CN111435400A - Part repairing method and device and 3D printer - Google Patents
Part repairing method and device and 3D printer Download PDFInfo
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- CN111435400A CN111435400A CN201811598871.2A CN201811598871A CN111435400A CN 111435400 A CN111435400 A CN 111435400A CN 201811598871 A CN201811598871 A CN 201811598871A CN 111435400 A CN111435400 A CN 111435400A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000008439 repair process Effects 0.000 claims abstract description 28
- 238000010146 3D printing Methods 0.000 claims abstract description 26
- 238000005516 engineering process Methods 0.000 claims abstract description 24
- 230000008569 process Effects 0.000 claims abstract description 17
- 238000007639 printing Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
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Abstract
The application relates to the technical field of die repair, and particularly discloses a part repair method, a part repair device and a 3D printer, wherein the method comprises the steps of obtaining relevant data of a complete part corresponding to a part to be repaired, and establishing an original model of the complete part according to the relevant data; scanning the part to be repaired through a vision technology, and establishing a wear model of the part to be repaired; fitting the wear model and the original model according to a fitting algorithm to obtain a model to be repaired of the missing part of the part to be repaired; and analyzing the contour data of the model to be repaired to perform 3D printing on the part to be repaired according to the contour data to obtain a complete part. In the process, the 3D printing technology and the vision technology are combined together, models of different parts of the part are respectively built, the part is repaired according to the built models, and the accurate and efficient part repairing process is realized.
Description
Technical Field
The application relates to the technical field of die repair, in particular to a part repair method, a part repair device and a 3D printer.
Background
With the progress of science and technology, 3D printing technology has been rapidly developed in recent years, and 3D printing technology has been applied to a plurality of fields such as aerospace, medical treatment, education, service and the like. The various devices in the various fields described above have different component compositions, such as metal components. The metal parts are mostly manually repaired or semi-automatically repaired when being worn and repaired. The manual repair has low working efficiency and low repair precision and has certain danger to maintenance personnel. Particularly, when parts needing to be repaired in a large area and multiple areas are repaired, the tedious repairing process is easy to cause fatigue; smoke may be generated in the repairing process, and the health of repairing personnel is harmed. In addition, the parts are damaged in various conditions, the repair difficulty degree is different, the repair difficulty is higher for the repair of the complex curved surface, the error is also large when manual repair is carried out manually, and a large amount of processing work is needed after the repair.
Disclosure of Invention
In view of this, the embodiment of the application provides a part repairing method, a part repairing device and a 3D printer, so as to solve the problems that in the prior art, a damaged part is repaired manually, the repairing efficiency and precision are low, and the cost is high.
A first aspect of an embodiment of the present application provides a method for repairing a part, where the method for repairing a part includes:
acquiring relevant data of a complete part corresponding to the part to be repaired, and establishing an original model of the complete part according to the relevant data.
And scanning the part to be repaired through a vision technology, and establishing a wear model of the part to be repaired.
And fitting the wear model and the original model according to a fitting algorithm to obtain a model to be repaired of the missing part of the part to be repaired.
And analyzing the contour data of the model to be repaired to perform 3D printing on the part to be repaired according to the contour data to obtain a complete part.
Optionally, the scanning the part to be repaired by a visual technique to establish a wear model of the part to be repaired includes:
and selecting a reference point when the part to be repaired is scanned.
And carrying out multi-azimuth scanning on the part to be repaired from the datum point to obtain point cloud data of the part to be repaired.
And obtaining feature point data of the part to be repaired from the point cloud data so as to establish the wear model according to the feature point data.
Optionally, the fitting the wear model and the original model according to a fitting algorithm to obtain a model to be repaired of the missing part of the part to be repaired includes:
and fitting the reference points of the wear model and the reference points of the original model to enable the coordinate origin points of the coordinate systems of the wear model and the original model to be coincident.
And adjusting the orientations of the wear model and the original model to enable the coordinate systems of the wear model and the original model to be coincident.
And carrying out difference set operation on the wear model and the original model to obtain a difference set data set so as to generate the model to be repaired according to the difference set data set.
Optionally, the analyzing the profile data of the model to be repaired includes:
and slicing the model to be repaired to obtain a plurality of blocks of the model to be repaired.
And detecting the contour data of each block to obtain the contour data of the model to be repaired.
Optionally, the 3D printing the part to be repaired according to the profile data to obtain a complete part includes:
and calculating a printing path and a filling path of the model to be repaired according to the contour data.
And executing the printing process of the model to be repaired according to the printing path and the filling path to obtain a complete part.
A second aspect of embodiments of the present application provides a repair apparatus for a part, including:
the model establishing module is used for acquiring relevant data of a complete part corresponding to the part to be repaired and establishing an original model of the complete part according to the relevant data; and the method is also used for scanning the part to be repaired through a vision technology and establishing a wear model of the part to be repaired.
And the fitting module is used for fitting the wear model and the original model according to a fitting algorithm to obtain a model to be repaired of the missing part of the part to be repaired.
And the printing module is used for analyzing the contour data of the model to be repaired so as to perform 3D printing on the part to be repaired according to the contour data to obtain a complete part.
Optionally, the model building module is specifically configured to:
and selecting a reference point when the part to be repaired is scanned.
And carrying out multi-azimuth scanning on the part to be repaired from the datum point to obtain point cloud data of the part to be repaired.
And obtaining feature point data of the part to be repaired from the point cloud data so as to establish the wear model according to the feature point data.
Optionally, the fitting module is specifically configured to:
and fitting the reference points of the wear model and the reference points of the original model to enable the coordinate origin points of the coordinate systems of the wear model and the original model to be coincident.
And adjusting the orientations of the wear model and the original model to enable the coordinate systems of the wear model and the original model to be coincident.
And carrying out difference set operation on the wear model and the original model to obtain a difference set data set so as to generate the model to be repaired according to the difference set data set.
Optionally, the execution module is specifically configured to:
and slicing the model to be repaired to obtain a plurality of blocks of the model to be repaired.
And detecting the contour data of each block to obtain the contour data of the model to be repaired.
A third aspect of embodiments of the present application provides a 3D printer, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of any one of the methods for repairing a part according to the first aspect.
When the parts are repaired, an original model of the complete parts is established, the worn parts are scanned through a vision technology, a wear model is established, the two models are fitted to obtain a model to be repaired, and therefore 3D printing is conducted on the worn parts according to the outline data of the model to be repaired, and the parts are repaired. In the process, the 3D printing technology and the vision technology are combined together, models of different parts of the part are respectively built, the part is repaired according to the built models, and the accurate and efficient part repairing process is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below.
FIG. 1 is a schematic flow chart illustrating an implementation of a method for repairing a part according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of establishing a wear model of the part to be repaired according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of an implementation process for calculating a model to be repaired according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a model created in a method for repairing a part according to another embodiment of the present application;
FIG. 5 is a schematic view of a repair apparatus for a part according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of a 3D printer provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and do not constitute a limitation on the application.
When the parts are repaired, an original model of the complete parts is established, the worn parts are scanned through a vision technology, a wear model is established, the two models are fitted to obtain a model to be repaired, and therefore 3D printing is conducted on the worn parts according to the outline data of the model to be repaired, and the parts are repaired.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 shows a schematic implementation flow chart of a repair method for a part provided by an embodiment of the present application, including steps S11-S14, where:
and step S11, acquiring relevant data of the complete part corresponding to the part to be repaired, and establishing an original model of the complete part according to the relevant data.
In the embodiment provided by the application, for a part to be repaired, relevant data of the part to be repaired when the part is complete, such as length, width, height, material, density and the like of the complete part, is acquired, and three-dimensional modeling is performed on the data according to the acquired data, so as to establish an original model M1 of the complete part.
And step S12, scanning the part to be repaired through a vision technology, and establishing a wear model of the part to be repaired.
In the step, a part (namely, a part to be repaired) which is worn is scanned in three dimensions through a vision technology, point cloud data of the part to be repaired is obtained, the point cloud data comprises size data of each part to be repaired, and then a wear model M2 of the part to be repaired is established through modeling analysis on the point cloud data.
And step S13, fitting the wear model and the original model according to a fitting algorithm to obtain a model to be repaired of the missing part of the part to be repaired.
In the embodiment provided by the application, fitting points for fitting the original model M1 and the wear model M2 are selected, and a model M3 to be repaired of a missing/worn part of a part is calculated by fitting analysis of the original model M1 and the wear model M2 through a fitting algorithm.
And step S14, analyzing the contour data of the model to be repaired, and performing 3D printing on the part to be repaired according to the contour data to obtain a complete part.
Optionally, in another embodiment provided by the present application, the analyzing the contour data of the model to be repaired includes:
slicing the model to be repaired to obtain a plurality of blocks of the model to be repaired;
and detecting the contour data of each block to obtain the contour data of the model to be repaired.
In the step, the model M3 to be repaired is printed on the area to be repaired so as to realize high-precision repair of the part to be repaired. Specifically, the model M3 to be repaired is sent to 3D printing slicing software, and the 3D printing slicing software slices the model M3 to be repaired to obtain contour data of M3; and secondly, performing path planning processing on the contour to obtain a filling path, and finally sending the contour data, the filling path and the configuration parameter information to a motion control mechanism. The control execution mechanism is composed of a controller and an execution mechanism, the controller receives the 3D printing control command, the execution mechanism is controlled to move, and the repair of the part to be repaired is achieved.
Optionally, in another embodiment provided by the present application, the 3D printing the part to be repaired according to the profile data to obtain a complete part includes:
calculating a printing path and a filling path of the model to be repaired according to the contour data;
and executing the printing process of the model to be repaired according to the printing path and the filling path to obtain a complete part.
In the step, data analysis and slicing are carried out on the model M3 to be repaired to obtain the contour data information of the model M3 to be repaired; secondly, planning a path of the M3 according to the repair process parameters to obtain path data information and filling path information; and finally, sending the data information to a control system so that the control system performs 3D printing according to the determined path.
When the parts are repaired, an original model of the complete parts is established, the worn parts are scanned through a vision technology, a wear model is established, the two models are fitted to obtain a model to be repaired, and therefore 3D printing is conducted on the worn parts according to the outline data of the model to be repaired, and the parts are repaired. In the process, the 3D printing technology and the vision technology are combined together, models of different parts of the part are respectively built, the part is repaired according to the built models, and the accurate and efficient part repairing process is realized.
Optionally, fig. 2 shows a flowchart of an implementation of scanning the part to be repaired by a visual technique and establishing a wear model of the part to be repaired in another embodiment provided by the present application, including the following steps:
step S21, selecting a reference point when the part to be repaired is scanned;
step S22, carrying out multi-azimuth scanning on the part to be repaired from the datum point to obtain point cloud data of the part to be repaired;
and step S23, obtaining feature point data of the part to be repaired from the point cloud data, and establishing the wear model according to the feature point data.
In the embodiment, firstly, a scanning datum point is set on a part to be repaired so as to be matched with the original model M1 in a model manner; then, multi-azimuth scanning is carried out on the part to be repaired to generate point cloud data; and performing data processing on the point cloud data obtained by scanning again, for example: and filtering repeated points, similar points, interference points, error points and irrelevant points to obtain point cloud data capable of representing all characteristic points and curved surfaces of the scanned model, and finally converting the point cloud data of the characteristic points and the curved surfaces to generate a wear model M2 of the part to be repaired.
Optionally, fig. 3 shows a flowchart of implementing the fitting of the wear model and the original model according to a fitting algorithm to obtain a model to be repaired of the missing part of the part to be repaired in another embodiment provided by the present application, including the following steps:
step S31, fitting the reference point of the wear model and the reference point of the original model to enable the coordinate origin of the coordinate systems of the wear model and the reference point of the original model to coincide;
step S32, adjusting the orientations of the wear model and the original model to make the coordinate systems of the wear model and the original model coincide;
and step S33, performing difference set operation on the wear model and the original model to obtain a difference set data set, and generating the model to be repaired according to the difference set data set.
In the embodiment, the datum points of the original model M1 and the wear model M2 are firstly fitted, so that the origins of the coordinate systems of the two models are coincident; secondly, adjusting the orientations of the original model M1 and the wear model M2 to ensure that the coordinate systems of the two models are overlapped; then, carrying out difference set operation on the original model M1 and the wear model M2 to obtain a difference set data set; finally, a three-dimensional model M3 is generated from the difference set data set.
The part repairing method can enable the same maintenance worker to operate multiple automatic devices simultaneously, and not only can improve working efficiency and reduce investment of personnel cost, but also can improve repairing precision. Meanwhile, the problem that smoke dust generated during manual part repair has harm to the health of maintenance personnel is solved.
Example two:
FIG. 4 is a schematic diagram illustrating a model created in a method for repairing a part according to another embodiment of the present application, as shown in the figure: establishing a three-dimensional model M1 of an unbroken part corresponding to the broken part through three-dimensional modeling software, and simultaneously performing scanning modeling on the broken metal part through a vision technology to establish a wear model M2 of the broken part; calculating a three-dimensional model M3 of a position needing to be repaired through a model fitting algorithm, namely a model M3 to be repaired, sending M3 to a 3D printing processing program, obtaining contour information of M3 through the 3D printing processing program, and obtaining filling path information of M3 according to repair process parameters and a repair mode; and finally, converting the repair data information into control information, and sending the control information to a motion control driver, so that an actuating mechanism is driven to move according to a specified track, and the repair process is realized.
Example three:
fig. 5 is a schematic structural diagram illustrating a repair apparatus for a part according to another embodiment of the present application, the repair system for a part including:
the model establishing module 51 is configured to obtain relevant data of a complete part corresponding to a part to be repaired, and establish an original model of the complete part according to the relevant data; and the method is also used for scanning the part to be repaired through a vision technology and establishing a wear model of the part to be repaired.
And the fitting module 52 is configured to fit the wear model and the original model according to a fitting algorithm to obtain a model to be repaired of the missing part of the part to be repaired.
And the printing module 53 is configured to analyze the contour data of the model to be repaired, so as to perform 3D printing on the part to be repaired according to the contour data, thereby obtaining a complete part.
Optionally, the model building module 51 is specifically configured to:
and selecting a reference point when the part to be repaired is scanned.
And carrying out multi-azimuth scanning on the part to be repaired from the datum point to obtain point cloud data of the part to be repaired.
And obtaining feature point data of the part to be repaired from the point cloud data so as to establish the wear model according to the feature point data.
Optionally, the fitting module 52 is specifically configured to:
and fitting the reference points of the wear model and the reference points of the original model to enable the coordinate origin points of the coordinate systems of the wear model and the original model to be coincident.
And adjusting the orientations of the wear model and the original model to enable the coordinate systems of the wear model and the original model to be coincident.
And carrying out difference set operation on the wear model and the original model to obtain a difference set data set so as to generate the model to be repaired according to the difference set data set.
Optionally, the executing module 53 is specifically configured to:
and slicing the model to be repaired to obtain a plurality of blocks of the model to be repaired.
And detecting the contour data of each block to obtain the contour data of the model to be repaired.
Optionally, the executing module 53 is further configured to:
calculating a printing path and a filling path of the model to be repaired according to the contour data;
and executing the printing process of the model to be repaired according to the printing path and the filling path to obtain a complete part.
When the parts are repaired, an original model of the complete parts is established, the worn parts are scanned through a vision technology, a wear model is established, the two models are fitted to obtain a model to be repaired, and therefore 3D printing is conducted on the worn parts according to the outline data of the model to be repaired, and the parts are repaired. In the process, the 3D printing technology and the vision technology are combined together, models of different parts of the part are respectively built, the part is repaired according to the built models, and the accurate and efficient part repairing process is realized.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Example four:
fig. 6 shows a schematic structural diagram of a 3D printer provided in an embodiment of the present application, where the 3D printer 6 of the embodiment includes: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60, such as a program in a software upgrade method. The processor 60 implements the steps in the above-described respective software upgrading method embodiments, such as steps S21 to S23 shown in fig. 2, when executing the computer program 62, and the processor 60 implements the procedures in steps S21 to S23 shown in fig. 2 when executing the computer program 62.
The 3D printer 6 may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of the 3D printer 6, and does not constitute a limitation of the 3D printer 6, and may include more or less components than those shown, or combine certain components, or different components, for example, the 3D printer 6 may further include input and output devices, network access devices, buses, and the like.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Claims (10)
1. A method of repairing a part, the method comprising:
acquiring relevant data of a complete part corresponding to a part to be repaired, and establishing an original model of the complete part according to the relevant data;
scanning the part to be repaired through a vision technology, and establishing a wear model of the part to be repaired;
fitting the wear model and the original model according to a fitting algorithm to obtain a model to be repaired of the missing part of the part to be repaired;
and analyzing the contour data of the model to be repaired to perform 3D printing on the part to be repaired according to the contour data to obtain a complete part.
2. A method of repairing a part as claimed in claim 1, wherein said creating a wear model of said part to be repaired by visually scanning said part to be repaired comprises:
selecting a reference point when the part to be repaired is scanned;
carrying out multi-azimuth scanning on the part to be repaired from the reference point to obtain point cloud data of the part to be repaired;
and obtaining feature point data of the part to be repaired from the point cloud data so as to establish the wear model according to the feature point data.
3. A method for repairing a part as claimed in claim 1 or 2, wherein said fitting said wear model and said original model according to a fitting algorithm to obtain a model to be repaired of said missing part of the part to be repaired comprises:
fitting the reference point of the wear model and the reference point of the original model to enable the coordinate origin points of the coordinate systems of the wear model and the original model to be coincident;
adjusting the orientations of the wear model and the original model to enable coordinate systems of the wear model and the original model to be overlapped;
and carrying out difference set operation on the wear model and the original model to obtain a difference set data set so as to generate the model to be repaired according to the difference set data set.
4. A method of repairing a part as recited in claim 1, wherein said analyzing profile data of said model to be repaired comprises:
slicing the model to be repaired to obtain a plurality of blocks of the model to be repaired;
and detecting the contour data of each block to obtain the contour data of the model to be repaired.
5. The part repairing method according to claim 1 or 4, wherein the 3D printing of the part to be repaired according to the profile data to obtain a complete part comprises:
calculating a printing path and a filling path of the model to be repaired according to the contour data;
and executing the printing process of the model to be repaired according to the printing path and the filling path to obtain a complete part.
6. A repair device for a part, comprising:
the model establishing module is used for acquiring relevant data of a complete part corresponding to the part to be repaired and establishing an original model of the complete part according to the relevant data; the part to be repaired is scanned through a vision technology, and a wear model of the part to be repaired is established;
the fitting module is used for fitting the wear model and the original model according to a fitting algorithm to obtain a model to be repaired of the missing part of the part to be repaired;
and the printing module is used for analyzing the contour data of the model to be repaired so as to perform 3D printing on the part to be repaired according to the contour data to obtain a complete part.
7. The repair apparatus for a part of claim 6, wherein the model building module is specifically configured to:
selecting a reference point when the part to be repaired is scanned;
carrying out multi-azimuth scanning on the part to be repaired from the reference point to obtain point cloud data of the part to be repaired;
and obtaining feature point data of the part to be repaired from the point cloud data so as to establish the wear model according to the feature point data.
8. The device for repairing a part of claim 6 or 7, wherein said fitting module is specifically configured to:
fitting the reference point of the wear model and the reference point of the original model to enable the coordinate origin points of the coordinate systems of the wear model and the original model to be coincident;
adjusting the orientations of the wear model and the original model to enable coordinate systems of the wear model and the original model to be overlapped;
and carrying out difference set operation on the wear model and the original model to obtain a difference set data set so as to generate the model to be repaired according to the difference set data set.
9. The device for repairing a part of claim 6, wherein said execution module is specifically configured to:
slicing the model to be repaired to obtain a plurality of blocks of the model to be repaired;
and detecting the contour data of each block to obtain the contour data of the model to be repaired.
10. A 3D printer comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 5 when executing the computer program.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811598871.2A CN111435400A (en) | 2018-12-26 | 2018-12-26 | Part repairing method and device and 3D printer |
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| CN201811598871.2A CN111435400A (en) | 2018-12-26 | 2018-12-26 | Part repairing method and device and 3D printer |
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| CN111435400A true CN111435400A (en) | 2020-07-21 |
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| CN112132161A (en) * | 2020-09-07 | 2020-12-25 | 桂林电子科技大学 | Method, apparatus and computer-readable storage medium for repairing worn parts |
| CN112132160A (en) * | 2020-09-07 | 2020-12-25 | 桂林电子科技大学 | Method, apparatus and computer-readable storage medium for repairing damaged parts |
| CN114318064A (en) * | 2021-12-29 | 2022-04-12 | 河南机电职业学院 | Nickel-based metal powder, and repair method and application of turbine blade |
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| CN112132161A (en) * | 2020-09-07 | 2020-12-25 | 桂林电子科技大学 | Method, apparatus and computer-readable storage medium for repairing worn parts |
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