Additive and milling composite repairing device and method for titanium alloy notch damaged component

Abstract

The invention discloses an additive and milling composite repairing device and method for a titanium alloy notch damaged component, and aims to solve the problems of material waste and cost increase caused by replacement of a new blade when the blade of a gas compressor generates a notch or a defect. The device comprises a cooling-water machine, a multi-axis motion controller, a gas cylinder, a powder feeding machine, a laser cladding machine, a milling repairing structure used for milling and shaping the damaged part of a damaged component and an additive repairing structure used for laser cladding of the damaged part of the damaged component. The operation is simple; the damaged part of the titanium alloy component is milled and shaped through milling, and then the shaped damaged part is subjected to additive repair through a laser cladding head; the laser cladding repairing layer is high in forming quality, fine in microstructure and good in mechanical property. The invention belongs to the technical field of additive manufacturing and subtractive manufacturing.

Description

Technical Field

[0001] The present invention relates to a titanium alloy repair device and method, and in particular to an additive and milling composite repair device and method for a titanium alloy notch damaged component. The present invention belongs to the technical field of additive manufacturing and subtractive manufacturing. Background Art

[0002] Titanium alloys are mainly used in the aerospace field, such as compressor discs and blades of aircraft engines. When an aircraft engine is in service and the compressor blades are damaged by foreign objects and have defects such as notches, the defects are first assessed for damage to determine whether they are worth repairing. Replacing the compressor blades with new ones when they are worth repairing will lead to material waste and increased costs, so repair is the best option.

[0003] Laser cladding repair technology is a technology based on the principle of discrete / accumulated rapid prototyping. It uses laser beam focusing to melt the synchronously supplied metal powder, and forms a complete metal component by accumulating layer by layer on the damaged titanium alloy component through program control. This technology has the characteristics of small thermal deformation, dense structure, and good metallurgical bonding between the cladding repair layer and the matrix. The damaged part of the damaged titanium alloy component is generally milled and shaped before the repair process. Therefore, a titanium alloy notch damaged component additive and milling composite repair device and method are proposed based on the above background. Summary of the invention

[0004] The present invention aims to solve the problem that when a compressor blade has a notch or defect, replacing a new blade leads to waste of materials and increased costs, and further proposes a titanium alloy notch damaged component additive and milling composite repair device and method.

[0005] The technical solution adopted by the present invention to solve the above problems is:

[0006] A composite repair device of additive and milling for titanium alloy notch damaged components comprises a chiller, a multi-axis motion controller, a gas cylinder, a powder feeder, and a laser cladding machine. It also comprises a milling repair structure for milling and shaping damaged parts of damaged components; an additive repair structure for laser cladding damaged parts of damaged components; the additive repair structure comprises a three-dimensional moving mechanism, a laser cladding head, a fixture, and an additive workbench, the three-dimensional moving mechanism is mounted on the upper surface of the additive workbench, the damaged component is mounted on the additive workbench through the fixture, the laser cladding head is mounted on the three-dimensional moving mechanism, the position of the laser cladding head in the three directions of X, Y, and Z axes is adjusted by the three-dimensional moving mechanism, the laser cladding head is connected to the gas cylinder, and the three-dimensional moving mechanism is connected to the multi-axis motion controller.

[0007] Furthermore, the three-dimensional moving mechanism includes a Y-axis synchronous belt linear module 2, an X-axis synchronous belt linear module, a Z-axis synchronous belt linear module, a coupling 2, an optical axis, an X-axis synchronous belt linear module mounting frame, a coupling 1 and a Y-axis synchronous belt linear module 1. The Y-axis synchronous belt linear module 2 and the Y-axis synchronous belt linear module 1 are arranged in parallel and fixedly installed on the upper surface of the additive workbench. The Y-axis synchronous belt linear module 2 is connected to the Y-axis synchronous belt linear module 1 through the coupling 2, the optical axis and the coupling 1. The X-axis synchronous belt linear module is installed on the X-axis synchronous belt linear module mounting frame. The two ends of the X-axis synchronous belt linear module mounting frame are respectively provided with connecting sliders. The connecting sliders are respectively connected to the Y-axis synchronous belt linear module 2 and the Y-axis synchronous belt linear module 1, and the position adjustment of the laser cladding head in the Y-axis direction is realized through the Y-axis synchronous belt linear module 2 and the Y-axis synchronous belt linear module 1. The Z-axis synchronous belt linear module is vertically arranged with the X-axis synchronous belt linear module, and the Z-axis synchronous belt linear module is installed on the X-axis synchronous belt linear module, and the position adjustment of the laser cladding head in the X-axis direction is realized through the X-axis synchronous belt linear module. The laser cladding head is installed on the Z-axis synchronous belt linear module, and the position adjustment of the laser cladding head in the Z-axis direction is realized through the Z-axis synchronous belt linear module.

[0008] Furthermore, the effective strokes of the X-axis synchronous belt linear module, the Y-axis synchronous belt linear module 1 and the Y-axis synchronous belt linear module 2 are all 1000 mm, and the effective stroke of the Z-axis synchronous belt linear module is 700 mm.

[0009] Furthermore, the milling repair structure includes a spindle DC brushless motor, a Z-axis ball screw, a Z-axis stepper motor, a milling machine column, a Y-axis stepper motor, a milling machine base, a Y-axis ball screw, an X-axis ball screw, a milling machine worktable, an X-axis stepper motor, a bench vise, a milling cutter, a milling cutter fixture, a milling machine spindle box and a control panel; the milling cutter is connected to the milling machine spindle box and the control panel through the milling cutter fixture, the milling machine spindle box and the control panel are installed on the Z-axis ball screw, the Z-axis ball screw is connected to the Z-axis stepper motor, and the position of the milling cutter in the Z-axis direction is adjusted by the Z-axis stepper motor. The Z-axis ball screw and the Z-axis stepper motor are installed on the milling machine column, the milling machine column is fixed on the milling machine base, the bench vise is fixed on the milling machine worktable, the milling machine worktable is connected to the X-axis ball screw, the X-axis ball screw is connected to the X-axis stepper motor, the X-axis stepper motor is used to adjust the position of the milling machine worktable in the X-axis direction, the X-axis ball screw is connected to the Y-axis ball screw, the Y-axis stepper motor is connected to the Y-axis ball screw, and the Y-axis stepper motor is used to adjust the position of the milling machine worktable in the Y-axis direction.

[0010] Furthermore, the milling machine spindle box and control panel have six gears, and the milling cutter spindle speed adjustment range is 97 to 1490 rpm.

[0011] Furthermore, the laser cladding head includes an optical fiber interface QBH, a CCD lens, a collimating protection lens, a collimating lens, a focusing lens, a cooling system, a focus adjustment knob, a focusing protection lens, a powder tube focus adjustment, a cladding four-way nozzle and a powder feeding connector. The optical fiber interface QBH, the collimating protection lens, the collimating lens, the focusing lens, the focusing protection lens, the powder tube focus adjustment, and the cladding four-way nozzle are arranged from top to bottom, a focus adjustment knob is provided on the focusing lens, and a powder feeding connector is provided on the cladding four-way nozzle, and the powder feeding connector is connected to the powder feeder through a pipeline; a CCD lens is provided on one side of the collimating lens, and a cooling system is provided at the bottom of the CCD lens; the cooling system is connected to the chiller through a water pipe, and the optical fiber interface QBH is connected to the laser cladding machine through an optical fiber.

[0012] Furthermore, the milling cutter fixture includes a spring collet shank, an elastic sleeve, and a nut. The elastic sleeve is installed in the spring collet shank, the upper end of the milling cutter is inserted in the elastic sleeve, and the nut is sleeved on the lower part of the spring collet shank.

[0013] A method for composite repair of titanium alloy notch damaged components by additive and milling, comprising the following steps:

[0014] Step 1: Turn on the chiller, multi-axis motion controller, gas cylinder, powder feeder, laser cladding machine and set appropriate process parameters;

[0015] Step 2: Perform milling and shaping operation: Clamp the damaged component on the bench vise of the milling machine workbench, move the milling cutter to the designated position above the damaged part of the damaged component, select a suitable spindle speed on the milling machine spindle box and control panel, and drive the milling cutter to perform milling and shaping at the damaged part of the damaged component through the X-axis ball screw, the Y-axis ball screw and the Z-axis ball screw;

[0016] Step 3: Mount the damaged component after milling and shaping on the additive workbench through a fixture, and program the motion trajectory of the laser cladding head in the three directions of X, Y, and Z axes according to the shape of the damaged part of the damaged component after milling and shaping;

[0017] Step 4: Perform laser additive repair operation: the powder feeder starts feeding powder, the laser cladding machine turns on the laser, and the multi-axis motion controller controls the X-axis synchronous belt linear module, the Y-axis synchronous belt linear module 1, the Y-axis synchronous belt linear module 2, and the Z-axis synchronous belt linear module to realize laser cladding in the three directions of X, Y, and Z axes.

[0018] Step 5: Then, the excess material of the repaired part of the damaged component after laser additive repair is milled with a milling cutter to make it highly consistent with the undamaged surface;

[0019] Step 6. When the repair work is completed, turn off the chiller, multi-axis motion controller, gas cylinder, powder feeder and laser cladding machine.

[0020] Furthermore, the laser power range of the laser cladding machine is 100-4000W, the powder hopper of the powder feeder has an automatic drying function, the maximum drying temperature can reach 120°C, and the conveying particle size range of the powder feeder is 20-700μm.

[0021] Furthermore, the chiller has an operating voltage of AC 220V, an operating frequency of 50Hz, a maximum flow rate of 10L / min, a maximum head of 10m, a heat dissipation of 50W / ℃, a temperature control accuracy of ±0.3℃, and a water tank capacity of 9L.

[0022] The beneficial effects of the present invention are:

[0023] 1. The present invention combines laser cladding technology with milling processing technology, firstly milling and shaping the damaged part of the titanium alloy notch damaged component to prepare for the repair of the titanium alloy notch damaged component, and then using the laser cladding head to perform additive repair on the shaped damaged part;

[0024] 2. When a blade has a notch or defect, the present invention can repair the damaged blade directly without replacing the blade, so as to achieve the characteristics of fast, high efficiency, low cost, high flexibility in repair and manufacturing, etc.

[0025] 3. The laser cladding repair layer of the present invention has a small heat-affected zone, dense metal structure, high forming quality and good mechanical properties. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the device part of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the laser cladding head of the present invention;

[0028] Figure 3 It is a structural schematic diagram of the milling cutter fixture of the present invention.

[0029] In the figure, 1-spindle DC brushless motor; 2-Z-axis ball screw; 3-Z-axis stepper motor; 4-milling machine column; 5-Y-axis stepper motor; 6-Y-axis synchronous belt linear module 2; 7-X-axis synchronous belt linear module; 8-laser cladding head; 8-1-optical fiber interface QBH; 8-2-CCD lens; 8-3-collimation protection lens; 8-4-collimation lens; 8-5-focusing lens; 8-6-cooling system; 8-7-focus adjustment knob; 8-8-focusing protection lens; 8-9-powder tube focus adjustment; 8-10-cladding four-way nozzle; 8-11-powder feeding connector; 9-Z-axis synchronous belt linear module; 10-coupling 2; 1 1-optical axis; 12-X-axis synchronous belt linear module mounting bracket; 13-coupling 1; 14-Y-axis synchronous belt linear module 1; 15-chiller; 16-multi-axis motion controller; 17-gas cylinder; 18-powder feeder; 19-laser cladding machine; 20-damaged component; 21-fixture; 22-additive workbench; 23-milling machine base; 24-Y-axis ball screw; 25-X-axis ball screw; 26-milling machine workbench; 27-X-axis stepper motor; 28-bench vise; 29-milling cutter; 30-milling cutter fixture; 30-1-spring chuck handle; 30-2-elastic sleeve; 30-3-nut; 31-milling machine spindle box and control panel. DETAILED DESCRIPTION

[0030] Specific implementation method: Figure 1As shown, the device for composite repair of titanium alloy notch damaged components by additive and milling in this embodiment includes a chiller 15, a multi-axis motion controller 16, a gas cylinder 17, a powder feeder 18, and a laser cladding machine 19, and also includes a milling repair structure for milling and shaping the damaged part of the damaged component 20 and an additive repair structure for laser cladding of the damaged part of the damaged component 20, wherein the additive repair structure includes a Y-axis synchronous belt linear module 6, an X-axis synchronous belt linear module 7, a laser cladding head 8, and a Z-axis synchronous belt linear module. 9, coupling 2 10, optical axis 11, X-axis synchronous belt linear module mounting frame 12, coupling 1 13 and Y-axis synchronous belt linear module 14, fixture 21 and additive workbench 22, Y-axis synchronous belt linear module 2 6 and Y-axis synchronous belt linear module 14 are arranged in parallel and fixedly mounted on the upper surface of the additive workbench 22, the Y-axis synchronous belt linear module 2 6 is connected to the Y-axis synchronous belt linear module 14 through the coupling 2 10, optical axis 11 and coupling 13, and the damaged component 20 is fixedly mounted on the upper surface of the additive workbench 22. 21 is fixed on the additive workbench 22 and is located between the Y-axis synchronous belt linear module 2 6 and the Y-axis synchronous belt linear module 1 14; the X-axis synchronous belt linear module 7 is installed on the X-axis synchronous belt linear module mounting frame 12, and the two ends of the X-axis synchronous belt linear module mounting frame 12 are respectively provided with connecting sliders, and the two connecting sliders are respectively connected to the Y-axis synchronous belt linear module 2 6 and the Y-axis synchronous belt linear module 14, and the Y-axis synchronous belt linear module 2 6 and the Y-axis synchronous belt linear module 14 are used to realize the The laser cladding head 8 is adjusted in the Y-axis direction. The Z-axis synchronous belt linear module 9 is vertically arranged with the X-axis synchronous belt linear module 7. The Z-axis synchronous belt linear module 9 is installed on the X-axis synchronous belt linear module 7. The position of the laser cladding head 8 in the X-axis direction is adjusted by the X-axis synchronous belt linear module 7. The laser cladding head 8 is installed on the Z-axis synchronous belt linear module 9. The position of the laser cladding head 8 in the Z-axis direction is adjusted by the Z-axis synchronous belt linear module 9.

[0031] The X-axis synchronous belt linear module 7, the Y-axis synchronous belt linear module 14, the Y-axis synchronous belt linear module 2 6 and the Z-axis synchronous belt linear module 9 are connected to the multi-axis motion controller 16, and the multi-axis motion controller 16 is used to control the movement of the X-axis synchronous belt linear module 7, the Y-axis synchronous belt linear module 14, the Y-axis synchronous belt linear module 2 6 and the Z-axis synchronous belt linear module 9.

[0032] The laser power range of the laser cladding machine 19 is 100-4000W, the powder hopper of the powder feeder 18 has an automatic drying function, the maximum drying temperature can reach 120°C, and the conveying particle size range of the powder feeder 18 is 20-700μm; the working voltage of the chiller 15 is AC 220V, the working frequency is 50Hz, the maximum flow rate is 10L / min, the maximum head is 10m, the heat dissipation is 50W / ℃, the temperature control accuracy is ±0.3℃, and the water tank capacity is 9L.

[0033] The effective strokes of the X-axis synchronous belt linear module 7, the Y-axis synchronous belt linear module 14 and the Y-axis synchronous belt linear module 2 6 are all 1000 mm, and the effective stroke of the Z-axis synchronous belt linear module 9 is 700 mm.

[0034] The milling repair structure includes a spindle DC brushless motor 1, a Z-axis ball screw 2, a Z-axis stepper motor 3, a milling machine column 4, a Y-axis stepper motor 5, a milling machine base 23, a Y-axis ball screw 24, an X-axis ball screw 25, a milling machine worktable 26, an X-axis stepper motor 27, a bench vise 28, a milling cutter 29, a milling cutter fixture 30, a milling machine spindle box and a control panel 31; the milling cutter 29 is connected to the milling machine spindle box and the control panel 31 through the milling cutter fixture 30, and the milling machine The spindle box and control panel 31 are installed on the Z-axis ball screw 2, and the Z-axis ball screw 2 is connected to the Z-axis stepper motor 3. The position of the milling cutter 29 in the Z-axis direction is adjusted by the Z-axis stepper motor 3. The Z-axis stepper motor 3 drives the Z-axis ball screw 2 to rotate. The nut on the Z-axis ball screw 2 is fixedly connected to the spindle box and control panel 31 of the milling machine, thereby driving the milling cutter 29 installed on the spindle box and control panel 31 of the milling machine to make reciprocating motion in the Z-axis direction.

[0035] The Z-axis ball screw 2 and the Z-axis stepper motor 3 are installed on the milling machine column 4, the milling machine column 4 is fixed on the milling machine base 23, the bench vise 28 is fixed on the milling machine worktable 26, the milling machine worktable 26 is connected to the X-axis ball screw 25, the X-axis ball screw 25 is connected to the X-axis stepper motor 27, the X-axis stepper motor 27 is used to adjust the position of the milling machine worktable 26 in the X-axis direction, the X-axis stepper motor 27 drives the X-axis ball screw 25 to rotate, the nut on the X-axis ball screw 25 is fixedly connected to the milling machine worktable 26, and then drives the milling machine worktable 26 to do reciprocating motion in the X-axis direction;

[0036] The X-axis ball screw 25 is connected to the Y-axis ball screw 24, and the Y-axis stepper motor 5 is connected to the Y-axis ball screw 24, and the position of the milling machine table 26 in the Y-axis direction is adjusted by the Y-axis stepper motor 5. The Y-axis stepper motor 5 drives the Y-axis ball screw 24 to rotate, and the nut on the Y-axis ball screw 24 is fixedly connected to the lower surface of the mounting frame of the X-axis ball screw 25, thereby driving the milling machine table 26 installed on the X-axis ball screw 25 to reciprocate in the Y-axis direction.

[0037] like Figure 2 As shown, the laser cladding head 8 includes an optical fiber interface QBH8-1, a CCD lens 8-2, a collimating protection lens 8-3, a collimating lens 8-4, a focusing lens 8-5, a cooling system 8-6, a focus adjustment knob 8-7, a focusing protection lens 8-8, a powder tube focus adjustment 8-9, a cladding four-way nozzle 8-10 and a powder feeding connector 8-11. The optical fiber interface QBH8-1, the collimating protection lens 8-3, the collimating lens 8-4, the focusing lens 8-5, the focusing protection lens 8-8, the powder tube focus adjustment 8-9, and the cladding four-way nozzle 8-10 are arranged from top to bottom. The focusing lens 8-5 is provided with a focus adjustment knob 8-7. A powder feeding connector 8-11 is provided on the nozzle 8-10, and the powder feeding connector 8-11 is connected to the powder feeder 18 through a pipeline, and the powder feeder 18 provides the laser cladding head 8 with metal powder for additive repair; a CCD lens 8-2 is provided on one side of the collimating lens 8-4, and a cooling system 8-6 is provided at the lower part of the CCD lens 8-2; the cooling system 8-6 is connected to the chiller 15 through a water pipe, and the laser cladding head 8 is cooled by the chiller 15, and the optical fiber interface QBH8-1 is connected to the laser cladding machine 19 through an optical fiber, and the laser cladding machine 19 provides energy to the laser cladding head 8. Through the laser cladding head 8, coaxial visual imaging can be made clear, which is convenient for the precise positioning and teaching of the laser and parts; the focal position of the laser spot can be adjusted up and down along the focal length direction within a range of 10mm, which is convenient for users to accurately adjust the defocus amount and cladding width;

[0038] like Figure 3 As shown, the milling cutter fixture 30 includes a spring collet shank 30-1, an elastic sleeve 30-2, and a nut 30-3. The elastic sleeve 30-2 is installed in the spring collet shank 30-1, the upper end of the milling cutter 29 is inserted in the elastic sleeve 30-2, and the nut 30-3 is sleeved on the lower part of the spring collet shank 30-1. The milling machine spindle box and control panel 31 have six gears, and the milling cutter spindle speed adjustment range is 97 to 1490rpm. The milling cutter fixture 30 can maintain the consistency, efficiency and quality of the processing process; the clamping force of the clamping part of the milling cutter fixture is strong, and the body rigidity is large.

[0039] In this embodiment, the material of the titanium alloy notch damaged component to be repaired is TC4, and the powder material is TC4 titanium alloy powder with a particle size of 45 to 105 μm. The specific steps are as follows:

[0040] (1) Turn on the chiller 15, turn on the multi-axis motion controller 16, set the laser scanning speed to 900 mm / min, turn on the gas cylinder 17, the protective gas used is argon, set the protective gas flow rate to 15 L / min, turn on the powder feeder 18, set the powder feeding rate to 0.6 r / min, turn on the laser cladding machine 19, and set the laser power to 2500 W;

[0041] (2) The damaged component 20 is clamped on the bench vise 28 of the milling machine workbench 26, and the milling cutter 29 is moved to a specified position above the damaged part of the damaged component 20. A spindle speed of 1000 rpm is selected on the milling machine spindle box and control panel 31, and the milling cutter 29 is driven by the X-axis ball screw 25, the Y-axis ball screw 24 and the Z-axis ball screw 2 to perform milling and shaping on the damaged part of the damaged component 20;

[0042] (3) The damaged component 20 after milling and shaping is mounted on the additive workbench 22 through the fixture 21, and the motion trajectory program of the laser cladding head 8 in the three directions of the X, Y, and Z axes is written according to the shape of the damaged part of the damaged component 20 after milling and shaping;

[0043] (4) The powder feeder 18 starts feeding powder, the laser cladding machine 19 turns on the laser, and the multi-axis motion controller 16 controls the X-axis synchronous belt linear module 7, the Y-axis synchronous belt linear module 14, the Y-axis synchronous belt linear module 2 6, and the Z-axis synchronous belt linear module 9 to realize the laser cladding head 8 to perform laser cladding in the three directions of the X, Y, and Z axes;

[0044] (5) Then, the excess material of the repaired part of the damaged component 20 after laser additive repair is milled by a milling cutter 29 to make it highly consistent with the undamaged surface;

[0045] (6) When the repair work is completed, turn off the chiller 15, the multi-axis motion controller 16, the gas cylinder 17, the powder feeder 18, and the laser cladding machine 19.

[0046] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A device for composite repair of titanium alloy notch damaged components by additive and milling, comprising a water chiller (15), a multi-axis motion controller (16), a gas cylinder (17), a powder feeder (18), and a laser cladding machine (19), characterized in that: The device further comprises a milling repair structure for milling and shaping the damaged part of the damaged component (20); and an additive repair structure for laser cladding the damaged part of the damaged component (20). The additive repair structure comprises a three-dimensional moving mechanism, a laser cladding head (8), a fixture (21) and an additive workbench (22). The three-dimensional moving mechanism is mounted on the upper surface of the additive workbench (22). The damaged component (20) is mounted on the additive workbench (22) via the fixture (21). The laser cladding head (8) is mounted on the three-dimensional moving mechanism. The position of the laser cladding head (8) in the three directions of the X, Y and Z axes is adjusted by the three-dimensional moving mechanism. The laser cladding head (8) is connected to the gas cylinder (17), and the three-dimensional moving mechanism is connected to the multi-axis motion controller (16).

2. The device for composite repair of titanium alloy notch damaged components by additive and milling according to claim 1, characterized in that: The three-dimensional moving mechanism comprises a Y-axis synchronous belt linear module 2 (6), an X-axis synchronous belt linear module (7), a Z-axis synchronous belt linear module (9), a coupling 2 (10), an optical axis (11), an X-axis synchronous belt linear module mounting frame (12), a coupling 1 (13) and a Y-axis synchronous belt linear module 1 (14); the Y-axis synchronous belt linear module 2 (6) and the Y-axis synchronous belt linear module 1 (14) are arranged in parallel and fixedly mounted on the upper surface of the additive workbench (22); the Y-axis synchronous belt linear module 2 (6) is connected to the Y-axis synchronous belt linear module 1 (14) via the coupling 2 (10), the optical axis (11) and the coupling 1 (13); the X-axis synchronous belt linear module (7) is mounted on the X-axis synchronous belt linear module mounting frame (12); both ends of the X-axis synchronous belt linear module mounting frame (12) Each is provided with a connecting slider, and the two connecting sliders are respectively connected to the Y-axis synchronous belt linear module 2 (6) and the Y-axis synchronous belt linear module 1 (14), and the position of the laser cladding head (8) in the Y-axis direction is adjusted by the Y-axis synchronous belt linear module 2 (6) and the Y-axis synchronous belt linear module 1 (14). The Z-axis synchronous belt linear module (9) is vertically arranged with the X-axis synchronous belt linear module (7), and the Z-axis synchronous belt linear module (9) is mounted on the X-axis synchronous belt linear module (7), and the position of the laser cladding head (8) in the X-axis direction is adjusted by the X-axis synchronous belt linear module (7). The laser cladding head (8) is mounted on the Z-axis synchronous belt linear module (9), and the position of the laser cladding head (8) in the Z-axis direction is adjusted by the Z-axis synchronous belt linear module (9).

3. The device for composite repair of titanium alloy notch damaged components by additive and milling according to claim 2, characterized in that: The effective strokes of the X-axis synchronous belt linear module (7), the Y-axis synchronous belt linear module 1 (14) and the Y-axis synchronous belt linear module 2 (6) are all 1000 mm, and the effective stroke of the Z-axis synchronous belt linear module (9) is 700 mm.

4. The device for composite repair of titanium alloy notch damaged components by additive and milling according to claim 1, characterized in that: The milling repair structure comprises a spindle DC brushless motor (1), a Z-axis ball screw (2), a Z-axis stepping motor (3), a milling machine column (4), a Y-axis stepping motor (5), a milling machine base (23), a Y-axis ball screw (24), an X-axis ball screw (25), a milling machine worktable (26), an X-axis stepping motor (27), a bench vise (28), a milling cutter (29), a milling cutter fixture (30), a milling machine spindle box and a control panel (31); the milling cutter (29) is connected to the milling machine spindle box and the control panel (31) through the milling cutter fixture (30), the milling machine spindle box and the control panel (31) are installed on the Z-axis ball screw (2), the Z-axis ball screw (2) is connected to the Z-axis stepping motor (3), and the Z-axis stepping motor (3) is used to adjust the milling cutter (29) in the Z-axis direction. The Z-axis ball screw (2) and the Z-axis stepping motor (3) are mounted on the milling machine column (4), the milling machine column (4) is fixed on the milling machine base (23), the bench vise (28) is fixed on the milling machine worktable (26), the milling machine worktable (26) is connected to the X-axis ball screw (25), the X-axis ball screw (25) is connected to the X-axis stepping motor (27), the position of the milling machine worktable (26) in the X-axis direction is adjusted by the X-axis stepping motor (27), the X-axis ball screw (25) is connected to the Y-axis ball screw (24), the Y-axis stepping motor (5) is connected to the Y-axis ball screw (24), and the position of the milling machine worktable (26) in the Y-axis direction is adjusted by the Y-axis stepping motor (5).

5. The device for composite repair of titanium alloy notch damaged components by additive and milling according to claim 4, characterized in that: The milling machine spindle box and control panel (31) have six gears, and the milling cutter spindle speed adjustment range is 97-1490rpm.

6. The device for composite repair of titanium alloy notch damaged components by additive and milling according to claim 1, characterized in that: The laser cladding head (8) comprises an optical fiber interface QBH (8-1), a CCD lens (8-2), a collimating protection lens (8-3), a collimating lens (8-4), a focusing lens (8-5), a cooling system (8-6), a focus adjustment knob (8-7), a focusing protection lens (8-8), a powder hose focus adjustment (8-9), a cladding four-way nozzle (8-10) and a powder delivery connector (8-11), wherein the optical fiber interface QBH (8-1), the collimating protection lens (8-3), the collimating lens (8-4), the focusing lens (8-5), the focusing protection lens (8-8), the powder hose focus adjustment (8-9) and The cladding four-way nozzle (8-10) is arranged from top to bottom, the focusing lens (8-5) is provided with a focus adjustment knob (8-7), the cladding four-way nozzle (8-10) is provided with a powder feeding connector (8-11), and the powder feeding connector (8-11) is connected to the powder feeding machine (18) through a pipeline; a CCD lens (8-2) is provided on one side of the collimating lens (8-4), and a cooling system (8-6) is provided at the bottom of the CCD lens (8-2); the cooling system (8-6) is connected to the chiller (15) through a water pipe, and the optical fiber interface QBH (8-1) is connected to the laser cladding machine (19) through an optical fiber.

7. The device for composite repair of titanium alloy notch damaged components by additive and milling according to claim 1, characterized in that: The milling cutter fixture (30) comprises a spring collet shank (30-1), an elastic sleeve (30-2), and a nut (30-3); the elastic sleeve (30-2) is installed in the spring collet shank (30-1); the upper end of the milling cutter (29) is inserted in the elastic sleeve (30-2); and the nut (30-3) is sleeved on the lower part of the spring collet shank (30-1).

8. A method for composite repair of titanium alloy notch damaged components by additive and milling, characterized in that: The method comprises the following steps: Step 1: Turn on the chiller (15), the multi-axis motion controller (16), the gas cylinder (17), the powder feeder (18), and the laser cladding machine (19) and set their respective process parameters; Step 2: Perform milling and shaping operation: Clamp the damaged component (20) on the bench vise (28) of the milling machine workbench (26), move the milling cutter (29) to a specified position above the damaged part of the damaged component (20), select a suitable spindle speed on the milling machine spindle box and control panel (31), and drive the milling cutter (29) to perform milling and shaping on the damaged part of the damaged component (20) through the X-axis ball screw (25), the Y-axis ball screw (24) and the Z-axis ball screw (2); Step 3: Mount the damaged component (20) after milling and shaping on the additive workbench (22) through a fixture (21), and program the motion trajectory of the laser cladding head (8) in the three directions of X, Y and Z axes according to the shape of the damaged part of the damaged component (20) after milling and shaping; Step 4: Perform laser additive repair operation: the powder feeder (18) starts feeding powder, the laser cladding machine (19) turns on the laser, and the multi-axis motion controller (16) controls the X-axis synchronous belt linear module (7), the Y-axis synchronous belt linear module 1 (14), the Y-axis synchronous belt linear module 2 (6) and the Z-axis synchronous belt linear module (9) to enable the laser cladding head (8) to perform laser cladding in the three directions of the X, Y and Z axes; Step 5: Then, the excess material of the repaired part of the damaged component (20) after laser additive repair is milled with a milling cutter (29) to make it highly consistent with the undamaged surface; Step six, when the repair work is completed, turn off the chiller (15), the multi-axis motion controller (16), the gas cylinder (17), the powder feeder (18) and the laser cladding machine (19).

9. The method for composite repair of titanium alloy notch damaged components by additive and milling according to claim 6, characterized in that: The laser power range of the laser cladding machine (19) is 100-4000W, the powder hopper of the powder feeder (18) is equipped with an automatic drying function, the maximum drying temperature reaches 120°C, and the conveying particle size range of the powder feeder (18) is 20-700μm.

10. The method for composite repair of titanium alloy notch damaged components by additive and milling according to claim 6, characterized in that: The chiller (15) has an operating voltage of AC220V, an operating frequency of 50Hz, a maximum flow rate of 10L / min, a maximum head of 10m, a heat dissipation of 50W / °C, a temperature control accuracy of ±0.3°C, and a water tank capacity of 9L.

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