Intelligent laser cladding system and method for bridge support stainless steel plate

Abstract

The application discloses a kind of bridge support stainless steel plate intelligent laser cladding system and method, to realize accurate efficient cladding processing, improve material surface performance.System includes six-axis multi-joint robot, laser tracker, laser cladding head, wire feeding mechanism and electrical control system.Robot controls laser cladding head to move, laser tracker monitors and adjusts cladding process, laser cladding head provides laser energy, wire feeding mechanism supplies cladding wire, and electrical control system coordinates the work of each component.Method includes substrate pretreatment, cladding system parameter setting, intelligent laser cladding and cladding layer finishing and polishing treatment.Through accurate control laser beam, metal wire material delivery and each component motion parameter, realize the intelligent high-quality cladding processing of different materials and shape workpieces, suitable for plane, convex and concave stainless steel plate cladding.This system and method improve cladding precision and efficiency, reduce cost, with wide industrial application prospect.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of bridge support processing, and more particularly relates to a bridge support stainless steel plate intelligent laser cladding system and method. BACKGROUND

[0002] Bridge support stainless steel plates are generally divided into flat stainless steel plates and spherical stainless steel plates, with a thickness of about 1.5-3 mm, and are usually combined with high polymer wear-resistant materials to form bridge support sliding or rotating pairs. The degree of adhesion of the bridge support stainless steel plate to the base directly affects the performance of the bridge support friction pair, and further affects the support shock isolation function and structural safety. Currently, the bridge support stainless steel plate is generally coated on the steel base by argon arc welding and other welding methods. The technical requirement is that the stainless steel plate is tightly attached to the steel base without air pockets to ensure the stability of the bridge support during sliding. However, the existing welding process can only achieve full welding of the outer periphery of the stainless steel, and cannot effectively ensure that the inner side and the entire contact surface of the center are tightly attached to the steel base, which is prone to quality defects such as air pockets. Especially for large-sized stainless steel plates, only the peripheral welding can be guaranteed, and there is a risk of air pockets in the center area. The sliding of the bridge support is mainly concentrated in the center area, which has a certain impact on the function of the support friction pair and is prone to quality problems.

[0003] With the development of laser cladding technology, bridge supports begin to use laser cladding technology to melt a layer of stainless steel on the surface of the steel base. For example, the patent document with publication number CN202211583532.3 provides a laser cladding stainless steel support plate and its manufacturing process. The surface of the support plate uses laser cladding technology, and the stainless steel powder is cladded to the surface of the support plate cladding area base by a powder feeding laser cladding method, avoiding the problem of "non-integral component" structure after the stainless steel plate is pressed and covered on the surface of low-carbon steel or cast steel, and the problem of air pockets. It also avoids the situation of chemical and electrochemical corrosion of the welding material at the weld, and the problem of air pockets. The surface profile is guaranteed, and the problem of air pockets in the stainless steel covering of concave-convex curved surfaces is solved. However, this process uses a powder cladding scheme, which has low cladding efficiency and low powder material utilization rate. Moreover, the cladding equipment uses a numerical control rotary device, which is easily limited by the structure and size of the product, the cladding path cannot be automatically adjusted, the intelligent degree is low, and the cladding quality is affected. SUMMARY

[0004] In view of the above defects or improvement needs of the prior art, the present application provides a bridge support stainless steel plate intelligent laser cladding system and cladding method. The intelligent cladding system aims to achieve complete metallurgical bonding of the stainless steel plate and the steel base, improve material utilization, and introduce an intelligent system to adapt to the complex shape and material changes of different bridge support surfaces.

[0005] According to a first aspect of the present application, a bridge support stainless steel plate intelligent laser cladding system is provided, comprising:

[0006] A laser cladding head for providing laser energy to melt cladding material and a base material,

[0007] A six-axis articulated robot for multi-directional control of movement of the laser cladding head,

[0008] A laser tracker for automatic identification of the cladding range, calculation of the optimal cladding path, real-time monitoring of the position of the laser cladding head and the cladding path and real-time feedback using high-precision sensors and algorithms, including an automatic identification algorithm for the cladding range and path:

[0009] A Canny edge detection algorithm is used to identify the boundaries of the cladding area, which mainly includes the following steps:

[0010] ① Use a high-resolution camera to take an image of the area to be cladded, ② Gaussian filter for noise reduction, ③ Calculate the gradient amplitude and direction, ④ Non-maximum suppression, ⑤ Double threshold detection and edge connection, wherein the gradient amplitude G and direction θ can be calculated by the following formula:

[0011]

[0012] Where G x and G y are the gradients of the image in the x and y directions, respectively;

[0013] After determining the boundaries of the cladding area, Otsu's method can be used to automatically determine the optimal threshold T to segment the image into cladding and background areas. The goal of Otsu's method is to minimize the intra-class variance, i.e., maximize the inter-class variance. The threshold T can be calculated by the following formula:

[0014]

[0015] Where ω0(T) and ω1(T) are the probabilities of the background and target areas, respectively, and μ0(T) and μ1(T) are the means of the background and target areas, respectively;

[0016] A wire feeding mechanism for providing cladding material; the cladding material uses cladding wire, which has a soft melting process and no splashing, achieving high material utilization;

[0017] And an electrical control system, which is the core part of the entire laser cladding system, used to coordinate and control the work of other components, achieving intelligent cladding.

[0018] Further, the algorithm also includes an algorithm for calculating the optimal cladding path: based on the identified cladding area, an A* algorithm is used to find the optimal path from the starting point to the end point, and the A* algorithm is as follows:

[0019] The cost function f(n) is defined by a heuristic function h(n) and a cost function g(n):

[0020] f(n) = g(n) + h(n)

[0021] where g(n) is the actual cost from the start node to the current node n, and h(n) is the estimated cost from the current node n to the goal node;

[0022] The heuristic function h(n) is used to estimate the cost from the current node to the goal node, which adopts the Euclidean distance:

[0023]

[0024] where x n and x g are the x-axis coordinates of the current node n and the goal node g respectively, and y n and y g are the y-axis coordinates of the current node n and the goal node g respectively,

[0025] When the goal node is found, the path from the start node to the goal node is reconstructed by tracing the parent nodes. This process provides the actual route taken by the algorithm to reach the goal node, showing the sequence of nodes in the optimal path, efficiently finding the optimal path.

[0026] Further, the algorithm also includes a real-time monitoring algorithm for the laser cladding head position and the cladding path: the laser tracker obtains the position of the laser cladding head in real time through high-precision sensors, assuming that the actual position of the laser cladding head is (x t , y t ), and the theoretical position on the predetermined path is (x d , y d ), then the position error (e x , e y ) can be expressed as:

[0027] e x = x d - x t

[0028] e y = y d - y t

[0029] According to the position error, the position error is corrected by a PID controller to adjust the path of the laser cladding head, ensuring the accuracy of the cladding path, and the output u(t) of the PID controller is:

[0030]

[0031] where e(t) is the position error, K p , K i , K d are parameters of the PID controller;

[0032] Further, the laser cladding head is internally provided with a high-power laser, which can generate a high-energy-density laser beam for melting the cladding material and the base material to form a cladding layer.

[0033] Further, the six-axis articulated robot has six degrees of freedom of movement and rotation, and drives the laser cladding head to provide precise spatial positioning and motion control during the cladding process.

[0034] Further, the wire feeding mechanism ensures that the delivery speed and amount of the cladding material match the movement speed of the laser cladding head and the cladding requirements through precise motor control and sensor feedback.

[0035] Further, the electrical control system is used to coordinate the motion control of each component, reasonably adjust the cladding power, cladding path, wire feeding speed and other parameters according to the cladding requirements, and monitor the state and quality of the cladding process in real time.

[0036] According to another aspect of the present application, a cladding method using the above-mentioned intelligent laser cladding system for bridge support stainless steel plates is provided, which comprises the following specific steps:

[0037] S100: Preparation of base and cladding material: pretreatment of the base and selection of cladding wire material meeting the requirements;

[0038] S200: Setting of cladding system parameters: starting the intelligent laser cladding system, importing product drawings, specifying the cladding range and thickness, adjusting the laser power parameters and wire feeding speed, and automatically planning the cladding path;

[0039] S300: Intelligent laser cladding: the six-axis articulated robot drives the laser cladding head to move to the starting point of the path, the wire feeding mechanism feeds the wire, the laser cladding head outputs the laser beam, the laser tracker monitors the cladding path and cladding layer thickness in real time and transmits them to the electrical control system, and the cladding quality and path are adjusted in real time, finally completing the predetermined cladding requirements;

[0040] S400: Finishing and polishing of the cladding layer: finishing the cladding layer to the required thickness, and then polishing to the required roughness to meet the use requirements.

[0041] Further, the cladding wire is stainless steel wire with a diameter of φ0.2mm to φ3mm, the wire feeding speed of the wire feeding mechanism is 1-25m / min, and the laser power of the laser cladding head can be adjusted to 3-12kW.

[0042] Further, the cladding layer thickness is controlled by adjusting the wire feeding speed of the wire feeding mechanism and the moving speed of the laser beam, and the stainless steel cladding layer thickness is between 0.5mm and 5mm.

[0043] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0044] 1. The present application introduces an intelligent laser cladding system, which realizes free movement and rotation through a six-axis articulated robot, has high system degrees of freedom, and can accurately adjust and control the laser power of the laser beam, the wire feeding speed of the metal wire, the motion parameters of each component, the cladding path and the like according to the imported drawing product, so as to adapt to the complex shape and material changes of different bridge support surfaces, has a wide application range, a high degree of intelligence, and improves the cladding quality.

[0045] 2. The intelligent cladding system of the present application uses wire for laser cladding, through precise cladding head design and metal wire selection, the metal wire will be completely melted, the melting process is soft and splash-free, is more environmentally friendly and safe, and the wire utilization rate can reach 99%, the material utilization rate is high, and the cost is reduced.

[0046] 3. The intelligent laser cladding system of the present application melts and mixes the wire and the surface of the base material together to form a cladding layer through the cooperation of the wire feeding mechanism and the laser cladding head, realizes dense metallurgical bonding between the cladding layer and the base, ensures that the stainless steel cladding layer and the base are completely adhered, reliably solves the internal hollowing problem of the coated stainless steel plate, and improves the stability and safety of the support structure. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 The present application is a bridge support stainless steel plate intelligent laser cladding system configuration diagram;

[0048] Figure 2 The present application is a bridge support stainless steel plate intelligent laser cladding system cladding method flowchart;

[0049] Figure 3 The present application is a bridge support stainless steel plate intelligent laser cladding system cladding method flowchart;

[0050] Figure 4 The present application is a bridge support stainless steel plate intelligent laser cladding system cladding method flowchart;

[0051] Figure 5 The present application is a bridge support stainless steel plate intelligent laser cladding system cladding method flowchart;

[0052] Figure 6The overall structure of the stainless steel plate seismic isolation support made by the intelligent laser cladding system of the embodiment of the present application is shown in the figure;

[0053] In all the figures, the same reference signs represent the same technical features, specifically: 1-steel body base material, 2-stainless steel laser cladding layer, 3-intelligent laser cladding system, 4-upper seat plate, 5-spherical crown, 6-middle seat plate, 7-lower seat plate, 8-wear-resistant sliding plate. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the present application more clear and understandable, the present application is further described in detail below in combination with the figures and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as there is no conflict.

[0055] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture (as shown in the figures), and if the certain posture changes, the directional indications also change accordingly.

[0056] In addition, if the embodiments of the present application involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0057] In this patent, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0058] As Figure 1As shown, the embodiment of the present application provides a bridge support stainless steel plate intelligent laser cladding system, which comprises a laser cladding head, a six-axis articulated robot, a laser tracker, a wire feeding mechanism and an electrical control system. The laser cladding head provides laser energy for cladding. The six-axis articulated robot controls the movement of the laser cladding head. The laser tracker is responsible for monitoring the cladding process and adjusting in real time. The wire feeding mechanism provides cladding materials. The electrical control system is the brain of the entire system, responsible for coordinating and controlling the work of other components to achieve precise cladding effect. Among them,

[0059] The laser cladding head mainly provides laser energy output for melting wire and substrate to form cladding. It is equipped with a high-power laser inside, which can generate a high-energy density laser beam. The high-energy laser beam is used as a heat source to quickly melt the substrate surface and cladding materials, forming a molten pool, and then forming a cladding layer through rapid solidification.

[0060] The six-axis articulated robot has six degrees of freedom of movement and rotation, providing precise spatial positioning and motion control during the cladding process. Through the electrical control system, the laser cladding head can be operated according to the predetermined path to meet the cladding requirements of stainless steel plates of different sizes and shapes.

[0061] The laser tracker uses high-precision sensors and algorithms to automatically identify the cladding range and calculate the optimal cladding path, guiding the laser cladding head to run along the predetermined trajectory. It also monitors the position of the laser cladding head and the cladding path in real time, and transmits the information to the electrical control system to realize real-time adjustment of the cladding thickness and path, ensuring the accuracy and stability of the cladding process.

[0062] The laser tracker algorithm includes:

[0063] (1) Automatic recognition algorithm of cladding range and path

[0064] The Canny edge detection algorithm is used to identify the boundary of the cladding area. The Canny edge detection algorithm mainly includes the following steps:

[0065] ① Use a high-resolution camera to take an image of the area to be cladded,

[0066] ② Gaussian filter denoising,

[0067] ③ Calculate the gradient amplitude and direction,

[0068] ④ Non-maximum suppression,

[0069] ⑤ Double threshold detection and edge connection,

[0070] Among them, the gradient amplitude G and direction θ can be calculated by the following formula:

[0071]

[0072] where G x and G y are the gradients of the image in x and y directions, respectively;

[0073] After the boundary of the cladding region is determined, Otsu’s method can be used to automatically determine the optimal threshold T to segment the image into the cladding region and the background region. The goal of Otsu’s method is to minimize the intra-class variance, i.e., maximize the inter-class variance. The threshold T can be calculated by the following equation:

[0074]

[0075] where ω0(T) and ω1(T) are the probabilities of the background and target regions, respectively, and μ0(T) and μ1(T) are the means of the background and target regions, respectively;

[0076] (2) Calculate the optimal cladding path algorithm

[0077] Based on the identified cladding region, the A* algorithm is used to find the optimal path from the starting point to the end point, which is specifically as follows:

[0078] Define the heuristic function h(n) and the cost function g(n), and the cost function f(n) is:

[0079] f(n) = g(n) + h(n)

[0080] where g(n) is the actual cost from the starting node to the current node n, and h(n) is the estimated cost from the current node n to the target node.

[0081] The heuristic function h(n) is used to estimate the cost from the current node to the target node, which uses the Euclidean distance:

[0082]

[0083] where x n , x g are the x-axis coordinates of the current node n and the target node g, respectively, and y n , y g are the y-axis coordinates of the current node n and the target node g, respectively,

[0084] When the target node is found, the path from the starting node to the target node is reconstructed by tracing the parent nodes. This process provides the actual route taken by the algorithm to reach the target node, showing the sequence of nodes in the optimal path, and efficiently finding the optimal path.

[0085] (3) Real-time monitoring algorithm for laser cladding head position and cladding path

[0086] The laser tracker obtains the position of the laser cladding head in real time through high-precision sensors such as laser range finders, encoders, etc. Let the actual position of the laser cladding head be (x t ,y t ), the theoretical position on the predetermined path be (x d ,y d ), and the position error (e x , e y ) be represented as:

[0087] e x =x d -x t

[0088] e y =y d -y t

[0089] The position error is corrected by a PID controller according to the position error to adjust the path of the laser cladding head, ensuring the accuracy of the cladding path. The output u(t) of the PID controller is:

[0090]

[0091] where e(t) is the position error, K p , K i , K d are the parameters of the PID controller;

[0092] The wire feeding mechanism mainly provides cladding wire for laser cladding. During the cladding process, it delivers the cladding material (such as stainless steel wire) to the area below the laser cladding head according to the predetermined speed and quantity, and melts together with the base material under the action of the laser beam to achieve cladding and form a cladding layer. Through precise motor control and sensor feedback, it can ensure that the delivery speed and quantity of the cladding material match the movement speed of the laser cladding head and the cladding requirements;

[0093] The electrical control system, as the core part of the entire laser cladding system, is used to coordinate the motion control of each component and reasonably adjust the cladding power, cladding path, wire feeding speed and other parameters according to the cladding requirements. Through receiving information from sensors and human-computer interaction interfaces, the electrical control system can monitor the state and quality of the cladding process in real time and make corresponding adjustments and optimizations to finally complete the predetermined cladding requirements.

[0094] In summary, the laser cladding system is a highly integrated and automated processing system, and its components work together to achieve efficient cladding processing. By precisely controlling the laser beam, the delivery of the metal wire, and the movement parameters of each component, high-quality cladding processing can be performed on workpieces of different materials and shapes, achieving automatic and precise cladding on the surface of the substrate material, thereby improving the wear resistance, corrosion resistance, heat resistance, and other properties of the material surface. The cladding layer and the substrate achieve a dense metallurgical bond, reliably solving the problem of internal hollowing of the stainless steel plate, and improving the stability and safety of the support structure.

[0095] As shown in Figure 2 The embodiment of the present application provides a cladding method of a bridge support stainless steel plate intelligent laser cladding system, which specifically comprises the following steps:

[0096] S100: substrate and cladding material preparation: pretreat the substrate, including cleaning, degreasing, rust removal, etc., to ensure that the workpiece surface is clean and free of impurities, and select the required cladding material.

[0097] The cladding material is 321 or 316L stainless steel wire with a diameter of φ0.2mm to φ3mm.

[0098] S200: Cladding system parameter setting: start the intelligent laser cladding system, check whether each component is running normally, import the product drawing to be cladded in the electrical control system, and specify the cladding range and thickness. According to the cladding requirements, adjust the laser power parameters of the laser cladding head, the wire feeding speed of the wire feeding mechanism, etc. The system automatically plans the cladding path according to the imported drawing and cladding requirements.

[0099] The laser power of the laser cladding head can be adjusted to 3-12kw, and the wire feeding speed of the wire feeding mechanism is between 1-25m / min.

[0100] S300: Intelligent laser cladding: the six-axis multi-joint robot drives the laser cladding head to move to the starting point of the path, the wire feeding mechanism starts to feed the wire, and the laser in the laser cladding head starts to output the laser beam. The laser beam irradiates the substrate surface and the cladding material, causing them to rapidly melt and mix together. The laser tracker monitors the cladding path and cladding layer thickness in real time and transmits them to the electrical control system. The real-time monitoring information is compared with the predetermined cladding path and cladding layer thickness requirements. According to the comparison result, the cladding layer thickness and the cladding path are adjusted in real time to ensure that the cladding process is carried out according to the predetermined requirements, and finally the predetermined cladding requirements are completed.

[0101] The cladding layer thickness is controlled by adjusting the wire feeding speed of the wire feeding mechanism and the moving speed of the laser beam, and the stainless steel cladding layer thickness is 0.5mm-5mm.

[0102] S400: After cladding, the cladding surface is processed by numerical control milling machine for finishing and polishing treatment to ensure that the surface roughness of the cladding layer after polishing is Ra≤0.8μm, the cladding layer thickness is 2mm, and the use requirements are met.

[0103] Example 1

[0104] As shown in FIG. 1, it is a schematic diagram of intelligent laser cladding processing of a bridge support flat stainless steel plate, which comprises a steel base body 1, a stainless steel laser cladding layer 2, and an intelligent laser cladding system 3. The specific steps are as follows: Figure 3

[0105] S100: Place the cleaned and pretreated steel base body 1 on the workbench, and use 321 stainless steel wire with a diameter of φ1mm as the cladding material;

[0106] S200: Start the intelligent laser cladding system, check whether the six-axis articulated robot, laser tracker, laser cladding head, wire feeding mechanism and electrical control system are running normally, import the product drawing of the bridge support flat stainless steel plate in the electrical control system, specify the cladding range and thickness requirement, adjust the laser power of the laser cladding head to 8kW, and the wire feeding speed to 5m / min. The system automatically plans the cladding path.

[0107] S300: The six-axis articulated robot drives the cladding head to move to the starting point of the path, the wire feeding mechanism feeds the wire, and the reciprocating cladding starts. The laser tracker monitors the cladding path in real time and transmits it to the control system for real-time adjustment of the cladding quality and path. Finally, the flat cladding is completed, and the cladding thickness is 2.9mm.

[0108] S400: After cladding, the cladding surface is processed by numerical control milling machine for finishing and polishing treatment to ensure that the surface roughness of the cladding layer after polishing is Ra≤0.8μm, the cladding layer thickness is 2mm, and the use requirements are met.

[0109] Example 2

[0110] As shown in FIG. 2, it is a schematic diagram of intelligent laser cladding processing of a bridge support convex stainless steel plate, which comprises a steel base body 1, a stainless steel laser cladding layer 2, and an intelligent laser cladding system 3. The specific steps are as follows: Figure 4

[0111] S100: Place the cleaned and pretreated steel base body 1 on the workbench, and use 316L stainless steel wire with a diameter of φ2mm as the cladding material;

[0112] ​​S200: Start the intelligent laser cladding system, check whether the six-axis articulated robot, laser tracker, laser cladding head, wire feeding mechanism and electrical control system are running normally, import the product drawing and spherical parameters of the bridge support spherical stainless steel plate in the electrical control system, specify the cladding range and thickness requirement, and the intelligent laser cladding system 3 automatically plans the optimal spherical cladding path, at the same time, according to the cladding requirement, the laser power parameter of the laser cladding head is adjusted to 10kW, and the wire feeding speed of the wire feeding mechanism is 6m / min;

[0113] S300: The six-axis articulated robot drives the cladding head to move to the starting point of the path, the wire feeding mechanism feeds the wire, and the cladding starts from the outside of the sphere and is cladded layer by layer inward, the laser tracker monitors the cladding path in real time and transmits it to the control system, the cladding quality and path are adjusted in real time, and finally the spherical cladding is completed, the cladding thickness is 2.2mm.

[0114] S400: After cladding, the cladding surface is finished and polished by a numerical control lathe, so that the surface roughness Ra of the cladding layer after polishing is ≤0.8μm, the cladding layer thickness is 1.5mm, and the use requirement is met.

[0115] Example 3:

[0116] As shown in Figure 5 , the present embodiment provides a bridge support concave stainless steel plate intelligent laser cladding processing schematic diagram, and its processing method is similar to that of the bridge support convex stainless steel plate.

[0117] As shown in Figure 6 , the stainless steel plate seismic isolation support is processed and manufactured by the above-mentioned bridge support stainless steel plate intelligent laser cladding system, which comprises an upper seat plate 4, a spherical crown 5, a middle seat plate 6, a lower seat plate 7, a stainless steel laser cladding layer 2 and a wear-resistant sliding plate 8. The upper seat plate 4, the spherical crown 5, the middle seat plate 6 and the lower seat plate 7 are all machined from steel plates or cast steel parts; the stainless steel laser cladding layer 2 is machined on the surface of the base body by using stainless steel wire material and the intelligent laser cladding system; and the wear-resistant sliding plate is made of modified high molecular weight dacron (HSM) or other high molecular sliding plate material. The stainless steel laser cladding structure provided by the present application ensures that the bridge support stainless steel plate is completely metallurgically combined with the base body, without the risk of hollowing, and has a long service life.

[0118] Those skilled in the art can understand that the above description is only preferred embodiments of the present application, and is not intended to limit the present application. For example, the support structure is not limited to the seismic isolation support structure described herein, and any support structure that uses wire laser cladding to process a stainless steel sliding pair on a base plane, a convex spherical surface, or a concave spherical surface should be included in the protection scope of the present application. The present application uses 321 wire or 316L wire for laser cladding, and the protection scope of the present application is not limited to stainless steel wire. When other iron-based, nickel-based, cobalt-based, copper-based, titanium-based, aluminum-based, and chromium-based wires are used for laser cladding to process a bridge support sliding pair, they should be included in the protection scope of the present application. In summary, any modification, equivalent replacement, and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A bridge support stainless steel plate intelligent laser cladding system, characterized in that, The application relates to an intelligent laser cladding system, which comprises the following parts: a laser cladding head for providing laser energy to melt cladding material and a substrate; a six-axis articulated robot for multi-directional control of the movement of the laser cladding head; a laser tracker for automatically identifying a cladding range, calculating an optimal cladding path, real-time monitoring of the position of the laser cladding head and the cladding path and real-time feedback by using high-precision sensors and algorithms, wherein the algorithms comprise a cladding range automatic identification algorithm, an optimal cladding path calculation algorithm and a real-time monitoring algorithm for the position of the laser cladding head and the cladding path; wherein the cladding range automatic identification algorithm specifically comprises the following steps of using a Canny edge detection algorithm to identify the boundary of the cladding area, and the Canny edge detection algorithm comprises the following steps: ① Using high-resolution camera to shoot the image of the area to be cladded, ② Gaussian filter denoising, ③ calculating gradient amplitude and direction , ④ non-maximum suppression, ⑤ double threshold detection and edge connection; wherein the gradient magnitude and direction is calculated by the following equation: ； wherein and are the gradients of the image in and directions, respectively. After determining the boundary of the cladding region, the optimal threshold is automatically determined using Otsu's method T segmenting the image into cladding region and background region; the goal of Otsu's method is to minimize the intra-class variance, i.e., to maximize the inter-class variance; optimal threshold T calculated by the following formula: ； wherein, and are the probabilities of the background region and the clad region, respectively, and are the mean values of the background region and the clad region, respectively. a wire feeding mechanism for providing cladding material, wherein the cladding material adopts cladding wire material, the melting process is soft and splash-free, and high material utilization is achieved; and an electrical control system for coordinating the motion control of each component, reasonably adjusting the cladding power, the cladding path and the wire feeding speed according to the cladding requirements, and real-time monitoring of the state and quality of the cladding process; the optimal cladding path calculation algorithm specifically comprises the following steps of using a path planning algorithm A* algorithm to find the optimal path from the starting point to the ending point based on the identified cladding area, and the A* algorithm specifically comprises the following steps: Defining a heuristic function and a cost function , cost function is: ； wherein, is the actual cost from the start node to the current node , is the estimated cost from the current node to the goal node ; Heuristic function For estimating the cost from the current node to the goal node using Euclidean distance: ； wherein , are the coordinates of the current node and the target node in the x-axis, , are the coordinates of the current node and the target node in the axis, When the target node is found, the path from the start node to the target node is reconstructed by tracing the parent nodes; this process provides the actual route taken by the algorithm to reach the target node , showing the sequence of nodes in the optimal path, efficiently finding the optimal path; The real-time monitoring algorithm of the laser cladding head position and the cladding path is specifically: the laser tracker obtains the position of the laser cladding head in real time through a high-precision sensor, the actual position of the laser cladding head is set as , the theoretical position on the predetermined path is , and the position error is expressed as: ； According to the position error, a PID controller is used to correct the position error to adjust the path of the laser cladding head, to ensure the accuracy of the cladding path, and the output of the PID controller is : ； wherein is a position error, , , are parameters of the PID controller.

2. The intelligent laser cladding system for stainless steel plate of bridge support according to claim 1, characterized in that, the laser cladding head is internally provided with a high-power laser, which can generate a high-energy-density laser beam for melting the cladding material and the substrate to form a cladding layer.

3. The intelligent laser cladding system for stainless steel plate of bridge support according to claim 1, characterized in that, The six-axis articulated robot has six degrees of freedom of movement and rotation functions and drives the laser cladding head to provide accurate spatial positioning and motion control during the cladding process.

4. The intelligent laser cladding system for stainless steel plate of bridge support according to claim 1, characterized in that, The wire feeding mechanism ensures that the conveying speed and quantity of the cladding material are matched with the moving speed of the laser cladding head and the cladding demand through precise motor control and sensor feedback.

5. A cladding method using the intelligent laser cladding system for stainless steel plate of bridge bearing according to any one of claims 1-4, characterized in that, The application further discloses a cladding method, which comprises the following specific steps: S100: substrate and cladding material preparation: pretreating the substrate and selecting cladding wire material meeting the requirements; S200: cladding system parameter setting: starting the intelligent laser cladding system, importing product drawings, specifying the cladding range and thickness, adjusting the laser power parameters and the wire feeding speed, and automatically planning the cladding path; S300: intelligent laser cladding: the six-axis articulated robot drives the laser cladding head to move to the starting point of the cladding path, the wire feeding mechanism conveys the cladding wire material, the laser cladding head outputs the laser beam, the laser tracker real-time monitors the cladding path and the cladding layer thickness and transmits them to the electrical control system, the cladding quality and the cladding path are real-time adjusted, and finally the predetermined cladding requirements are met; S400: cladding layer finishing and polishing treatment: the cladding layer is finished to the designed thickness, then is polished to the designed roughness, and finally meets the use requirements.

6. The cladding method according to claim 5, characterized in that The cladding wire material is stainless steel wire material with a diameter of phi 0.2 mm to phi 3 mm, the wire feeding speed of the wire feeding mechanism is 1-25 m / min, and the laser power can be adjusted to 3-12 kW.

7. The cladding method according to claim 6, characterized in that The cladding layer thickness is controlled by adjusting the wire feeding speed of the wire feeding mechanism and the moving speed of the laser beam, and the cladding layer thickness is 0.5 mm to 5 mm.

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