中文摘要：

运用6轴机器人及光内送粉技术进行弧形悬垂实体结构成形，提出了空间变姿态径向搭接方法：熔覆头沿圆弧切线方向连续变姿态，径向多道搭接。探讨了熔覆喷头堆高自适应区间，推导了离焦量在-5．5—-1．5mm时，单道熔层生长量随离焦量变化的量化关系式，并加以实验验证。对成形悬垂实体件检测结果表明：成形件表面平整，过渡平缓无阶梯效应；不同倾角下成形件厚度长度均匀，各尺寸精度均接近建模要求；电镜组织分析表明不同倾角下各处显微组织均匀致密无明显差别。对成形件作硬度检测，其硬度分布与电镜组织保持相同变化规律。

英文摘要：

By using 6-axis robot and inside laser powder feeding technology to form the arcuate cantilevered entity part, and a way of variable posture and radial overlap laser cladding was proposed. This experiment discussed the cladding nozzle self-healing effect and deduced the quantitative relation between the single track height and the laser defocus when the defocusing amount ranged from -5.5 mm to -1.5 mm, and verified it by experimrent. The experiment result shows that the surface of formed part is flat and smooth without staircase effect; the thickness and length of formed part are uniform under different angle, and all the dimension precision meet the requirements of modeling, different angle almost has the same microstructure. The hardness keeps the same change rule with microstructure by testing the forming part hardness.