High-temperature synchronous micro hammer forging auxiliary water turbine key flow passage component additive repairing and remanufacturing system and method

Abstract

The invention provides a high-temperature synchronous micro hammer forging auxiliary water turbine key flow passage component additive repairing and remanufacturing system and method. Modularized operation tools and motion control assemblies such as a penetration flaw detection module, a pretreatment milling and polishing back gouging module, a pretreatment area induction preheating and temperature control module, an additive deposition module, a micro hammer forging module, an integrated clamping and temperature regulation and control module, a carrying and additive pose control module and a post-treatment milling and polishing shaping module are arranged; a water turbine key flow passage component additive repairing and remanufacturing system and a high-temperature intermittent deformation auxiliary additive repairing and remanufacturing characteristic process method are established, and high-temperature synchronous micro hammer forging is introduced to assist water turbine key flow passage component additive repairing and remanufacturing. The structure state and residual stress state of the repairing layer are regulated, the mechanical property of the repairing layer is improved, and the service life of key flow passage components of the water turbine is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of additive manufacturing, and in particular to a system and method for additive repair and remanufacturing of key flow-through components of a water turbine assisted by high-temperature synchronous micro-hammer forging. Background Art

[0002] As the core component of energy conversion in hydropower units, turbines are large-scale key energy power equipment in my country and a national treasure. Due to long-term service in harsh environments such as high pressure, heavy load, vibration, and corrosion, key flow-through components such as turbine runners and blades are prone to cavitation, wear, fracture, and other forms of failure, which seriously damages their service performance and life, causing huge economic losses. Taking the six hydropower stations from Gezhouba to Wudongde in the Yangtze River Basin as an example, the direct and indirect losses caused by the maintenance of hydropower equipment are as high as tens of billions of yuan each year. In order to reduce losses, additive repair and remanufacturing are usually used in engineering to extend the service life of key flow-through components of turbines. However, due to the violent metallurgical reactions and special thermal boundary conditions in the additive repair process, large-sized columnar crystals and high levels of residual tensile stress are usually present in the repair layer of key flow-through components. In addition, due to the large structural size of the flow-through components and the limited construction environment, good heat treatment cannot be performed, resulting in insufficient mechanical properties in the repair layer of key flow-through components of turbines, shortening the ultimate service life of the turbine. Therefore, conducting basic theoretical and key technology research around issues related to additive repair and remanufacturing of key flow-through components of turbines, establishing theoretical and process methods for high-performance additive repair and remanufacturing of key flow-through components of turbines, and guiding the realization of high-performance repair and remanufacturing of key flow-through components of turbines in engineering have always been topics that the industry has focused on and strived to break through. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing system and process method for the inner wall of a turbine runner chamber in view of the deficiencies of the above-mentioned prior art. Based on the proposed repair and remanufacturing system, in the process of additive repair and remanufacturing of key flow-through components of the turbine (runner, blades, etc.), a micro-forging hammer is used to perform synchronous high-temperature hammering on the additively deposited weld. In the absence of good post-weld heat treatment conditions, the principle of intermittent thermoplastic deformation by high-temperature hammering is used to solve the problem of coarse columnar crystals and high levels of residual tensile stress in the repair layer, thereby solving the problem of insufficient mechanical properties of the repair layer and improving the ultimate service life of key flow-through components of the turbine.

[0004] In order to realize the above-mentioned technical features, the purpose of the present invention is achieved as follows: On the one hand, the present invention provides a high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing system for key flow-through components of a turbine, the repair and remanufacturing system comprising a penetration testing module, a pre-processing milling and grinding cleaning module, a pre-processing area induction preheating and temperature control module, a pre- / post-processing transport and processing trajectory control module, an additive deposition module, a synchronous micro-hammer forging module, an integrated clamping and temperature control module, a transport and additive posture control module and a post-processing milling and grinding shaping module; the pre-processing milling and grinding cleaning module, the pre-processing area induction preheating and temperature control module and the post-processing milling and grinding shaping module are respectively used in different stages before and after the repair. The modules are respectively connected to the pre- / post-processing transport and processing trajectory control modules, and their movement and processing trajectory are controlled by the pre- / post-processing transport and processing trajectory control modules; the additive deposition module and the synchronous micro-hammer forging module are integrated into the transport and additive posture control module through the integrated clamping and temperature control module, and their movement trajectory and the processing trajectory of additive and micro-hammer forging are controlled by the transport and additive posture control module; the terminal additive actuator of the additive deposition module and the terminal micro-forging hammer of the synchronous micro-hammer forging module adjust the relative distance between the two through the integrated clamping and temperature control module, thereby adjusting the deformation temperature of the additive deposition weld for synchronous micro-hammer forging.

[0005] On the other hand, the present invention provides a high-temperature synchronous micro-hammer forging assisted turbine key flow-through component additive repair and remanufacturing method, the method is implemented by the repair and remanufacturing system, and includes the following steps: Step 1: Remove the surface attachments, oil stains and rust dirt of the key flow-through parts of the turbine to be repaired, and determine the location, type and size of the defects of the key flow-through parts to be repaired by manual identification or using a penetrant flaw detection module; Step 2: Use the pre-processing / post-processing transport and processing trajectory control module to transport the pre-processing milling and grinding root cleaning module to pre-process the local defects to be repaired in the key flow-through components. According to the location, type and size of the defects to be repaired determined in step 1, determine the location, area and depth of the area to be milled or polished. For superficial defects, grinding and root cleaning are performed, and for large-area deep pit defects, milling processing is performed to form a cavity to be repaired; Step 3: Use the pre-processing / post-processing transport and processing trajectory control module to transport the pre-processing area induction preheating and temperature control module to induction preheat the cavity to be repaired and the surrounding area formed in step 2, and control the preheating temperature to 250-300°C; Step 4: Use the transport and additive posture control module to transport the additive deposition module and the synchronous micro-hammer forging module to perform additive filling on the preheated cavity to be repaired, and use the additive deposition weld as the basic unit to perform synchronous high-temperature micro-hammer forging to gradually form a repair weld layer until the cavity to be repaired is completely filled with repair metal. It is required that the surface of the final filled repair layer is 1mm~1.5mm higher than the height of the substrate surface near the cavity to be repaired; Step 5: Use the pre- / post-processing transport and processing trajectory control module to transport the post-processing milling and grinding shaping module to mill or grind the metal in the defect repair area that exceeds the surface of the component base until the repair area completely restores the original surface features; Step 6: Use the penetrant flaw detection module to perform PT penetrant flaw detection on the repaired area after the repair is completed. If no defects are found, the repair is completed. If defects are found, repeat the above steps 1 to 5 until the defects are completely eliminated.

[0006] The pre-processing milling and grinding root cleaning module and the post-processing milling and grinding shaping module share a processing operation component, and the processing operation component includes two types: a milling tool component and a grinding tool component. The milling tool component includes a diamond milling cutter, a drive motor, a force control, a coolant supply device and a flange integrated mounting frame I, and the grinding tool component includes a grinding wheel, a drive motor, a force control and a flange integrated mounting frame II.

[0007] The pre-treatment area induction preheating and temperature control module includes a high-frequency induction heating component, a temperature measurement and control component and a flange integrated mounting frame III. The high-frequency induction heating component group includes a high-frequency induction power supply, an induction coil and a coolant supply device. The temperature measurement and control component includes a thermal imager and a display terminal.

[0008] The pre- / post-processing transport and processing trajectory control module includes a six-degree-of-freedom heavy-duty industrial robot arm I, an external seventh axis I and a seventh-axis walking track.

[0009] The additive deposition module includes an additive deposition energy source, a feeding mechanism, a terminal additive actuator and a protective atmosphere. The additive deposition energy source is an arc welder, a plasma arc welder or a laser, and the terminal additive actuator is a welding gun or a laser head.

[0010] The synchronous micro-hammer forging module consists of a micro-hammer forging motion excitation device and a terminal micro-forging hammer.

[0011] The integrated clamping and temperature control module includes a flange integrated mounting frame IV, a pneumatic vibration isolation fixed end and a slidable clamp connection end. The end additive actuator of the additive deposition module and the synchronous micro-hammer forging module are integrated into an integrated structure through the flange integrated mounting frame IV of the integrated clamping and temperature control module, and the end additive actuator of the additive deposition module is movably connected to the flange integrated mounting frame IV through the slidable clamp connection end. The flange mounting end of the flange integrated mounting frame IV is fixedly connected to the carrier and additive posture control module through the pneumatic vibration isolation fixed end. The carrier and additive posture control module includes a six-degree-of-freedom heavy-load industrial robot arm II, an external seventh axis II and a seventh-axis walking track.

[0012] The materials used for repairing the key flow-through components of the turbine are corrosion-resistant, wear-resistant, high-strength plastic materials, and the corresponding welding material grades are 0Cr13Ni5Mo, ER410NiMo, ER308L, ER309L and Stellite welding materials, and the welding material form is wire or powder.

[0013] The temperature for micro-hammer forging of the additive deposition weld is achieved by adjusting the physical position of the sliding clamp connection end relative to the flange integrated mounting frame IV, and then adjusting the physical distance between the additive actuator at the end of the additive deposition module and the micro-forging hammer at the end of the synchronous micro-hammer forging module. The minimum temperature for micro-hammer forging of the additive deposition weld must be higher than the recrystallization temperature of the corresponding metal material, and the maximum temperature is based on not generating a brittle phase and not causing severe coarsening of recrystallized grains due to overheating.

[0014] The present invention has the following beneficial effects: 1. The present invention establishes an additive repair and remanufacturing system and a characteristic process method for key flow-through components of a turbine by arranging modular operating tools and motion control components such as a penetration testing module, a pre-treatment milling and grinding root cleaning module, a pre-treatment area induction preheating and temperature control module, an additive deposition module, a synchronous micro-hammer forging module, an integrated clamping and temperature control module, and a post-treatment milling and grinding shaping module. The system and process method can improve the repair efficiency and quality of key flow-through components of a turbine, extend its service life, and significantly reduce economic losses. At the same time, it is also convenient to realize the fully automated repair and remanufacturing of key flow-through components of a turbine.

[0015] 2. The present invention proposes to use additive methods to repair and remanufacture key flow-through components of turbines, and introduces high-temperature micro-hammer forging to synchronously process the additive deposited welds, thereby forming a high-temperature synchronous micro-hammer forging assisted remanufacturing process method for key flow-through components of turbines. This method can regulate the organizational state and residual stress state of the repair layer in an environment lacking good heat treatment, thereby improving the mechanical properties of the repair layer and extending the service life of the components to be repaired. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0017] Figure 1 This is the main content of the temperature-synchronous micro-hammer forging assisted turbine blade additive repair and remanufacturing process scheme improved by the present invention.

[0018] Figure 2 The present invention provides a process flow chart corresponding to the turbine blade repair and remanufacturing process proposed in the present invention.

[0019] Figure 3 This is a process principle diagram of the main scheme of additive repair and remanufacturing of turbine blades assisted by temperature-synchronous micro-hammer forging according to the present invention.

[0020] In the figure: additive deposition module 1, end additive actuator 1-1, synchronous micro-hammer forging module 2, end micro-forging hammer 2-1, integrated clamping and temperature control module 3, carrying and additive posture control module 4, turbine blade 5, cavity to be repaired 6, repair weld layer 7, additive deposition weld bead 7-1, repair layer surface 7-2. DETAILED DESCRIPTION

[0021] The invention adopts the system and process for repairing and remanufacturing turbine blades with additive repair of key flow-through components of the invention as a specific embodiment, and the described embodiment is only a part of the embodiments of the invention, not all of the embodiments. Based on the embodiments of the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0022] Embodiment 1: like Figure 1 , Figure 2 , Figure 3 As shown, a high temperature synchronous micro hammer forging assisted turbine blade additive repair and remanufacturing system, the repair and remanufacturing system includes the following modules: Penetrant testing module: Use PT penetrant testing technology to non-destructively detect turbine blade failure defects.

[0023] Pre-treatment milling and grinding root cleaning module: using milling or grinding tool components, before repairing the failure defect, the defect and the surrounding area are pre-treated by milling or grinding to expose the metallic luster and form the cavity to be repaired 6, thereby providing a basis for subsequent repair and ensuring the quality of subsequent repair.

[0024] Pre-treatment area induction preheating and temperature control module: Use high-frequency induction heating components to preheat the cavity 6 to be repaired and the surrounding area formed by defective milling or grinding, and monitor the temperature of the area in real time to ensure the best repair effect.

[0025] The post-processing milling and grinding shaping module is used to mill or grind the metal in the cavity 6 to be repaired that exceeds the surface of the component substrate after the additive filling of the defective cavity to be repaired is completed, so as to restore the original surface features of the repaired area.

[0026] Pre- / post-processing transport and processing trajectory control module: used to transport the above-mentioned pre-processing milling, grinding and root cleaning module, the pre-processing area induction preheating and temperature control module, and the post-processing milling, grinding and shaping module in different stages of pre- / post-processing, and control the above-mentioned modules to complete the corresponding processing operations according to the predetermined trajectory movement.

[0027] Additive deposition module 1: responsible for filling the cavity to be repaired formed after pre-treatment by additive method.

[0028] Synchronous micro-hammer forging module 2: When the additive deposition module 1 is used to fill the cavity to be repaired, the additive deposition weld is simultaneously subjected to high-temperature intermittent hammer deformation, and the intermittent thermoplastic deformation is used to improve the structure and stress state of the additive deposition weld and enhance the mechanical properties.

[0029] Integrated clamping and temperature control module 3: used to integrate the additive deposition module 1 and the synchronous micro-hammer forging module 2 into the same carrier equipment to avoid motion interference between the related components of the additive deposition module 1 and the synchronous micro-hammer forging module 2. In addition, it is also used to adjust the intervention temperature of the additive deposition weld for synchronous micro-hammer forging, that is, the welding gun 1-1 of the additive deposition module 1 and the end micro-forging hammer 2-1 of the synchronous micro-hammer forging module 2 are adjusted by the integrated clamping and temperature control module 3. The relative distance between the two is adjusted, and then the deformation temperature of the additive deposition weld 7-1 for synchronous micro-hammer forging is adjusted.

[0030] Carrying and additive posture control module 4: It is the main equipment that integrates and carries the additive deposition module 1 and the synchronous micro-hammer forging module 2, and is responsible for controlling the walking path and posture of the welding gun 1-1 and the end micro-forging hammer 2-1 on the complex surface, that is, the additive deposition module 1 and the synchronous micro-hammer forging module 2 are integrated into the carrying and additive posture control module 4 through the integrated clamping and temperature control module 3, and the carrying and additive posture control module 4 controls its motion trajectory and the processing trajectory of the additive and micro-hammer forging operations.

[0031] Furthermore, the pre-processing milling and grinding root cleaning module and the post-processing milling and grinding shaping module share a processing operation component, and the processing operation component includes two types of milling tool components and grinding tool components. The milling tool component mainly includes a diamond milling cutter, a drive motor, a force control, a coolant supply device, a flange integrated mounting frame I, etc. The diamond milling cutter, the drive motor, the force control and the coolant supply device can be integrated into one through the flange integrated mounting frame I to form a modular milling tool component. At the same time, the flange mounting end of the flange integrated mounting frame I can be quickly connected to the pre- / post-processing operation The carrier and processing trajectory control module are connected to facilitate the assembly to perform milling processing on the turbine blades to be repaired according to the established trajectory; the grinding tool assembly mainly includes a grinding wheel, a drive motor, a force control, a flange integrated mounting frame II, etc. The grinding wheel, the drive motor, the force control, etc. can be integrated into one through the flange integrated mounting frame II to form a modular grinding tool assembly. At the same time, the flange mounting end of the flange integrated mounting frame II can be quickly connected to the front / post processing carrier and processing trajectory control module, so that the assembly can perform grinding processing on the turbine blades to be repaired according to the established trajectory.

[0032] Furthermore, the pre-processing area induction preheating and temperature control module includes a high-frequency induction heating component, a temperature measurement and control component and a flange integrated mounting frame III. The high-frequency induction heating component mainly includes a high-frequency induction power supply, an induction coil, a coolant supply device, etc. The temperature measurement and control component mainly includes a thermal imager and a display terminal. The high-frequency induction power supply, the induction coil, the coolant supply device, the thermal imager, etc. can be integrated into one through the flange integrated mounting frame III to form a modular induction preheating and temperature control component. At the same time, the flange mounting end of the flange integrated mounting frame III can be quickly connected to the pre- / post-processing transport and processing trajectory control module, so that the component can perform induction preheating and temperature control treatment on the formed cavity to be repaired and the surrounding area according to the established trajectory.

[0033] Furthermore, the pre- / post-processing transport and processing trajectory control module mainly includes a six-degree-of-freedom heavy-duty industrial robot arm I, an external seventh axis I and a seventh-axis walking track, etc. The module has multiple degrees of freedom and can carry the above-mentioned pre- and post-processing modules to walk along a predetermined trajectory and perform specific processing procedures.

[0034] Furthermore, the additive deposition module 1 mainly includes an arc welder, a wire feeding mechanism, a welding gun 1-1 and a protective atmosphere, etc. The synchronous micro-hammer forging module 2 mainly includes an electric micro-hammer forging motion excitation device and a terminal micro-forging hammer 2-1, wherein the terminal micro-forging hammer 2-1 is a flat hammer, and the cross-sectional diameter of the forging hammer is slightly larger than the weld width obtained under the optimized additive deposition process.

[0035] Furthermore, the integrated clamping and temperature control module 3 mainly includes a flange integrated mounting frame IV, a pneumatic vibration elimination fixed end, a slidable clamp connection end, etc. The welding gun 1-1 of the additive deposition module 1 and the synchronous micro-hammer forging module 2 can be integrated into an integrated structure through the integrated clamping and the flange integrated mounting frame IV of the temperature control module 3, and the welding gun 1-1 of the additive deposition module 1 is movably connected to the flange integrated mounting frame IV through the slidable clamp connection end, so that the welding gun 1-1 can slide on the flange integrated mounting frame IV with the slidable clamp connection end, adjust the distance between the welding gun 1-1 and the micro-forging hammer 2-1 at the end of the synchronous micro-hammer forging module 2, and then adjust the temperature of the additive deposition weld for micro-hammer forging. The flange mounting end of the flange integrated mounting frame IV is fixedly connected to the carrier and additive posture control module 4 through the pneumatic vibration elimination fixed end, so that when the carrier and additive posture control module 4 carries out repair of the cavity 6 by the carrier additive deposition module 1 and the synchronous micro-hammer forging module 2, the influence of the synchronous micro-hammer forging vibration on the additive deposition module 1 can be reduced to ensure the forming accuracy. The additive posture control module 4 mainly includes a six-degree-of-freedom heavy-duty industrial robot arm II, an external seventh axis II and a seventh axis walking track.

[0036] Furthermore, the material used for repairing the turbine blades is a welding wire with a grade of 0Cr13Ni5Mo, which is an ultra-low carbon martensitic stainless steel welding wire. The temperature for micro-hammer forging of the additive deposition weld 7-1 is achieved by adjusting the physical position of the sliding clamp connection end relative to the flange integrated mounting frame IV, and then adjusting the physical distance between the welding gun 1-1 of the additive deposition module 1 and the micro-forging hammer 2-1 at the end of the synchronous micro-hammer forging module 2. The temperature for micro-hammer forging of the additive deposition weld should be slightly higher than the austenite recrystallization temperature of the martensitic stainless steel (about 950°C). At this time, incomplete recrystallization of austenite occurs at a higher temperature, and after cooling to room temperature, a martensitic structure with a relatively high degree of refinement can be obtained.

[0037] Embodiment 2: This embodiment provides a high-temperature synchronous micro-hammer forging assisted turbine blade additive repair and remanufacturing method, which specifically includes the following steps: Step 1: Remove the dirt, such as attachments, oil stains, rust, etc. on the surface of the turbine blade 5 to be repaired, and determine the location, type and size of the defect of the blade to be repaired by naked eyes or using a penetrant flaw detection module; Step 2: Use the six-degree-of-freedom heavy-duty industrial robot arm I of the pre-processing / post-processing transport and processing trajectory control module to carry the milling tool assembly and grinding tool assembly of the pre-processing milling, grinding and root cleaning module to perform pre-repair treatment on the local defects to be repaired of the turbine blades, remove the metal in the failure area, and form a cavity 6 to be repaired. According to the position, type and size of the defect to be repaired determined in the previous step, determine the position, area and depth of the area to be milled or polished. For superficial defects, use the grinding tool assembly for grinding and root cleaning, and for large-area deep pit defects, use the milling tool assembly for milling processing; Step 3: Use the high-frequency induction heating components of the six-degree-of-freedom heavy-duty industrial robot arm I of the pre- / post-processing transport and processing trajectory control module to carry out high-frequency induction preheating of the pre-processing area induction preheating and temperature control module on the cavity 6 to be repaired and the surrounding area formed in the previous step, and control the preheating temperature to 250-300°C to reduce the high level of residual tensile stress and deformation caused by the extremely cold and hot characteristics during additive deposition in the local area.

[0038] Step 4: Use the six-degree-of-freedom heavy-duty industrial robot arm II of the carrying and additive posture control module to carry the additive deposition module 1 and the synchronous micro-hammer forging module 2 to perform additive filling on the preheated cavity 6 to be repaired, and at the same time use the additive deposition weld 7-1 as the basic unit to perform synchronous high-temperature micro-hammer forging to gradually form a repair weld layer 7, until the cavity 6 to be repaired is completely filled with repair metal. It is required that the surface 7-2 of the final filled repair layer is slightly higher than the height of the substrate surface near the cavity 6 to be repaired by about 1 mm, so that it is convenient for post-processing to shape the repair area and quickly restore the original surface features of the repair area. In addition, the additive deposition process parameters adopted by the additive deposition module 1 are the optimal process parameters obtained by experimental optimization, while the micro-hammer forging process parameters adopted by the synchronous micro-hammer forging module 2, including micro-hammer forging temperature, micro-hammer forging deformation and micro-forging hammer shape, are the optimal micro-hammer forging process parameters determined under the above-mentioned optimal additive deposition process parameters. The additive deposition process parameter optimization experiment and the process of determining the optimal micro-hammer forging process parameters are both carried out under the condition of a preheating temperature of 250-300°C.

[0039] Step 5: Use the six-degree-of-freedom heavy-duty industrial robot arm I with the pre- / post-processing transport and processing trajectory control module to transport the post-processing milling and grinding shaping module to mill or grind the metal in the defect repair area that exceeds the surface of the component substrate until the repair area completely restores the original surface features; Step 6: Use the penetrant flaw detection module to perform PT penetrant flaw detection on the repaired blade area. If no defects are found, the turbine blade repair is completed. If defects are found, repeat the above steps until the defects are completely eliminated.

Claims

1. A high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing system for key flow-through components of a turbine, characterized in that: The repair and remanufacturing system includes a penetrant flaw detection module, a pre-processing milling and grinding root cleaning module, a pre-processing area induction preheating and temperature control module, a pre-processing / post-processing transport and processing trajectory control module, an additive deposition module (1), a synchronous micro-hammer forging module (2), an integrated clamping and temperature control module (3), a transport and additive posture control module (4) and a post-processing milling and grinding shaping module; the pre-processing milling and grinding root cleaning module, the pre-processing area induction preheating and temperature control module and the post-processing milling and grinding shaping module are respectively connected to the pre-processing / post-processing transport and processing trajectory control module at different stages of the repair process, and are controlled by the pre-processing / post-processing transport and processing module. The trajectory control module controls its movement and processing trajectory; the additive deposition module (1) and the synchronous micro-hammer forging module (2) are integrated into the carrier and additive posture control module (4) through the integrated clamping and temperature control module (3), and the carrier and additive posture control module (4) controls their movement trajectory and the processing trajectory of the additive and micro-hammer forging; the terminal additive actuator (1-1) of the additive deposition module (1) and the terminal micro-forging hammer (2-1) of the synchronous micro-hammer forging module (2) are adjusted by the integrated clamping and temperature control module (3) to adjust the relative distance between the two, thereby adjusting the deformation temperature of the additive deposition weld (7-1) for synchronous micro-hammer forging.

2. According to claim 1, a high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing method for key flow-through components of a turbine, characterized in that: The method is implemented using the repair and remanufacturing system according to claim 1, and comprises the following steps: Step 1: Remove surface attachments, oil stains and rust stains from the key flow-through components (5) of the turbine to be repaired, and determine the location, type and size of defects in the key flow-through components to be repaired by manual identification or using a penetrant flaw detection module; Step 2: Use the pre-processing / post-processing transport and processing trajectory control module to transport the pre-processing milling and grinding root cleaning module to pre-process the local defects to be repaired in the key flow-through components. According to the location, type and size of the defects to be repaired determined in step 1, the location, area and depth of the area to be milled or polished are determined. For shallow defects, grinding and root cleaning are performed, and for large-area deep pit defects, milling processing is performed to form a cavity to be repaired (6); Step 3: Using the pre-processing / post-processing transport and processing trajectory control module to transport the pre-processing area induction preheating and temperature control module, the cavity to be repaired (6) formed in step 2 and the surrounding area are induction preheated, and the preheating temperature is controlled to 250-300°C; Step 4: Using the transport and additive posture control module to transport the additive deposition module (1) and the synchronous micro-hammer forging module (2) to perform additive filling on the preheated cavity to be repaired (6), and at the same time, performing synchronous high-temperature micro-hammer forging with the additive deposition weld bead (7-1) as the basic unit to gradually form a repair weld layer (7), until the cavity to be repaired (6) is completely filled with the repair metal, and the surface of the final filled repair layer (7-2) is required to be 1mm to 1.5mm higher than the height of the base mold surface near the cavity to be repaired (6); Step 5: Use the pre- / post-processing transport and machining trajectory control module to transport the post-processing milling and grinding shaping module to mill or grind the metal in the defect repair area that exceeds the surface of the component base until the repair area completely restores the original surface features; Step 6: Use the penetrant testing module to perform PT penetrant testing on the repaired area. If no defects are found, the repair is complete. If defects are found, repeat steps 1 to 5 above until the defects are completely eliminated.

3. According to claim 2, a high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing method for key flow-through components of a turbine, characterized in that: The pre-processing milling, grinding and root cleaning module and the post-processing milling, grinding and shaping module share a processing operation component, and the processing operation component includes two types: a milling tool component and a grinding tool component. The milling tool component includes a diamond milling cutter, a drive motor, a force control, a coolant supply device and a flange integrated mounting frame I, and the grinding tool component includes a grinding wheel, a drive motor, a force control and a flange integrated mounting frame II.

4. According to claim 2, a high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing method for key flow-through components of a turbine, characterized in that: The pre-treatment area induction preheating and temperature control module includes a high-frequency induction heating component, a temperature measurement and control component and a flange integrated mounting frame III. The high-frequency induction heating component group includes a high-frequency induction power supply, an induction coil and a coolant supply device. The temperature measurement and control component includes a thermal imager and a display terminal.

5. According to claim 2, a high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing method for key flow-through components of a turbine, characterized in that: The pre- / post-processing transport and processing trajectory control module includes a six-degree-of-freedom heavy-duty industrial robot arm I, an external seventh axis I and a seventh-axis walking track.

6. The high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing method for key flow-through components of a turbine according to claim 2, characterized in that: The additive deposition module (1) comprises an additive deposition energy source, a feeding mechanism, an end additive actuator (1-1) and a protective atmosphere; the additive deposition energy source is an arc welder, a plasma arc welder or a laser; and the end additive actuator (1-1) is a welding gun or a laser head.

7. The high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing method for key flow-through components of a turbine according to claim 2, characterized in that: The synchronous micro-hammer forging module (2) consists of a micro-hammer forging motion excitation device and a terminal micro-forging hammer (2-1).

8. The high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing method for key flow-through components of a turbine according to claim 2, characterized in that: The integrated clamping and temperature control module (3) comprises a flange integrated mounting frame IV, a pneumatic vibration-damping fixed end and a slidable clamp connection end, the end additive actuator of the additive deposition module (1) and the synchronous micro-hammer forging module (2) are integrated into an integrated structure through the flange integrated mounting frame IV of the integrated clamping and temperature control module (3), and the end additive actuator (1-1) of the additive deposition module (1) is movably connected to the flange integrated mounting frame IV through the slidable clamp connection end, the flange mounting end of the flange integrated mounting frame IV is fixedly connected to the carrier and additive posture control module (4) through the pneumatic vibration-damping fixed end, and the carrier and additive posture control module (4) comprises a six-degree-of-freedom heavy-duty industrial robot arm II, an external seventh axis II and a seventh-axis walking track.

9. The high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing method for key flow-through components of a turbine according to claim 2, characterized in that: The materials used for repairing the key flow-through components of the turbine are corrosion-resistant, wear-resistant, high-strength plastic materials, and the corresponding welding material grades are 0Cr13Ni5Mo, ER410NiMo, ER308L, ER309L and Stellite welding materials, and the welding material form is wire or powder.

10. The high-temperature synchronous micro-hammer forging assisted additive repair and remanufacturing method for key flow-through components of a turbine according to claim 2, characterized in that: The temperature of the micro-hammer forging of the additive deposition weld bead (7-1) is achieved by adjusting the physical position of the sliding clamp connection end relative to the flange integrated mounting frame IV, and then adjusting the physical distance between the additive actuator (1-1) at the end of the additive deposition module (1) and the micro-forging hammer (2-1) at the end of the synchronous micro-hammer forging module (2). The minimum temperature of the micro-hammer forging of the additive deposition weld bead (7-1) needs to be higher than the recrystallization temperature of the corresponding metal material, and the maximum temperature is based on the condition that no brittle phase is generated and no serious coarsening of the recrystallized grains due to overheating occurs.

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