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

Abstract

The present application belongs to the technical field of laser cutting and welding repair, and discloses a self-adaptive wire-powder mixed laser cutting and repair integrated method and device based on ultrasonic flaw detection. The method integrates detection, positioning, laser cutting and laser repair. First, the ultrasonic sensor is used to detect the workpiece with defects, qualitatively and quantitatively determine the position and size of the defects, and feed the data back to the computer; the computer compares the feedback value with the initial set value, reads the intelligent knowledge base, and adopts four different repair modes of light-powder repair, laser cutting and light-powder repair, laser cutting and light-wire repair, and laser cutting and light-wire-powder repair for different sizes of defects. The method and device can adaptively determine the position and size of the workpiece defects, and then take laser cutting, debris cleaning and wire-powder mixed welding repair work, solving the problems of complex workpiece repair process, poor repair quality and difficulty in realizing integration.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser cutting and welding repair, and particularly relates to a self-adaptive wire-powder mixed laser cutting and repair integrated method and device based on ultrasonic flaw detection. BACKGROUND

[0002] At present, with the transformation of manufacturing industry to high precision and high complexity, the requirements for detection technology and cutting repair technology are higher and higher. However, the current detection system and cutting repair system are two independent systems, so the two processes cannot be well matched. In order to solve the above problems, the present application provides a method with the functions of detection, cutting and repair integration, and can adaptively select the appropriate repair method according to 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 the fields of aerospace, automobile, etc., laser repair technology is highly expected to solve the problem of material wear and damage. Compared with the traditional repair process, laser repair technology has superior precision and flexibility, and can adjust the repair process parameters in time according to the repair situation. The mixing of wire and powder can supplement the alloy elements for the workpiece and improve the quality of the workpiece. SUMMARY

[0004] In view of the deficiencies of the prior art, the purpose of the present application is to provide a self-adaptive laser cutting and repair integrated method and device based on ultrasonic flaw detection. The method integrates detection, analysis, laser cutting and laser repair. First, the ultrasonic sensor is used to detect the defects of the workpiece, and the position and size of the defects are determined qualitatively and quantitatively, and the data are fed back to the computer. The computer compares the feedback value with the initial set value and reads the intelligent knowledge base, and adopts four different repair methods of light-powder repair, laser cutting and light-powder repair, laser cutting and light-wire repair, and laser cutting and light-wire-powder repair for different sizes of defects. The method and device can adaptively determine the position and size of the defects of the workpiece and sequentially take laser cutting, debris cleaning and wire-powder mixed welding repair work. Based on the repair method, the present application proposes a self-adaptive integrated device, which includes a laser, an ultrasonic generator, a computer control system, a laser cutting and wire-powder mixed repair integrated laser head, a robot motion mechanism, a high-pressure gas / protection gas output system and other components. The laser cutting and wire-powder mixed repair integrated laser head includes a laser head water cooling channel, an ultrasonic detection sensor, a powder feeding conduit, a multifunctional laser emitting head, a high-pressure gas jet head, a protection gas channel, a welding wire collimation mechanism, etc., which can realize qualitative and quantitative detection of the defects of the workpiece and has laser cutting and repair functions. In addition, the computer control system has a welding repair knowledge base, which can adjust the repair parameters in real time according to the monitoring results, and realize the adaptive matching relationship between the wire feeding speed and the powder feeding speed. The device integrates detection, cutting and repair, which can improve the efficiency and realize high-strength and high-quality repair process.

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

[0006] A self-adaptive laser cutting and repair integrated method and device based on ultrasonic flaw detection, characterized by the following steps:

[0007] Step one, 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 closely adhere to the surface of the workpiece and slowly move, at the same time, the positioner also real-time cooperates to turn over the workpiece. Finally, the workpiece is scanned in all directions.

[0008] Step two, the ultrasonic detection sensor qualitatively and quantitatively determines the specific location and size of the defects on the surface and inside the workpiece, and feeds the data taken back to the computer control system. The position signal is determined in the form of X, Y two-dimensional coordinates. 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 probe 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, and c (unit: mm), where a and b are the maximum length and width of the defect on the surface of the workpiece, and c is the maximum depth of the defect inside the workpiece. The size of the defect is defined as a*b, and since the laser cutting is a through type, the depth does not need to be calculated. After the computer control system calculates and determines the coordinates and size of the workpiece, it compares them with the preset parameters and determines the initial repair process and repair parameters.

[0009] Process determination: when the defect size is less than 10 mm 2 , light-powder repair is adopted, that is, laser irradiation is used to melt the powder to become a molten liquid metal, which fills the defect location after cooling; when the defect size is greater than 10 mm 2 and less than 20 mm 2 , laser cutting and light-powder repair are adopted, that is, laser cutting is used to remove the defects of the part, and molten metal powder is used to repair; when the defect size is greater than 20 mm 2 and less than 30 mm 2 , laser cutting and light-silk repair are adopted, that is, after laser cutting, welding wire with better filling effect is used as repair material; when the defect size is greater than 30 mm 2 , laser cutting and light-silk-powder repair are adopted, that is, after laser cutting, welding wire and metal powder are used for synchronous repair, which can greatly improve the repair efficiency and repair effect, and good silk-powder ratio can make the performance of the repaired material better, even better than the original material.

[0010] Range determination: the laser cutting shape is set as a circle, and the center of the circle is at the location of the three-dimensional coordinates of the defect. The radius of the circle is half of the maximum 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 determination formula of laser cutting power is based on the type, thickness and cutting speed of the material. Fiber laser is used as the light source, and the specific mathematical model of the cutting power is as follows:

[0012]

[0013] Wherein, P is the laser power (W), t is the thickness of the workpiece (mm), k is the cutting coefficient of the material (W / mm), v is the cutting speed (mm / min); the thickness of the material and the cutting speed are inputted into the computer in advance, the cutting coefficient of the material is determined by the intelligent data knowledge base in the computer, and the type of the workpiece material needs to be determined in the computer in advance during use, so that the computer determines the cutting coefficient; after the parameters are determined, the computer control system controls the laser cutting and wire-powder mixed repair integrated laser head to move to the position (X, Y) of the defect on the surface 20 mm above, to prepare for the subsequent repair work;

[0014] Step three, turn on the water cooling system of the laser head, and guide the cooling water into the laser head through the water cooling channel of the laser head, so that the laser head can be kept in a suitable temperature range during cutting and repair to prevent overheating.

[0015] Step four, the computer control system transmits information to the control cabinet according to 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 laser cutting and wire-powder mixed repair integrated laser head to move in multiple directions, adjusts the cutting position, and the positioner drives the workpiece to overturn, so that the defect area is within the movement range of the robot, and finally the laser cutting operation on the defect area is realized.

[0016] Step five, the high-pressure gas / protection gas output system transports high-pressure gas in the laser head through the high-pressure gas / protection gas channel, and the high-pressure gas is sprayed out of the nozzle of the laser head to clean the cutting debris. The robot motion mechanism adjusts the high-pressure gas spraying angle in time until the cutting debris falls off the original workpiece. Subsequently, the high-pressure gas / protection gas output system switches the gas source, switches the high-pressure gas to nitrogen protection gas, and transports the protection gas in the laser head through the high-pressure gas / protection gas channel. The protection gas is sprayed out of the nozzle of the laser head to ensure an oxygen-free environment during the subsequent repair process.

[0017] Step six, the computer control system determines the initial welding repair process and parameters according to the feedback values and the intelligent welding repair knowledge base. The judgment of the process is as follows: when the defect size is less than 10 mm 2 , light-powder repair is adopted; when the defect size is greater than 10 mm 2 and less than 20 mm 2 , laser cutting and light-powder repair are adopted; when the defect size is greater than 20 mm 2 and less than 30 mm 2 , laser cutting and light-silk repair are adopted; and when the defect size is greater than 30 mm 2When the laser cutting and light-wire-powder repair are adopted; based on the above process, the control cabinet controls the laser to transmit laser, and the laser cutting and wire-powder mixed repair integrated laser head and the robot motion mechanism cooperate to repair the area after cutting and cleaning. During the repair process, the visual sensor detects the quality in real time and feeds back to the computer control system, which can adjust the process parameters such as laser power, wire feeding speed, powder feeding speed, and defocusing amount in real time according to the repair situation to ensure the repair quality.

[0018] Further, based on the above repair method, the patent proposes a set of adaptive integrated device, which includes a laser, a computer control system, a laser cutting and wire-powder mixed repair integrated laser head, a robot motion mechanism, a high-pressure gas / protection gas output system, and an ultrasonic generator.

[0019] Further, the computer control system is connected with the laser, the laser cutting and wire-powder mixed repair integrated laser head, the robot motion mechanism, the high-pressure gas / protection gas output system, and the ultrasonic generator, which 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 in real time during the repair process.

[0020] Further, the laser cutting and wire-powder mixed repair integrated laser head includes a welding wire collimation mechanism, a laser head water cooling channel, a visual sensor, a powder feeding conduit, a multifunctional laser welding repair head, a positioner, an ultrasonic detection sensor, and a high-pressure gas / protection gas channel.

[0021] Further, the ultrasonic detection sensor is connected with the ultrasonic generator, which emits ultrasonic waves to detect defects of the workpiece, determine the three-dimensional coordinates and size of the defects, and transmit the detection signals to the computer control system in real time. The multifunctional laser welding repair head is connected with the laser through an optical fiber, which can emit a multifunctional laser beam with cutting and melting wire-powder repair materials by changing the power of the laser.

[0022] Further, the high-pressure gas / protection gas channel is connected with the high-pressure gas / protection gas output system, which can spray high-pressure gas and welding repair protection gas according to the demand. The high-pressure gas pump has a negative pressure inside, and the high-pressure gas sprayed has strong energy, which can clean the debris cut by the laser, and the protection gas tank stores 99.9% nitrogen, which can ensure the welding repair process without oxygen.

[0023] Further, the laser cutting and wire-powder mixed repair integrated laser head has multiple working modes, including laser cutting, light-powder repair, light-wire repair, and light-wire-powder repair, which can adaptively select the repair mode based on the repair demand, or adopt a mixed repair method in real time according to the repair situation to improve the repair quality.

[0024] Further, the computer control system has an intelligent welding repair knowledge base inside, which can automatically select suitable wire and powder fillers according to the real-time data fed back by the visual sensor during the repair process, and simultaneously adjust the repair process parameters in real time according to the repair situation, so as to realize high-strength and high-efficiency repair.

[0025] The present application has the advantages and benefits as follows:

[0026] The present application provides a self-adaptive wire-powder mixed laser cutting and repair integrated method and device based on ultrasonic flaw detection. The method uses an ultrasonic sensor to pre-scan the defects of a workpiece and feeds back the position and size of the defects to a computer control system. The computer control system determines the defect size after receiving the defect signal and self-adaptively determines the appropriate repair method. Meanwhile, the computer control system can self-adaptively adjust the repair parameters based on an intelligent welding repair knowledge base, so as to realize high-quality and high-efficiency repair. In summary, the present application can be used to solve the problems of complex workpiece repair process, poor repair quality and difficulty in realizing integration, and has a wide application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a self-adaptive wire-powder mixed laser cutting and repair integrated method and device based on ultrasonic flaw detection.

[0028] Figure 2 The present application provides a laser cutting and wire-powder mixed repair integrated laser head structure schematic diagram.

[0029] Figure 3 It is a self-adaptive wire-powder mixed laser cutting and repair method flowchart based on ultrasonic flaw detection.

[0030] Figure 4 It is a schematic diagram of the sequence of detection, positioning, cutting and repair of the repaired workpiece.

[0031] 1-laser

[0032] 2-computer control system

[0033] 3-laser cutting and wire-powder mixed repair integrated laser head: 31-wire collimation 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 / protection gas channel

[0034] 4-robot motion mechanism

[0035] 5-high pressure gas / protection gas output system

[0036] 6-ultrasonic generator DETAILED DESCRIPTION

[0037] The application will be further described below in connection with the drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended for the purpose of interpretation of the present application and are not intended to limit the present application. In addition, it should be noted that only the parts related to the present application are shown in the drawings for the purpose of description.

[0038] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0040] In the description of the present embodiment, the terms "up", "down", "right", and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the purpose of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only used to distinguish in description and have no special meaning.

[0041] The present application will be further described below through a specific embodiment.

[0042] The present example is to realize the defect detection and repair of alloy workpieces by the above-mentioned self-adaptive wire-powder hybrid laser cutting and repair integrated method and device based on ultrasonic flaw detection, which is realized through the following steps.

[0043] Step one, 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 closely adhere to the surface of the workpiece 36 and slowly move, at the same time, the positioner 37 also cooperates in real time to turn over the workpiece 36. Ultimately, the workpiece 36 is scanned in all directions.

[0044] Step two, 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 taken to the computer control system 2. The position signal is determined in the form of X, Y (X, Y represents the two-dimensional area of the workpiece surface, unit: mm) two-dimensional coordinates: 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 probe signal to scan the defect shape, and reads the knowledge base to calculate the centroid of the defect position area, and represents it with (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 size of the defect is defined as a*b, since the laser cutting is a through type, the depth does not need to be calculated. After the computer control system 2 calculates and determines the coordinates and size of the workpiece 36, it compares with the preset parameters and determines the initial welding repair process and repair parameters.

[0045] Process determination: when the defect size is less than 10mm 2 , light-powder repair is adopted; when the defect size is greater than 10mm 2 and less than 20mm 2 , laser cutting and light-powder repair are adopted; when the defect size is greater than 20mm 2 and less than 30mm 2 , laser cutting and light-silk repair are adopted; when the defect size is greater than 30mm 2 , laser cutting and light-silk-powder laser repair are adopted.

[0046] Range determination: the laser cutting shape is set as a circle, the center of the circle is where the three-dimensional coordinates of the defect are located, and the radius of the circle is half of the maximum of a and b, that is, r = max{a, b} / 2. In this way, the laser cutting area can completely contain the defect.

[0047] Parameter determination: the commonly used formula for determining the laser cutting power is based on the type, thickness and cutting speed of the material. This patent uses fiber laser as the light source, and the following is a recommended model for determining the cutting power:

[0048] P = (t*k) / v

[0049] Wherein, P is the laser power (W), t is the thickness of the workpiece (mm), k is the cutting coefficient of the material (power required per millimeter, W / mm), v is the cutting speed (mm / min). The thickness of the material and the cutting speed are inputted into the computer in advance, and the cutting coefficient of the material is determined by the intelligent data knowledge base in the computer. The material type of the workpiece needs to be determined in advance when in use, and the computer determines the cutting coefficient accordingly. After the parameters are determined, the computer control system 2 controls the laser cutting and wire-powder mixed repair integrated laser head 3 to move to the position (X, Y) of the defect on the surface 20 mm above, in order to prepare for the subsequent repair work.

[0050] Step three, turn on the water cooling system of the laser head, and guide the cooling water into the laser head through the water cooling channel 32 of the laser head, so that the laser head can be kept in the appropriate temperature range during cutting and repairing without overheating.

[0051] Step four, the computer control system 2 transmits the 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 laser cutting and wire-powder mixed repair integrated laser head 3 to move in multiple directions, adjusts the cutting position, and the positioner 37 drives the workpiece 36 to overturn, so that the defect area is within the movement range of the robot, and finally realizes the laser cutting operation on the area where the defect is located.

[0052] Step five, the high-pressure gas / protection gas output system 5 transports high-pressure gas in the laser head through the high-pressure gas / protection gas channel 39, and the high-pressure gas is sprayed out of the nozzle of the laser head to clean the cutting debris. The robot motion mechanism 4 adjusts the high-pressure gas spraying angle in time until the cutting debris falls off the original workpiece. Subsequently, the high-pressure gas / protection gas output system 5 switches the gas source, switches the high-pressure gas to nitrogen protection gas, and transports the protection gas in the laser head through the high-pressure gas / protection gas channel 39. The protection gas is sprayed out of the nozzle of the laser head to ensure an oxygen-free environment during the subsequent repair process.

[0053] Step six, the computer control system 2 determines the initial welding repair process and parameters according to the feedback values and the intelligent welding repair knowledge base. The judgment of the process is as follows: when the defect size is less than 10mm 2 , light-powder repair is adopted; when the defect size is greater than 10mm 2 and less than 20mm 2 , laser cutting and light-powder repair are adopted; when the defect size is greater than 20mm 2 and less than 30mm 2 , laser cutting and light-silk repair are adopted; and when the defect size is greater than 30mm 2When the laser cutting and the laser repair of the wire-powder mixture are adopted, the laser 1 transmits the laser of the fuse / wire-powder mixture under the control of the control cabinet of the control cabinet, and the laser cutting and the laser repair of the wire-powder mixture are integrated into the laser head 3 and the robot movement mechanism 4 cooperates to repair the area after the cutting and cleaning. During the repair process, the visual sensor 33 detects the quality in real time and feeds back to the computer control system 2, which can adjust the process parameters such as laser power, wire feeding speed, powder feeding speed, and defocusing amount in real time according to the repair situation to ensure the repair quality.

[0054] The special device based on the method is shown in Figure Two The device comprises the laser 1, the computer control system 2, the laser head 3 for the laser cutting and the laser repair of the wire-powder mixture, the robot movement mechanism 4, the high-pressure gas / protection gas output system 5, and the ultrasonic generator 6.

[0055] The computer control system 2 is connected to the laser 1, the laser head 3 for the laser cutting and the laser repair of the wire-powder mixture, the robot movement mechanism 4, the high-pressure gas / protection gas output system 5, and the ultrasonic generator 6, and is used for receiving and processing signals, controlling the operation of the remaining systems, selecting repair process parameters, and monitoring the repair quality of the workpiece 36 in real time during the welding repair process.

[0056] The laser head for the laser cutting and the laser repair of the wire-powder mixture is shown in Figure Three The laser head 3 comprises the wire collimation mechanism 31, the laser head water cooling channel 32, the visual sensor 33, the powder feeding conduit 34, the multifunctional laser welding repair head 35, the positioner 37, the ultrasonic detection sensor 38, and the high-pressure gas / protection 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 defects, and transmits the detection signals 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, can emit a multifunctional laser beam for cutting and fusing the wire / powder by changing the power of the laser, and the high-pressure gas / protection gas channel 39 is connected to the high-pressure gas / protection gas output system 5, can spray high-pressure gas and welding repair protection gas according to the demand. The high-pressure gas pump has a negative pressure inside, and the high-pressure gas sprayed has strong energy, which can clean the fragments cut by the laser, and the protection gas tank stores 99.9% nitrogen, which can ensure that the welding repair process is oxygen-free.

[0057] The self-adaptive laser cutting and repair method and device based on ultrasonic detection are characterized in that the detection and repair functions are realized by the ultrasonic generator 6, the ultrasonic detection sensor 38, the computer control system 2, and the laser head 3 for the laser cutting and the laser repair of the wire-powder mixture.

[0058] The laser cutting and wire-powder mixed repair integrated laser head has multiple working modes, including laser cutting, light-powder repair, light-wire repair, light-wire-powder repair, can adaptively select a repair mode based on repair requirements, and can also take a mixed repair mode in real time according to repair conditions, and improve repair quality. The determination of the specific repair mode needs to be regulated and controlled according to the computer control system, and the regulation and control of the computer control system depends on the size and morphology of the workpiece defects. When the defect size is less than 10mm 2 , light-powder repair is adopted; when the defect size is greater than 10mm 2 and less than 20mm 2 , laser cutting and light-powder repair are adopted; when the defect size is greater than 20mm 2 and less than 30mm 2 , laser cutting and light-wire repair are adopted; and when the defect size is greater than 30mm 2 , laser cutting and light-wire-powder repair are adopted.

[0059] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of the present application. It is unnecessary and impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An adaptive wire-powder hybrid laser cutting and repair integrated method and device based on ultrasonic flaw detection, characterized in that, Specifically comprising the following steps: Step one, when repairing the workpiece, the ultrasonic generator (6) controls the ultrasonic detection sensor (38) to emit ultrasonic waves, at the same time, the robot movement mechanism (4) drives the ultrasonic detection sensor (38) to closely adhere to the surface of the workpiece (36) and slowly move, at the same time, the positioner (37) also cooperates in real time to turn over the workpiece (36); finally, the workpiece (36) is scanned in all directions; Step two, 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 taken to the computer control system (2); the position signal is determined in the form of X, Y two-dimensional coordinates: 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 probe signal to scan the defect shape, and reads the knowledge base to calculate the centroid of the position area of the defect, and is represented by (X, Y); the size signal is represented by a, b, c (unit: mm), in which 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 size of the defect is defined as a*b, since the laser cutting is a through type, the depth does not need to be calculated; after the computer control system (2) calculates and determines the coordinates and size of the workpiece (36), it compares 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, photo-powder repair is used; 2 Less than 20mm 2 When the defect size is greater than 20mm, laser cutting and photo-powder repair are used. 2 Less than 30mm 2 Laser cutting and optical-fiber repair are used when the defect size is greater than 30mm. 2 At that time, laser cutting and light-fiber-powder repair were used; Range determination: the laser cutting shape is set as a circle, the center of the circle is where the three-dimensional coordinates of the defect are located, and the radius of the circle is half of the maximum of a and b, that is, r = max{a, b} / 2; Parameter determination: the determination formula of laser cutting power is based on the type, thickness and cutting speed of the material, and the fiber laser is used as the light source, and the specific mathematical model of the cutting power is as follows: Wherein, P is the laser power (W), t is the thickness of the workpiece (mm), k is the cutting coefficient of the material (W / mm), and v is the cutting speed (mm / min); the thickness and cutting speed of the material are input into the computer in advance, and the cutting coefficient of the material is determined by the intelligent data knowledge base in the computer; after the parameters are determined, the computer control system (2) controls the laser cutting and wire-powder mixed repair integrated laser head (3) to move to the position (X, Y) on the surface of the defect 20 mm above, to prepare for the subsequent repair work; Step three, turn on the laser head water cooling system, guide the cooling water into the laser head through the laser head water cooling channel (32), and ensure that the laser head is continuously in the appropriate temperature range during cutting and repairing without overheating; Step four, the computer control system (2) transmits information to the control cabinet according to 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 laser cutting and wire-powder mixed repair integrated laser head (3) to move in multiple directions, adjusts the cutting position, the positioner (37) drives the workpiece (36) to flip, ensures that the defect area is within the movement range of the robot, and finally realizes laser cutting operation on the area where the defect is located; Step five, the high-pressure gas / protection gas output system (5) transports high-pressure gas in the laser head through the high-pressure gas / protection gas channel (39), the high-pressure gas is sprayed out of the laser head nozzle, and the cutting fragments are cleaned; the robot motion mechanism (4) adjusts the high-pressure gas spraying angle in time until the cutting fragments fall off and are separated from the original workpiece; subsequently, the high-pressure gas / protection gas output system (5) switches the gas source, switches the high-pressure gas to nitrogen protection gas, and transports the protection gas in the laser head through the high-pressure gas / protection gas channel (39), the protection gas is sprayed out of the laser head nozzle, so as to ensure an oxygen-free environment in the subsequent repair process; Step six, the computer control system (2) determines the initial welding repair process and parameters according to the feedback value and the intelligent welding repair knowledge base. The evaluation of the process is: when the defect size is less than 10mm 2 , light-powder repair is adopted; when the defect size is greater than 10mm 2 and less than 20mm 2 , laser cutting and light-powder repair are adopted; when the defect size is greater than 20mm 2 and less than 30mm 2 , laser cutting and light-wire repair are adopted; when the defect size is greater than 30mm 2 , laser cutting and light-wire-powder repair are adopted; based on the above process, the control cabinet controls the laser (1) to transmit laser, and the laser cutting and wire-powder mixed repair integrated laser head (3) cooperates with the robot motion mechanism (4) to repair the area after cutting and cleaning; during the repair process, the visual sensor (33) detects the quality in real time and feeds back to the computer control system (2), and the laser power, the wire feeding speed, the powder feeding speed and the defocusing amount are adjusted in real time according to the repair situation.

2. The self-adaptive wire-powder hybrid laser cutting and repair integrated method and device based on ultrasonic flaw detection according to claim 1, characterized in that, The system comprises a laser (1), a computer control system (2), a laser cutting and wire-powder mixed repair integrated laser head (3), a robot motion mechanism (4), a high-pressure gas / protection gas output system (5), and an ultrasonic generator (6); The computer control system (2) is connected with the laser (1), the laser cutting and wire-powder mixed repair integrated laser head (3), the robot motion mechanism (4), the high-pressure gas / protection gas output system (5), and the ultrasonic generator (6), and is used for receiving and processing signals, controlling the operation of the remaining systems, selecting repair process parameters, and 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 collimation mechanism (31), a laser head water cooling channel (32), a visual sensor (33), a powder feeding guide pipe (34), a multifunctional laser welding repair head (35), a positioner (37), an ultrasonic detection sensor (38), and a high-pressure gas / protection gas channel (39); the ultrasonic detection sensor (38) is connected with the ultrasonic generator (6), emits ultrasonic waves to detect the workpiece (36), determines the three-dimensional coordinates and size of the defect, and transmits detection signals to the computer control system (2) in real time; the multifunctional laser welding repair head (35) is connected with the laser (1) through an optical fiber; the high-pressure gas / protection gas channel (39) is connected with the high-pressure gas / protection gas output system (5), and can spray high-pressure gas and welding repair protection gas according to requirements; there is negative pressure in the high-pressure gas pump, the sprayed high-pressure gas can clean the cutting fragments, and the protection gas tank stores 99.9% nitrogen, which can ensure an oxygen-free welding repair process.

3. The self-adaptive wire-powder hybrid laser cutting and repair integrated method and device based on ultrasonic flaw detection according to claim 1, characterized in that, The ultrasonic generator (6), the ultrasonic detection sensor (38), the computer control system (2), and the laser cutting and wire-powder mixed repair integrated laser head (3) realize the detection and repair integrated function.

4. The self-adaptive wire-powder hybrid laser cutting and repair integrated method and device based on ultrasonic flaw detection according to claim 1, characterized in that, The working mode of the laser cutting and wire-powder mixed repair integrated laser head includes laser cutting, light-powder repair, light-wire repair, light-wire-powder repair, and can adaptively select a repair mode based on repair requirements, or take a mixed repair mode in real time according to repair conditions, thereby improving repair quality; the determination of a specific repair mode needs to be regulated and controlled by a computer control system, and the regulation and control of the computer control system depend on the size and morphology of the workpiece defects. When the defect size is less than 10 mm2, light-powder repair is adopted; when the defect size is greater than 10 mm 2 but less than 20 mm 2 , laser cutting and light-powder repair are adopted; when the defect size is greater than 20 mm 2 but less than 30 mm 2 , laser cutting and light-silk repair are adopted; and when the defect size is greater than 30 mm2, laser cutting and light-silk-powder repair are adopted.

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