Self-adaptive wire powder mixed laser cutting and repairing integrated method and device based on ultrasonic flaw detection

Abstract

The invention belongs to the technical field of laser cutting and welding repair, and discloses a self-adaptive wire powder mixing laser cutting and repairing integrated method and device based on ultrasonic flaw detection. The method integrates detection, positioning, laser cutting and laser repairing. Firstly, an ultrasonic sensor is used for detecting flaws of workpieces with flaws, the positions and sizes of the flaws are determined qualitatively and quantitatively, and data are fed back to a computer; and the computer compares an initial set value according to feedback numerical values and reads the intelligent knowledge base, and four different repairing modes of light-powder repairing, laser cutting and light-powder repairing, laser cutting and light-wire repairing and laser cutting and light-wire-powder repairing are adopted for the defects of different sizes. According to the method and device, the position and size of the workpiece defect can be determined in a self-adaptive mode, laser cutting, fragment cleaning and wire and powder mixed welding repairing work are adopted in sequence, and the problems that the workpiece repairing process is complex, the repairing quality is poor, and integration is difficult to achieve are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cutting and welding repair, and in particular to an integrated method and device for adaptive silk-powder mixing laser cutting repair based on ultrasonic flaw detection. Background Art

[0002] At this stage, as the manufacturing industry transforms towards high precision and high complexity, the requirements for detection technology and cutting and repair technology are getting higher and higher. However, since the current detection system and cutting and repair system are two independent systems, the two processes cannot be well matched. In order to solve the above problems, this patent proposes a method with integrated detection, cutting, and repair functions, and can adaptively select the appropriate repair method based on the size of the workpiece defect.

[0003] On the other hand, with the application of high-performance materials (such as composite materials, alloys, etc.) in aerospace, automobile and other fields, laser repair technology is expected to solve the problem of material wear and damage. Compared with traditional repair processes, laser repair technology has superior accuracy and flexibility, and can adjust the repair process parameters in time according to the repair situation. The mixing of silk powder can supplement alloy elements for the workpiece and improve the quality of the workpiece. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an integrated method and device for adaptive silk-powder mixed laser cutting and repair based on ultrasonic flaw detection. The method integrates detection, analysis, laser cutting and laser repair. First, an ultrasonic sensor is used to detect the defective workpiece, and the position and size of the defect are determined qualitatively and quantitatively, and the data is fed back to the computer; the computer compares the initial setting value and reads the intelligent knowledge base according to the feedback value, and adopts four different repair methods for defects of different sizes, namely light-powder repair, laser cutting and light-powder repair, laser cutting and light-silk repair, and laser cutting and light-silk-powder repair. The method and device can adaptively determine the position and size of the workpiece defect and successively adopt laser cutting, fragment cleaning and silk-powder mixed welding repair work. Based on the repair method, this patent proposes a set of adaptive integrated devices, which include lasers, ultrasonic generators, computer control systems, laser heads for integrated laser cutting and silk-powder mixed repair, robot motion mechanisms, high-pressure gas / shielding gas output systems and other components. The integrated laser head for laser cutting and wire-powder mixed repair includes a laser head water cooling channel, an ultrasonic detection sensor, a powder feeding conduit, a multifunctional laser launch head, a high-pressure gas injection head, a shielding gas channel, a welding wire alignment mechanism, etc. It can achieve qualitative and quantitative detection of workpiece defects and has laser cutting and repair functions. In addition, the computer control system has a welding repair knowledge base, which adjusts the repair parameters in real time according to the monitoring results to achieve an adaptive matching relationship between the wire feeding speed and the powder feeding speed. The device integrates detection, cutting, and repair, and can achieve high-intensity and high-quality repair processes while improving efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An integrated method and device for adaptive silk-powder mixed laser cutting and repair based on ultrasonic flaw detection, characterized by being achieved through the following steps:

[0007] Step 1: When repairing the workpiece, the ultrasonic generator controls the ultrasonic detection sensor to emit ultrasonic waves. At the same time, the robot motion mechanism drives the ultrasonic detection sensor to stick to the surface of the workpiece and move slowly. At the same time, the positioner also cooperates to flip the workpiece in real time. Finally, the workpiece is scanned in all directions.

[0008] Step 2: The ultrasonic detection sensor qualitatively and quantitatively determines the specific location and size of the defects on the surface and inside of the workpiece and feeds back the data to the computer control system. The position signal is determined in the form of two-dimensional coordinates of X, Y (X, Y represent the two-dimensional area on the surface of the workpiece, unit mm): the initial position of the ultrasonic detection sensor is set as the origin, and when the sensor moves, its two-dimensional coordinates will change accordingly. The computer control system reads the detector signal to scan the defect shape, and reads the knowledge base to calculate the centroid of the defect location area, and represents it as (X, Y). The size signal is represented by a, b, c (unit mm), where a and b are the maximum length and maximum width of the defect on the surface of the workpiece, c is the maximum depth of the defect inside the workpiece, and the defect size is defined as a*b. Since laser cutting is a through-type, the depth does not need to be calculated. After calculating and determining the size of the workpiece coordinates, the computer control system compares it with the preset parameters and determines the initial repair process and repair parameters.

[0009] Process judgment: when the defect size is less than 10mm 2 When the defect size is greater than 10mm, use light-powder repair; when the defect size is greater than 10mm 2 Less than 20mm 2 When the defect size is greater than 20mm, laser cutting and light-powder repair are used; when the defect size is greater than 20mm 2 Less than 30mm 2 When the defect size is greater than 30mm, laser cutting and light-wire repair are used. 2 When repairing, laser cutting and light-silk-powder are used.

[0010] Range determination: The laser cutting shape is set as a circle, the center of the circle is the location of the three-dimensional coordinates of the defect, and the radius of the circle is half of the largest of a and b, that is, r = max{a, b} / 2. In this way, the laser cutting area can completely contain the defect.

[0011] Parameter determination: The common formula for determining laser cutting power is based on the type, thickness and cutting speed of the material. This patent uses fiber laser as the light source. The following is a recommended model for determining cutting power:

[0012]

[0013] Where P is the laser power (W), t is the thickness of the workpiece being cut (mm), k is the material cutting coefficient (power required per millimeter, W / mm), and v is the cutting speed (mm / min). The material thickness and cutting speed are pre-set and input into the computer. The material cutting coefficient is determined by the computer's internal intelligent data knowledge base. When using it, the material type of the workpiece must be defined in the computer in advance, and the computer uses this to determine the cutting coefficient.

[0014] After the parameters are determined, the computer control system controls the integrated laser cutting and silk powder mixed repair laser head to move to 20 mm above the surface of the defect location (X, Y) to prepare for subsequent repair work.

[0015] Step three: Turn on the laser head water cooling system and introduce cooling water into the laser head through the laser head water cooling channel to ensure that the laser head remains within the appropriate temperature range and does not overheat during the cutting and repair process.

[0016] Step 4: The computer control system transmits information to the control cabinet based on the initial cutting parameters calculated by the computer. The control cabinet controls the laser to emit a high-energy laser beam. The robot motion mechanism drives the integrated laser head for laser cutting and silk powder mixed repair to move in multiple directions, adjust the cutting position, and the positioner drives the workpiece to flip to ensure that the defective area is within the robot's motion range, ultimately achieving laser cutting operations in the defective area.

[0017] Step 5: The high-pressure gas / shielding gas output system delivers high-pressure gas inside the laser head through the high-pressure gas / shielding gas channel, and the high-pressure gas is ejected from the laser head nozzle to clean the cut pieces. The robot motion mechanism promptly adjusts the high-pressure gas injection angle until the cut pieces fall off and separate from the original workpiece. Subsequently, the high-pressure gas / shielding gas output system switches the gas supply source, switches the high-pressure gas to nitrogen shielding gas, and delivers shielding gas inside the laser head through the high-pressure gas / shielding gas channel, and the shielding gas is ejected from the laser head nozzle to ensure an oxygen-free environment during the subsequent repair process.

[0018] Step 6: The computer control system determines the initial welding repair process and parameters based on the feedback value and the intelligent welding repair knowledge base. The process evaluation is as shown above: when the defect size is less than 10mm 2 When the defect size is greater than 10mm, use light-powder repair; when the defect size is greater than 10mm 2 Less than 20mm 2 When the defect size is greater than 20mm, laser cutting and light-powder repair are used; when the defect size is greater than 20mm 2 Less than 30mm 2 When the defect size is greater than 30mm, laser cutting and light-wire repair are used. 2 When repairing, laser cutting and light-silk-powder repair are used. Based on the above process, the control cabinet controls the laser to transmit the fuse / melt powder laser, and the integrated laser head for laser cutting and silk-powder mixed repair and the robot motion mechanism work together to repair the area after cutting and cleaning. During the repair process, the visual sensor detects the quality of the repair process in real time and feeds back to the computer control system. It can adjust the laser power, wire feeding speed, powder feeding speed, defocus amount and other process parameters in real time according to the repair situation to ensure the quality of the repair.

[0019] Furthermore, based on the above repair method, this patent proposes a set of adaptive integrated devices, which include a laser, a computer control system, an integrated laser head for laser cutting and silk powder mixed repair, a robot motion mechanism, a high-pressure gas / protective gas output system, and an ultrasonic generator.

[0020] Furthermore, the computer control system is connected to the laser, the integrated laser head for laser cutting and silk powder mixed repair, the robot motion mechanism, the high-pressure gas / protective gas output system, and the ultrasonic generator, and is used to receive and process signals and control the operation of the remaining systems and the selection of repair process parameters, while monitoring the repair quality of the workpiece during the repair process in real time.

[0021] Furthermore, the integrated laser head for laser cutting and wire-powder mixed repair includes a wire alignment mechanism, a laser head water cooling channel, a visual sensor, a powder feeding duct, a multifunctional laser welding repair head, a positioner, an ultrasonic detection sensor, and a high-pressure gas / shielding gas channel.

[0022] Furthermore, the ultrasonic detection sensor is connected to the ultrasonic generator, emitting ultrasonic waves to detect the workpiece, determine the three-dimensional coordinates and size of the defect, and transmit the detection signal to the computer control system in real time. The multifunctional laser welding repair head is connected to the laser through an optical fiber, and can emit cutting and fuse / powder multifunctional laser beams by changing the power of the laser.

[0023] Furthermore, the high-pressure gas / shielding gas channel is connected to the high-pressure gas / shielding gas output system, which can spray high-pressure gas and welding repair shielding gas according to demand. There is negative pressure inside the high-pressure gas pump, and the ejected high-pressure gas has strong energy, which can clean up the fragments cut by the laser. The shielding gas tank stores 99.9% nitrogen, which can ensure that the welding repair process is oxygen-free.

[0024] Furthermore, the integrated laser head for laser cutting and silk-powder mixed repair has multiple working modes, including laser cutting, light-powder repair, light-silk repair, and light-silk-powder repair. It can adaptively select the repair mode based on the repair needs, or adopt a mixed repair method in real time according to the repair situation to improve the repair quality.

[0025] Furthermore, there is an intelligent welding repair knowledge base inside the computer control system, which can automatically select suitable wire materials and powder fillers according to the real-time data feedback from the visual sensor during the repair process, and adjust the repair process parameters in real time according to the repair situation to achieve high-strength and high-efficiency repair.

[0026] The advantages and benefits of the present invention are as follows:

[0027] The present invention provides an integrated method and device for adaptive silk-powder mixed laser cutting and repair based on ultrasonic flaw detection. The method uses an ultrasonic sensor to pre-scan the defects of the workpiece and feeds back the position and size of the defect to the computer control system. After receiving the defect signal, the computer control system determines the defect size and adaptively determines the appropriate repair method. At the same time, the computer control system is based on the intelligent welding repair knowledge base, and can adaptively adjust the repair parameters to achieve high-quality and efficient repair. In summary, the present invention can be used to solve the problems of complex workpiece repair process, poor repair quality, and difficulty in achieving integration, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is an integrated method and device diagram of adaptive silk-powder mixed laser cutting and repair based on ultrasonic flaw detection;

[0029] Figure 2 A schematic diagram of the structure of a laser head integrated with laser cutting and silk powder mixed repair provided by the present invention;

[0030] Figure 3 It is a flow chart of an adaptive silk-powder hybrid laser cutting repair method based on ultrasonic flaw detection;

[0031] Figure 4 It is a schematic diagram of the sequence of detection-positioning-cutting-repairing of the repaired workpiece.

[0032] 1-Laser

[0033] 2-Computer control system

[0034] 3- Integrated laser head for laser cutting and wire-powder mixed repair: 31 welding wire alignment mechanism; 32 laser head water cooling channel; 33 visual sensor; 34 powder feeding conduit; 35 multifunctional laser welding repair head; 36 workpiece; 37 positioner; 38 ultrasonic detection sensor; 39 high-pressure gas / shielding gas channel

[0035] 4-Robot motion mechanism

[0036] 5-High pressure gas / protective gas output system

[0037] 6-Ultrasonic generator DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific implementation cases described herein are only used to explain the present invention, rather than to limit the present invention. It is also necessary to explain that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0042] The present invention is further described below by a specific embodiment.

[0043] This example realizes defect detection and repair of alloy workpieces through the above-mentioned adaptive silk-powder mixed laser cutting and repair integrated method and device based on ultrasonic flaw detection, which is achieved through the following steps.

[0044] Step 1: When repairing the workpiece, the ultrasonic generator 6 controls the ultrasonic detection sensor 38 to emit ultrasonic waves. At the same time, the robot motion mechanism 4 drives the ultrasonic detection sensor 38 to move slowly close to the surface of the workpiece 36. At the same time, the positioner 37 also cooperates in real time to turn the workpiece 36. Finally, the workpiece 36 is scanned in all directions in coordination.

[0045] Step 2: The ultrasonic detection sensor 38 qualitatively and quantitatively determines the specific position and size of the defects on the surface and inside of the workpiece 36 and feeds back the data to the computer control system 2. The position signal is determined in the form of two-dimensional coordinates of X, Y (X, Y represent the two-dimensional area of ​​the workpiece surface, unit: mm): the initial position of the ultrasonic detection sensor 38 is set as the origin. When the sensor moves, its two-dimensional coordinates will change accordingly. The computer control system (2) reads the detector signal to scan the defect shape, and reads the knowledge base to calculate the centroid of the defect location area, and represents it as (X, Y). The size signal is represented by a, b, c (unit: mm), where a and b are the maximum length and maximum width of the defect on the surface of the workpiece 36, and c is the maximum depth of the defect inside the workpiece 36. The defect size is defined as a*b. Since the laser cutting is a through-type, the depth does not need to be calculated. After calculating and determining the coordinate size of the workpiece 36, the computer control system 2 compares it with the preset parameters and determines the initial welding repair process and repair parameters.

[0046] Process judgment: when the defect size is less than 10mm 2 When the defect size is greater than 10mm, use light-powder repair; when the defect size is greater than 10mm 2 Less than 20mm 2 When the defect size is greater than 20mm, laser cutting and light-powder repair are used; when the defect size is greater than 20mm 2 Less than 30mm 2 When the defect size is greater than 30mm, laser cutting and light-wire repair are used. 2 When repairing, laser cutting and light-silk-powder laser repair are used.

[0047] Range determination: The laser cutting shape is set as a circle, the center of the circle is the location of the three-dimensional coordinates of the defect, and the radius of the circle is half of the largest of a and b, that is, r = max{a, b} / 2. In this way, the laser cutting area can completely contain the defect.

[0048] Parameter determination: The common formula for determining laser cutting power is based on the type, thickness and cutting speed of the material. This patent uses fiber laser as the light source. The following is a recommended model for determining cutting power:

[0049] P=(t*k) / v

[0050] Wherein, P is the laser power (W), t is the thickness of the workpiece to be cut (mm), k is the material cutting coefficient (power required per millimeter, W / mm), and v is the cutting speed (mm / min). The material thickness and cutting speed are input into the computer by presetting, and the material cutting coefficient is determined by the computer's internal intelligent data knowledge base. When in use, the material type of the workpiece must be determined in the computer in advance, and the computer uses this to determine the cutting coefficient. After the parameters are determined, the computer control system 2 controls the integrated laser head 3 for laser cutting and silk powder mixed repair to move to 20 mm above the surface of the defect location (X, Y) to prepare for subsequent repair work.

[0051] Step three, start the laser head water cooling system, and introduce cooling water into the laser head through the laser head water cooling channel 32 to ensure that the laser head is continuously within a suitable temperature range and does not overheat during the cutting and repair process.

[0052] Step four, the computer control system 2 transmits information to the control cabinet according to the initial cutting parameters calculated by the computer, and the control cabinet controls the laser 1 to emit a high-energy laser beam. The robot motion mechanism 4 drives the integrated laser head 3 for laser cutting and silk powder mixed repair to move in multiple directions and adjust the cutting position. The positioner 37 drives the workpiece 36 to flip to ensure that the defective area is within the movement range of the robot, and finally realizes the laser cutting operation of the defective area.

[0053] Step 5: The high-pressure gas / protective gas output system 5 delivers high-pressure gas inside the laser head through the high-pressure gas / protective gas channel 39, and the high-pressure gas is ejected from the laser head nozzle to clean the cut pieces. The robot motion mechanism 4 timely adjusts the high-pressure gas injection angle until the cut pieces fall off and separate from the original workpiece. Subsequently, the high-pressure gas / protective gas output system 5 switches the gas supply source, switches the high-pressure gas to nitrogen protective gas, and delivers protective gas inside the laser head through the high-pressure gas / protective gas channel 39, and the protective gas is ejected from the laser head nozzle to ensure an oxygen-free environment during the subsequent repair process.

[0054] Step 6: The computer control system 2 determines the initial welding repair process and parameters based on the feedback value and the intelligent welding repair knowledge base. The process is evaluated as shown above: when the defect size is less than 10 mm 2 When the defect size is greater than 10mm, use light-powder repair; when the defect size is greater than 10mm 2 Less than 20mm 2 When the defect size is greater than 20mm, laser cutting and light-powder repair are used; when the defect size is greater than 20mm 2 Less than 30mm 2 When the defect size is greater than 30mm, laser cutting and light-wire repair are used. 2When repairing, laser cutting and light-silk-powder laser repair are used. Based on the above process, the control cabinet controls the laser 1 to transmit the fuse / melt powder laser, and the integrated laser head 3 for laser cutting and silk-powder mixed repair and the robot motion mechanism 4 cooperate to repair the area after cutting and cleaning. During the repair process, the visual sensor 33 detects the quality of the repair process in real time and feeds back to the computer control system 2, which can adjust the laser power, wire feeding speed, powder feeding speed, defocusing amount and other process parameters in real time according to the repair situation to ensure the repair quality.

[0055] Special devices based on this method such as Figure 2 As shown, it is characterized by including a laser 1, a computer control system 2, a laser head integrating laser cutting and silk powder mixed repair 3, a robot motion mechanism 4, a high-pressure gas / protective gas output system 5, and an ultrasonic generator 6.

[0056] The computer control system 2 is connected to the laser 1, the integrated laser head for laser cutting and silk powder mixed repair 3, the robot motion mechanism 4, the high-pressure gas / shielding gas output system 5, and the ultrasonic generator 6, and is used to receive and process signals and control the operation of the remaining systems and the selection of repair process parameters, while monitoring the repair quality of the workpiece 36 during the welding repair process in real time.

[0057] The laser cutting and silk powder mixed repair integrated laser head is as follows Figure 3 As shown, 3 includes a welding wire alignment mechanism 31, a laser head water cooling channel 32, a visual sensor 33, a powder feeding conduit 34, a multifunctional laser welding repair head 35, a positioner 37, an ultrasonic detection sensor 38, and a high-pressure gas / shielding gas channel 39. The ultrasonic detection sensor 38 is connected to the ultrasonic generator 6, emits ultrasonic waves to detect the workpiece 36, determines the three-dimensional coordinates and size of the defect, and transmits the detection signal to the computer control system 2 in real time. The multifunctional laser welding repair head 35 is connected to the laser 1 through an optical fiber, and can emit a cutting and fuse / melting powder multifunctional laser beam by changing the power of the laser. The high-pressure gas / shielding gas channel 39 is connected to the high-pressure gas / shielding gas output system 5, and can spray high-pressure gas and welding repair shielding gas according to demand. There is negative pressure inside the high-pressure gas pump, and the ejected high-pressure gas has strong energy, which can clean up the fragments cut by the laser. The shielding gas tank stores 99.9% nitrogen, which can ensure that the welding repair process is oxygen-free.

[0058] The adaptive silk powder mixed laser cutting and repair integrated method and device based on ultrasonic flaw detection is characterized in that the integrated functions of detection and repair are realized through an ultrasonic generator 6, an ultrasonic detection sensor 38, a computer control system 2 and a laser cutting and silk powder mixed repair integrated laser head 3.

[0059] The integrated laser head for laser cutting and silk-powder hybrid repair has multiple working modes, including laser cutting, light-powder repair, light-silk repair, and light-silk-powder repair. The repair mode can be adaptively selected based on the repair needs, and a hybrid repair method can be adopted in real time according to the repair situation to improve the repair quality. The determination of the specific repair mode needs to be regulated according to the computer control system, and the regulation of the computer control system depends on the size and morphology of the workpiece defect. When the defect size is less than 10mm 2 When the defect size is greater than 10mm, use light-powder repair; when the defect size is greater than 10mm 2 Less than 20mm 2 When the defect size is greater than 20mm, laser cutting and light-powder repair are used; when the defect size is greater than 20mm 2 Less than 30mm 2 When the defect size is greater than 30mm, laser cutting and light-wire repair are used. 2 When repairing, laser cutting and light-silk-powder are used.

[0060] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An integrated method and device for adaptive silk-powder mixed laser cutting and repair based on ultrasonic flaw detection, characterized in that: The specific steps include: Step 1: When repairing the workpiece, the ultrasonic generator (6) controls the ultrasonic detection sensor (38) to emit ultrasonic waves. At the same time, the robot motion mechanism (4) drives the ultrasonic detection sensor (38) to be close to the surface of the workpiece (36) and move slowly. At the same time, the positioner (37) also cooperates in real time to turn the workpiece (36). Finally, the workpiece (36) is scanned in all directions in a coordinated manner. Step 2: The ultrasonic detection sensor (38) qualitatively and quantitatively determines the specific position and size of the defects on the surface and inside of the workpiece (36) and feeds back the acquired data to the computer control system (2). The position signal is determined in the form of two-dimensional coordinates of X, Y (X, Y represent the two-dimensional area of ​​the workpiece surface, unit is mm): the initial position of the ultrasonic detection sensor (38) is set as the origin, and when the sensor moves, its two-dimensional coordinates will change accordingly. The computer control system (2) reads the detector signal to scan the defect shape, and reads the knowledge base to calculate the centroid of the defect location area and express it as (X, Y). The size signal is expressed as a, b, c (unit: mm), where a and b are the maximum length and maximum width of the defect on the surface of the workpiece (36), and c is the maximum depth of the defect inside the workpiece (36). The defect size is defined as a*b. Since the laser cutting is a through-type, the depth does not need to be calculated. After calculating and determining the coordinate size of the workpiece (36), the computer control system (2) compares it with the preset parameters and determines the initial repair process and repair parameters. Process judgment: when the defect size is less than 10mm 2 When the defect size is greater than 10mm, use light-powder repair; when the defect size is greater than 10mm 2 Less than 20mm 2 When the defect size is greater than 20mm, laser cutting and light-powder repair are used; when the defect size is greater than 20mm 2 Less than 30mm 2 When the defect size is greater than 30mm, laser cutting and light-wire repair are used. 2 When repairing, laser cutting and light-silk-powder are used. Range determination: The laser cutting shape is set to a circle, the center of the circle is the location of the three-dimensional coordinates of the defect, and the radius of the circle is half of the largest of a and b, that is, r = max{a, b} / 2. Parameter determination: The common formula for determining laser cutting power is based on the type, thickness and cutting speed of the material. This patent uses fiber laser as the light source. The following is a recommended model for determining cutting power: Wherein, P is the laser power (W), t is the thickness of the workpiece to be cut (mm), k is the material cutting coefficient (power required per millimeter, W / mm), and v is the cutting speed (mm / min). The material thickness and cutting speed are input into the computer by presetting, and the material cutting coefficient is determined by the computer's internal intelligent data knowledge base. When in use, the material type of the workpiece must be determined in the computer in advance, and the computer determines the cutting coefficient based on this. After the parameters are determined, the computer control system (2) controls the integrated laser cutting and silk powder mixed repair laser head (3) to move to 20 mm above the surface of the defect location (X, Y) to prepare for subsequent repair work. Step three, start the laser head water cooling system, and introduce cooling water into the laser head through the laser head water cooling channel (32), so as to ensure that the laser head is continuously within a suitable temperature range and does not overheat during the cutting and repairing process. Step 4: The computer control system (2) transmits information to the control cabinet based on the initial cutting parameters calculated by the computer. The control cabinet controls the laser (1) to emit a high-energy laser beam. The robot motion mechanism (4) drives the integrated laser head (3) for laser cutting and silk powder mixed repair to move in multiple directions to adjust the cutting position. The positioner (37) drives the workpiece (36) to flip to ensure that the defective area is within the range of motion of the robot, thereby finally achieving laser cutting of the defective area. Step 5: The high-pressure gas / protective gas output system (5) delivers high-pressure gas inside the laser head through the high-pressure gas / protective gas channel (39), and the high-pressure gas is ejected from the laser head nozzle to clean the cut pieces. The robot motion mechanism (4) timely adjusts the high-pressure gas injection angle until the cut pieces fall off and separate from the original workpiece. Subsequently, the high-pressure gas / protective gas output system (5) switches the gas supply source, switches the high-pressure gas to nitrogen protective gas, and delivers protective gas inside the laser head through the high-pressure gas / protective gas channel (39), and the protective gas is ejected from the laser head nozzle to ensure an oxygen-free environment during the subsequent repair process. Step 6: The computer control system (2) determines the initial welding repair process and parameters based on the feedback value and the intelligent welding repair knowledge base. The process is evaluated as shown above: when the defect size is less than 10 mm 2 When the defect size is greater than 10mm, use light-powder repair; when the defect size is greater than 10mm 2 Less than 20mm 2 When the defect size is greater than 20mm, laser cutting and light-powder repair are used; when the defect size is greater than 20mm 2 Less than 30mm 2 When the defect size is greater than 30mm, laser cutting and light-wire repair are used. 2 When repairing, laser cutting and light-silk-powder are used. Based on the above process, the control cabinet controls the laser (1) to transmit the fused wire / fused powder laser, and the integrated laser head (3) for laser cutting and wire-powder mixed repair and the robot motion mechanism (4) cooperate to repair the area after cutting and cleaning. During the repair process, the visual sensor (33) detects the quality of the repair process in real time and feeds back to the computer control system (2), which can adjust the laser power, wire feeding speed, powder feeding speed, defocusing amount and other process parameters in real time according to the repair situation to ensure the repair quality.

2. The method and device for adaptive silk-powder mixed laser cutting and repair based on ultrasonic flaw detection according to claim 1, characterized in that: It comprises a laser (1), a computer control system (2), a laser head integrating laser cutting and silk powder mixed repair (3), a robot motion mechanism (4), a high-pressure gas / protective gas output system (5), and an ultrasonic generator (6). The computer control system (2) is connected to the laser (1), the integrated laser head for laser cutting and silk powder mixed repair (3), the robot motion mechanism (4), the high-pressure gas / protective gas output system (5), and the ultrasonic generator (6), and is used to receive and process signals and control the operation of other systems and the selection of repair process parameters, while monitoring the repair quality of the workpiece (36) in real time during the repair process. The laser cutting and wire powder mixed repair integrated laser head (3) comprises a welding wire alignment mechanism (31), a laser head water cooling channel (32), a visual sensor (33), a powder feeding conduit (34), a multifunctional laser welding repair head (35), a positioner (37), an ultrasonic detection sensor (38), and a high-pressure gas / protective gas channel (39). The ultrasonic detection sensor (38) is connected to an ultrasonic generator (6), emits ultrasonic waves to detect defects on a workpiece (36), determines the three-dimensional coordinates and size of defects, and transmits detection signals to a computer control system (2) in real time. The multifunctional laser welding repair head (35) is connected to a laser (1) via an optical fiber, and can emit cutting and fuse / melting powder multifunctional laser beams by changing the power of the laser. The high-pressure gas / protective gas channel (39) is connected to a high-pressure gas / protective gas output system (5), and can eject high-pressure gas and welding repair protective gas according to demand. There is negative pressure inside the high-pressure air pump, and the ejected high-pressure air has strong energy, which can clean up the fragments cut by the laser. The protective gas tank stores 99.9% nitrogen, which can ensure that the welding repair process is oxygen-free.

3. The method and device for adaptive silk-powder mixed laser cutting and repair based on ultrasonic flaw detection according to claim 1 is characterized in that: The integrated detection and repair functions are realized by means of an ultrasonic generator (6), an ultrasonic detection sensor (38), a computer control system (2) and a laser head (3) integrated with laser cutting and silk powder mixed repair.

4. The method and device for adaptive silk-powder mixed laser cutting and repair based on ultrasonic flaw detection according to claim 1, characterized in that: The integrated laser head for laser cutting and silk-powder hybrid repair has multiple working modes, including laser cutting, light-powder repair, light-silk repair, and light-silk-powder repair. The repair mode can be adaptively selected based on the repair needs, and a hybrid repair method can be adopted in real time according to the repair situation to improve the repair quality. The determination of the specific repair mode needs to be regulated according to the computer control system, and the regulation of the computer control system depends on the size and morphology of the workpiece defect. When the defect size is less than 10mm 2 When the defect size is greater than 10mm, use light-powder repair; when the defect size is greater than 10mm 2 Less than 20mm 2 When the defect size is greater than 20mm, laser cutting and light-powder repair are used; when the defect size is greater than 20mm 2 Less than 30mm 2 When the defect size is greater than 30mm, laser cutting and light-wire repair are used. 2 When repairing, laser cutting and light-silk-powder are used.

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