Alloy powder recovery device and method for laser cladding

Abstract

The invention discloses an alloy powder recovery device and method for laser cladding, and relates to the technical field of laser cladding, the alloy powder recovery device for laser cladding comprises a base, a fan, an image acquisition module and a control module, the fan is installed on the base, the fan is provided with an adsorption end, the adsorption end is communicated with a suction nozzle, and the suction nozzle is communicated with the image acquisition module. A suction opening of the suction nozzle faces the alloy powder; the image acquisition module is mounted in the suction nozzle, the image acquisition end of the image acquisition module faces the alloy powder, and the image acquisition module is used for acquiring image information of the alloy powder in real time; the fan and the image acquisition module are electrically connected with the control module; the control module is used for controlling the fan to drive the suction nozzle to recover the alloy powder according to the image information; through cooperation of the fan, the suction nozzle, the image acquisition module and the control module, the output power of the fan can be dynamically adjusted, and it is ensured that the unmelted alloy powder has sufficient time to participate in the cladding process while the alloy powder is recycled, so that the machining quality of a cladding layer is improved.

Description

Technical Field

[0001] The invention relates to the technical field of laser cladding, and in particular to an alloy powder recovery device and method for laser cladding. Background Art

[0002] Among the related technologies, laser cladding is widely used in the repair and performance improvement of metal materials. It is a surface treatment technology. This technology uses a high-energy-density laser beam to rapidly heat a specific alloy powder to a molten state and metallurgically bond it to the surface of the substrate, thereby forming a cladding layer with excellent performance. In this process, the temperature and structure of the molten pool can be precisely controlled through parameters such as laser power, scanning speed, and powder feed rate, thereby optimizing the thickness, composition, and microstructure of the cladding layer.

[0003] The selection of alloy powder is crucial to the final performance of the cladding layer. Commonly used alloy powders include nickel-based, iron-based, cobalt-based alloys and ceramic composite powders. These powders are prepared by a specific process, usually with a particle size range of 20-60μm to ensure good fluidity and melting properties. During the laser cladding process, the control of the alloy powder supply rate plays an important role in ensuring the uniformity and thickness of the cladding layer. The alloy powder is evenly delivered to the area irradiated by the laser beam through a gas injection system. The gas (usually argon or nitrogen) not only serves to transport the powder, but also protects the molten pool from oxidation.

[0004] However, due to insufficient laser energy density, uneven powder particle size, uneven powder supply or uneven thermal conductivity of the substrate, the alloy powder cannot be completely melted during the actual operation of laser cladding. The incompletely melted alloy powder particles will form defects in the cladding layer, such as pores or inclusions, which will reduce the density of the cladding layer and affect its overall mechanical properties, such as tensile strength and hardness; or, rough irregular protrusions will be formed on the surface of the cladding layer, which will not only affect the surface finish, but also reduce the wear resistance of the cladding layer; or, since the incompletely melted particles are not tightly bonded to the surrounding materials, the interface areas around these particles may become weak points of corrosion. In a corrosive environment, these areas are more prone to corrosion expansion, reducing the corrosion resistance of the cladding layer.

[0005] Therefore, there is an urgent need to propose an alloy powder recovery device and method for laser cladding to recover the alloy powder that is not completely melted during the laser cladding process, so as to improve the processing quality of the cladding layer. Summary of the invention

[0006] The main purpose of the present invention is to provide an alloy powder recovery device and method for laser cladding, aiming to recover alloy powder that is not completely melted during the laser cladding process to improve the processing quality of the cladding layer.

[0007] To achieve the above-mentioned purpose, the present invention provides an alloy powder recovery device for laser cladding, comprising:

[0008] Pedestal;

[0009] A fan, the fan is installed on the base, the fan has a suction end, the suction end is connected to a suction nozzle, and the suction port of the suction nozzle is arranged toward the alloy powder;

[0010] An image acquisition module, wherein the image acquisition module is installed in the suction nozzle, an image acquisition end of the image acquisition module is arranged toward the alloy powder, and is used to acquire image information of the alloy powder in real time;

[0011] A control module, wherein the fan and the image acquisition module are both electrically connected to the control module, and the control module is used to control the output power of the fan according to the image information so that the fan drives the suction nozzle to recover the alloy powder.

[0012] In one embodiment, the suction nozzle includes a shell, a mounting seat and a plurality of suction straws, the shell having an installation space formed at one end facing the alloy powder, the installation space being communicated with the suction port, the mounting seat being installed in the installation space and connected to the shell, the image acquisition module being installed on the mounting seat, the mounting seat being coaxially arranged with the suction port, a plurality of the suction straws being distributed in the installation space at intervals along the circumference of the mounting seat, and each of the suction straws being connected to the shell; the spacing between each of the suction straws and the suction port is smaller than the spacing between the image acquisition end of the image acquisition module and the suction port.

[0013] The present invention also proposes a method for recovering alloy powder for laser cladding, using the above-mentioned alloy powder recovery device for laser cladding, the method for recovering alloy powder for laser cladding comprises:

[0014] During the laser cladding process, the image acquisition module acquires image information of the alloy powder in real time, and obtains a state characteristic value group of the alloy powder according to the image information;

[0015] The control module obtains the state parameter value of the alloy powder according to the state characteristic value group;

[0016] The control module obtains a power adjustment value for adjusting the output power of the fan according to the state parameter value;

[0017] The control module compares the power adjustment value with the preset condition to obtain a comparison result;

[0018] The control module adjusts the output power of the fan to a current power value according to the comparison result and the power adjustment value, and controls the fan to drive the suction nozzle to recover the alloy powder at the current power value.

[0019] In one embodiment, during the laser cladding process, the image acquisition module acquires image information of the alloy powder in real time, and the step of obtaining a state characteristic value group of the alloy powder according to the image information includes:

[0020] The image acquisition module acquires image information of the alloy powder in real time; wherein the image information includes a two-dimensional matrix of temperature distribution and a two-dimensional matrix of brightness distribution;

[0021] The control module extracts the current center point temperature value and the current average brightness value of the alloy powder according to the temperature distribution two-dimensional matrix and the brightness distribution two-dimensional matrix to obtain a state characteristic value group of the alloy powder.

[0022] In one embodiment, the control module extracts the current center point temperature value and the current average brightness value of the alloy powder according to the temperature distribution two-dimensional matrix and the brightness distribution two-dimensional matrix, and the step of obtaining the state characteristic value group of the alloy powder includes:

[0023] The control module obtains the current center point coordinates according to the temperature distribution two-dimensional matrix, formula 1 and formula 2;

[0024] The formula 1 is:

[0025]

[0026] The formula 2 is:

[0027]

[0028] Among them, the x c is the horizontal coordinate of the current center point coordinate in the temperature distribution two-dimensional matrix, and the y c is the ordinate of the current center point coordinate in the temperature distribution two-dimensional matrix, A is the number of rows of the temperature distribution two-dimensional matrix, B is the number of columns of the temperature distribution two-dimensional matrix, and T (x，y) is the temperature value at the (x, y) coordinate in the temperature distribution two-dimensional matrix;

[0029] The control module obtains the current center point temperature value according to the current center point coordinates and the temperature distribution two-dimensional matrix;

[0030] The control module obtains the current average brightness value according to the brightness distribution two-dimensional matrix and formula 3, and the current center point temperature value and the current average brightness value form the state characteristic value group;

[0031] The formula three is:

[0032]

[0033] Among them, the L a(t) is the current average brightness value, the L (x，y) is the brightness value at the (x, y) coordinate in the brightness distribution two-dimensional matrix, C is the number of rows of the brightness distribution two-dimensional matrix, and D is the number of columns of the brightness distribution two-dimensional matrix.

[0034] In one embodiment, the step of obtaining the state parameter value of the alloy powder according to the state characteristic value group by the control module includes:

[0035] The control module obtains the current melting state value of the alloy powder according to the current center point temperature value, the current average brightness value and formula 4;

[0036] The formula 4 is:

[0037] S (t) =w1*T c(t) +w2*L a(t)

[0038] Among them, the S (t) is the current melting state value, w1 is the first preset weight, w2 is the second preset weight, and T c(t) is the current center point temperature value;

[0039] The control module obtains the state parameter value according to the current melting state value and formula 5;

[0040] The formula five is:

[0041] ΔS (t) =S (t) -S (t-1)

[0042] Among them, the ΔS (t) is the first state parameter value, the S (t-1) It is the previous melting state value adjacent to the current melting state value.

[0043] In one embodiment, the step of obtaining, by the control module, a power adjustment value for adjusting the output power of the wind turbine according to the state parameter value comprises:

[0044] The control module obtains a power adjustment value for adjusting the output power of the fan according to the state parameter value and formula 6;

[0045] The formula six is:

[0046]

[0047] Among them, the P (t) is the power adjustment value, the k p is the proportional gain value, the e (t) is the error value, the k i is the integral gain value, is the cumulative error value from time 0 to the current time t, and the k d is the differential gain value, is the error value e (t) The rate of change over time, the k f is the preset gain value.

[0048] In one embodiment, the control module compares the power adjustment value with the preset condition to obtain a comparison result, comprising:

[0049] Determine whether the power adjustment value is greater than or equal to 0;

[0050] If yes, the comparison result is to increase the output power of the fan;

[0051] If not, the comparison result is to reduce the output power of the fan.

[0052] In one embodiment, when the comparison result is to increase the output power of the fan, the control module adjusts the output power of the fan to the current power value according to the comparison result and the power adjustment value, and controls the fan to drive the suction nozzle to recover the alloy powder at the current power value. The steps include:

[0053] The control module adjusts the output power of the fan to a current power value according to the comparison result, the power adjustment value and Formula 7, and controls the fan to drive the suction nozzle to recover the alloy powder at the current power value;

[0054] The formula seven is:

[0055] P z =P0+k a *P (t)

[0056] Among them, the P z is the current power value, P0 is the real-time power value of the fan, and k a is the response gain value.

[0057] In one embodiment, when the comparison result is to reduce the output power of the fan, the control module adjusts the output power of the fan to the current power value according to the comparison result and the power adjustment value, and controls the fan to drive the suction nozzle to recover the alloy powder at the current power value. The steps include:

[0058] The control module adjusts the output power of the fan to a current power value according to the comparison result, the power adjustment value and Formula 8, and controls the fan to drive the suction nozzle to recover the alloy powder at the current power value;

[0059] The formula eight is:

[0060] P z =P0-k a *|P (t) |

[0061] Among them, the |P (t) | is the absolute value of the power adjustment value.

[0062] The technical solution of the present invention cooperates with the fan and the suction nozzle so that the unmelted alloy powder in the laser cladding process can be efficiently adsorbed and recovered, thereby reducing material waste and saving production costs. The real-time monitoring of the image acquisition module is combined with the intelligent analysis of the control module, so that the alloy powder recovery device for laser cladding can dynamically adjust the output power of the fan to adapt to different states of the alloy powder, greatly improving the intelligent level of recovery, preventing the alloy powder that has not yet melted from being recovered prematurely during the cladding process, and ensuring that the unmelted alloy powder has sufficient time to participate in the cladding process, thereby improving the uniformity and density of the cladding layer, and ensuring that the environment of the cladding area is not disturbed, the alloy powder can be smoothly melted and evenly deposited, avoiding the problem of uneven cladding layer or pore defects caused by suction interference, so as to improve the processing quality of the cladding layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0064] Figure 1 A schematic structural diagram of an embodiment of an alloy powder recovery device for laser cladding provided by the present invention;

[0065] Figure 2It is a structural schematic diagram of an embodiment of the suction nozzle involved in the present invention;

[0066] Figure 3 A schematic flow chart of an embodiment of an alloy powder recovery method for laser cladding provided by the present invention;

[0067] Figure 4 For the present invention Figure 3 A detailed flow chart of step S10 in an embodiment;

[0068] Figure 5 For the present invention Figure 4 FIG. 1 is a schematic diagram of a detailed flow chart of an embodiment of step S12 in FIG.

[0069] Description of Figure Numbers:

[0070] 100, fan; 200, image acquisition module; 300, control module; 400, suction nozzle; 410, housing; 420, mounting seat; 430, suction tube; 411, installation space.

[0071] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0074] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0075] The selection of alloy powder is crucial to the final performance of the cladding layer. Commonly used alloy powders include nickel-based, iron-based, cobalt-based alloys and ceramic composite powders. These powders are prepared by a specific process, usually with a particle size range of 20-60μm to ensure good fluidity and melting properties. During the laser cladding process, the control of the alloy powder supply rate plays an important role in ensuring the uniformity and thickness of the cladding layer. The alloy powder is evenly delivered to the area irradiated by the laser beam through a gas injection system. The gas (usually argon or nitrogen) not only serves to transport the powder, but also protects the molten pool from oxidation.

[0076] However, due to insufficient laser energy density, uneven powder particle size, uneven powder supply or uneven thermal conductivity of the substrate, the alloy powder cannot be completely melted during the actual operation of laser cladding. The incompletely melted alloy powder particles will form defects in the cladding layer, such as pores or inclusions, which will reduce the density of the cladding layer, thereby affecting its overall mechanical properties, such as tensile strength and hardness; or, rough irregular protrusions will be formed on the surface of the cladding layer, which will not only affect the surface finish, but also reduce the wear resistance of the cladding layer; or, because the incompletely melted particles are not tightly combined with the surrounding materials, the interface areas around these particles may become weak points of corrosion. In a corrosive environment, these areas are more prone to corrosion expansion, reducing the corrosion resistance of the cladding layer. In summary, the incompletely melted alloy powder reduces the processing quality of the cladding layer.

[0077] In order to solve this technical problem, the present invention proposes an alloy powder recovery device and method for laser cladding.

[0078] See also Figure 1In one embodiment of the present invention, the alloy powder recovery device for laser cladding includes a base, a fan 100, an image acquisition module 200 and a control module 300. The fan 100 is installed on the base. The fan 100 has an adsorption end, which is connected to a suction nozzle 400. The suction port of the suction nozzle 400 is set toward the alloy powder; the image acquisition module 200 is installed in the suction nozzle 400. The image acquisition end of the image acquisition module 200 is set toward the alloy powder and is used to collect image information of the alloy powder in real time; the fan 100 and the image acquisition module 200 are both electrically connected to the control module 300. The control module 300 is used to control the output power of the fan 100 according to the image information, so that the fan 100 drives the suction nozzle 400 to recover the alloy powder.

[0079] It should be noted that the base is a robot arm in the prior art; the suction nozzle 400 is connected to the free end of the robot arm through a connecting piece in the prior art. The fan 100 is installed at the fixed end of the robot arm. The fan 100 is in the prior art.

[0080] Specifically, the adsorption end of the fan 100 is the core part of the entire powder recovery process, responsible for generating suction to recover alloy powder. The adsorption end of the fan 100 is connected to the suction nozzle 400 to optimize the airflow channel and reduce airflow loss. At the same time, the power and speed of the fan 100 are adjustable to meet the alloy powder recovery requirements under different conditions. The suction port of the suction nozzle 400 is set toward the alloy powder, so that the suction of the fan 100 can directly act on the powder to ensure adsorption efficiency. The image acquisition module 200 includes an infrared camera or a thermal imaging camera in the prior art to monitor the state of the alloy powder in real time and provide image information to the control module 300. The image acquisition module 200 is installed inside the suction nozzle 400, and the image acquisition end is facing the alloy powder, which can ensure that clear image information is obtained while the powder is recovered. The control module 300 can process image data and run algorithms to analyze the aggregation state and quantity of the alloy powder, and provide real-time feedback to the fan 100 to automatically adjust its power and operating state.

[0081] In the technical solution provided by the present invention, the unmelted alloy powder in the laser cladding process can be efficiently adsorbed and recovered through the cooperation of the fan 100 and the suction nozzle 400, thereby reducing material waste and saving production costs. The real-time monitoring of the image acquisition module 200 is combined with the intelligent analysis of the control module 300, so that the alloy powder recovery device for laser cladding can dynamically adjust the output power of the fan 100 to adapt to different states of the alloy powder, greatly improving the intelligent level of recovery, preventing the alloy powder that has not yet melted from being recovered prematurely during the cladding process, and ensuring that the unmelted alloy powder has sufficient time to participate in the cladding process, thereby improving the uniformity and density of the cladding layer, and ensuring that the environment of the cladding area is not disturbed, the alloy powder can be smoothly melted and evenly deposited, avoiding the problem of uneven cladding layer or pore defects caused by suction interference, so as to improve the processing quality of the cladding layer.

[0082] Please continue reading Figure 1 , and see Figure 2 More specifically, in an embodiment of the present invention, the suction nozzle 400 includes a shell 410, a mounting seat 420 and a plurality of suction pipes 430. The shell 410 is formed with an installation space 411 at one end facing the alloy powder, and the installation space 411 is communicated with the suction port. The mounting seat 420 is installed in the installation space 411 and connected to the shell 410. The image acquisition module 200 is installed on the mounting seat 420, and the mounting seat 420 is coaxially arranged with the suction port. A plurality of suction pipes 430 are distributed in the installation space 411 along the circumferential direction of the mounting seat 420, and each suction pipe 430 is connected to the shell 410; the distance between each suction pipe 430 and the suction port is smaller than the distance between the image acquisition end of the image acquisition module 200 and the suction port.

[0083] It should be noted that the mounting seat 420 and each straw 430 are all mounted on the same plate, and the plate is connected to the shell 410; the shell 410, each straw 430 and the mounting seat 420 are all cylindrical and extend in the same direction.

[0084] Specifically, the edge of the housing 410 is designed to be gently curved to avoid interference with the powder, ensuring that the alloy powder to be recycled can smoothly enter the suction pipe 430. Multiple suction pipes 430 are distributed in the installation space 411 along the circumferential interval of the mounting seat 420. The number and layout design of the suction pipes 430 are intended to maximize the suction area and enhance the adsorption effect. Each suction pipe 430 is connected to the housing 410 to form multiple airflow channels, thereby improving the overall airflow kinetic energy and improving the suction efficiency of the alloy powder. The spacing between each suction pipe 430 and the suction port is designed to be smaller than the spacing between the image acquisition end and the suction port of the image acquisition module 200, which can effectively avoid the interference of the suction airflow of the suction pipe 430 on the image acquisition, ensure the accuracy of the image information, and ensure good image acquisition. At the same time, multiple suction pipes 430 can work together to improve the adsorption rate of the alloy powder and achieve efficient recovery. The design of the mounting seat 420 and the suction port coaxially not only enhances the stability of the structure, but also ensures the smoothness of the airflow path and reduces potential airflow losses.

[0085] Please continue reading Figure 1 and Figure 2 , and see Figure 3 The present invention also proposes a method for recovering alloy powder for laser cladding. The method for recovering alloy powder for laser cladding uses the alloy powder recovery device for laser cladding as described above. The method for recovering alloy powder for laser cladding comprises:

[0086] Step S10: During the laser cladding process, the image acquisition module 200 acquires image information of the alloy powder in real time, and obtains a state characteristic value group of the alloy powder according to the image information;

[0087] Step S20, the control module 300 obtains the state parameter value of the alloy powder according to the state characteristic value group;

[0088] Step S30, the control module 300 obtains a power adjustment value for adjusting the output power of the wind turbine 100 according to the state parameter value;

[0089] Step S40, the control module 300 compares the power adjustment value with the preset condition to obtain a comparison result;

[0090] Step S50: The control module 300 adjusts the output power of the fan 100 to the current power value according to the comparison result and the power adjustment value, and controls the fan 100 to drive the suction nozzle 400 to recover the alloy powder at the current power value.

[0091] It should be noted that the specific structure of the alloy powder recovery device for laser cladding refers to the above-mentioned embodiment. Since the alloy powder recovery method for laser cladding adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0092] It should be understood that the control module 300 calculates the appropriate power of the fan 100 according to the state parameter value of the monitored alloy powder. Specifically, when the unmelted powder needs to be recovered, the fan 100 will start in time and absorb the unmelted powder with appropriate power after the laser cladding process is about to be completed or the powder has been significantly separated, so as to avoid premature recovery and prevent the fan 100 from being too strong in suction before the cladding is completed, resulting in the premature recovery of the alloy powder. For example, when the alloy powder has just been sprayed into the cladding area, the fan 100 will maintain low power or not start, and gradually increase the power of the fan 100 according to the state parameter value to ensure that the cladding area will not be disturbed by the fan 100 before the alloy powder is completely melted. The technical effect of dynamically adjusting the power of the fan 100 is to prevent the alloy powder that has not yet melted from being recovered prematurely during the cladding process, and to ensure that the unmelted alloy powder has sufficient time to participate in the cladding process, thereby improving the uniformity and density of the cladding layer, and ensuring that the environment of the cladding area is not disturbed, and the alloy powder can be smoothly melted and evenly deposited, avoiding the problem of uneven cladding layer or pore defects caused by suction interference.

[0093] In step S10, the image acquisition module 200 monitors the state of the alloy powder in the laser cladding area in real time through an infrared camera or a thermal imaging camera to capture the temperature distribution and brightness distribution of the alloy powder and generate corresponding two-dimensional matrix data; the temperature distribution two-dimensional matrix reflects the temperature conditions of each point in the cladding area, while the brightness distribution two-dimensional matrix reflects the melting state and radiation characteristics of the powder. This solves the problem that traditional visible light cameras cannot directly monitor the temperature and melting state of the alloy powder. Through direct observation of temperature and brightness distribution, process parameters can be adjusted more accurately to avoid the phenomenon of incomplete melting or overheating of powder.

[0094] In step S20, by analyzing the distribution of temperature and brightness of the alloy powder during the laser cladding process, the complex image data is converted into easy-to-process numerical parameters, which can more comprehensively grasp the actual state of the powder and improve the accuracy of monitoring. These parameters can be used to evaluate the powder state during the cladding process in real time, and the abnormal state of the alloy powder can be quickly judged and recovered.

[0095] In step S30, by analyzing the temperature distribution and the brightness distribution, the control module 300 determines whether the powder is sufficiently melted based on the extracted state parameter values, thereby deciding whether it is necessary to increase or decrease the power of the fan 100 to optimize the recovery process of the unmelted alloy powder, ensure the quality stability of the cladding layer, and reduce the occurrence of cladding defects.

[0096] In step S40, the control module 300 compares the calculated power adjustment value with the preset standard conditions. The preset conditions are usually set based on the ideal temperature and brightness distribution state. By comparing, the difference between the current state and the ideal state can be identified, and it is evaluated whether the process parameters need to be further adjusted. Adjustments can be made before the deviation affects the quality of the cladding layer, ensuring the stability of the laser cladding process.

[0097] In step S50, based on the comparison result, the power of the fan 100 is adjusted in real time to maintain the optimal melting state of the powder, thereby reducing material waste without affecting the laser cladding operation, ensuring the quality and consistency of the cladding layer, and the recovered powder can be reused to reduce production costs.

[0098] This embodiment uses the image acquisition module 200 including an infrared camera or a thermal imaging camera to obtain the temperature distribution and brightness distribution information of the alloy powder in real time during the laser cladding process, providing more accurate data support for the control module 300, real-time monitoring of the alloy powder and dynamic adjustment of the fan 100, thereby improving the efficiency and quality of laser cladding. Without affecting the laser cladding operation, it effectively solves the problems of inaccurate state monitoring of the alloy powder, lagging adjustment of the fan 100 and material waste.

[0099] See also Figure 4 In the process of laser cladding, the image acquisition module 200 acquires image information of the alloy powder in real time, and the steps of obtaining a state characteristic value group of the alloy powder according to the image information include:

[0100] Step S11, the image acquisition module 200 acquires image information of the alloy powder in real time; wherein the image information includes a two-dimensional matrix of temperature distribution and a two-dimensional matrix of brightness distribution;

[0101] Step S12: The control module 300 extracts the current center point temperature value and the current average brightness value of the alloy powder according to the temperature distribution two-dimensional matrix and the brightness distribution two-dimensional matrix to obtain a state characteristic value group of the alloy powder.

[0102] It should be understood that laser cladding is usually carried out in a high temperature and high light environment, and traditional image acquisition equipment is easily interfered with. Infrared and thermal imaging technology can provide stable and interference-free monitoring data in such a complex environment, ensuring the reliability of monitoring.

[0103] In step S11, these matrices respectively represent the temperature distribution and melting state (reflected by brightness) of the alloy powder in space. The temperature distribution two-dimensional matrix provides temperature data of each point, while the brightness distribution two-dimensional matrix reflects the optical properties of the powder and its interaction with the laser. The combination of temperature distribution and brightness distribution enables the control module 300 to evaluate the powder state from multiple dimensions, thereby improving the depth and accuracy of monitoring.

[0104] In step S12, after the control module 300 receives the temperature distribution two-dimensional matrix and the brightness distribution two-dimensional matrix transmitted by the image acquisition module 200, it first processes these data. Through a specific algorithm, the control module 300 can identify the center point position of the cladding area and extract the temperature value of the point, that is, the current center point temperature value. At the same time, the control module 300 calculates the average brightness of the entire area as the current average brightness value. The control module 300 generates a state characteristic value group through the extracted center point temperature value and the average brightness value. The state characteristic value group contains two key parameters, which respectively reflect the thermal state and the molten state of the alloy powder. The state characteristic value group provides basic data for subsequent process adjustment and monitoring. By extracting the state characteristic value, the control module 300 can reduce the complexity of data processing and focus on the most important parameters. This simplified processing improves the system response speed, so that the control module 300 can respond to state changes more quickly. Specifically, the original temperature and brightness matrix data volume is large and the structure is complex. Directly using it for control may cause the system to be sluggish or the data processing burden is too heavy. By extracting the center point temperature value and the average brightness value, the system can retain key information in a simplified form, thereby improving control efficiency.

[0105] This embodiment uses steps S11 and S12 to comprehensively and accurately monitor the state of the alloy powder during the laser cladding process. The image acquisition module 200 uses an infrared or thermal imaging camera to collect temperature and brightness matrices in real time, providing key data for the control system. By extracting the center point temperature value and the average brightness value, the control module 300 generates a concise and important state characteristic value group, laying the foundation for subsequent process adjustments. This method not only improves the accuracy and response speed of monitoring, but also effectively solves the problems of complex data and lagging monitoring in traditional processes, thereby improving the overall quality and efficiency of laser cladding.

[0106] See also Figure 5 In an embodiment of the present invention, the control module 300 extracts the current center point temperature value and the current average brightness value of the alloy powder according to the temperature distribution two-dimensional matrix and the brightness distribution two-dimensional matrix, and the step of obtaining the state characteristic value group of the alloy powder includes:

[0107] Step S121, the control module 300 obtains the current center point coordinates according to the temperature distribution two-dimensional matrix, formula 1 and formula 2;

[0108] The formula 1 is:

[0109]

[0110] The formula 2 is:

[0111]

[0112] Among them, the x c is the horizontal coordinate of the current center point coordinate in the temperature distribution two-dimensional matrix, and the y c is the ordinate of the current center point coordinate in the temperature distribution two-dimensional matrix, A is the number of rows of the temperature distribution two-dimensional matrix, B is the number of columns of the temperature distribution two-dimensional matrix, and T (x，y) is the temperature value at the (x, y) coordinate in the temperature distribution two-dimensional matrix;

[0113] Step S122, the control module 300 obtains the current center point temperature value according to the current center point coordinates and the temperature distribution two-dimensional matrix;

[0114] Step S123, the control module 300 obtains the current average brightness value according to the brightness distribution two-dimensional matrix and formula 3, and the current center point temperature value and the current average brightness value form the state characteristic value group;

[0115] The formula three is:

[0116]

[0117] Among them, the L a(t) is the current average brightness value, the L (x，y) is the brightness value at the (x, y) coordinate in the brightness distribution two-dimensional matrix, C is the number of rows of the brightness distribution two-dimensional matrix, and D is the number of columns of the brightness distribution two-dimensional matrix.

[0118] For ease of understanding, a specific implementation is shown here:

[0119] The calculation process in step S121 and step S122 is:

[0120]

[0121] In the formula 1:

[0122] Calculate the x c The denominator of:

[0123] Calculate the x c The molecule:

[0124] It follows that:

[0125]

[0126] In the formula 2:

[0127] Calculate the y c Molecules

[0128] It follows that:

[0129]

[0130] Therefore, the coordinates of the current center point are (3, 3), and corresponding to the temperature distribution two-dimensional matrix, it can be known that the temperature value of the current center point is 1350°C.

[0131] The calculation process in step S123 is:

[0132]

[0133] In the formula 3:

[0134] Calculate the L a(t) The molecule:

[0135] It follows that:

[0136]

[0137] In this embodiment, through the formula 1 and the formula 2, the control module 300 can determine the center of gravity position of the temperature distribution, that is, the position where the temperature is most concentrated in the cladding area. By using the weighted average calculation of the temperature value, the determination of the center point coordinates is more reliable, avoiding the coordinate offset problem caused by local temperature anomalies, and ensuring the accuracy of the data. In the dynamic cladding process, the temperature distribution may change continuously. By calculating and updating the center point coordinates in real time, the system can timely reflect the changes in the temperature center of gravity during the cladding process, ensuring the continuity and accuracy of the control.

[0138] The current average brightness value obtained by the formula three represents the overall optical properties of the cladding area. Through this value, the system can judge the degree of melting of the powder and the interaction effect between the laser and the material. The state characteristic value group includes two important parameters, temperature and brightness, which can reflect the state of the cladding area from multiple angles and improve the judgment accuracy of the control system. Because there may be blind spots when relying solely on a single parameter of temperature or brightness for control, by integrating temperature and brightness parameters, the system can more comprehensively grasp the cladding state to ensure that the cladding area will not be disturbed by the fan 100 before the alloy powder is completely melted.

[0139] In an embodiment of the present invention, the step of obtaining the state parameter value of the alloy powder by the control module 300 according to the state characteristic value group includes:

[0140] Step S21, the control module 300 obtains the current melting state value of the alloy powder according to the current center point temperature value, the current average brightness value and formula 4;

[0141] The formula 4 is:

[0142] S (t) =w1*T c(t) +w2*L a(t)

[0143] Among them, the S (t) is the current melting state value, w1 is the first preset weight, w2 is the second preset weight, and T c(t) is the current center point temperature value;

[0144] Step S22, the control module 300 obtains the state parameter value according to the current melting state value and formula 5;

[0145] The formula five is:

[0146] ΔS (t) =S (t) -S (t-1)

[0147] Among them, the ΔS(t) is the first state parameter value, the S (t-1) It is the previous melting state value adjacent to the current melting state value.

[0148] It should be understood that Formula 4 illustrates that the current molten state value is obtained by a weighted combination of the center point temperature and the average brightness value. This means that in this technical solution, the molten state depends not only on the temperature, but also takes into account other parameters such as brightness, thereby providing a more accurate evaluation of the molten state. Formula 5 reflects that the current state parameter value is obtained by calculating the difference between the current molten state value and the molten state value at the previous moment, that is, the change in state. This state parameter value may be used in the control system to further adjust the output power of the fan 100 to ensure that the molten state of the alloy powder during the cladding process remains within an ideal range.

[0149] Specifically, for ease of understanding, a specific implementation is shown here:

[0150] Characteristics of the alloy powder: The alloy powder is an iron-based self-fluxing alloy powder in the prior art. The iron-based self-fluxing alloy powder contains a certain proportion of Ni, Cr and B elements, provides good self-fluxing and wear resistance, and has a particle size of 45-75 microns to ensure good fluidity during powder feeding.

[0151] Process parameters: The laser power is 2-3kW, and the specific power is adjusted according to the specimen size and requirements. The scanning speed is 500-700mm / min to ensure the ideal cladding layer thickness. The powder feeding rate is 15-25g / min to ensure the melting rate of the alloy powder. The image information of the alloy powder is obtained using an infrared camera, sampling 30 times per second.

[0152] S (t) =0.7*T c(t) +0.3*L a(t)

[0153] After adjustment by the control system, the surface of the cladding layer is smooth and uniform, pores and cracks are significantly reduced, and the thickness deviation of the cladding layer is controlled within ±5%. By optimizing the power of the fan, energy consumption is reduced by about 12%.

[0154] For ease of understanding, another specific implementation is shown here:

[0155] Characteristics of the alloy powder: The alloy powder is a nickel-based self-fluxing alloy powder in the prior art. The nickel-based self-fluxing alloy powder contains a certain proportion of Cr, B, Si and Fe elements, provides good self-fluxing, wear resistance and corrosion resistance, and has a particle size of 45-90 microns to ensure good fluidity during powder feeding.

[0156] Process parameters: The laser power is 1.5-2.5kW, and the specific power is adjusted according to the specimen size and requirements. The scanning speed is 400-600mm / min to ensure the ideal cladding layer thickness. The powder feeding rate is 10-20g / min to ensure that the powder is fully melted. An infrared camera is used to obtain the image information of the alloy powder, sampling 30 times per second.

[0157] S (t) =0.6*T c(t) +0.4*L a(t)

[0158] In this embodiment, after adjustment by the control system, the surface of the cladding layer is smooth and uniform, the pores and cracks are significantly reduced, the thickness deviation of the cladding layer is controlled within ±5%, and the energy consumption is reduced by about 10% by optimizing the power of the fan.

[0159] For ease of understanding, another specific implementation is shown here:

[0160] Characteristics of the alloy powder: The alloy powder is a carbide alloy powder in the prior art. The carbide alloy powder is generally a composite powder of tungsten carbide (WC) or chromium carbide (Cr3C2) and a metal binder (such as nickel or cobalt), providing high hardness and wear resistance, and a particle size of 50-100 microns to ensure good fluidity during powder feeding.

[0161] Process parameters: The laser power is 2.5-3.5kW, and the specific power is adjusted according to the specimen size and requirements. The scanning speed is 300-500mm / min to ensure the ideal cladding layer thickness. The powder feeding rate is 20-30g / min to ensure that the powder is fully melted. An infrared camera is used to obtain the image information of the alloy powder, sampling 30 times per second.

[0162] S (t) =0.65*T c(t) +0.35*L a(t)

[0163] In this embodiment, after adjustment by the control system, the surface of the cladding layer is smooth and uniform, the pores and cracks are significantly reduced, the thickness deviation of the cladding layer is controlled within ±5%, and the energy consumption is reduced by about 30% by optimizing the power of the fan.

[0164] As an optional implementation of this embodiment, step S40 and step S50 can also provide cooling for the laser cladding process: (t) High and ΔS (t) When the molten state is high and the rate of change is large, the system may be overheating or the molten pool is expanding rapidly. At this time, the fan power is appropriately reduced to avoid too fast cooling and potential crack formation.

[0165] If S (t) Low and ΔS (t) When the melting state is low and the rate of change is small, it means that the temperature of the molten pool is insufficient or the cladding effect is not ideal. At this time, the power of the fan 100 needs to be increased to promote better cooling to improve process efficiency.

[0166] In an embodiment of the present invention, the step of the control module 300 obtaining a power adjustment value for adjusting the output power of the wind turbine 100 according to the state parameter value includes:

[0167] Step S31, the control module 300 obtains a power adjustment value for adjusting the output power of the wind turbine 100 according to the state parameter value and formula 6;

[0168] The formula six is:

[0169]

[0170] Among them, the P (t) is the power adjustment value, the k p is the proportional gain value, the e (t) is the error value, the k i is the integral gain value, is the cumulative error value from time 0 to the current time t, and the d k is the differential gain value, is the error value e (t) The rate of change over time, the k f is the preset gain value.

[0171] Specifically, the k p is the proportional gain value, the control system (t) The response sensitivity of the controller. This parameter determines the degree of response to the current error. The larger the proportional gain, the stronger the response to the error.

[0172] The (t) is the error value, which indicates the difference between the current state of the system and the target state. It is usually defined as: e (t) =S 目标 -S (t) , S 目标 It is the desired target state, which is determined by different laser cladding requirements and is a preset value.

[0173] The k i is the integral gain value, which is the cumulative response of the control system to past errors. This parameter is used to eliminate steady-state errors, which means that if the error exists for a long time, the integral part will gradually increase, thereby adjusting the control power to correct the state of the system.

[0174] Said It is the cumulative error value from time 0 to the current time t, reflecting the sum of errors in the past period of time, and is usually used to correct deviations generated in the long-term stability process.

[0175] The k d is the differential gain value, which is the control system's response to the error change rate. This parameter is mainly used to predict the dynamic behavior of the system, suppress the overshoot of the system, and provide a quick response to instantaneous changes.

[0176] Said is the error value e (t) The rate of change over time helps the system predict future error changes and thus adjust control power to avoid overcorrection.

[0177] The k f The preset gain value is an additional gain factor, usually used to adjust the impact related to other factors (such as state changes). In some cases, this gain can be used to adjust the impact of certain specific dynamic parameters.

[0178] In this embodiment, the control system can calculate the required power adjustment value according to the current error, the accumulated error and the rate of error change through the formula 6 to achieve effective control of the target state. The setting and adjustment of each parameter has an important impact on the stability, response speed and accuracy of the system.

[0179] For ease of understanding, a specific implementation is shown here:

[0180] S 目标 =14

[0181] Calculate the error value e( t ):

[0182] e (0.1) =S 目标 -S (0.1) =14-12=2

[0183] e (0.2) =S 目标 -S (0.2) =14-15=-1

[0184] e (0.3) =S 目标 -S (0.3) =14-13=1

[0185] e (0.4) =S 目标 -S (0.4) =14-14=0

[0186] Said The calculation process is:

[0187]

[0188]

[0189]

[0190]

[0191] Said The calculation process is:

[0192]

[0193] Calculate the

[0194]

[0195] in,

[0196] P (0.1) =1.2*2+0.3*0+0.05*20+0.1*2=3.6

[0197] Similarly, we get:

[0198] P (0.2) =-2.37

[0199] P (0.3) =-2

[0200] P (0.4) =-0.34

[0201] This embodiment can achieve more accurate regulation of the power of the fan 100 through real-time monitoring and feedback to adjust the recovery rate of the alloy powder, thereby ensuring the stability and effectiveness of the melting process.

[0202] In an embodiment of the present invention, the control module 300 compares the power adjustment value with the preset condition to obtain a comparison result, including:

[0203] Step S41, determining whether the power adjustment value is greater than or equal to 0;

[0204] Step S42: If yes, the comparison result is to increase the output power of the wind turbine 100;

[0205] Step S43: If not, the comparison result is to reduce the output power of the wind turbine 100.

[0206] It should be understood that the power adjustment value P( t )>0, indicating that the power of the fan 100 needs to be increased to ensure the recovery effect of the alloy powder. The power adjustment value P( t )<0, indicating that the power of the fan 100 needs to be reduced to ensure the melting state of the alloy powder so that the cladding effect of the alloy powder is more uniform.

[0207] Specifically, in an embodiment of the present invention, when the comparison result is to increase the output power of the fan 100, the control module 300 adjusts the output power of the fan 100 to the current power value according to the comparison result and the power adjustment value, and controls the fan 100 to drive the suction nozzle 400 to recover the alloy powder at the current power value. The steps include:

[0208] Step S51, the control module 300 adjusts the output power of the fan 100 to the current power value according to the comparison result, the power adjustment value and Formula 7, and controls the fan 100 to drive the suction nozzle 400 to recover the alloy powder at the current power value;

[0209] The formula seven is:

[0210] P z =P0+k a *P (t)

[0211] Among them, the P z is the current power value, P0 is the real-time power value of the wind turbine 100, and k a is the response gain value.

[0212] It should be understood that different systems have different response speeds and stability to power changes. In practical applications, the appropriate k can be determined through experimental data or system models. a To ensure the stability and response speed of the system, it is generally 1.5.

[0213] Formula 7 is used to improve the recovery rate of alloy powder and the overall efficiency of laser cladding when the unmelted alloy powder needs to be quickly recovered.

[0214] In an embodiment of the present invention, when the comparison result is to reduce the output power of the fan 100, the control module 300 adjusts the output power of the fan 100 to the current power value according to the comparison result and the power adjustment value, and controls the fan 100 to drive the suction nozzle 400 to recover the alloy powder at the current power value. The steps include:

[0215] Step S501, the control module 300 adjusts the output power of the fan 100 to the current power value according to the comparison result, the power adjustment value and Formula 8, and controls the fan 100 to drive the suction nozzle 400 to recover the alloy powder at the current power value;

[0216] The formula eight is:

[0217] P z =P0-k a *|P (t) |

[0218] Among them, the |P (t) | is the absolute value of the power adjustment value.

[0219] This embodiment dynamically adjusts the power of the fan 100, which can effectively optimize the control strategy of the fan 100 during the powder recovery process, ensuring that the system can quickly and stably adjust the power under different conditions, thereby improving the recovery rate of the alloy powder and the overall efficiency of laser cladding. Formula 8 is used to ensure that the output power of the fan 100 can be reasonably reduced to adapt to the current working state. This reduction can prevent the alloy powder from being blown away by an overly strong airflow, ensuring the recovery efficiency of the alloy powder while ensuring the utilization rate of the alloy powder.

[0220] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention and the drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An alloy powder recovery device for laser cladding, characterized in that: include: Pedestal; A fan (100), the fan (100) being installed on the base, the fan (100) having a suction end, the suction end being connected to a suction nozzle (400), the suction opening of the suction nozzle (400) being arranged toward the alloy powder; An image acquisition module (200), the image acquisition module (200) being installed in the suction nozzle (400), the image acquisition end of the image acquisition module (200) being arranged toward the alloy powder and being used to acquire image information of the alloy powder in real time; A control module (300), the fan (100) and the image acquisition module (200) are both electrically connected to the control module (300), and the control module (300) is used to control the output power of the fan (100) according to the image information, so that the fan (100) drives the suction nozzle (400) to recover the alloy powder.

2. The alloy powder recovery device for laser cladding according to claim 1, characterized in that: The suction nozzle (400) comprises a shell (410), a mounting seat (420) and a plurality of suction pipes (430); the shell (410) is provided with a mounting space (411) at one end facing the alloy powder, the mounting space (411) is communicated with the suction port, the mounting seat (420) is mounted in the mounting space (411) and connected to the shell (410); the image acquisition module (200) is mounted on the mounting seat (420), the mounting seat (420) and the suction port are coaxially arranged; a plurality of suction pipes (430) are distributed in the mounting space (411) at intervals along the circumference of the mounting seat (420), and each of the suction pipes (430) is connected to the shell (410); and the spacing between each of the suction pipes (430) and the suction port is smaller than the spacing between the image acquisition end of the image acquisition module (200) and the suction port.

3. A method for recovering alloy powder for laser cladding, characterized in that: The alloy powder recovery device for laser cladding according to any one of claims 1 or 2 is used, and the alloy powder recovery method for laser cladding comprises: During the laser cladding process, the image acquisition module (200) acquires image information of the alloy powder in real time, and obtains a state characteristic value group of the alloy powder according to the image information; The control module (300) obtains the state parameter value of the alloy powder according to the state characteristic value group; The control module (300) obtains a power adjustment value for adjusting the output power of the fan (100) according to the state parameter value; The control module (300) compares the power adjustment value with a preset condition to obtain a comparison result; The control module (300) adjusts the output power of the fan (100) to a current power value according to the comparison result and the power adjustment value, and controls the fan (100) to drive the suction nozzle (400) to recover the alloy powder at the current power value.

4. The alloy powder recovery method for laser cladding according to claim 3, characterized in that: During the laser cladding process, the image acquisition module (200) acquires image information of the alloy powder in real time, and the step of obtaining a state characteristic value group of the alloy powder according to the image information comprises: The image acquisition module (200) acquires image information of the alloy powder in real time; wherein the image information includes a two-dimensional matrix of temperature distribution and a two-dimensional matrix of brightness distribution; The control module (300) extracts the current center point temperature value and the current average brightness value of the alloy powder according to the temperature distribution two-dimensional matrix and the brightness distribution two-dimensional matrix, and obtains the state characteristic value group of the alloy powder.

5. The alloy powder recovery method for laser cladding according to claim 4, characterized in that: The control module (300) extracts the current center point temperature value and the current average brightness value of the alloy powder according to the temperature distribution two-dimensional matrix and the brightness distribution two-dimensional matrix, and the step of obtaining the state characteristic value group of the alloy powder comprises: The control module (300) obtains the current center point coordinates according to the temperature distribution two-dimensional matrix, formula 1 and formula 2; The formula 1 is: The formula 2 is: Among them, the x c is the horizontal coordinate of the current center point coordinate in the temperature distribution two-dimensional matrix, and the y c is the ordinate of the current center point coordinate in the temperature distribution two-dimensional matrix, A is the number of rows of the temperature distribution two-dimensional matrix, B is the number of columns of the temperature distribution two-dimensional matrix, and T (x，y) is the temperature value at the (x, y) coordinate in the temperature distribution two-dimensional matrix; The control module (300) obtains the current center point temperature value according to the current center point coordinates and the temperature distribution two-dimensional matrix; The control module (300) obtains the current average brightness value according to the brightness distribution two-dimensional matrix and formula three, and the current center point temperature value and the current average brightness value form the state characteristic value group; The formula three is: Among them, the L a(t) is the current average brightness value, the L (x，y) is the brightness value at the (x, y) coordinate in the brightness distribution two-dimensional matrix, C is the number of rows of the brightness distribution two-dimensional matrix, and D is the number of columns of the brightness distribution two-dimensional matrix.

6. The alloy powder recovery method for laser cladding according to claim 5, characterized in that: The step of the control module (300) obtaining the state parameter value of the alloy powder according to the state characteristic value group comprises: The control module (300) obtains the current melting state value of the alloy powder according to the current center point temperature value, the current average brightness value and formula 4; The formula 4 is: S (t) =w1*T c(t) +w2*L a(t) Among them, the S (t) is the current melting state value, w1 is the first preset weight, w2 is the second preset weight, and T c(t) is the current center point temperature value; The control module (300) obtains the state parameter value according to the current melting state value and formula 5; The formula five is: ΔS (t) =S (t) -S (t-1) Among them, the ΔS (t) is the first state parameter value, the S (t-1) It is the previous melting state value adjacent to the current melting state value.

7. The alloy powder recovery method for laser cladding according to claim 6, characterized in that: The step of the control module (300) obtaining a power adjustment value for adjusting the output power of the fan (100) according to the state parameter value comprises: The control module (300) obtains a power adjustment value for adjusting the output power of the fan (100) according to the state parameter value and formula 6; The formula six is: Among them, the P (t) is the power adjustment value, the k p is the proportional gain value, the e (t) is the error value, the k i is the integral gain value, is the cumulative error value from time 0 to the current time t, and the k d is the differential gain value, is the error value e (t) The rate of change over time, the k f is the preset gain value.

8. The method for recovering alloy powder for laser cladding according to claim 7, characterized in that: The control module (300) compares the power adjustment value with the preset condition to obtain a comparison result, comprising: Determine whether the power adjustment value is greater than or equal to 0; If yes, the comparison result is to increase the output power of the fan (100); If not, the comparison result is to reduce the output power of the fan (100).

9. The alloy powder recovery method for laser cladding according to claim 8, characterized in that: When the comparison result is to increase the output power of the fan (100), the control module (300) adjusts the output power of the fan (100) to the current power value according to the comparison result and the power adjustment value, and controls the fan (100) to drive the suction nozzle (400) to recover the alloy powder at the current power value, the steps comprising: The control module (300) adjusts the output power of the fan (100) to a current power value according to the comparison result, the power adjustment value and formula 7, and controls the fan (100) to drive the suction nozzle (400) to recover the alloy powder at the current power value; The formula seven is: P z =P0+k a *P (t) Among them, the P z is the current power value, P0 is the real-time power value of the fan, and k a is the response gain value.

10. The alloy powder recovery method for laser cladding according to claim 8, characterized in that: When the comparison result is to reduce the output power of the fan (100), the control module (300) adjusts the output power of the fan (100) to the current power value according to the comparison result and the power adjustment value, and controls the fan (100) to drive the suction nozzle (400) to recover the alloy powder at the current power value, the steps comprising: The control module (300) adjusts the output power of the fan (100) to a current power value according to the comparison result, the power adjustment value and formula eight, and controls the fan (100) to drive the suction nozzle (400) to recover the alloy powder at the current power value; The formula eight is: P z =P0-k a *|P( t )| Wherein, the |P( t )| is the absolute value of the power adjustment value.

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