Device and method for refining structure of interlayer milling composite electric arc additive repair stainless steel component

Abstract

The invention discloses an interlayer milling composite electric arc additive repairing stainless steel component structure refining device and method. Comprising an interlayer milling six-axis robot, an interlayer milling working head, an electric arc additive six-axis robot, a welding gun, a stainless steel component, a clamp, a workbench, an electric arc additive six-axis robot power supply, an interlayer milling six-axis robot power supply, an interlayer milling six-axis robot joint tail end, an electric spindle shell, an electric spindle, a stator, a spring chuck cutter handle, an elastic jacket, an end mill and a nut. The electric arc additive manufacturing technology and the milling machining technology are combined, and the combined manufacturing device is reasonable in structural design, easy to operate, high in automation degree and high in adaptability; according to the method, the interlayer milling six-axis robot is used for milling the damaged part of the stainless steel component, then the electric arc additive six-axis robot is used for repairing the damaged part, the columnar crystal structure of the additive component can be refined through interlayer milling, and therefore the mechanical property is improved.

Description

Technical Field

[0001] The invention belongs to the field of additive manufacturing and subtractive manufacturing, and specifically relates to a device and a method for repairing stainless steel components by composite arc additive manufacturing using interlayer milling. Background Art

[0002] Large stainless steel components will have surface cracks, notches or even breakages when they are used for too long or in harsh service conditions. Since large stainless steel components are expensive, repairing them before reuse is the best option. Arc additive repair is a repair technology that is more efficient and less expensive than traditional repair methods.

[0003] The heat input generated during arc additive repair is large, which will make the grains inside the repaired metal coarse. The structure determines the performance, which will reduce the performance of the repaired metal. Therefore, the interlayer milling technology is proposed. Milling is to flatten and shape the repaired part of the stainless steel component to prepare for additive repair. The second is to perform interlayer milling on the top of the repair layer to introduce a plastic deformation layer to refine the structure. A device for interlayer milling composite arc additive repair of stainless steel components to refine the structure is proposed under the above background. Summary of the invention

[0004] The technical problem to be solved by the present invention is how to repair a large damaged stainless steel component and refine the coarse grain structure of the repair layer.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A device for interlayer milling composite arc additive repair of stainless steel components to refine the structure, comprising an interlayer milling six-axis robot, an interlayer milling work head, an arc additive six-axis robot, a welding gun, a stainless steel component to be repaired, a fixture, a workbench, an arc additive six-axis robot power supply, an interlayer milling six-axis robot power supply, an interlayer milling six-axis robot joint end, an interlayer milling work head mounting frame 1, an insulating plate, and an interlayer milling work head mounting frame 2; the interlayer milling work head is connected to the interlayer milling work head mounting frame 1, the insulating plate, the interlayer milling work head mounting frame 2, and the interlayer milling six-axis robot joint. The end is fixedly connected to the interlayer milling six-axis robot, and the interlayer milling six-axis robot is connected to the power supply of the interlayer milling six-axis robot through a wire. The welding gun is fixedly connected to the arc additive six-axis robot through a welding gun mounting bracket, and the arc additive six-axis robot is connected to the power supply of the arc additive six-axis robot through a wire. The stainless steel component to be repaired is fixedly connected to the workbench through a clamp, and the interlayer milling six-axis robot, the arc additive six-axis robot, and the workbench are fastened to the ground through anchor bolts; the interlayer milling work head includes an electric spindle housing, a bearing 1. Electric spindle, stator, bearing 2, upper coupling, lower coupling, spring chuck handle, elastic sleeve, end mill, nut, the stator has a cooling jacket, the electric spindle housing has a bearing mounting hole, the electric spindle is installed on the electric spindle housing through bearing 1 and bearing 2, the electric spindle is connected to the spring chuck handle through the upper coupling and the lower coupling, the torque transmitted by the electric spindle is transmitted to the spring chuck handle through the upper coupling and the lower coupling, the end mill is fixedly connected to the spring chuck handle through the elastic sleeve and the nut; the welding gun also includes a welding gun A mounting frame, a gun neck, a nozzle, a conductive nozzle seat, a diverter ring, a conductive nozzle, and a welding wire; the gun neck is connected to the nozzle, the conductive nozzle is connected to the diverter ring and the conductive nozzle seat, and the welding wire passes through the conductive nozzle seat, the diverter ring and the conductive nozzle. Two independent six-axis robots are used to combine the two processing methods of interlayer milling and arc additive repair. Interlayer milling not only provides pre-repair shaping preparation for arc additive repair, but also introduces a plastic deformation layer by milling on the top of the repair layer, thereby refining the microstructure of the metal in the repair layer, and further effectively improving the mechanical properties of the repaired part of the stainless steel component.

[0007] Preferably, the torque transmitted by the spring chuck shank is transmitted to the end mill through the elastic sleeve; the conductive nozzle seat, the diverter ring and the conductive nozzle are located on the inner wall of the nozzle.

[0008] Preferably, the maximum diameter of the end mill cannot exceed 16 mm, the size of the elastic jacket matches the size of the end mill, and anti-collision sensors are provided on the interlayer milling work head and the welding gun.

[0009] Preferably, the maximum reachable radius of the interlayer milling six-axis robot is 2050mm, and the maximum load weight that the wrist can carry cannot exceed 15kg; the maximum reachable radius of the arc additive six-axis robot is 2050mm, and the maximum load weight that the wrist can carry cannot exceed 15kg. Through the highly flexible robot platform, milling shaping, arc additive repair, and interlayer milling composite manufacturing of damaged parts of large stainless steel damaged components are realized, which has the advantages of high manufacturing flexibility, high repair efficiency, and high repair quality.

[0010] The present invention also provides a method for using the above-mentioned device for repairing the microstructure of a stainless steel component by using the interlayer milling composite arc additive method, comprising the following steps:

[0011] S1, cleaning the repaired part of the stainless steel component to be repaired from oil stains and rust, then placing the stainless steel component to be repaired on a workbench, and clamping it on the workbench with a clamp;

[0012] S2, turn on the power supply of the arc additive six-axis robot and the interlayer milling six-axis robot;

[0013] S3, compile the motion and operation programs of the interlayer milling six-axis robot and the arc additive six-axis robot, and upload the compiled programs to the robot controller;

[0014] S4, according to the programmed motion and operation program of the interlayer milling six-axis robot, the interlayer milling six-axis robot is controlled by the robot controller to drive the interlayer milling work head to perform milling and shaping on the part to be repaired on the stainless steel component to be repaired. After the milling and shaping work is completed, the interlayer milling six-axis robot is controlled to drive the interlayer milling work head away from the stainless steel component to be repaired, leaving a working space for the arc additive six-axis robot;

[0015] S5, according to the motion and operation program of the arc additive six-axis robot, the arc additive six-axis robot is controlled by the robot controller to drive the welding gun to perform additive repair work on the milled flat part of the stainless steel component to be repaired, firstly a repair layer is manufactured, the purpose is to perform interlayer milling on the top of the repair layer, and then the arc additive six-axis robot is controlled to drive the welding gun away from the stainless steel component to be repaired, leaving a working space for the interlayer milling six-axis robot;

[0016] S6, control the interlayer milling six-axis robot to drive the interlayer milling work head to perform interlayer milling work on the top of a repair layer to refine the coarse grain structure of the repair layer caused by the high heat of the arc. After the interlayer milling work is completed, control the interlayer milling six-axis robot to drive the interlayer milling work head away from the stainless steel component to be repaired, leaving working space for the arc additive six-axis robot;

[0017] S7, controlling the arc additive six-axis robot to drive the welding gun to perform additive repair work on the interlayer milling part on the top of a repair layer on the stainless steel component to be repaired, and then manufacturing another repair layer, and then controlling the arc additive six-axis robot to drive the welding gun away from the stainless steel component to be repaired, leaving working space for the interlayer milling six-axis robot;

[0018] S8, when the repaired portion of the stainless steel component to be repaired requires additive deposition of many layers, the operations of S6 and S7 are repeated, and the height of the repaired portion is finally milled to be flush with the unrepaired portion of the stainless steel component;

[0019] S9, when the microstructure refinement work of the stainless steel component repaired by the composite arc additive interlayer milling is completed, the power supply of the arc additive six-axis robot and the power supply of the interlayer milling six-axis robot are turned off, and the microstructure refinement work of the stainless steel component repaired by the composite arc additive interlayer milling is completed.

[0020] Beneficial effects:

[0021] (1) The present invention combines arc additive repair technology with milling processing technology, and realizes milling shaping, arc additive repair, and interlayer milling composite manufacturing of damaged parts of large stainless steel damaged components through a highly flexible robot platform, which has the advantages of high manufacturing flexibility, high repair efficiency, and high repair quality;

[0022] (2) The present invention utilizes two independent six-axis robots to combine the two processing methods of interlayer milling and arc additive repair. Interlayer milling not only provides pre-repair shaping preparation for arc additive repair, but also introduces a plastic deformation layer by milling on the top of the repair layer, thereby refining the microstructure of the metal in the repair layer, further effectively improving the mechanical properties of the repaired part of the stainless steel component. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of an interlayer milling work head according to an embodiment of the present invention;

[0025] Figure 3 Schematic diagram of the welding gun structure according to an embodiment of the present invention.

[0026] Description of Figure Numbers:

[0027] 1. Interlayer milling six-axis robot; 2. Interlayer milling work head; 3. Arc additive six-axis robot; 4. Welding gun; 5. Stainless steel components to be repaired; 6. Fixture; 7. Workbench; 8. Power supply of arc additive six-axis robot; 9. Power supply of interlayer milling six-axis robot; 10. Joint end of interlayer milling six-axis robot; 11. Interlayer milling work head mounting frame 1; 12. Insulating plate; 13. Interlayer milling work head mounting frame 2; 14. Electric spindle housing; 15. Bearing 1; 16. Electric spindle; 17. Stator; 18. Bearing 2; 19. Upper coupling; 20. Lower coupling; 21. Spring chuck tool holder; 22. Elastic sleeve; 23. End mill; 24. Nut; 25. Welding gun mounting frame; 26. Gun neck; 27. Nozzle; 28. Conductive nozzle seat; 29. ​​Diverter ring; 30. Conductive nozzle; 31. Welding wire. DETAILED DESCRIPTION

[0028] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention is further described in conjunction with the accompanying drawings of the specification.

[0029] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0030] See also Figure 1-Figure 3The present embodiment is described, a device for interlayer milling composite arc additive repair of stainless steel component microstructure refinement, comprising an interlayer milling six-axis robot 1, an interlayer milling work head 2, an arc additive six-axis robot 3, a welding gun 4, a stainless steel component to be repaired 5, a fixture 6, a workbench 7, an arc additive six-axis robot power supply 8, an interlayer milling six-axis robot power supply 9, an interlayer milling six-axis robot joint end 10, an interlayer milling work head mounting frame 1 11, an insulating plate 12, and an interlayer milling work head mounting frame 2 13; the interlayer milling work head 2 is fixedly connected to the interlayer milling six-axis robot 1 through the interlayer milling work head mounting frame 1 11, the insulating plate 12, the interlayer milling work head mounting frame 2 13, and the interlayer milling six-axis robot joint end 10, The six-axis cutting robot 1 is connected to the power supply 9 of the six-axis interlayer milling robot through a wire, the welding gun 4 is fixedly connected to the arc additive six-axis robot 3 through a welding gun mounting bracket 25, the arc additive six-axis robot 3 is connected to the power supply 8 of the arc additive six-axis robot through a wire, the stainless steel component 5 to be repaired is fixedly connected to the workbench 7 through a clamp 6, the interlayer milling six-axis robot 1, the arc additive six-axis robot 3, and the workbench 7 are fastened to the ground through anchor bolts, the movement and operation program of the interlayer milling six-axis robot 1 is written, the movement and operation program of the arc additive six-axis robot 3 is written, and the written program is uploaded to the robot controller, and the interlayer milling is controlled by the robot controller according to the written movement and operation program of the interlayer milling six-axis robot 1 The six-axis robot 1 drives the interlayer milling work head 2 to mill the to-be-repaired part of the 304 stainless steel component 5 to be repaired. The milling path is a reciprocating path, which can improve the milling efficiency. After the milling work is completed, the interlayer milling six-axis robot 1 is controlled to drive the interlayer milling work head 2 away from the 304 stainless steel component 5 to be repaired, leaving working space for the arc additive six-axis robot 3; the interlayer milling work head 2 also includes an electric spindle housing 14, a bearing 15, an electric spindle 16, a stator 17, a bearing 2 18, an upper coupling 19, a lower coupling 20, a spring chuck tool holder 21, an elastic sleeve 22, an end mill 23, and a nut 24; the stator 17 is provided with a cooling jacket, and the electric spindle housing 14 is provided with a bearing mounting hole, and the electric spindle 16 is provided with a bearing through The first bearing 15 and the second bearing 18 are installed on the electric spindle housing 14, the electric spindle 16 is connected to the spring chuck handle 21 through the upper coupling 19 and the lower coupling 20, the torque transmitted by the electric spindle 16 is transmitted to the spring chuck handle 21 through the upper coupling 19 and the lower coupling 20, the end mill 23 is fixedly connected to the spring chuck handle 21 through the elastic sleeve 22 and the nut 24, the torque transmitted by the spring chuck handle 21 is transmitted to the end mill 23 through the elastic sleeve 22, the workpiece is fixedly clamped on the workbench 7 by the fixture 6, a milling cutter with a diameter of 5mm is selected, and an elastic sleeve 22 matching the milling cutter with a diameter of 5mm is selected; the welding gun 4 also includes a gun neck 26, a nozzle 27, a conductive nozzle seat 28, a diverter ring 29, a conductive nozzle 30, and a welding wire 31;The gun neck 26 is connected to the nozzle 27, the conductive nozzle 30 is connected to the diverter ring 29 and the conductive nozzle seat 28, the diverter ring 29 is used to make the argon gas transmission more uniform, the welding wire 31 passes through the conductive nozzle seat 28, the diverter ring 29 and the conductive nozzle 30, and the conductive nozzle seat 28, the diverter ring 29 and the conductive nozzle 30 are located on the inner wall of the nozzle 27. The arc additive repair technology is combined with the milling processing technology. Through the highly flexible robot platform, the milling shaping, arc additive repair and interlayer milling composite manufacturing of the damaged parts of large stainless steel damaged components are realized, which has the advantages of high manufacturing flexibility, high repair efficiency and high repair quality. ;

[0031] The maximum diameter of the end mill 23 of this embodiment cannot exceed 16mm, the elastic sleeve 22 is matched with the size of the end mill 23, there are anti-collision sensors on the interlayer milling work head 2 and the welding gun 4, the maximum reachable radius of the interlayer milling six-axis robot 1 is 2050mm, and the maximum load weight that the wrist can carry cannot exceed 15kg, the maximum reachable radius of the arc additive six-axis robot 3 is 2050mm, and the maximum load weight that the wrist can carry cannot exceed 15kg, and two independent six-axis robots are used to combine the two processing methods of interlayer milling and arc additive repair. Interlayer milling not only provides pre-repair shaping preparation for arc additive repair, but also introduces a plastic deformation layer by milling on the top of the repair layer, thereby refining the microstructure of the metal in the repair layer, and further effectively improving the mechanical properties of the repaired part of the stainless steel component.

[0032] The stainless steel component to be repaired in this embodiment is made of 304 steel, and the welding wire material is 304 welding wire with a diameter of 1.2 mm. Gas metal additive manufacturing (GMAW) is used, and the welding wire is used as an electrode. The shielding gas used is argon gas, and the shielding gas flow rate is 15 L / min. The specific steps are as follows:

[0033] (1) The size of the notch damage part of the 304 stainless steel component 5 to be repaired is 10 mm×5 mm×4 mm. The 304 stainless steel component 5 to be repaired is cleaned of oil and rust. Then, the 304 stainless steel component 5 to be repaired is placed on a workbench 7 and fixedly clamped on the workbench 7 by a clamp 6. A milling cutter with a diameter of 5 mm is selected, and an elastic jacket 22 matching the milling cutter with a diameter of 5 mm is selected.

[0034] (2) Turn on the power supply 8 of the arc additive six-axis robot and turn on the power supply 9 of the interlayer milling six-axis robot;

[0035] (3) Writing the motion and operation program of the interlayer milling six-axis robot 1, writing the motion and operation program of the arc additive six-axis robot 3, and uploading the written program to the robot controller;

[0036] (4) According to the motion and operation program of the interlayer milling six-axis robot 1, the interlayer milling six-axis robot 1 is controlled by the robot controller to drive the interlayer milling work head 2 to perform milling processing on the to-be-repaired part of the 304 stainless steel component 5 to be repaired. The milling path is a reciprocating path, which can improve the milling efficiency. After the milling work is completed, the interlayer milling six-axis robot 1 is controlled to drive the interlayer milling work head 2 away from the 304 stainless steel component 5 to be repaired, leaving space for the arc additive six-axis robot 3 to work;

[0037] (5) According to the motion and operation program of the arc additive six-axis robot 3, the arc additive six-axis robot 3 is controlled by the robot controller to drive the welding gun 4 to perform additive repair work on the milled flat part of the 304 stainless steel component 5 to be repaired. First, a repair layer is manufactured, and the purpose is to perform interlayer milling on the top of the repair layer. Then, the arc additive six-axis robot 3 is controlled to drive the welding gun 4 away from the stainless steel component 5 to be repaired, leaving space for the interlayer milling six-axis robot 1 to work;

[0038] (6) Controlling the interlayer milling six-axis robot 1 to drive the interlayer milling work head 2 to perform interlayer milling on the top of a repair layer to refine the coarse grain structure of the repair layer caused by the high heat of the arc. After the interlayer milling work is completed, the interlayer milling six-axis robot 1 is controlled to drive the interlayer milling work head 2 away from the 304 stainless steel component 5 to be repaired, leaving space for the arc additive six-axis robot 3 to work;

[0039] (7) Controlling the arc additive six-axis robot 3 to drive the welding gun 4 to perform additive repair work on the interlayer milling portion on the top of a repair layer on the 304 stainless steel component 5 to be repaired, and then manufacturing a new repair layer. Then, controlling the arc additive six-axis robot 3 to drive the welding gun 4 away from the 304 stainless steel component 5 to be repaired, leaving space for the interlayer milling six-axis robot 1 to work;

[0040] (8) When the repaired part of the 304 stainless steel component 5 needs to deposit many layers of additive, repeat the operations of (6) and (7). When the repair work of the repaired part is completed, it is finally necessary to use milling to make it flush with the intact part of the 304 stainless steel component;

[0041] (9) When the microstructure refinement work of the 304 stainless steel component repaired by the interlayer milling composite arc additive is completed, the arc additive six-axis robot power supply 8 and the interlayer milling six-axis robot power supply 9 are turned off, and the microstructure refinement work of the stainless steel component repaired by the interlayer milling composite arc additive is completed.

[0042] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0043] The above-described embodiments merely represent implementation methods of the invention. The protection scope of the present invention is not limited to the above-described embodiments. For those skilled in the art, several modifications and improvements may be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A device for interlayer milling composite arc additive repair of stainless steel components, comprising an interlayer milling six-axis robot (1), an interlayer milling work head (2), an arc additive six-axis robot (3), a welding gun (4), a stainless steel component to be repaired (5), a fixture (6), a workbench (7), an arc additive six-axis robot power supply (8), an interlayer milling six-axis robot power supply (9), an interlayer milling six-axis robot joint end (10), an interlayer milling work head mounting frame 1 (11), an insulating plate (12), and an interlayer milling work head mounting frame 2 (13); characterized in that: The interlayer milling work head (2) is fixedly connected to the interlayer milling six-axis robot (1) through the interlayer milling work head mounting frame 1 (11), the insulating plate (12), the interlayer milling work head mounting frame 2 (13), and the interlayer milling six-axis robot joint end (10); the interlayer milling six-axis robot (1) is connected to the interlayer milling six-axis robot power supply (9) through a wire; the welding gun (4) is fixedly connected to the arc additive six-axis robot (3) through a welding gun mounting frame (25); the arc additive six-axis robot (3) is connected to the arc additive six-axis robot power supply (8) through a wire; the stainless steel component (5) to be repaired is fixedly connected to the workbench (7) through a clamp (6); the interlayer milling six-axis robot (1), the arc additive six-axis robot (3), and the workbench (7) are fastened to the ground through anchor bolts; The interlayer milling work head (2) comprises an electric spindle housing (14), a bearing 1 (15), an electric spindle (16), a stator (17), a bearing 2 (18), an upper coupling (19), a lower coupling (20), a spring chuck handle (21), an elastic sleeve (22), an end mill (23), and a nut (24). The stator (17) is provided with a cooling jacket. The electric spindle housing (14) is provided with a bearing mounting hole. The electric spindle (16) is connected to the electric spindle through the bearing 1 (15) and the bearing 2 (18). The second (18) is installed on the electric spindle housing (14), the electric spindle (16) is connected to the spring chuck tool handle (21) through the upper coupling (19) and the lower coupling (20), the torque transmitted by the electric spindle (16) is transmitted to the spring chuck tool handle (21) through the upper coupling (19) and the lower coupling (20), and the end mill (23) is fixedly connected to the spring chuck tool handle (21) through the elastic sleeve (22) and the nut (24); The welding gun (4) further comprises a welding gun mounting frame (25), a gun neck (26), a nozzle (27), a conductive nozzle seat (28), a diverter ring (29), a conductive nozzle (30), and a welding wire (31); the gun neck (26) is connected to the nozzle (27), the conductive nozzle (30) is connected to the diverter ring (29) and the conductive nozzle seat (28), and the welding wire (31) passes through the conductive nozzle seat (28), the diverter ring (29), and the conductive nozzle (30).

2. The device for repairing stainless steel components by composite arc additive manufacturing using interlayer milling according to claim 1 is characterized in that: The torque transmitted by the spring chuck shank (21) is transmitted to the end mill (23) through the elastic sleeve (22).

3. The device for repairing stainless steel components by composite arc additive manufacturing using interlayer milling according to claim 2 is characterized in that: The conductive nozzle seat (28), the diverter ring (29) and the conductive nozzle (30) are located on the inner wall of the nozzle (27).

4. The device for repairing stainless steel components by composite arc additive manufacturing using interlayer milling according to claim 3 is characterized in that: The maximum diameter of the end mill (23) cannot exceed 16 mm, and the size of the elastic sleeve (22) is matched with the size of the end mill (23).

5. The device for repairing stainless steel components by composite arc additive manufacturing using interlayer milling according to claim 4 is characterized in that: Anti-collision sensors are installed on the interlayer milling work head (2) and the welding gun (4).

6. The device for repairing stainless steel components by composite arc additive manufacturing using interlayer milling according to claim 5 is characterized in that: The maximum reachable radius of the interlayer milling six-axis robot (1) is 2050 mm, and the maximum load weight that can be carried by the wrist cannot exceed 15 kg.

7. The device for repairing stainless steel components by composite arc additive manufacturing using interlayer milling according to claim 6 is characterized by: The maximum reachable radius of the arc additive six-axis robot (3) is 2050 mm, and the maximum load weight that can be carried by the wrist cannot exceed 15 kg.

8. A method for using the device for interlayer milling composite arc additive repair of stainless steel components according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1, cleaning the repaired part of the stainless steel component (5) to be repaired from oil stains and rust, then placing the stainless steel component (5) to be repaired on a workbench (7), and fixing and clamping it on the workbench (7) using a clamp (6); S2, turning on the power supply (8) of the arc additive six-axis robot and the power supply (9) of the interlayer milling six-axis robot; S3, compiling motion and operation programs of the interlayer milling six-axis robot (1) and the arc additive six-axis robot (3), and uploading the compiled programs to the robot controller; S4, according to the programmed motion and operation program of the interlayer milling six-axis robot (1), the interlayer milling six-axis robot (1) is controlled by the robot controller to drive the interlayer milling work head (2) to perform milling and shaping processing on the part to be repaired on the stainless steel component (5) to be repaired, and after the milling and shaping work is completed, the interlayer milling six-axis robot (1) is controlled to drive the interlayer milling work head (2) away from the stainless steel component (5) to be repaired, so as to leave a working space for the arc additive six-axis robot (3); S5, according to the programmed motion and operation program of the arc additive six-axis robot (3), the arc additive six-axis robot (3) is controlled by the robot controller to drive the welding gun (4) to perform additive repair work on the milled flat part of the stainless steel component (5) to be repaired, firstly manufacturing a repair layer, the purpose is to perform interlayer milling on the top of the repair layer, and then the arc additive six-axis robot (3) is controlled to drive the welding gun (4) away from the stainless steel component (5) to be repaired, leaving a working space for the interlayer milling six-axis robot (1); S6, controlling the interlayer milling six-axis robot (1) to drive the interlayer milling work head (2) to perform interlayer milling on the top of a manufactured repair layer, the purpose of which is to refine the coarse grain structure of the repair layer caused by the high heat of the arc. After the interlayer milling work is completed, controlling the interlayer milling six-axis robot (1) to drive the interlayer milling work head (2) away from the stainless steel component (5) to be repaired, leaving a working space for the arc additive six-axis robot (3); S7, controlling the electric arc additive six-axis robot (3) to drive the welding gun (4) to perform additive repair work on the interlayer milling portion on the top of a repair layer on the stainless steel component (5) to be repaired, and then manufacturing another repair layer, and then controlling the electric arc additive six-axis robot (3) to drive the welding gun (4) away from the stainless steel component (5) to be repaired, leaving a working space for the interlayer milling six-axis robot (1); S8, when the repaired portion of the stainless steel component (5) to be repaired requires multiple layers of additive deposition, the operations of S6 and S7 are repeated, and the height of the repaired portion is finally milled to be flush with the unrepaired portion of the stainless steel component; S9, when the microstructure refinement work of the stainless steel component repaired by the interlayer milling composite arc additive is completed, the arc additive six-axis robot power supply (8) and the interlayer milling six-axis robot power supply (9) are turned off, and the microstructure refinement work of the stainless steel component repaired by the interlayer milling composite arc additive is completed.

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