CN206415882U - A kind of increase and decrease material composite manufacture device of large format parts - Google Patents

A kind of increase and decrease material composite manufacture device of large format parts Download PDF

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Publication number
CN206415882U
CN206415882U CN201621156097.6U CN201621156097U CN206415882U CN 206415882 U CN206415882 U CN 206415882U CN 201621156097 U CN201621156097 U CN 201621156097U CN 206415882 U CN206415882 U CN 206415882U
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CN
China
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increasing
robot
equipment
increase
decrease
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CN201621156097.6U
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Chinese (zh)
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曾晓雁
张帅
王福德
高明
曹嘉明
张臣
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华中科技大学
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Abstract

The utility model discloses a kind of increase and decrease material composite manufacture device of large format parts, including lathe bed, multiple six degree of freedoms for increasing material manufacturing are installed on lathe bed and hang upside down robot and five-axis linkage planer type milling machine, multiple projecting robots are distributed in around the milling head of planer-type milling machine;Projecting robot is provided with increasing material manufacturing equipment, and used thermal source can be high-power laser beam or electric arc;Increasing material manufacturing equipment carries out the manufacture of single or multiple lift blank body on workbench, and planer-type milling machine milling head is finished and repaired to the blank body of single or multiple lift.The utility model overcomes the difficulty and deficiency of the increases material manufacturing technology in terms of size and dimension of large format complex partses Milling Process.Meanwhile, increasing material manufacturing technique and subtract manufacture process and both can independently carry out, also separated regions shapes simultaneously.Integration of equipmentsization is high, and Collaborative Control is easy to operate, can realize the rapidly and efficiently precision form of the integration to large format and super large breadth complex partses.

Description

A kind of increase and decrease material composite manufacture device of large format parts

Technical field

The utility model is related to increase and decrease material composite manufacture device technical field, more particularly to multiple electric arcs increase material or laser is molten Change deposition and increase material and gantry mill composite manufacturing large format complex partses equipment.

Background technology

Electric arc increasing material manufacturing is to be melted metal wire material using electric arc thermal source, and the principle successively accumulated according to dispersed material Carry out forming metal parts.Laser Melting Deposition increasing material manufacturing be using high-power laser beam by fusion of metal powder, be also according to The principle that dispersed material is successively accumulated carrys out forming metal parts.

Compared with conventionally manufactured, increases material manufacturing technology is to realize complex parts by face increase mode with material pointwise by-line The technical process of stack shaping.Compared with other metal increasing material manufacturings, electric arc increases material manufacturing technology equipment cost is low, shaping efficiency High, stock utilization is high, environmental requirement is low, forming part consistency is high, metallurgical comprehensive function admirable the advantages of.

But, electric arc increasing material manufacturing was carried out in the way of the high temperature fluent metal droplet transfer, was had in forming process The presence of liquid state molten pool so that the edge configuration of part and the control of overall dimensions are relatively difficult, so as to cause formation of parts Dimensional accuracy and surface quality are poor.

On the other hand, developed in recent years based on automatic powder feeding Laser Melting Deposition increases material manufacturing technology also very rapid.But It is exactly that dimensional accuracy is relatively low to be, the problem of technology has similar with electric arc increases material manufacturing technology.How essence is further improved Degree, also as determine the technology can large-scale industrial application key.

Currently, to solve problem above, patent CN104384936, CN105414981, CN105290789 etc. increases electric arc The end of material manufacturing equipment is integrated into numerical control milling main shaft up, is manufactured with the alternating for realizing increase and decrease material, can partly solve zero The secondary operation clamping of part is difficult.But, exist positioning it is inaccurate, the dimensional accuracy and surface quality of molded parts are poor. For the parts thereof that internal structure is complicated, cutter is difficult to process in place.German DMG companies by Laser Melting Deposition technology with Five-axis numerical control milling machine is combined, and can increase substantially the precision of laser gain material manufacture, and achievement is notable.But, it can adapt to Metallic element size it is relatively small.In addition, patent (CN105574254), which proposes one kind single machine people, realizes increase and decrease The method of material composite manufacturing, effectively extends the size of molded parts, but forming efficiency is still relatively low.

Especially for the finishing of large format complex partses, above-mentioned increase and decrease material equipment operation is complicated, increasing material manufacturing It can only separate and carry out with Milling Process, processing efficiency is relatively low.Meanwhile, making space and the free degree to increasing material manufacturing equipment have very Big limitation, additionally, due to being limited to the insufficient rigidity of robot in itself, the Milling Accuracy of robot and less efficient.So, Above-mentioned increase and decrease material apparatus and method are difficult to meet the requirement of manufacture large format complex partses size and complexity.

Utility model content

The purpose of this utility model is the increase and decrease material composite manufacture device for providing a kind of large format parts, it is intended to solve The parts size precision and surface quality of existing increases material manufacturing technology processing are poor, and the finishing of large format complex partses is difficult With carry out the problem of.The thermal source being adapted to both can be the shaping of electric arc fuse or the laser fusion based on automatic powder feeding Shaping.

The utility model is achieved in that a kind of increase and decrease material composite manufacture device, it is characterised in that wraps it and includes lathe bed, Multiple six degree of freedoms for increasing material manufacturing are installed on the lathe bed and hang upside down robot and multi-shaft interlocked planer-type milling machine;It is described many Individual projecting robot is distributed in around the milling head of the multi-shaft interlocked planer-type milling machine;Multiple projecting robots are provided with increasing Material equipment;Multiple increasing material equipment carry out subregion collaboration increasing material manufacturing on workbench;The milling of the planer-type milling machine Head is finished and repaired to the blank body of single or multiple lift, and both interact or carried out simultaneously until completing whole parts Manufacture;Described multiple projecting robots carry out Collaborative Control, described robot control by common robot controller Controller in device processed and described increasing material equipment is communicated, and realizes the automation of increasing material manufacturing, described robot control The digital control system of device and five-axis linkage planer type milling machine is communicated, and the two carries out cooperative motion.

Further, different according to used thermal source, increasing material equipment can be divided into electric arc increasing material manufacturing equipment and laser is molten Change deposition increasing material manufacturing equipment.

The electric arc, which increases material equipment, includes welding machine, wire feeder, welding gun and welding machine controller, and the welding gun is arranged on multiple In the end flange of the projecting robot, wire feeder is used to provide solder for welding machine, and the protection gas for carrying or matching somebody with somebody outside is Welding region provides protective atmosphere, and welding machine controller is used for the setting for carrying out electric arc increasing material manufacturing technological parameter, while protecting gas Switch be controlled, butt welding machine and wire feeder are controlled in real time.

The Laser Melting Deposition, which increases material equipment, includes laser, laser controller, coaxial powder-feeding nozzle and powder feeder, The coaxial powder-feeding nozzle is arranged in the end flange of multiple projecting robots;Powder feeder is used to carry to increase material equipment For metal dust, the protection gas for carrying or matching somebody with somebody outside provides protective atmosphere for melting range, and laser controller is used to carry out laser The setting of device parameter, while being controlled to the switch for protecting gas.

Further, described multiple projecting robots carry out Collaborative Control by common controller, and multiple robots can To be divided the work according to the different feature of part, according to task and the complexity of feature, make rational planning for each robot Shaping track, realize robot work maximal efficiency;Described robot controller and described welding machine controller (laser Device controller) communicated, realize increasing material manufacturing jointly, corresponding welding machine controller (laser controller) root of each robot Carry out setting respective technological parameter and material according to the part feature section distributed, different technical parameters can be met and worked simultaneously, Combined shaping while different materials, realizes the flexibility manufacture of increasing material manufacturing;Described robot controller and planer-type milling machine Digital control system communicated, the two according to the thermo parameters method of formed blank carry out cooperative motion, realize that composite manufacturing is set Standby high efficiency, high accuracy work.

Compared with prior art, the increase and decrease material composite manufacture device for a kind of large format parts that the utility model is provided, Behind multiple increasing material manufacturings projecting robot subregion successively Collaborative Manufacturing, using the milling head of planer-type milling machine to multiple individual layers Or multilayer blank body carries out Milling Process, circulating repetition until parts machining is finished, the increase and decrease material composite manufacture device will be passed The removal formula Precision Machining based on milling of system becomes one with the increment manufacturing process based on increasing material manufacturing, Ji Nengke Defect of the simple increases material manufacturing technology in terms of dimensional accuracy and surface quality is taken, Milling Process can also be overcome to zero Restriction in terms of part complexity, so, then need not carry out secondary operation, it is to avoid post-production is filled to the part after processing The problem of part occurs deforming and is difficult to when pressing from both sides big difficult, mismachining tolerance, processing, is the application band of increases material manufacturing technology More wide application space is come, new method and hand is provided for the manufacturing of aerospace industries core precision parts Section;And for the part of super large breadth, then multiple increasing material manufacturing equipment can be made full use of to carry out subregion Combined process, then profit Multiple single or multiple lift blank bodies of formation are finished etc. with planer-type milling machine, so as to realize to arbitrary structures parts High accuracy, high efficiency of forming.

Compared with existing increase and decrease material composite manufacture device, a kind of increase and decrease for large format parts that the utility model is provided Material composite manufacture device, for the manufacture of large format or the complex partses of super large breadth, described increasing material equipment can be cleverer Ground and planer-type milling machine living carry out coordinated or autonomous working, and equipment control operation is convenient;Meanwhile, can be according to the knots of parts Structure, increasing material manufacturing equipment can be simultaneously processed with subregion, greatly improve processing efficiency;Multiple described projecting machines People can also give full play to flexibility and the scalability of increasing material manufacturing equipment, meet the complexity zero of large format especially super large breadth The manufacture requirement of part dimension and complexity.

Brief description of the drawings

Fig. 1 is the beam track planning of dual robots of increase and decrease material composite manufacture device single-column three of large format parts in the utility model embodiment The schematic diagram of people's structure;

Fig. 2 is the electric arc increasing material manufacturing of the increase and decrease material composite manufacture device of large format parts in the utility model embodiment The composition schematic diagram of group;

Fig. 3 is the beam track planning of dual robots of three post of increase and decrease material composite manufacture device three of large format parts in the utility model embodiment The schematic diagram of people's structure;

Fig. 4 is the machine of three beam of increase and decrease material three post of composite manufacture device four of large format parts in the utility model embodiment The schematic diagram of people's structure;

Fig. 5 is the machine of three beam of increase and decrease material composite manufacture device single-column four of large format parts in the utility model embodiment The schematic diagram of people's structure;

Fig. 6 is the increase and decrease material composite manufacture device band shaping chamber structure of large format parts in the utility model embodiment Schematic diagram;

Fig. 7 is the electric arc increasing material manufacturing equipment single-column single-beam dual robot of large format parts in the utility model embodiment The schematic diagram of structure;

Fig. 8 is the electric arc increasing material manufacturing equipment single-column twin beams dual robot of large format parts in the utility model embodiment The schematic diagram of structure;

Fig. 9 is the Liang Si robots of electric arc increasing material manufacturing equipment single-column three of large format parts in the utility model embodiment The schematic diagram of structure;

Figure 10 is that the laser fusion of the increase and decrease material composite manufacture device of large format parts in the utility model embodiment sinks The composition schematic diagram of product increasing material manufacturing group;

In figure, 1- workbenches, 2- lathe beds, 3- milling heads, 4- electric arc increasing material manufacturings group, 5- robot controllers, 6- welderings Machine, 7- welding machine controllers, 8- wire feeders, 9- protections gas, 10- hang upside down robot, 11- welding guns, 12- shapings chamber, 13- laser Device, 14- laser controllers, 15- coaxial powder-feeding nozzles, 16- powder feeders

Embodiment

In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and specifically The utility model is described in further detail embodiment, and specific embodiment described herein is only to explain this reality With new, it is not used to limit the utility model.

As shown in Figure 1, Figure 2, Figure 3 shows, a kind of preferred embodiment one is provided for the utility model.

The increase and decrease material composite manufacture device that the present embodiment is provided, is compounded with electric arc increasing material manufacturing and gantry Milling Process, its It can be used for being molded various parts, part as needed for Aero-Space process industry etc..

The increase and decrease material composite manufacture device of large format parts, which includes being provided with lathe bed 2, lathe bed, multiple is used for electricity The six degree of freedom of arc increasing material manufacturing hangs upside down robot 10 and five-axis linkage planer type milling machine, and multiple projecting robots 10 are distributed in gantry Around the milling head 3 of milling machine;Projecting robot 10 is provided with welding gun 11;Welding gun 11 carries out single or multiple lift electricity on workbench Arc increasing material manufacturing.Planer-type milling machine milling head 3 is finished and repaired to completed single or multiple lift blank body, workbench 1 completes moving back and forth and the rotary motion of itself for two regions of blank body.

It is prior art that electric arc, which increases material equipment, including welding machine, welding machine controller, wire feeder, protection gas, welding gun, described Welding gun is arranged in the end flange of multiple projecting robots;Welding machine controller carries out electric arc increasing material manufacturing technological parameter Setting, such as wire feed rate, arc length amendment, pulse shape modification, the selection of bond pattern, at the same to protect gas switch control System, butt welding machine, wire feeder are controlled in real time.

The brachium of the quantity of projecting robot 10 scope to be processed according to equipment and projecting robot 10 is determined, is fallen Robot 10 is hung centered on milling head, it is symmetrical or installation position is determined according to workpiece requirement asymmetric distribution by both sides Put, the mounting structure of four robots is also contemplated that support beam structure, it is to avoid interfere, its distributing position is Liang Ge robots It is located at milling head on same beam, another two robot is located on two other beam respectively, as shown in Figure 4, Figure 5.

Robot controller 9 carries out the projecting robot 10 of Collaborative Control two, and Liang Ge robots are according to the different spy of part Levy and divided the work, according to institute's assignment task and the complexity of feature, the shaping track for each robot that makes rational planning for, Realize the maximal efficiency of robot work;Robot controller 5 and welding machine controller 7 are communicated, and realize that electric arc increases material jointly Manufacture, the corresponding welding machine controller 7 of each robot 10 carries out the different techniques of setting according to the part feature section distributed joins Number and material, can meet different technical parameters and work simultaneously, combined shaping while different materials realizes electric arc increasing material manufacturing Flexibility is manufactured;Described robot controller 5 and the digital control system of planer-type milling machine are communicated, and according to formed blank Thermo parameters method carries out cooperative motion, realizes high efficiency, the high accuracy work of composite manufacture device;Formed bland position Change can realizing by workbench 1 with rotary motion back and forth.

During actual processing, its specific operation process is as follows:

1), metal substrate is fixed on workbench 1, according to the different feature of part and required workload, two Six degree of freedom hangs upside down robot 10 and divided the work, and robot program is write according to respective processing request, according to institute's assignment The complexity of task and feature, the shaping track for each robot that makes rational planning for, while to the working region of Liang Ge robots Set safety zone, it is to avoid Liang Ge robots interfere;The part feature that welding machine controller 7 is distributed according to corresponding robot 10 Duan Jinhang sets respective technological parameter and material, and robot controller 5 and welding machine controller 7 set up communication, and six degree of freedom falls Hang robot 10 and welding gun 11 is cooperateed with the progress electric arc increasing material manufacturing on workbench 1, form the blank of single or multiple lift After body, robot controller 5 sends Machining Instruction to the digital control system of planer-type milling machine, while each specified location of measurement blank body Temperature, while real time data is sent to the digital control system of planer-type milling machine.

2), the digital control system of planer-type milling machine receives the Machining Instruction of the transmission of robot controller 5 and the temperature of hair body each point After degree, the temperature changing regularity of size and surface accuracy and blank according to required by single or multiple lift blank body carries out path Planning, while mobile work platform, formed blank body is moved to the working region of planer-type milling machine milling head 3, then waits hair The temperature of each measurement point of base substrate reached after set temperature line, blank of the planer-type milling machine milling head 3 to single or multiple lift The profile of body is finished, while being repaired to the upper surface of blank body, it is ensured that the reference plane of electric arc increasing material manufacturing next time Be accurately positioned.After after machining needed for blank body, the digital control system of planer-type milling machine sends next to robot controller 5 Step can start the instruction of processing.The wherein processing characteristics of basis of design material of temperature line and the life-span of cutter is determined.

3), repetitive cycling above-mentioned steps 1) and step 2), until the completion of processing of last parts.

When processing significantly surface parts, above-mentioned operating procedure 1 and step 2 synchronously can also be entered in different operating positions OK, by the working region that formed blank body portion is moved to planer-type milling machine milling head 3 with rotation back and forth of workbench, Realize that increasing material manufacturing and Milling Process efficiently join in order according to the control of temperature line, make full use of material under optimum temperature Good machining accuracy and surface quality, while effectively reducing the stand-by period between increasing material manufacturing and Milling Process.

As shown in fig. 6, providing a kind of preferred embodiment two for the utility model.

The processing technology be the same as Example one of the present embodiment, a shaping chamber is added in periphery, for manufacturing to processing The harsh parts of environmental requirement, such as oxidizable titanium alloy, magnesium alloy.

As shown in Fig. 7,8,9, a kind of preferred embodiment three is provided for the utility model.

Increasing material manufacturing in the processing technology be the same as Example one of the present embodiment, for simple electric arc increasing material manufacturing.

As shown in Figure 10, a kind of preferred embodiment four is provided for the utility model.

The increase and decrease material composite manufacture device that the present embodiment is provided, is compounded with Laser Melting Deposition increasing material manufacturing and gantry milling Processing, it can be used for being molded various parts, part as needed for Aero-Space process industry etc..

The increase and decrease material composite manufacture device of large format parts includes being provided with lathe bed 2, lathe bed and multiple is used to swash The six degree of freedom of light powder feeding increasing material manufacturing hangs upside down robot 10 and five-axis linkage planer type milling machine, and multiple projecting robots 10 are distributed in Around the milling head 3 of planer-type milling machine;Projecting robot 10 is provided with coaxial powder-feeding nozzle 15;Coaxial powder-feeding nozzle 15 is flat in work Single or multiple lift laser powder feeding increasing material manufacturing is carried out on platform.Planer-type milling machine milling head 3 is to completed single or multiple lift blank body Finished and repaired, workbench 1 completes moving back and forth and the rotary motion of itself for two regions of blank body.

It is prior art, laser, laser controller, coaxial powder-feeding nozzle, powder feeder, guarantor that laser powder feeding, which increases material equipment, Gas is protected, coaxial powder-feeding nozzle is arranged in the end flange of projecting robot;Laser controller carries out laser parameter Setting, while being controlled to the switch for protecting gas, is controlled coaxial powder-feeding nozzle, powder feeder in real time.

The increase and decrease material composite manufacture device by traditional removal formula Precision Machining based on milling with using increasing material manufacturing as Main increment layered manufacturing technique becomes one, and can overcome simple increases material manufacturing technology in dimensional accuracy and surface quality In terms of defect, Milling Process can also be overcome to the restriction in terms of parts complexity, so, then need not pair plus Part after work carries out secondary operation, it is to avoid part occurs deforming and is difficult to when current clamping difficulty, big mismachining tolerance, processing The problem of processing, be that the application of increases material manufacturing technology brings more wide application space, is aerospace industries core essence The manufacturing of close parts provides new ways and means.

In addition, for the part of super large breadth, then multiple increasing material manufacturing equipment can be made full use of to carry out subregion collaboration Processing, recycles planer-type milling machine multiple single or multiple lift blank bodies of formation such as to finish, so as to realize to arbitrarily large High accuracy, the high efficiency of forming of size parts.

The increase and decrease material composite manufacture device of the large format parts provided for the present embodiment, using gantry milling head And multiple increasing material equipment, wherein, it can be two or three or four etc. to increase material equipment.

Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (6)

1. the increase and decrease material composite manufacture device of a kind of large format parts, it is characterised in that it includes lathe bed(2), the lathe bed (2)On be provided with multiple six degree of freedoms for increasing material manufacturing hang upside down robot(10)With multi-shaft interlocked planer-type milling machine;It is described many Individual projecting robot is distributed in the milling head of the multi-shaft interlocked planer-type milling machine(3)Around;Set in multiple projecting robots There is increasing material equipment;Multiple increasing material equipment are in workbench(1)Upper carry out subregion cooperates with increasing material manufacturing;The planer-type milling machine Milling head(3)The blank body of single or multiple lift is finished and repaired, both interact or carried out simultaneously until completing whole The manufacturing of individual parts;
Described multiple projecting robots(10)By common robot controller(5)Carry out Collaborative Control, described robot Controller(5)Communicated with the controller in described increasing material equipment, realize the automation of increasing material manufacturing, described robot The digital control system of controller and five-axis linkage planer type milling machine is communicated, and the two carries out cooperative motion.
2. a kind of increase and decrease material composite manufacture device of large format parts as claimed in claim 1, it is characterised in that the increasing Material equipment is that electric arc increasing material manufacturing equipment or Laser Melting Deposition increasing material manufacturing are equipped.
3. a kind of increase and decrease material composite manufacture device of large format parts as claimed in claim 2, it is characterised in that the electricity Arc increasing material manufacturing equipment includes welding machine(6), wire feeder(8), welding gun (11) and welding machine controller(7), welding gun (11) peace Mounted in multiple projecting robots(10)End, wire feeder(8)For providing solder for welding machine, the guarantor for carrying or matching somebody with somebody outside Protect gas(9)Protective atmosphere, welding machine controller are provided for welding region(7)For carrying out setting for electric arc increasing material manufacturing technological parameter It is fixed, while to protection gas(9)Switch be controlled, butt welding machine(6)And wire feeder(8)Controlled in real time.
4. the increase and decrease material composite manufacture device of a kind of large format parts as claimed in claim 2, it is characterised in that described to swash Light melt deposition, which increases material equipment, includes laser(13), laser controller(14), coaxial powder-feeding nozzle(15)And powder feeder (16);The coaxial powder-feeding nozzle is arranged on multiple projecting robots(10)End;Powder feeder(16)For for increase material Equipment provides metal dust, the protection gas for carrying or matching somebody with somebody outside(9)Protective atmosphere, laser controller are provided for melting range(14) For carrying out laser(13)The setting of parameter, while to protection gas(9)Switch be controlled.
5. a kind of increase and decrease material composite manufacture device of large format parts as described in any in Claims 1-4, its feature exists In the projecting robot(10)Centered on milling head, by both sides it is symmetrical or according to workpiece requirement asymmetric distribution come Determine installation site.
6. a kind of increase and decrease material composite manufacture device of large format parts as described in any in Claims 1-4, its feature exists In described projecting robot(10)For four, two of which robot and milling head are located on same beam, another two machine People is respectively on two other beam of the five-axis linkage planer type milling machine.
CN201621156097.6U 2016-10-31 2016-10-31 A kind of increase and decrease material composite manufacture device of large format parts CN206415882U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106312574A (en) * 2016-10-31 2017-01-11 华中科技大学 Material increase and decrease composite manufacturing device of large-breadth parts
CN107999967A (en) * 2017-11-30 2018-05-08 华中科技大学 A kind of large-scale three dimensional piece surface parallel laser lithography method and apparatus
CN108213423A (en) * 2017-12-29 2018-06-29 南京辉锐光电科技有限公司 A kind of laser increases and decreases material composite manufacturing device and method
CN108380878A (en) * 2018-04-23 2018-08-10 广东大族粤铭激光集团股份有限公司 A kind of increase and decrease material complex forming equipment and processing method
CN109202289A (en) * 2018-09-20 2019-01-15 国营芜湖机械厂 A kind of mobile laser increase and decrease material Machining System
DE102017215268A1 (en) * 2017-08-31 2019-02-28 Siemens Aktiengesellschaft Method for laser deposition welding

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106312574A (en) * 2016-10-31 2017-01-11 华中科技大学 Material increase and decrease composite manufacturing device of large-breadth parts
DE102017215268A1 (en) * 2017-08-31 2019-02-28 Siemens Aktiengesellschaft Method for laser deposition welding
CN107999967A (en) * 2017-11-30 2018-05-08 华中科技大学 A kind of large-scale three dimensional piece surface parallel laser lithography method and apparatus
CN107999967B (en) * 2017-11-30 2019-05-31 华中科技大学 A kind of large-scale three dimensional piece surface parallel laser lithography method and apparatus
CN108213423A (en) * 2017-12-29 2018-06-29 南京辉锐光电科技有限公司 A kind of laser increases and decreases material composite manufacturing device and method
CN108380878A (en) * 2018-04-23 2018-08-10 广东大族粤铭激光集团股份有限公司 A kind of increase and decrease material complex forming equipment and processing method
CN109202289A (en) * 2018-09-20 2019-01-15 国营芜湖机械厂 A kind of mobile laser increase and decrease material Machining System

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