CN106521138A - Mould repairing stress automatic eliminating system and method - Google Patents
Mould repairing stress automatic eliminating system and method Download PDFInfo
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- CN106521138A CN106521138A CN201610987665.5A CN201610987665A CN106521138A CN 106521138 A CN106521138 A CN 106521138A CN 201610987665 A CN201610987665 A CN 201610987665A CN 106521138 A CN106521138 A CN 106521138A
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D10/00—Modifying the physical properties by methods other than heat treatment or deformation
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Abstract
The invention belongs to the field of metal material processing, and especially relates to a mould repairing stress automatic eliminating system and a method. The mould repairing stress automatic eliminating system comprises a control unit, a mould hammering parameter integration module, a computer simulation processing module, and a hammering repairing module; and the mould hammering parameter integration module, the computer simulation processing module, and the hammering repairing module are all connected with the control unit via electric connection. The mould repairing stress automatic eliminating system is capable of realizing automatic hammering of moulds so as to reduce welding residual stress.
Description
Technical field
The present invention relates to metal material processing field, more particularly to a kind of mould repair stress eliminates system and side automatically
Method.
Background technology
Mould is industrial underlying process equipment, have " mother of industry " laudatory title, as its production efficiency is high, product
The advantages of good quality, is obtained in the parts production of the products such as electronics, automobile, electromechanics, electrical equipment, instrument, instrument, household electrical appliances, communication
To extensively application.Mould parts under arms during the phenomenons such as excessive deformation, fracture, surface abrasion occur, so as to lose original
Some functions, or become dangerous reliability, causing to continue normal work, this phenomenon is exactly mould invalidation.
The purpose of mould repair seeks to be extended mold use life-span, reduces cost, saved money using appropriate method
Source.Laser welding technology can be repaired various mould slight cracks, collapse the positions such as foot, mould overlap and be not in pore after processing, can
Welded on extremely hard material, after welding can grinding into glossy surface, be particularly suitable for having polishing to require mould
Repair.However, most welding processes are carried out in the regional area of weldment, the non-uniform heat flux of this local with it is cold
But process causes the distributed pole of field of welding temperature uneven so that each position of weldment produces different degrees of expansion and contraction,
So as to generate welding residual stress.
Hammer peening is a kind of very effective method for eliminating welding residual stress, and it not only can effectively reduce welding
Residual stress, it might even be possible to form compressive stress area in the range of hammer peening metal surface and certain depth, so as to change welding
The stress state in area.At present, the more hammer mode of practical application is still hand bumping, and this not only affects to a certain extent
Remediation efficiency, while the quality of hammer effect to be also subject to affecting for anthropic factor, it is to the skill requirement of workman very high.
The content of the invention
A technical problem to be solved by this invention is：There is provided one kind to hammer automatically mould and then reduce welding remnants
The mould repair stress of stress eliminates system automatically.
A technical scheme of the present invention is：A kind of mould repair stress eliminates system automatically, and it includes control
Unit, mould hammering parameter integration module, computer simulation processing module and hammering repair module, the mould hammer parameter
Integration module, computer simulation processing module and hammering repair module are electrically connected with control unit,
Mould hammers parameter integration module, including die parameters and hammering parameter, and die parameters are corresponding with hammering parameter；
Computer simulation processing module, calls mould hammering parameter integration module according to the die parameters of the tool and mould to be added of input
Middle corresponding data, obtains hammering parameter, then according to the die parameters being input into and the hammering parameter for obtaining in finite element analyses
Residual stress after software sunykatuib analyses hammering eliminates situation；
Hammering repair module, carries out hammering reparation according to the hammering parameter that computer simulation processing module is obtained；
Control unit, for controlling mould hammering parameter integration module, computer simulation processing module and hammering repair module
Operation.
The hammering repair module includes frame, the workbench for fixing tool and mould to be added, is arranged in frame and is used for
Drive workbench move horizontally the first Power Component, electromagnetic hammer and be arranged in frame be used for drive electromagnetic hammer vertical shift
The second Power Component, first Power Component, the second Power Component and electromagnetic hammer are electrically connected with control unit.
The frame includes crossbearer and vertical frame, and first Power Component includes arranging Y-direction guide rail on crossbearer, the company of slip
The X direction guiding rails that are connected in Y-direction guide rail, the Y-direction controlled motor of Y-direction movement and it is used in Y-direction guide rail for controlling X direction guiding rails
Control workbench on X direction guiding rails X to mobile X to controlled motor, second Power Component includes the Z being arranged in vertical frame
Direction guiding rail and the Z-direction controlled motor for driving electromagnetic hammer Z-direction movement on Z-direction guide rail, the X is to controlled motor, Y-direction control
Motor processed and Z-direction controlled motor are electrically connected with control unit.
It also includes the slide block being slidably connected on Z-direction guide rail, the first pivoted arm being rotatably connected on slide block and is used for
The pitching control motor of the first pivoted arm rotation is controlled, and the electromagnetic hammer is detachably connected on the first pivoted arm, described first turn
It is additionally provided with arm for driving what electromagnetic hammer rotated to wave controlled motor, the pitching control motor and to wave controlled motor equal
Electrically connect with control unit.
Also include ambient parameter in mould hammering parameter integration module, and after die parameters are combined with ambient parameter and
Hammering parameter is corresponding.
Using above structure compared with prior art, the present invention has advantages below：Through many experiments by die parameters
Be mapped with hammering parameter, thus easily parameter can be suitably hammered according to the die parameters of input, so
Hammering is realized further according to the hammering state modulator hammering repair module for obtaining afterwards, welding residual stress is eliminated, is so eliminated remaining
Stress is more convenient, and because hammering repair module is hammered automatically, it is possible to greatly reduce anthropic factor
Affect so that repairing effect is preferable.
Using the hammering repair module of this structure, it is possible to achieve XYZ shaft positions are adjusted, and can so meet mould repair
The requirement of multiposition complex situations, and electromagnetic hammer is used, so control is got up more convenient, it is only necessary to by controlling electricity
The electric current of magnetic hammer, it is possible to effectively adjust hammer force and hammering frequency, and electromagnetic hammer is also removable in itself, thus may be used
Changed without the various sizes of electromagnetic hammer of material as needed.
And electromagnetic hammer can also adjust different angles by the first pivoted arm and own rotation, can thus meet
The complex situations of mould multi-angle require that, realize five degree of freedom and adjust.
And it is also added into ambient parameter so that the hammering parameter for obtaining is more accurate, and then causes using this hammering
The effect that the mould welding residual stress obtained after parameter is eliminated is more preferable.
Another technical problem to be solved by this invention is：There is provided one kind to hammer automatically mould and then reduce welding residual
The automatic removing method of mould repair stress of residue stress.
Another technical scheme of the present invention is：A kind of automatic removing method of mould repair stress, it include with
Lower step：
（1）, be input into die parameters to be processed, then call the integrated mould of mould hammering parameter according to the die parameters to be processed of input
Block, if corresponding hammering parameter can be obtained, jumps to next step；If corresponding hammering parameter can not be obtained, mould is judged
Hammering parameter integration module lacks data, while being reported to the police；
（2）, computer simulation processing module having according to the die parameters to be processed and the hammering parameter that obtains of step 1 of input
Stress relieving situation in limit meta software after sunykatuib analyses hammering, if stress relieving situation does not have up to standard, judges that mould is hammered
The integrated module data error of parameter, and report to the police；If stress relieving situation is up to standard, next step is jumped to；
（3）, tool and mould to be added is fixed on workbench, the hammering parameter adjustment for then being obtained according to step 1 is for processing mold
Initial position and change corresponding electromagnetic hammer；
（4）, the hammering parameter that obtained according to step 1 starts hammering repair module carries out actual hammering.
Input environment parameter is also needed in step 1, and obtains corresponding hammer with the combination of ambient parameter according to die parameters
Hit parameter.
Using above method compared with prior art, the present invention has advantages below：Through many experiments by die parameters
Be mapped with hammering parameter, thus easily parameter can be suitably hammered according to the die parameters of input, this
Sample easily can obtain hammering parameter, then stress relieving situation again after sunykatuib analyses hammering in finite element software,
The hammering parameter error for obtaining is prevented, actual hammering is carried out afterwards again, so elimination residual stress is more convenient, and
Because hammering repair module is hammered automatically, it is possible to greatly reduce the impact of anthropic factor so that repairing effect
Preferably.
And it is also added into ambient parameter so that the hammering parameter for obtaining is more accurate, and then causes using this hammering
The effect that the mould welding residual stress obtained after parameter is eliminated is more preferable.
Description of the drawings
Fig. 1 is the connection block diagram that inventive die repairs that stress eliminates system automatically.
Structural representations of the Fig. 2 for hammering repair module in inventive die reparation stress automatically elimination system.
As shown in the figure：1st, frame；2nd, workbench；3rd, electromagnetic hammer；4th, Y-direction guide rail；5th, X direction guiding rails；6th, Y-direction controlled motor；
7th, X is to controlled motor；8th, Z-direction guide rail；9th, Z-direction controlled motor；10th, slide block；11st, the first pivoted arm；12nd, pitching control motor；13、
Wave controlled motor.
Specific embodiment
The present invention is described further with specific embodiment below in conjunction with accompanying drawing, but the present invention be not limited only to it is following
Specific embodiment.
A kind of mould repair stress eliminates system automatically, and it includes control unit, mould hammering parameter integration module, calculates
Machine simulating cutting module and hammering repair module, mould hammering parameter integration module, computer simulation processing module with
And hammering repair module is electrically connected with control unit,
Mould hammers parameter integration module, including die parameters and hammering parameter, and die parameters are corresponding with hammering parameter；
" mould hammers parameter integration module " is the data base for hammering technological parameter, and the data base is lot of experimental data to be summarized and excellent
The result of change, including three partial contents.First part is die parameters, including the Young's moduluss, close of mold materials
Degree, Poisson's ratio, yield strength, thermal coefficient of expansion, thermal conductivity, specific heat capacity etc., as welding process includes the molten of mold materials
Change and solidify, therefore also need to record the material properties under different temperatures, also have some welding parameters.The second part is hammer
Argument section is hit, including hammers path, hammering translational speed, hammering frequency, hammering electric current etc., wherein hammering path, hammering and move
The parameters such as the shape main according to weld seam of dynamic speed, width, the number of plies are input into.The hammering frequency of electromagnetic hammer and hammer force are main
Adjusted by changing the size of current and frequency of its motor, for different mold materials need to measure conjunction by experiment
It is input into after suitable hammer force and its corresponding current data.Part III is environmental effect parameter, mainly includes environment temperature
Degree, humidity etc..
" hammering parameter integration module " is the basis for hammering path planning, which includes die parameters part, hammering ginseng
Fractional part and ambient parameter part.As mould species is various, the structure and material of different types of mould is all different,
The difference welding parameters and hammering parameter of the performance being generated by it all have a certain impact, therefore mold materials data division
The data such as material, the welding parameter of different moulds are incorporated to select suitably to hammer parameter.Hammering argument section is then whole
Electromagnetic hammer has been closed in different hammering height（Tup is with a distance from die surface）, the hammer force that produces under hammering electric current and power frequency
And hammering frequency, the electric current and frequency of needs are drawn in the hammer force for determining needs and by hammering after frequency.Environment is joined
The working environments such as fractional part major integration temperature, humidity are to hammering issuable influence factor.
Computer simulation processing module, calls mould hammering parameter integrated according to the die parameters of the tool and mould to be added of input
Corresponding data in module, obtains hammering parameter, then according to the die parameters being input into and the hammering parameter for obtaining in finite element
Residual stress after analysis software sunykatuib analyses hammering eliminates situation；" computer simulation processing module " is by tool and mould to be added
After the data input computers such as material properties, weld seam parameter, according to the data in hammering parameter integration module, tup material is determined
The hammering parameters such as material, hammer force, hammering path, hammering frequency, are then simulated by computer and are hammered, and pass through finite element
The reparation situation of welding stress after analysis hammering.
The effect of " computer simulation processing module " can be hammering front simulation machining path, arrange material parameter,
The degree that residual stress is eliminated after hammering is drawn with the mode of finite element simulation after welding parameter and hammering parameter.Simulating cutting road
Footpath determine principle be：Select selected mould-type and material first in data base, then according to welding parameter, environment
Parameter obtains the hammer force for needing and hammering frequency, and the height of suitable initial hammering is may be selected after hammer force has been obtained
Degree, hammering electric current and frequency, cook up simulation hammering path finally according to the shape of weld seam, and these hammering parameters are them
It is front to test what is obtained, directly can obtain from hammering parameter integration module.
Hammering repair module, carries out hammering reparation according to the hammering parameter that computer simulation processing module is obtained；
Control unit, for controlling mould hammering parameter integration module, computer simulation processing module and hammering repair module
Operation.
The hammering repair module includes frame 1, the workbench 2 for fixing tool and mould to be added, is arranged in frame 1 and uses
In drive workbench 2 move horizontally the first Power Component, electromagnetic hammer 3 and be arranged in frame 1 be used for drive electromagnetic hammer 3 erect
The second dynamic Power Component of translation, first Power Component, the second Power Component and electromagnetic hammer 3 are electrically connected with control unit
Connect.
The frame 1 includes crossbearer and vertical frame, and first Power Component includes arranging Y-direction guide rail 4 on crossbearer, slides
The X direction guiding rails 5 being connected in Y-direction guide rail 4, the Y-direction controlled motor 6 for controlling the Y-direction movement in Y-direction guide rail 4 of X direction guiding rails 5
And for control workbench 2 on X direction guiding rails 5 X to mobile X to controlled motor 7, second Power Component include arrange
Z-direction guide rail 8 in vertical frame and the Z-direction controlled motor 9 for driving the Z-direction movement on Z-direction guide rail 8 of electromagnetic hammer 3, the X
Electrically connect with control unit to controlled motor 7, Y-direction controlled motor 6 and Z-direction controlled motor 9.
It also include the slide block 10 being slidably connected on Z-direction guide rail 8, the first pivoted arm 11 for being rotatably connected on slide block 10 with
And for controlling the pitching control motor 12 that the first pivoted arm 11 is rotated, and the electromagnetic hammer 3 is detachably connected to the first pivoted arm 11
On, be additionally provided with first pivoted arm 11 for drive electromagnetic hammer 3 rotate wave controlled motor 13, the pitching control motor
12 and wave controlled motor 13 and electrically connect with control unit.
Also include ambient parameter in mould hammering parameter integration module, and after die parameters are combined with ambient parameter and
Hammering parameter is corresponding.
A kind of automatic removing method of mould repair stress, it comprises the following steps：
（1）, be input into die parameters to be processed, then call the integrated mould of mould hammering parameter according to the die parameters to be processed of input
Block, if corresponding hammering parameter can be obtained, jumps to next step；If corresponding hammering parameter can not be obtained, mould is judged
Hammering parameter integration module lacks data, while being reported to the police；Here represent that data base has vacancy, need to carry out again testing to incite somebody to action
This weld seam parameter of this mould is tested, and obtains corresponding hammering parameter, is then then added to mould hammering parameter set
Into module；
（2）, computer simulation processing module having according to the die parameters to be processed and the hammering parameter that obtains of step 1 of input
Stress relieving situation in limit meta software after sunykatuib analyses hammering, if stress relieving situation does not have up to standard, judges that mould is hammered
The integrated module data error of parameter, and report to the police, and if occurring corrupt data such case, then also need to go again to lead to
Overtesting changes the correspondence hammering parameter in mould hammering parameter integration module correcting hammering parameter, then；If stress relieving
Situation is up to standard, then jump to next step；Sunykatuib analyses are comprised the following steps：
1. the stress field three-dimensional finite element model of mould crackle laser repairing, is set up according to die parameters；In three-dimensional stereo moulding
The geometric model of workpiece is set up in software, stress and strain model is carried out using professional stress and strain model software or finite element software.Specifically
, the true form and size according to mould in such as UG, Pro/E 3 D stereo modeling software is modeled,
Reasonable stress and strain model is carried out in the specialty stress and strain model software such as HYPERMESH, i.e., is welded for the reply of laser welding mould repair
The grid for repairing area carries out refinement point, and gradually transition, to the grid thick division away from weld metal zone, is guaranteeing computational accuracy with this
On the basis of reduce element number, improve calculating speed.
2. the stress intensity after analysis laser die is repaired and distribution are calculated according to die parameters,；By heat engine coupling
Hop algorithm calculates the stress intensity after laser die is repaired and distribution to thermal-stress analysis.
Heat source model need to adopt broad sense double stripping mechanism.
Boundary condition need to include constraints, welding direction and order, the heat exchange conditions of die boundary.
Solve heat engine coupling analysis are carried out using the thermo-elasto-plasticity of the Lagrangian method description for updating when calculating.
Need in analysis result comprising equivalent stress, lateral stress, longitudinal stress, axial stress iso-stress state, and bullet
Property deformation, the mutation analysises of plastic deformation.
3., using finite element software according to the change situation for hammering stress distribution after parameter on laser mould repair；
Using the process of finite element software simulated laser filler wire welding repairing mould, temperature field, the stress of welding process is obtained
Field and the threedimensional model and gross data of postwelding residual stress distribution and size, replace real using finite element software simulation
Test.With this not only can image it is three-dimensional represent distribution of the welding residual stress in welding workpiece, can also save experimental cost and
Time.Mould is general all fine valuable, and many experiments will cause unnecessary waste and loss, and finite element software simulation can be more
Mend this not enough.And finite element software can simulate the welding under various parameters.Welding residual stress is eliminated using hammering in postwelding
In the probing into of method, the hammering parameter such as determination of the selection of hammering positions, the size of hammer force and hammering frequency, using having
Limit meta software is simulated and calculates.Simulation calculating cycle is short, and hammer effect is possible with finite element software simulation, is corrected with this
Hammering parameter.
Actual experiment can verify that the hammering scheme probed into out using simulation.Experimental result compared with analog result, with this
Simulation is modified.Experiment can be tested by metallographic, observe the tissue that laser filling wire welding repairs sample, and conjunctive tissue is hard
Degree, can eliminate welding residual stress to hammering from microcosmic angle by fabric analysiss and provide theoretical foundation.
（3）, tool and mould to be added is fixed on workbench, the hammering parameter adjustment generation processing for then being obtained according to step 1
The initial position and the corresponding electromagnetic hammer of replacing of mould；Then workbench carries out dry running, and workbench dry running is detectable to be set
Standby ruuning situation, and hammering parameter（Hammer force, hammering frequency, hammering path）Whether sets requirement is met, while can also examine
Survey worktable displacement precision；
（4）, the hammering parameter that obtained according to step 1 starts hammering repair module carries out actual hammering.Hammering parameter is to affect mould
Tool repairs the key for eliminating stress effect.For meet automatization's hammering process requirement and consider actual hammering by it is artificial because
The uncontrollable impact of element.This patent realizes hammer force size and hammering frequency using size of current in control hammer body structure and frequency
The regulation of rate.And by pitching control motor 12 and wave controlled motor 13 realize hammer body structure flexion-extension, swing complete
The rotation of hammering angle is adjusted, and completes to require with the location matches of mould to be repaired.
Step（1）In also need to input environment parameter, and obtain corresponding with the combination of ambient parameter according to die parameters
Hammering parameter.
The innovative point of the present invention：
1st, the experience of manual hammering is applied on automatization's hammering equipment, is integrated by the simulation of computer, experiment so that hammer
Hitting process is no longer affected by artificial empirical factor, is eliminated internal stress for die surface hammering and is provided a kind of new method.
2nd, electromagnetic hammer technology and Numeric Control Technology are combined, devises multiple degrees of freedom Controllable Worktable, meet mould repair many
The requirement of the complex situations such as position, multi-angle.Hammer body automatization governor motion is devised, is realized and mould repair complex situations
Efficient matchings, and by current control, hammer force and hammering frequency are effectively adjusted to adapt to different mold materials.
3rd, electromagnetic hammer can change different materials tup as needed, and can the unlike material tup of analytical calculation in advance to mould
The impact of surface quality.
4th, multiple data bases to be combined with Computer aided analysis and be calculated the hammering ginseng of composite demand with efficient analysis
Number, and realize the precise control to device.
Claims (7)
1. a kind of mould repair stress eliminates system automatically, it is characterised in that：It includes that control unit, mould hammering parameter are integrated
Module, computer simulation processing module and hammering repair module, the mould hammering parameter integration module, computer simulation add
Work module and hammering repair module are electrically connected with control unit,
Mould hammers parameter integration module, including die parameters and hammering parameter, and die parameters are corresponding with hammering parameter；
Computer simulation processing module, calls mould hammering parameter integration module according to the die parameters of the tool and mould to be added of input
Middle corresponding data, obtains hammering parameter, then according to the die parameters being input into and the hammering parameter for obtaining in finite element analyses
Residual stress after software sunykatuib analyses hammering eliminates situation；
Hammering repair module, carries out hammering reparation according to the hammering parameter that computer simulation processing module is obtained；
Control unit, for controlling mould hammering parameter integration module, computer simulation processing module and hammering repair module
Operation.
2. mould repair stress according to claim 1 eliminates system automatically, it is characterised in that：The hammering repair module
Including frame（1）, workbench for fixing tool and mould to be added（2）, be arranged on frame（1）It is upper to be used to drive workbench（2）Water
The first dynamic Power Component of translation, electromagnetic hammer（3）And it is arranged on frame（1）It is upper to be used to drive electromagnetic hammer（3）Vertical shift
Second Power Component, first Power Component, the second Power Component and electromagnetic hammer（3）Electrically connect with control unit.
3. mould repair stress according to claim 2 eliminates system automatically, it is characterised in that：The frame（1）Including
Crossbearer and vertical frame, first Power Component include arranging the Y-direction guide rail on crossbearer（4）, be slidably connected at Y-direction guide rail（4）On
X direction guiding rails（5）, for controlling X direction guiding rails（5）In Y-direction guide rail（4）The Y-direction controlled motor of upper Y-direction movement（6）And be used for
Control workbench（2）In X direction guiding rails（5）Upper X is to mobile X to controlled motor（7）, second Power Component includes being arranged on
Z-direction guide rail in vertical frame（8）And for driving electromagnetic hammer（3）In Z-direction guide rail（8）The Z-direction controlled motor of upper Z-direction movement（9）,
The X is to controlled motor（7）, Y-direction controlled motor（6）And Z-direction controlled motor（9）Electrically connect with control unit.
4. mould repair stress according to claim 3 eliminates system automatically, it is characterised in that：It also includes being slidably connected
In Z-direction guide rail（8）On slide block（10）, be rotatably connected on slide block（10）On the first pivoted arm（11）And for controlling first turn
Arm（11）The pitching control motor of rotation（12）, and the electromagnetic hammer（3）It is detachably connected to the first pivoted arm（11）On, described
One pivoted arm（11）On be additionally provided with for driving electromagnetic hammer（3）What is rotated waves controlled motor（13）, the pitching control motor
（12）And wave controlled motor（13）Electrically connect with control unit.
5. mould repair stress according to claim 1 eliminates system automatically, it is characterised in that：The mould hammers parameter
Also include ambient parameter in integration module, and die parameters are corresponding with hammering parameter with after ambient parameter combination.
6. the automatic removing method of a kind of mould repair stress, it is characterised in that it comprises the following steps：
(1) die parameters to be processed, are input into, and then the integrated mould of mould hammering parameter are called according to the die parameters to be processed of input
Block, if corresponding hammering parameter can be obtained, jumps to next step；If corresponding hammering parameter can not be obtained, mould is judged
Hammering parameter integration module lacks data, while being reported to the police；
(2), to be processed die parameters and step of the computer simulation processing module according to input（1）The hammering parameter for obtaining exists
Stress relieving situation in finite element software after sunykatuib analyses hammering, if stress relieving situation does not have up to standard, judges that mould is hammered into shape
The integrated module data error of parameter is hit, and is reported to the police；If stress relieving situation is up to standard, next step is jumped to；
(3), tool and mould to be added is fixed on workbench, then according to step（1）The hammering parameter adjustment for obtaining is for processing mould
The initial position and the corresponding electromagnetic hammer of replacing of tool；
(4), according to step（1）The hammering parameter for obtaining starts hammering repair module carries out actual hammering.
7. the automatic removing method of mould repair stress according to claim 6, it is characterised in that：
Step（1）In also need to input environment parameter, and corresponding hammering is obtained with the combination of ambient parameter according to die parameters
Parameter.
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| CN106994577A (en) * | 2017-04-19 | 2017-08-01 | 重庆佛思坦智能装备有限公司 | A kind of mould 3D built-up welding intelligent robots |
| CN108038266A (en) * | 2017-11-17 | 2018-05-15 | 西安铂力特增材技术股份有限公司 | A kind of method for numerical simulation of selective laser repair process |
| CN110052777A (en) * | 2018-09-30 | 2019-07-26 | 上海吴泾电力工程有限责任公司 | Suitable for cheating the field repairing method of cavity space |
| CN110744172A (en) * | 2019-10-24 | 2020-02-04 | 江南大学 | Electric arc additive stroke-limited high-frequency micro-forging impact strengthening forging head, device and method |
| WO2022099354A1 (en) * | 2020-11-10 | 2022-05-19 | AmPro Innovations Pty Ltd | Apparatus for direct metal deposition additive manufacturing |
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