or post identification point 5, the center of identification point 5 on the upper surface of workbench 3, each working face of photoelectric sensor 4
With the upper surface center superposition of photoelectric sensor 4, laser 3D printing system is according to the measurement coordinate value and mark of identification point defect model
Know coordinate value of the point inside laser 3D printing system, defect model is directly automatically performed with treating using " least square method " principle
Repair part registration.
On workbench in addition to the identification point for Coordinate Conversion that is upper or sticking is printed on photoelectric sensor, then stick
Some scanning reverse identification points, its identification point is identical with identification point classification with for Coordinate Conversion.
Part to be repaired is placed on workbench 3, part to be repaired is scanned using three-dimensional reverse measuring equipment, reverse goes out
Measurement model, measurement model compares output defect model with designing a model, and defect model is transferred to laser 3D printing system,
Coordinate value of the identification point inside three-dimensional reverse measuring equipment is transferred to laser 3D printing system reserve simultaneously.
Instruction light --- the feux rouges 1 of laser 3D printing system is opened during work, feux rouges 1 is by laser Machining head in workbench
Upper formation hot spot 2, by photoelectric sensor by system software controls motion, motion drives laser Machining head to make hot spot
2 move on workbench 3, under photoelectric sensor effect, feux rouges hot spot and the center of identification point 5 (center of photoelectric sensor 4) weight
Close, now record this coordinate value inside 3D printing system automatically by control software, record respectively in this way so mark
Know point coordinates value, store standby by software systems.
Identification point coordinate value and laser 3D printing system that laser 3D printing system is provided according to three-dimensional reverse measuring equipment
Coordinate value of the self registering identification point inside 3D printing system, laser 3D printing system is according to " three dimensions matrixing
Principle and least square method ", its circular is as follows：
1) demarcation measurement identification point
If the cartesian coordinate that certain is put in laser 3D printing system is (qx qy qz), and be by measuring obtained coordinate
(px py pz), in order to try to achieve the transition matrix from measurement space coordinate to 3D printing repair system space, it is necessary first to obtain mark
Know value of the point in laser 3D printing system space.
According to three dimensions matrixing principle and least square method, at least to be obtained in 3D printing repair system space
4 measurement identification point respective values could obtain correct transformation matrix.Here by mobile laser 3D printing system laser head,
And make hot spot to the method for locating tab assembly identification point to try to achieve measurement identification point in 3D printing task-oriented coordinates value.
2) transformation matrix of the measurement space to 3D printing space
If four dimensional vector Q of 3D printing repair system point are qx qy qz1, cartesian coordinate of the vector from the point
(qx qy qz), i.e., one three-dimensional vector is obtained.
Meanwhile, if the measurement space cartesian coordinate of the point is (px py pz), it can similarly obtain four dimensional vector px py pz
1, P is set to here.
Then according to space transformation matrix and Principle of Affine Transformation, 4 × 4 matrixes can be passed through；
Try to achieve coordinate of certain measurement point in laser 3D printing system space.
Q=RP (formula 2-2)
I.e.
Here set：
It can then be obtained by (formula 2-3)
R1px+R2py+R3pz+Rt=Q (formula 2-5)
According to principle of least square method, laser 3D printing system calibrating point value Q and basis are measured herein by laser head
This calculates obtained value Q in the value of measurement space/Deviation the minimum optimization foundation of quadratic sum.
It is Q wherein to calculate obtained point/=RP, the quadratic sum of deviation is
Here by multiple identification points measurement space value Qi(i=0,1 ... it is n) and empty in laser 3D printing system
Between value pi(i=0,1 ..., n) carry out least-squares calculation, and wherein n is carries out of least square fitting sample identification point
Number.
According to formula (formula 2-5), calculated by calibration point in the value of measurement space and obtain certain point in laser 3D printing system sky
Between value be：
Value by the actual measurement of laser head is
Understand to seek R by above formula1, R2, R3, RtFour unknown quantitys, you can try to achieve transition matrix.In order that square of deviation
And minimum, local derviation calculating is carried out to deviation here：
Using formula 4-8 respectively to R1, R2, R3, RtLocal derviation calculating is carried out, can be obtained
Formula 4-9, which is simplified, to be obtained：
I.e.：
Being expressed as multiplication of vectors form can obtain：
Transition matrix R is proposed to obtain
3) model coordinate is changed
Obtained by least square method after transition matrix R from measurement space can be transformed into laser 3D printing system by model
Space.If it is (p that measurement, which obtains certain point measurement space coordinate on model,x py pz), then this is in laser 3D printing system space
It is worth (qx qy qz) can pass through：
Obtain, i.e. Q=RP.
Each summit progress Coordinate Conversion so to model can be by model conversion to laser 3D printing system space.
Calculated automatically using above-mentioned algorithm laser 3D printing system, complete the measurement coordinate system and to be repaired zero of defect model
The conversion of the laser 3D printing system of part is unified, and the laser 3D printing of measurement coordinate transformation into the part to be repaired of measurement model is sat
Mark, realizes the Accurate align of defect model and parts to be repaired, is then turned on working laser, laser 3D printing system is printed
Repair, complete the accurate reparation to damaging parts.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements done etc. should be included within the scope of the present invention.
Claims (3)
1. a kind of coordinate transformation method of part repair process defect model, it is characterised in that：Prosthetic device is beaten including laser 3D
Print system and more than four photoelectric sensors (4)；Photoelectric sensor (4) is embedded on the work top of laser 3D printing system,
Wherein there is more than three photoelectric sensor (4) upper surface parallel with work top, at least one photoelectric sensor (4) protrusion
In table plane, each photoelectric sensor (4) working face is provided with identification point (5), identification point (5) center and photoelectric sensor
(4) upper surface center superposition；
Part to be repaired is placed on the workbench of laser 3D printing system (3), using three-dimensional reverse measuring equipment to part to be repaired
It is scanned, reverse goes out measurement model, measurement model is compared into output defect model with designing a model, and defect model is transmitted
Laser 3D printing system is given, is beaten while coordinate value of the identification point (5) inside three-dimensional reverse measuring equipment is transferred to laser 3D
Print system, laser 3D printing system is calculated automatically by three dimensions matrixing principle and least square method, completes defect mould
The conversion of the measurement coordinate system of type and the laser 3D printing system of part to be repaired is unified, the measurement coordinate transformation of measurement model
Into the laser 3D printing coordinate of part to be repaired, the Accurate align of defect model and parts to be repaired is realized.
2. a kind of coordinate transformation method of part repair process defect model according to claim 1, it is characterised in that：Swash
The work top of light 3D printing system is provided with some scanning reverse identification points.
3. a kind of coordinate transformation method of part repair process defect model according to claim 1, it is characterised in that：Swash
The laser red light (1) of light 3D printing system forms hot spot (2) on workbench (3), and system software control is passed through by photoelectric sensor
Motion processed, motion drives laser Machining head hot spot (2) is moved on workbench (3), in photoelectric sensor effect
Under, feux rouges hot spot and identification point (5) center superposition are now recorded the identification point (5) in 3D printing system automatically by control software
The coordinate value of the inside, records the coordinate value of all identification points (5) respectively in this way, stores standby by software systems.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108339984A (en) * | 2018-04-28 | 2018-07-31 | 攀钢集团攀枝花钢铁研究院有限公司 | The method of forge piece surface growth labyrinth based on silk material 3D printing |
| CN111032253A (en) * | 2017-08-30 | 2020-04-17 | 西门子股份公司 | Method for additive manufacturing of tip structures on pre-existing parts |
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| WO2016044352A1 (en) * | 2014-09-15 | 2016-03-24 | Conformis, Inc. | 3d printing surgical repair systems |
| CN105598450A (en) * | 2016-02-02 | 2016-05-25 | 陕西天元智能再制造股份有限公司 | Laser three-dimensional profiling repair method for damaged components and parts |
| CN106273492A (en) * | 2016-08-25 | 2017-01-04 | 芜湖思瑞迪三维科技有限公司 | A kind of method based on 3 D-printing repair products |
| CN106270501A (en) * | 2016-08-30 | 2017-01-04 | 西安铂力特激光成形技术有限公司 | A kind of 3D prints cross-sections match method, combined shaping method and cross section restorative procedure |
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2017
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016044352A1 (en) * | 2014-09-15 | 2016-03-24 | Conformis, Inc. | 3d printing surgical repair systems |
| CN105598450A (en) * | 2016-02-02 | 2016-05-25 | 陕西天元智能再制造股份有限公司 | Laser three-dimensional profiling repair method for damaged components and parts |
| CN106273492A (en) * | 2016-08-25 | 2017-01-04 | 芜湖思瑞迪三维科技有限公司 | A kind of method based on 3 D-printing repair products |
| CN106270501A (en) * | 2016-08-30 | 2017-01-04 | 西安铂力特激光成形技术有限公司 | A kind of 3D prints cross-sections match method, combined shaping method and cross section restorative procedure |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111032253A (en) * | 2017-08-30 | 2020-04-17 | 西门子股份公司 | Method for additive manufacturing of tip structures on pre-existing parts |
| US11305353B2 (en) | 2017-08-30 | 2022-04-19 | Siemens Energy Global GmbH & Co. KG | Method for additively manufacturing a tip structure on a pre-existing part |
| CN108339984A (en) * | 2018-04-28 | 2018-07-31 | 攀钢集团攀枝花钢铁研究院有限公司 | The method of forge piece surface growth labyrinth based on silk material 3D printing |
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| CN107009611B (en) | 2019-04-16 |
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