CN119772197B - Direct manufacturing method for dual laser selective melting of gradient functional partitions of femoral prosthesis - Google Patents
Direct manufacturing method for dual laser selective melting of gradient functional partitions of femoral prosthesisInfo
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Abstract
Description
技术领域Technical Field
本发明属于金属制造与应用的技术领域,具体涉及一种股骨假体梯度功能分区的双激光选区融化直接制造方法。The invention belongs to the technical field of metal manufacturing and application, and particularly relates to a dual-laser selective melting direct manufacturing method for gradient functional zoning of a femoral prosthesis.
背景技术Background Art
激光选区熔化成形技术(SLM)具有适应数字化复杂构件成形、柔性快速研制和材料利用率高等特点,现已经成为解决复杂构件高性能整体制造瓶颈的重要技术手段。在SLM技术中,激光光斑在成形平台的粉末床上迅速熔化金属粉末,然后激光光斑按照预设的路径进行扫描,通过点-线-面的逐层打印方式,最终形成完整的金属零部件;在激光打印过程中,激光光斑聚焦在金属粉末床上的一点,在该点形成熔池,熔池深度和大小往往与激光参数有关,熔池随着光斑的移动而移动,新的熔池不断产生,旧的熔池随即凝固,从而使构成金属零件实体的粉末熔融凝固为金属实体组织;因此激光之间参数的变化会影响熔池的产生、熔池中金属熔液的凝固速率以及熔池中熔液温度场的均匀程度,这都会对熔池中金属材料物相产生影响,而物相的组成和比例又对最终零部件的性能具有重要影响。Selective laser melting (SLM) technology, with its adaptability to digital complex component forming, flexible and rapid development, and high material utilization, has become an important technical means to address the bottleneck of high-performance integrated manufacturing of complex components. In SLM technology, a laser spot rapidly melts metal powder on the powder bed of the forming platform. The laser spot then scans along a preset path, ultimately forming a complete metal component through a point-line-surface layer-by-layer printing method. During the laser printing process, the laser spot is focused on a point on the metal powder bed, forming a molten pool at this point. The depth and size of the molten pool are often related to the laser parameters. The molten pool moves as the laser spot moves, and new molten pools are continuously generated while old molten pools solidify, thus melting and solidifying the powder that constitutes the metal part into a metal solid structure. Therefore, changes in laser parameters affect the generation of the molten pool, the solidification rate of the molten metal in the molten pool, and the uniformity of the molten metal temperature field in the molten pool. This will affect the phases of the metal material in the molten pool, and the composition and proportion of the phases have a significant impact on the performance of the final component.
随着SLM技术在生物医疗领域的进一步应用,对其所制备零件的质量、效率都提出了更高的要求。对于股骨假体而言,需要其外部具有高耐磨、高强度的特性,内部需要具有高强韧的特性,从而更好地匹配其服役条件。此外,现代医疗对增材制造个性化假体的制造时限要求日益提高,现有单激光打印与后热处理组织调控的多工序制造方式难以满足要求。此外,现有的通过改变单一激光成形参数的技术对零件微观组织的调控效果有限。因此,如何实现增材制造股骨假体零件更高效率的制备、更精准的组织调控是现阶段面临的难题。With the further application of SLM technology in the biomedical field, higher requirements are placed on the quality and efficiency of the parts produced by it. For femoral prostheses, their exterior needs to have high wear resistance and high strength, and their interior needs to have high toughness to better match their service conditions. In addition, modern medicine has increasingly higher requirements for the manufacturing time limit of personalized prostheses made by additive manufacturing, and the existing multi-process manufacturing method of single laser printing and post-heat treatment tissue regulation is difficult to meet the requirements. In addition, the existing technology of changing a single laser forming parameter has limited effect on the regulation of the microstructure of parts. Therefore, how to achieve more efficient preparation and more precise tissue regulation of additively manufactured femoral prosthesis parts is a difficult problem faced at this stage.
发明内容Summary of the Invention
本发明为满足现代医学的股骨假体兼备高强韧与高耐磨的一体化快速制造要求,针对目前单激光粉末床熔融成形金属时,无法解决零件在微观制造时同时具有多维度优异性能的问题,提供一种股骨假体梯度功能分区的双激光选区融化直接制造方法。In order to meet the requirements of modern medicine for the rapid integrated manufacturing of femoral prostheses with both high strength and high wear resistance, the present invention provides a dual-laser selective melting direct manufacturing method for gradient functional zoning of femoral prostheses, aiming to address the problem that the current single laser powder bed melting forming of metal cannot solve the problem that parts cannot have multi-dimensional excellent performance during micro-manufacturing.
为了达到上述目的,本发明采用以下技术方案:In order to achieve the above object, the present invention adopts the following technical solutions:
第一目的在于提供一种股骨假体梯度功能分区的双激光选区融化直接制造方法,包括下述步骤:The first object is to provide a dual laser selective melting direct manufacturing method for gradient functional zoning of a femoral prosthesis, comprising the following steps:
根据双激光打印参数与金属材料物相的生长关系,建立双激光打印参数与对应金属材料物相的工艺数据库;所述双激光打印参数包括双激光协同扫描模式、双激光启动时间间隔、第一激光功率、第二激光功率、第一激光扫描速率、第二激光扫描速率、第一激光扫描间隔、第二激光扫描间隔、第一激光光斑尺寸和第二激光光斑尺寸;所述双激光协同扫描模式包括高速跟随模式和同幅面分区扫描模式;Based on the relationship between dual-laser printing parameters and the growth of metal material phases, a process database of dual-laser printing parameters and corresponding metal material phases is established; the dual-laser printing parameters include a dual-laser collaborative scanning mode, a dual-laser start-up time interval, a first laser power, a second laser power, a first laser scanning rate, a second laser scanning rate, a first laser scanning interval, a second laser scanning interval, a first laser spot size, and a second laser spot size; the dual-laser collaborative scanning mode includes a high-speed following mode and a same-width partitioned scanning mode;
根据双激光成形材料物相比例特性与强度、延伸率的对应关系,建立物相与金属材料性能数据库;According to the corresponding relationship between the phase ratio characteristics and strength and elongation of the dual laser forming materials, a database of phases and metal material properties is established;
获取待制造股骨假体的使用性能要求,根据物相与金属材料的性能数据库得到待制造股骨假体不同区域的物相特性及分布,并根据物相特性及分布区分出内部区域和外部区域;Obtaining the performance requirements of the femoral prosthesis to be manufactured, obtaining the physical phase characteristics and distribution of different regions of the femoral prosthesis to be manufactured based on the physical phase and metal material performance database, and distinguishing the internal region and the external region based on the physical phase characteristics and distribution;
对待制造股骨假体三维模型进行分层切片,得到切片文件;Performing layered slicing on the three-dimensional model of the femoral prosthesis to be manufactured to obtain a slicing file;
将切片文件导入双激光粉末床熔融增材制造设备,根据工艺数据库对待制造股骨假体的内部区域选择同幅面分区扫描模式对应的双激光协同打印工艺参数,并且对待制造股骨假体的外部区域选择高速跟随模式对应的双激光协同打印工艺参数,形成CLI格式的打印文件;Import the slice file into the dual-laser powder bed fusion additive manufacturing equipment, select the dual-laser collaborative printing process parameters corresponding to the same-width partition scanning mode for the internal area of the femoral prosthesis to be manufactured according to the process database, and select the dual-laser collaborative printing process parameters corresponding to the high-speed following mode for the external area of the femoral prosthesis to be manufactured, and generate a CLI format print file;
将CLI格式的打印文件导入双激光同幅面打印设备,对待制造股骨假体进行制造。The CLI format printing file is imported into the dual laser same-format printing device to manufacture the femoral prosthesis.
作为优选的技术方案,所述建立双激光打印参数与对应金属材料物相的工艺数据库,具体为:As a preferred technical solution, the process database of dual laser printing parameters and corresponding metal material phases is established as follows:
根据制备股骨假体所需金属材料的单激光打印工艺,设计不同组合的双激光打印参数,并通过双激光粉末床熔融增材制造设备打印出测试样件;Based on the single laser printing process for the metal materials required to prepare femoral prostheses, different combinations of dual laser printing parameters were designed, and test samples were printed using a dual laser powder bed fusion additive manufacturing device.
将测试样件进行金相制备,通过电子背散射衍射,获得物相形态与物相比例;The test samples were metallographically prepared and the phase morphology and phase ratio were obtained by electron backscatter diffraction;
将不同双激光打印参数下对应金属材料的物相形态与物相比例相关联,获得双激光打印参数与对应金属材料物相的工艺数据库。The phase morphology and phase ratio of the corresponding metal materials under different dual laser printing parameters are correlated to obtain a process database of dual laser printing parameters and corresponding metal material phases.
作为优选的技术方案,所述同幅面分区扫描模式是指:第一激光束与第二激光束同时采用第一激光功率、第一激光扫描速率、第一激光扫描间隔进行分区扫描成形的工作模式,将需要成形的面积一分为二,使得金属材料在1000mm/s的扫描速率下快速冷却形成高温稳定相组织;As a preferred technical solution, the same-width partitioned scanning mode refers to a working mode in which the first laser beam and the second laser beam simultaneously use the first laser power, the first laser scanning rate, and the first laser scanning interval to perform partitioned scanning forming, dividing the area to be formed into two, so that the metal material is rapidly cooled at a scanning rate of 1000 mm/s to form a high-temperature stable phase structure;
所述高速跟随模式是指:第二激光束以等距离间隔跟随第一激光束打印路径进行打印的工作模式,第二激光束对第一激光束已成形部分进行快速重熔;The high-speed following mode refers to an operating mode in which the second laser beam follows the printing path of the first laser beam at equal intervals to print, and the second laser beam quickly remelts the formed part of the first laser beam;
所述第一激光束与第二激光束间存在激光启动时间间隔,通过调整激光启动时间间隔控制重熔过程中的基体温度及第一激光束与第二激光束间的等距离间隔;通过同时调整第一激光束和第二激光束的扫描速率和扫描间隔避免第二激光束超过第一激光速。There is a laser start time interval between the first laser beam and the second laser beam. The substrate temperature during the remelting process and the equidistant interval between the first laser beam and the second laser beam are controlled by adjusting the laser start time interval. The scanning rate and scanning interval of the first laser beam and the second laser beam are simultaneously adjusted to prevent the second laser beam from exceeding the first laser speed.
作为优选的技术方案,所述高速跟随模式下,第二激光束等距离跟随第一激光束工作时,满足关系:As a preferred technical solution, in the high-speed following mode, when the second laser beam follows the first laser beam at an equal distance, the relationship is satisfied:
V 2 ×S 2 =V 1 ×S 1 ,P 1 >P 2 , V 2 × S 2 = V 1 × S 1 , P 1 > P 2 ,
其中,V 1 为第一激光扫描速率,单位为m/s;V 2 为第二激光扫描速率,单位为m/s;S 1 为第一激光扫描间隔,单位为mm;S 2 为第二激光扫描间隔,单位为mm;P 1 为第一激光功率,单位为W;P 2 为第二激光功率,单位为W。Wherein, V1 is the first laser scanning rate, in m/s; V2 is the second laser scanning rate, in m/s; S1 is the first laser scanning interval, in mm; S2 is the second laser scanning interval, in mm; P1 is the first laser power, in W; P2 is the second laser power, in W.
作为优选的技术方案,所述建立金属材料物相与材料性能数据库具体为:As a preferred technical solution, the establishment of a database of metal material phases and material properties is specifically as follows:
根据制备股骨假体所需材料的单激光打印工艺,设计不同组合的双激光打印参数,通过双激光粉末床熔融增材制造设备打印出测试样件;Based on the single laser printing process for the materials required to prepare the femoral prosthesis, different combinations of dual laser printing parameters were designed, and test samples were printed using a dual laser powder bed fusion additive manufacturing device;
使用万能试验机、电化学腐蚀设备和显微硬度计对打印出的测试样件进行力学性能与耐腐蚀性能测试,获得双激光打印参数与材料性能的对应关系;The mechanical properties and corrosion resistance of the printed test samples were tested using a universal testing machine, electrochemical corrosion equipment, and a microhardness tester to obtain the corresponding relationship between dual laser printing parameters and material properties;
根据双激光打印参数与对应金属材料物相的工艺数据库,建立金属材料物相与金属材料性能数据库According to the dual laser printing parameters and the process database of the corresponding metal material phase, a metal material phase and metal material performance database is established
作为优选的技术方案,所述使用性能要求包括耐腐蚀性、抗拉强度、延伸率、屈服强度及耐磨性。As a preferred technical solution, the performance requirements include corrosion resistance, tensile strength, elongation, yield strength and wear resistance.
作为优选的技术方案,所述待制造股骨假体采用钴铬钼合金。As a preferred technical solution, the femoral prosthesis to be manufactured is made of cobalt-chromium-molybdenum alloy.
作为优选的技术方案,所述切片文件采用切片软件根据待制造股骨假体的不同区域进行分割形成。As a preferred technical solution, the slicing file is formed by segmenting the different regions of the femoral prosthesis to be manufactured using slicing software.
作为优选的技术方案,所述对待制造股骨假体进行制造,具体为:As a preferred technical solution, the femoral prosthesis to be manufactured is manufactured as follows:
将打印文件导入双激光同幅面打印设备,在双激光粉末床熔融增材制造设备操作软件上进行双激光协同打印参数设置:对待制造股骨假体的内部区域设置为同幅面分区扫描模式,同时对待制造股骨假体的外部区域设置为高速跟随模式;Import the print file into the dual-laser same-format printing device, and set the dual-laser collaborative printing parameters in the dual-laser powder bed fusion additive manufacturing device operating software: set the same-format partition scanning mode for the inner area of the femoral prosthesis to be manufactured, and set the high-speed following mode for the outer area of the femoral prosthesis to be manufactured;
识别切片文件中每一切片层相应区域的双激光协同打印工艺参数与打印路径特征;Identify the dual laser collaborative printing process parameters and printing path characteristics of the corresponding area of each slice layer in the slice file;
开始打印直至所有切片层成形结束,获得具有多种金相组织复合的股骨假体。Printing begins until all slice layers are formed, and a femoral prosthesis with a composite of multiple metallographic structures is obtained.
第二目的在于提供一种股骨假体梯度功能分区的双激光选取融化直接制造系统,包括工艺数据库构建模块、性能数据库构建模块、金相特征获取模块、分层切片模块、打印文件形成模块以及制造模块;The second object is to provide a dual laser selective melting direct manufacturing system for gradient functional zoning of femoral prostheses, comprising a process database construction module, a performance database construction module, a metallographic feature acquisition module, a layered slicing module, a print file generation module, and a manufacturing module;
所述工艺数据库构建模块用于根据双激光打印参数与金属物相的生长关系,建立双激光打印参数与对应金属物相的工艺数据库;所述双激光打印参数包括双激光协同扫描模式、双激光启动时间间隔、第一激光功率、第二激光功率、第一激光扫描速率、第二激光扫描速率、第一激光扫描间隔、第二激光扫描间隔、第一激光光斑尺寸和第二激光光斑尺寸;所述双激光协同扫描模式包括高速跟随模式和同幅面分区扫描模式;The process database construction module is used to establish a process database of dual laser printing parameters and corresponding metal phases based on the growth relationship between the dual laser printing parameters and the metal phases; the dual laser printing parameters include a dual laser collaborative scanning mode, a dual laser start time interval, a first laser power, a second laser power, a first laser scanning rate, a second laser scanning rate, a first laser scanning interval, a second laser scanning interval, a first laser spot size, and a second laser spot size; the dual laser collaborative scanning mode includes a high-speed following mode and a same-width partitioned scanning mode;
所述性能数据库构建模块用于根据双激光成形材料物相与力学性能的对应关系,建立物相与材料性能数据库;The performance database building module is used to establish a phase and material performance database based on the correspondence between the phase and mechanical properties of the dual laser forming material;
所述金相特征获取模块用于获取待制造股骨假体的使用性能要求,根据物相与金属材料的性能数据库得到待制造股骨假体不同区域的物相特性及分布,并根据物相特性及分布区分出内部区域和外部区域;The metallographic feature acquisition module is used to obtain the performance requirements of the femoral prosthesis to be manufactured, obtain the physical phase characteristics and distribution of different regions of the femoral prosthesis to be manufactured based on the physical phase and metal material performance database, and distinguish the internal region and the external region based on the physical phase characteristics and distribution;
所述分层切片模块用于对待制造股骨假体三维模型进行分层切片,得到切片文件;The layered slicing module is used to perform layered slicing on the three-dimensional model of the femoral prosthesis to be manufactured to obtain a slicing file;
所述打印文件形成模块用于将切片文件导入双激光粉末床熔融增材制造设备,根据工艺数据库对待制造股骨假体的内部区域选择同幅面分区扫描模式对应的双激光协同打印工艺参数,并且对待制造股骨假体的外部区域选择高速跟随模式对应的双激光协同打印工艺参数,形成CLI格式的打印文件;The print file forming module is used to import the slice file into the dual-laser powder bed fusion additive manufacturing device, select the dual-laser collaborative printing process parameters corresponding to the same-width partition scanning mode for the internal area of the femoral prosthesis to be manufactured according to the process database, and select the dual-laser collaborative printing process parameters corresponding to the high-speed following mode for the external area of the femoral prosthesis to be manufactured, to form a print file in CLI format;
所述制造模块用于将CLI格式的打印文件导入双激光同幅面打印设备,对待制造股骨假体件进行制造。The manufacturing module is used to import the printing file in CLI format into the dual-laser same-format printing device to manufacture the femoral prosthesis to be manufactured.
本发明与现有技术相比,具有如下优点和有益效果:Compared with the prior art, the present invention has the following advantages and beneficial effects:
1、提高了股骨假体与服役条件的匹配性:1. Improved compatibility between femoral prosthesis and service conditions:
由于股骨假体外表面需要受到摩擦与挤压,这意味着其需要具有高强度与高耐磨性。但高强度与高耐磨性往往意味着股骨假体韧性的牺牲,这会提高股骨假体失效风险与缩短其使用寿命。因为,对于股骨假体而言,其理想形态为外部高耐磨与高强度、内部高韧性与高延伸率。但目前通过单一激光参数的改变对微观组织的影响效果有限,而热处理工序也难以实现高效精准的分区组织调控。本发明提出的对股骨假体内部同幅面分区扫描模式,凭借高冷却速率提高股骨假体内部高延展性γ-FCC相的占比;对股骨假体外部采用高速跟随模式,凭借双激光两步组织调控,实现零件外部具有高强度、高耐磨性的低应力高堆垛层错、高占比ε-HCP马氏体相组织。Since the outer surface of the femoral prosthesis needs to be subjected to friction and extrusion, it means that it needs to have high strength and high wear resistance. However, high strength and high wear resistance often mean the sacrifice of the toughness of the femoral prosthesis, which will increase the risk of failure of the femoral prosthesis and shorten its service life. Because, for the femoral prosthesis, its ideal form is high wear resistance and high strength on the outside, high toughness and high elongation on the inside. However, the effect of changing a single laser parameter on the microstructure is currently limited, and it is difficult to achieve efficient and accurate partitioned organization control in the heat treatment process. The present invention proposes a same-width partitioned scanning mode for the inside of the femoral prosthesis, which increases the proportion of the high-ductility γ-FCC phase inside the femoral prosthesis by relying on a high cooling rate; and adopts a high-speed following mode for the outside of the femoral prosthesis, relying on dual laser two-step organization control, to achieve a low-stress, high-stacking fault, and high-proportion ε-HCP martensite phase structure with high strength and high wear resistance on the outside of the part.
2、大幅提供了股骨假体的制造速度:2. Significantly improves the manufacturing speed of femoral prosthesis:
本发明对于股骨假体内部区域采用同幅面分区扫描模式,凭借双激光共同对内部区域进行扫描填充,大幅缩短零件填充时间,提高股骨假体打印效率。此外,本发明通过双激光直接分区调控股骨假体的微观组织,实现功能与性能在一体化成形,免去了后续的热处理工序,进一步提高了制造效率。This invention utilizes a single-width, zoned scanning mode for the internal area of the femoral prosthesis. Dual lasers scan and fill the internal area, significantly reducing part filling time and improving femoral prosthesis printing efficiency. Furthermore, this invention uses dual lasers to directly adjust the microstructure of the femoral prosthesis in zones, achieving integrated functionality and performance, eliminating subsequent heat treatment steps and further improving manufacturing efficiency.
3、提升了股骨假体的综合力学性能:3. Improved the comprehensive mechanical properties of femoral prosthesis:
现有的热处理组织调控方法只能实现股骨假体的单一组织调控,若是热处理后γ-FCC相的占比则会导致股骨假体耐磨性与强度不足,若是热处理后ε-HCP马氏体相占比高则会导致股骨假体延伸率低。本发明通过可编程化的双激光工艺参数,实现股骨假体的分区性能调控,在一个股骨假体中兼顾高强高耐磨区域与高延展性韧性区域,打破了组织与性能调控中的“强度-韧性”权衡规则,实现了股骨假体的强韧化直接制造,提高了股骨假体的综合力学性能。Existing heat treatment tissue control methods can only achieve single-tissue control of femoral prostheses. A high proportion of the γ-FCC phase after heat treatment can result in insufficient wear resistance and strength, while a high proportion of the ε-HCP martensite phase can lead to low elongation. This invention, through programmable dual-laser process parameters, achieves zoned performance control of the femoral prosthesis, balancing high-strength and high-wear-resistant regions with high-ductility and toughness regions within a single femoral prosthesis. This overcomes the "strength-toughness" trade-off in tissue and performance control, enabling direct manufacturing of strengthened and toughened femoral prostheses and improving their overall mechanical properties.
4、提高了股骨假体制造的自动化程度:4. Improved the automation level of femoral prosthesis manufacturing:
本发明采用零件形状制造与组织调控一体化直接制造的方式,避免了原有线成形、后热处理的多工序制造带来的人工与时间成本。通过在一个设备中完成形状与性能的直接制造,免去了中间工序的人工加入,提高了零件制造的自动化程度,适合未来的智能制造发展方向。This invention utilizes a direct manufacturing method that integrates part shape manufacturing with structural control, avoiding the labor and time costs associated with the traditional multi-step manufacturing process of wire forming and post-heat treatment. By achieving both shape and performance directly in a single device, manual intervention in intermediate steps is eliminated, improving the automation level of part manufacturing and aligning with the future development of intelligent manufacturing.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
图1为本发明实施例中股骨假体梯度功能分区的双激光选区融化直接制造方法的流程图。FIG1 is a flow chart of a dual laser selective melting direct manufacturing method for gradient functional zoning of a femoral prosthesis according to an embodiment of the present invention.
图2为本发明实施例中双激光束协同扫描在高速跟随模式下的示意图。FIG2 is a schematic diagram of dual laser beam cooperative scanning in high-speed following mode according to an embodiment of the present invention.
图3为本发明实施例中股骨假体内部区域与外部区域分区示意图。FIG3 is a schematic diagram showing the division of the inner region and the outer region of the femoral prosthesis in an embodiment of the present invention.
图4为本发明实施例中股骨假体内部高γ-FCC相占比与外部高ε-HCP相示意图。FIG4 is a schematic diagram of the high γ-FCC phase ratio inside the femoral prosthesis and the high ε-HCP phase outside the femoral prosthesis according to an embodiment of the present invention.
图5为本发明实施例中股骨假体梯度功能分区的双激光选区融化直接制造系统的结构示意图。FIG5 is a schematic structural diagram of a dual laser selective melting direct manufacturing system for gradient functional zoning of a femoral prosthesis according to an embodiment of the present invention.
具体实施方式DETAILED DESCRIPTION
为了使本技术领域的人员更好地理解本申请方案,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述。显然,所描述的实施例仅仅是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。In order to enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.
在本申请中提及“实施例”意味着,结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例,也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是,本申请所描述的实施例可以与其它实施例相结合。References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.
如图1所示,本实施例提供一种股骨假体梯度功能分区的双激光选区融化直接制造方法,包括下述步骤:As shown in FIG1 , this embodiment provides a dual laser selective melting direct manufacturing method for gradient functional zoning of a femoral prosthesis, comprising the following steps:
S1、根据双激光打印参数与金属材料物相的生长关系,建立双激光打印参数与对应金属材料物相的工艺数据库;其中,双激光打印参数包括双激光协同扫描模式、双激光启动时间间隔、第一激光功率(如200 W)、第二激光功率(如160 W)、第一激光扫描速率(如500m/s)、第二激光扫描速率(如1000 m/s)、第一激光扫描间隔(如0.12 mm)、第二激光扫描间隔(如0.06 mm)、第一激光光斑尺寸和第二激光光斑尺寸等;双激光协同扫描模式包括高速跟随模式和同幅面分区扫描模式;S1. Based on the relationship between dual laser printing parameters and the growth of metal material phases, a process database of dual laser printing parameters and corresponding metal material phases is established; wherein the dual laser printing parameters include dual laser collaborative scanning mode, dual laser start time interval, first laser power (e.g., 200 W), second laser power (e.g., 160 W), first laser scanning rate (e.g., 500 m/s), second laser scanning rate (e.g., 1000 m/s), first laser scanning interval (e.g., 0.12 mm), second laser scanning interval (e.g., 0.06 mm), first laser spot size and second laser spot size, etc.; dual laser collaborative scanning modes include high-speed following mode and same-width partition scanning mode;
S2、根据双激光成形材料物相比例与强度、延伸率的对应关系,建立物相与金属材料性能数据库;S2. Establish a database of phases and metal material properties based on the corresponding relationship between the phase ratio, strength, and elongation of the dual laser forming material;
S3、获取待制造股骨假体的使用性能要求,根据物相与金属材料性能数据库得到待制造股骨假体不同区域的物相特性及分布,并根据物相特性及分布区分出内部区域和外部区域;S3. Obtaining performance requirements for the femoral prosthesis to be manufactured, obtaining physical phase characteristics and distribution of different regions of the femoral prosthesis to be manufactured based on a physical phase and metal material property database, and distinguishing an inner region from an outer region based on the physical phase characteristics and distribution;
S4、对待制造股骨假体三维模型进行分层切片,得到切片文件;S4, performing layered slicing on the three-dimensional model of the femoral prosthesis to be manufactured to obtain a slice file;
S5、将切片文件导入双激光粉末床熔融增材制造设备,根据工艺数据库对待制造股骨假体的内部区域选择同幅面分区扫描模式对应的双激光协同打印工艺参数,并且对待制造股骨假体的外部区域选择高速跟随模式对应的双激光协同打印工艺参数,形成CLI格式的打印文件;S5. Importing the slice file into the dual-laser powder bed fusion additive manufacturing device, selecting dual-laser collaborative printing process parameters corresponding to the same-width partition scanning mode for the inner region of the femoral prosthesis to be manufactured according to the process database, and selecting dual-laser collaborative printing process parameters corresponding to the high-speed following mode for the outer region of the femoral prosthesis to be manufactured, to generate a print file in CLI format;
S6、将CLI格式的打印文件导入双激光粉末床熔融增材制造设备,对待制造股骨假体进行制造。S6. Import the CLI format printing file into the dual laser powder bed fusion additive manufacturing equipment to manufacture the femoral prosthesis to be manufactured.
进一步的,为迅速确定零件的制造工艺,可根据所需制造股骨假体的不同区域性能要求,建立工艺数据库以迅速匹配相应的双激光协同打印参数,具体为:Furthermore, to quickly determine the manufacturing process of parts, a process database can be established based on the performance requirements of different regions of the femoral prosthesis to quickly match the corresponding dual-laser collaborative printing parameters, specifically:
S101、根据制备股骨假体所需金属材料的单激光打印工艺,设计不同组合的双激光打印参数,并通过双激光粉末床熔融增材制造设备打印出测试样件;S101. Designing different combinations of dual-laser printing parameters based on a single laser printing process for the metal material required to prepare a femoral prosthesis, and printing test samples using a dual-laser powder bed fusion additive manufacturing device.
S102、将测试样件进行金相制备,通过电子背散射衍射,获得金属材料的物相形态与物相比例;S102, performing metallographic preparation on the test sample, and obtaining the phase morphology and phase ratio of the metal material by electron backscatter diffraction;
S103、将不同双激光打印参数下对应金属材料的物相形态与物相比例相关联,获得双激光打印参数与对应金属材料物相的工艺数据库。S103 , associating the phase morphology and phase ratio of the corresponding metal material under different dual-laser printing parameters to obtain a process database of the dual-laser printing parameters and the corresponding metal material phases.
进一步的,本申请中双激光协同扫描模式包括同辐面分区扫描模式和高速跟随模式,其中同辐面分区扫描模式是指:第一激光束与第二激光束同时采用第一激光功率(如180 W)、第一激光扫描速率(如800 m/s)、第一激光扫描间隔(如0.07 mm)进行分区扫描成形的工作模式,一方面将需要成形的面积一分为二降低成形时间,另一方面将金属材料在1000m/s的扫描速率下快速冷却,高温稳定相通过快速冷却的方式在低温稳定下来,从而形成具有较大占比的高温稳定相组织。Furthermore, the dual-laser collaborative scanning mode in this application includes a same-radius partitioned scanning mode and a high-speed following mode, wherein the same-radius partitioned scanning mode refers to a working mode in which the first laser beam and the second laser beam simultaneously use the first laser power (such as 180 W), the first laser scanning rate (such as 800 m/s), and the first laser scanning interval (such as 0.07 mm) to perform partitioned scanning and forming. On the one hand, the area to be formed is divided into two to reduce the forming time. On the other hand, the metal material is rapidly cooled at a scanning rate of 1000 m/s, and the high-temperature stable phase is stabilized at a low temperature by rapid cooling, thereby forming a high-temperature stable phase structure with a large proportion.
高速跟随模式是指:第二激光束以等距离间隔内跟随第一激光束打印路径进行打印的工作模式,第二激光束对第一激光束已成形部分进行快速重熔,通过形成小尺寸重熔熔池的方式将第一激光束成形组织中的大片低温相、大尺寸晶粒转化为分散的细小低温相与小尺寸晶粒。High-speed following mode refers to an operating mode in which the second laser beam follows the printing path of the first laser beam at equal intervals to perform printing. The second laser beam quickly remelts the portion formed by the first laser beam, and by forming a small-sized remelting pool, the large low-temperature phases and large-sized grains in the structure formed by the first laser beam are converted into dispersed small low-temperature phases and small-sized grains.
其中,第一激光束与第二激光束间存在激光启动时间间隔,通过调整激光启动时间间隔可以控制重熔过程中的基体温度及第一激光束与第二激光束间的等距离间隔,从而避免第二激光束由于快速扫描带来的高冷却速率从而减小低温相占比;并且通过同时调整第一激光束和第二激光束的扫描速率和扫描间隔来避免高速扫描的第二激光束超过低速扫描的第一激光速,从而实现熔池重熔基体温度的恒定。Among them, there is a laser start-up time interval between the first laser beam and the second laser beam. By adjusting the laser start-up time interval, the substrate temperature during the remelting process and the equidistant interval between the first laser beam and the second laser beam can be controlled, thereby avoiding the high cooling rate of the second laser beam due to rapid scanning, thereby reducing the proportion of the low-temperature phase; and by simultaneously adjusting the scanning rate and scanning interval of the first laser beam and the second laser beam, it is avoided that the high-speed scanning second laser beam exceeds the low-speed scanning first laser beam speed, thereby achieving the constant temperature of the molten pool remelting substrate.
进一步的,高速跟随模式下,第二激光束等距离跟随第一激光束工作时满足下述关系:Furthermore, in the high-speed following mode, the second laser beam follows the first laser beam at an equal distance and satisfies the following relationship:
V 2 ×S 2 =V 1 ×S 1 ,P 1 >P 2 , V 2 × S 2 = V 1 × S 1 , P 1 > P 2 ,
其中,V 1 为第一激光扫描速率,单位为m/s;V 2 为第二激光扫描速率,单位为m/s;S 1 为第一激光扫描间隔,单位为mm;S 2 为第二激光扫描间隔,单位为mm;P 1 为第一激光功率,单位为W;P 2 为第二激光功率,单位为W。Wherein, V1 is the first laser scanning rate, in m/s; V2 is the second laser scanning rate, in m/s; S1 is the first laser scanning interval, in mm; S2 is the second laser scanning interval, in mm; P1 is the first laser power, in W; P2 is the second laser power, in W.
如图2所示,该关系要求第一激光束以高功率(如200 W)、低扫描速率(如500 m/s)及高扫描间隔(如0.12 mm)进行打印工作,此时冷却速率降低,形成具有低应力高堆垛层错、高占比低温相的组织,第二激光束以低功率(如160 W)、高扫描速率(如1000 m/s)及低扫描间隔(如0.06 mm)进行打印工作,保证等距离跟随第一激光束的同时对第一激光束已成形部分进行快速重熔,通过形成小尺寸重熔熔池的方式将成形基体中的大片低温相、大尺寸晶粒转化为分散的细小低温相与小尺寸晶粒,实现组织均匀化。As shown in Figure 2, this relationship requires that the first laser beam be printed at high power (such as 200 W), low scanning rate (such as 500 m/s) and high scanning interval (such as 0.12 mm). At this time, the cooling rate is reduced to form a structure with low stress, high stacking faults and a high proportion of low-temperature phases. The second laser beam is printed at low power (such as 160 W), high scanning rate (such as 1000 m/s) and low scanning interval (such as 0.06 mm). While ensuring that it follows the first laser beam at an equal distance, the formed part of the first laser beam is quickly remelted. By forming a small-sized remelting pool, the large low-temperature phases and large-sized grains in the formed matrix are converted into dispersed fine low-temperature phases and small-sized grains, thereby achieving tissue homogenization.
进一步的,建立金属材料物相与材料性能数据库具体为:Furthermore, the metal material phase and material properties database is established as follows:
S201、根据制备股骨假体所需材料的单激光打印工艺,设计不同组合的双激光打印参数,通过双激光粉末床熔融增材制造设备打印出测试样件;S201. Designing different combinations of dual-laser printing parameters based on a single laser printing process for preparing materials required for a femoral prosthesis, and printing test samples using a dual-laser powder bed fusion additive manufacturing device.
S202、通过万能试验机、电化学腐蚀设备和显微硬度计对打印出的测试样件进行力学性能与耐腐蚀性能测试,获得双激光打印参数与零件性能的对应关系;S202. Testing the mechanical properties and corrosion resistance of the printed test samples using a universal testing machine, electrochemical corrosion equipment, and a microhardness tester to obtain the corresponding relationship between the dual laser printing parameters and the part performance;
S203、根据双激光打印参数与对应金属材料物相的工艺数据库,建立金属材料物相与金属材料性能数据库。S203 , establishing a database of metal material phases and metal material properties according to the dual laser printing parameters and the process database of the corresponding metal material phases.
进一步的,待制造股骨假体的使用性能要求包括抗拉强度、延伸率、屈服强度及耐磨性等。待制造股骨假体采用钴铬钼合金。如图3所示,从结构上分为内部区域与外部区域;其中,内部区域采用同幅面分区扫描模式成形,将成形效率提高,并凭借高冷却速率获得具有良好韧性的γ-FCC相细晶组织;外部区域采用高速跟随模式扫描成形,高功率、低扫描速率的第一激光束形成具有高强度、高耐磨性的低应力高堆垛层错、高占比ε-HCP马氏体相组织,低功率、高扫描速率的第二激光束通过小熔池重熔进一步将第一激光束形成的组织细化与均匀化,并通过双激光束协同成形的方式避免单一激光束由于层间扫描面积不一致带来的重熔时间不可控的问题。Furthermore, the performance requirements of the femoral prosthesis to be manufactured include tensile strength, elongation, yield strength, and wear resistance. The femoral prosthesis to be manufactured is made of cobalt-chromium-molybdenum alloy. As shown in Figure 3, it is structurally divided into an inner region and an outer region. The inner region is formed using a same-width partitioned scanning mode to improve forming efficiency and obtain a γ-FCC phase fine-grained structure with good toughness due to a high cooling rate. The outer region is formed using a high-speed following mode scanning. The high-power, low-scanning-rate first laser beam forms a low-stress, high-stacking-fault, and high-proportion ε-HCP martensite phase structure with high strength and high wear resistance. The low-power, high-scanning-rate second laser beam further refines and homogenizes the structure formed by the first laser beam through remelting in a small molten pool. The dual-laser beam collaborative forming method avoids the problem of uncontrollable remelting time caused by inconsistent inter-layer scanning areas in a single laser beam.
进一步的,本实施例中使用Magic切片软件根据待制造股骨假体的内外区域进行分割形成切片文件;还需说明的,其他能达到相同作用的切片软件亦可使用,本例使用的Magic切片软件仅为示例性说明。Furthermore, in this embodiment, Magic slicing software is used to segment the inner and outer regions of the femoral prosthesis to be manufactured to form a slice file; it should also be noted that other slicing software that can achieve the same effect can also be used, and the Magic slicing software used in this example is only for illustrative purposes.
本实施例中,使用Magic切片软件对股骨假体进行切片,形成0.2-0.5mm厚的外层作为外部区域,其余为内层作为内部区域,如图4所示,切片后根据使用要求,其外部区域采用高速跟随模式,凭借双激光两步组织调控,保证高强度与高耐磨性;内部区域采用同幅面分区扫描模式,凭借高冷却速率提高股骨假体内部高延展性γ-FCC相的占比,保证其高强韧性。In this embodiment, Magic slicing software is used to slice the femoral prosthesis to form an outer layer with a thickness of 0.2-0.5 mm as the outer area, and the rest is an inner layer as the inner area, as shown in FIG4 . After slicing, according to the use requirements, the outer area adopts a high-speed following mode, and relies on dual laser two-step tissue control to ensure high strength and high wear resistance; the inner area adopts a same-width partition scanning mode, and relies on a high cooling rate to increase the proportion of the high-ductility γ-FCC phase inside the femoral prosthesis to ensure its high strength and toughness.
进一步的,形成含激光能量与扫描路径信息的CLI格式的打印文件。Furthermore, a print file in CLI format containing laser energy and scanning path information is generated.
本实施例中,确定待制造股骨假体不同区域的物相形态与比例后,从工艺数据库中根据金属材料物相去获取双激光打印参数,对于股骨假体,对其外部区域采用成形激光为200 W激光功率、重熔时间间隔为5ms的成形策略与重熔激光为160 W激光功率、重熔时间间隔为5ms的成形策略,成形具有高强度、高耐磨性的低应力高堆垛层错、高占比ε-HCP马氏体相组织。对其内部区域采用成形激光均为180 W激光功率的同幅面分区扫描成形策略,凭借高冷却速率提高股骨假体内部高延展性γ-FCC相的占比。In this example, after determining the physical morphology and proportions of different regions of the femoral prosthesis to be manufactured, dual-laser printing parameters were retrieved from a process database based on the metal material phases. For the femoral prosthesis, a forming strategy with a forming laser power of 200 W and a remelting interval of 5 ms, and a remelting laser power of 160 W and a remelting interval of 5 ms were used for the outer region. These strategies resulted in a low-stress, high-stacking-fault, and high-proportion ε-HCP martensite phase with high strength and wear resistance. For the inner region, a uniform scanning strategy with a forming laser power of 180 W was used, leveraging a high cooling rate to increase the proportion of the highly ductile γ-FCC phase within the femoral prosthesis.
进一步的,获取CLI格式的打印文件后输入双激光粉末床熔融增材制造设备中制造待制造股骨假体,具体为:Furthermore, after obtaining the print file in CLI format, it is input into the dual laser powder bed fusion additive manufacturing equipment to manufacture the femoral prosthesis to be manufactured, specifically:
S601、将CLI格式的打印文件导入双激光同幅面打印设备,在双激光粉末床熔融增材制造设备操作软件上进行双激光协同打印参数设置:对待制造股骨假体的内部区域设置为同幅面分区扫描模式,同时对待制造股骨假体的外部区域设置为高速跟随模式,实现形状与性能一体化成形;S601. Import the CLI format print file into the dual-laser same-format printing device, and set the dual-laser collaborative printing parameters in the dual-laser powder bed fusion additive manufacturing device operating software: set the internal area of the femoral prosthesis to be manufactured to the same-format partition scanning mode, and set the external area of the femoral prosthesis to be manufactured to the high-speed follow mode to achieve integrated forming of shape and performance;
S602、识别切片文件中每一切片层相应区域的双激光协同打印工艺参数与打印路径特征;S602, identifying dual-laser collaborative printing process parameters and printing path characteristics of the corresponding area of each slice layer in the slice file;
S603、开始打印,直至所有切片层成形结束,获得具有多种金相组织复合的股骨假体。S603: Start printing until all slice layers are formed, and obtain a femoral prosthesis with a composite of multiple metallographic structures.
需要说明的是,对于前述的各方法实施例,为了简便描述,将其都表述为一系列的动作组合,但是本领域技术人员应该知悉,本发明并不受所描述的动作顺序的限制,因为依据本发明,某些步骤可以采用其它顺序或者同时进行。It should be noted that, for the sake of convenience, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited to the described order of actions, because according to the present invention, certain steps can be performed in other orders or simultaneously.
基于与上述实施例中的股骨假体梯度功能分区的双激光选区融化直接制造方法相同的思想,本发明还提供了股骨假体梯度功能分区的双激光选区融化直接制造系统,该系统可用于执行上述股骨假体梯度功能分区的双激光选区融化直接制造方法。为了便于说明,股骨假体梯度功能分区的双激光选区融化直接制造系统实施例的结构示意图中,仅仅示出了与本发明实施例相关的部分,本领域技术人员可以理解,图示结构并不构成对装置的限定,可以包括比图示更多或更少的部件,或者组合某些部件,或者不同的部件布置。Based on the same concept as the dual laser selective melting direct manufacturing method for gradient functional zoning of femoral prostheses in the above-mentioned embodiment, the present invention also provides a dual laser selective melting direct manufacturing system for gradient functional zoning of femoral prostheses, which can be used to execute the above-mentioned dual laser selective melting direct manufacturing method for gradient functional zoning of femoral prostheses. For ease of explanation, the structural schematic diagram of the embodiment of the dual laser selective melting direct manufacturing system for gradient functional zoning of femoral prostheses only shows the parts related to the embodiment of the present invention. Those skilled in the art will understand that the illustrated structure does not constitute a limitation of the device, and the device may include more or fewer components than shown, or combine certain components, or have different component arrangements.
请参阅图5,在本申请的另一个实施例中,提供了一种股骨假体梯度功能分区的双激光选区融化直接制造系统,包括工艺数据库构建模块、性能数据库构建模块、金相特征获取模块、分层切片模块、打印文件形成模块以及制造模块;Referring to FIG. 5 , in another embodiment of the present application, a dual-laser selective melting direct manufacturing system for gradient functional zoning of a femoral prosthesis is provided, comprising a process database construction module, a performance database construction module, a metallographic feature acquisition module, a layered slicing module, a print file generation module, and a manufacturing module;
其中,工艺数据库构建模块用于根据双激光打印参数与金属物相的生长关系,建立双激光打印参数与对应金属物相的工艺数据库;其中,双激光打印参数包括双激光协同扫描模式、双激光启动时间间隔、第一激光功率、第二激光功率、第一激光扫描速率、第二激光扫描速率、第一激光扫描间隔、第二激光扫描间隔、第一激光光斑尺寸和第二激光光斑尺寸;双激光协同扫描模式包括高速跟随模式和同幅面分区扫描模式;The process database construction module is used to establish a process database of dual laser printing parameters and corresponding metal phases based on the growth relationship between the dual laser printing parameters and the metal phases; the dual laser printing parameters include dual laser collaborative scanning mode, dual laser start time interval, first laser power, second laser power, first laser scanning rate, second laser scanning rate, first laser scanning interval, second laser scanning interval, first laser spot size and second laser spot size; the dual laser collaborative scanning mode includes high-speed following mode and same-width partition scanning mode;
性能数据库构建模块用于根据双激光成形材料物相与力学性能的对应关系,建立物相与零件性能数据库;The performance database construction module is used to establish a physical phase and part performance database based on the correspondence between the physical phase and mechanical properties of the dual laser forming material;
金相特征获取模块用于获取待制造金属零件的使用性能要求,根据金属物相与零件性能数据库得到待制造金属零件不同区域的物相特性及分布,并根据物相特性及分布区分出内部区域和外部区域The metallographic feature acquisition module is used to obtain the performance requirements of the metal parts to be manufactured. According to the metal phase and part performance database, the phase characteristics and distribution of different areas of the metal parts to be manufactured are obtained, and the internal and external areas are distinguished according to the phase characteristics and distribution.
分层切片模块用于对待制造股骨假体进行分层切片,得到切片文件;The layered slicing module is used to perform layered slicing on the femoral prosthesis to be manufactured to obtain a slicing file;
打印文件形成模块用于将切片文件导入双激光粉末床熔融增材制造设备,根据工艺数据库对待制造股骨假体的内部区域选择同幅面分区扫描模式对应的双激光协同打印工艺参数,并且对待制造股骨假体的外部区域选择高速跟随模式对应的双激光协同打印工艺参数,形成CLI格式的打印文件;The print file generation module is used to import the slice file into the dual-laser powder bed fusion additive manufacturing equipment, select the dual-laser collaborative printing process parameters corresponding to the same-width partition scanning mode for the internal area of the femoral prosthesis to be manufactured according to the process database, and select the dual-laser collaborative printing process parameters corresponding to the high-speed following mode for the external area of the femoral prosthesis to be manufactured, to generate a print file in CLI format;
制造模块用于将CLI格式的打印文件导入双激光同幅面打印设备,对待制造股骨假体进行制造。The manufacturing module is used to import the printing file in CLI format into the dual-laser same-format printing device to manufacture the femoral prosthesis to be manufactured.
需要说明的是,本发明的股骨假体梯度功能分区的双激光选区融化直接制造系统与本发明的股骨假体梯度功能分区的双激光选区融化直接制造方法一一对应,在上述股骨假体梯度功能分区的双激光选区融化直接制造方法的实施例阐述的技术特征及其有益效果均适用于股骨假体梯度功能分区的双激光选区融化直接制造系统的实施例中,具体内容可参见本发明方法实施例中的叙述,此处不再赘述,特此声明。It should be noted that the dual laser selective melting direct manufacturing system for gradient functional zoning of femoral prosthesis of the present invention corresponds one to one with the dual laser selective melting direct manufacturing method for gradient functional zoning of femoral prosthesis of the present invention. The technical features and beneficial effects described in the embodiment of the dual laser selective melting direct manufacturing method for gradient functional zoning of femoral prosthesis of the above-mentioned are applicable to the embodiment of the dual laser selective melting direct manufacturing system for gradient functional zoning of femoral prosthesis. For specific contents, please refer to the description in the embodiment of the method of the present invention. No further details will be given here. This is hereby declared.
此外,上述实施例的股骨假体梯度功能分区的双激光选区融化直接制造系统的实施方式中,各程序模块的逻辑划分仅是举例说明,实际应用中可以根据需要,例如出于相应硬件的配置要求或者软件的实现的便利考虑,将上述功能分配由不同的程序模块完成,即将所述股骨假体梯度功能分区的双激光选区融化直接制造系统的内部结构划分成不同的程序模块,以完成以上描述的全部或者部分功能。In addition, in the implementation of the dual laser selective melting direct manufacturing system for gradient functional zoning of femoral prosthesis in the above-mentioned embodiment, the logical division of each program module is only an example. In actual application, the above-mentioned functions can be assigned to different program modules as needed, for example, for the convenience of corresponding hardware configuration requirements or software implementation. That is, the internal structure of the dual laser selective melting direct manufacturing system for gradient functional zoning of femoral prosthesis is divided into different program modules to complete all or part of the functions described above.
以上实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
上述实施例为本发明较佳的实施方式,但本发明的实施方式并不受上述实施例的限制,其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化,均应为等效的置换方式,都包含在本发明的保护范围之内。The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.
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