Laser coaxial wire feeding additive-in-situ rolling composite repairing system and method

Abstract

The invention relates to the technical field of additive material repairing, and provides a laser coaxial wire feeding additive material-in-situ rolling composite repairing system and method.The system comprises a motor movement mechanism, a roller assembly, a multi-laser module, a controller, a feeding mechanism and a pressure sensor; the multiple sets of laser modules of the multi-laser module are symmetrically distributed on the two sides of the metal wire and used for irradiating the metal wire and the surface convergent point of the shaft part from the side direction at a preset inclination angle. The roller assembly is arranged at the moving end of the motor moving mechanism, and the pressure sensor is arranged on the motor moving mechanism. The closed-loop negative feedback control method is adopted to control the rolling force, the rolling force is used as the feedback quantity, the movement direction and the movement speed of the roller are used as the control quantity, rapid, real-time and accurate control over the rolling force is achieved, and therefore the rolling deformation of a shaft part repairing area is stable, the structure uniformity is high, and the quality of the shaft part repairing area is improved. The mechanical property anisotropy of the shaft repair part can be effectively improved, and the fatigue performance is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of additive repair, and in particular to a laser coaxial wire feeding additive-in-situ rolling composite repair system and method. Background Art

[0002] Shaft parts are an indispensable component of mechanical equipment. They play a key role in supporting and transmitting loads, positioning mechanical parts, transmitting power and torque, and are widely used in automobile manufacturing and rail transportation. Due to long-term service in harsh working conditions such as alternating loads, impact, and high temperature, shaft parts inevitably produce various damage defects such as cracks, wear, and corrosion. The scrapping of the entire shaft will result in a huge waste of materials and high manufacturing costs. Therefore, it is of great significance to develop high-performance, efficient, and low-cost repair technologies for shaft parts.

[0003] At present, metal parts repair technologies mainly include electroplating, arc cladding, laser additive repair, etc. Among them, laser additive repair technology uses a high-energy laser beam as the energy source and metal powder or wire as the filling material. The laser is used to melt and deposit the filling material layer by layer at the damaged defective part to achieve additive repair of the parts. This technology has outstanding advantages such as high efficiency and low cost, and has broad application prospects in the additive repair of shaft parts.

[0004] However, due to the process characteristics of laser additive repair, such as small molten pool volume, high peak temperature, rapid cooling, and repeated high-temperature thermal cycles, the repair area and the heat-affected zone of the shaft parts have coarse microstructure, high residual tensile stress, large crack tendency, and serious loss of mechanical properties. The repaired parts are difficult to meet the re-service performance indicators, which greatly limits the promotion and application of this technology in the repair of shaft parts. Studies have shown that by applying plastic deformation to the repair area during the additive repair process, the grain structure can be refined, the residual stress can be improved, and the mechanical properties can be improved, providing a new technical approach for improving the overall performance of laser additive repair of shaft parts.

[0005] Patent CN112846193B discloses an additive composite micro-rolling shaft surface repair system and method, which simultaneously realizes additive shaft repair and micro-rolling of the repaired part, improving the microstructure and mechanical properties of the repaired shaft. This invention does not monitor and control the rolling process, resulting in unstable rolling force and rolling deformation, uneven internal structure of the formed part, and anisotropic mechanical properties. Patent CN112894135A discloses a laser rolling composite additive manufacturing device and manufacturing method, which uses metal foil as a filling material, melts and deposits the metal foil fed sideways through a single laser, and rolls the molten metal foil with rollers, thereby eliminating pores and gas inclusions and refining the grains. This invention uses a paraxial method to feed the filling material. On the one hand, the laser can only irradiate and heat one side of the metal foil strip, resulting in uneven heating and melting of the filling material and poor forming quality. On the other hand, due to the geometric interference problem of the mechanism, the rolling position is far away from the laser heat source, resulting in low rolling point temperature, small rolling deformation, and limited effect on grain refinement and mechanical property improvement.

[0006] Therefore, how to achieve short distance and high temperature rolling between the rolling point and the laser heat source during the laser additive-rolling composite repair process of shaft parts, as well as precise and stable control of the rolling force, improve the rolling deformation and the stability of the rolling process, achieve dynamic recrystallization of the repair area of ​​the shaft parts and the heat-affected zone of the matrix, obtain uniform and fine microstructure, improve the residual stress state, and enhance the mechanical properties and their isotropy, is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0007] The present invention provides a laser coaxial wire feeding additive-in-situ rolling composite repair system and method, which adopts a multi-laser beam lateral irradiation focusing method to uniformly melt and deposit the coaxially fed metal wire, thereby realizing short-distance and high-temperature rolling between the laser heat source and the rolling point; through the closed-loop negative feedback adjustment of the rolling force, accurate and stable control of the rolling force is achieved to improve the residual stress state, eliminate crack defects, obtain a uniform and fine grain structure in the repair area, and improve the mechanical properties and isotropy of shaft repair parts.

[0008] The present invention provides a laser coaxial wire feeding additive-in-situ rolling composite repair system, comprising a motor motion mechanism, a roller assembly, a multi-laser module, a controller, a feeding mechanism and a pressure sensor, wherein the motor motion mechanism, the multi-laser module, the feeding mechanism and the pressure sensor are all connected to the controller; The feeding mechanism holds the metal wire and is used to feed the metal wire to the area to be repaired on the surface of the shaft part; The multi-laser module includes multiple groups of laser modules, which are slidably mounted on the feeding mechanism, symmetrically distributed on both sides of the metal wire, and the laser beams emitted by the multiple groups of laser modules irradiate the metal wire and the convergence point of the surface of the shaft part from the side at a preset inclination angle, so that the metal wire is melted and forms a deposition layer in the area to be repaired on the surface of the shaft part; The roller assembly is arranged at the moving end of the motor moving mechanism and is used to roll the deposited layer; The pressure sensor is arranged on the motor motion mechanism, and is used to detect the rolling force feedback of the roller assembly in real time, and transmit the rolling force feedback to the controller in real time; The controller is used to control the movement direction and movement speed of the roller assembly according to the error between the given amount of the rolling force and the feedback amount of the rolling force, so as to perform real-time regulation of the rolling force during the rolling process.

[0009] According to the laser coaxial wire feeding additive-in-situ rolling composite repair system provided by the present invention, the motor motion mechanism includes a motor drive module, a motor, a lead screw and a mounting platform; One end of the motor drive module is connected to the controller, and the other end of the motor drive module is connected to the motor, and the controller drives the motor to move by controlling the motor drive module; one end of the lead screw is connected to the output shaft of the motor, and the other end of the lead screw is connected to the mounting platform, and the motor drives the mounting platform to move through the lead screw; Wherein, the pressure sensor is arranged between the motor and the lead screw.

[0010] According to the laser coaxial wire feeding additive-in-situ rolling composite repair system provided by the present invention, the roller assembly includes a roller, a bearing and a mounting seat; The roller is connected to the bearing, the bearing is fixed on the mounting seat, the mounting seat is connected to the mounting platform, and the motor movement mechanism drives the roller assembly to move.

[0011] According to the laser coaxial wire feeding additive-in-situ rolling composite repair system provided by the present invention, the multi-laser module further includes an arc slide rail, and the arc slide rail is installed on the feeding mechanism; Each group of the laser modules includes a laser, a laser head and a slider. The laser is connected to the laser head via an optical fiber. The laser head is fixed on the slider. The slider is installed in the circular arc slide rail. The laser lateral irradiation light path of the laser module is adjusted by changing the position of the slider on the circular arc slide rail.

[0012] According to the laser coaxial wire feeding additive-in-situ rolling composite repair system provided by the present invention, the feeding mechanism includes a wire feeder, a wire feeding wheel, a wire feeding head and a wire guide nozzle; The wire guide nozzle is installed on the wire feeding head, the wire feeding head is fixedly connected to the arc slide rail, the wire feeding wheel is arranged in the wire feeding head, and the wire feeding machine is arranged on the side of the wire feeding head away from the wire guide nozzle; the metal wire is installed on the wire feeding machine, and is sequentially transported through the wire feeding wheel, the wire feeding head and the wire guide nozzle to the area to be repaired on the surface of the shaft part.

[0013] According to the laser coaxial wire feeding additive-in-situ rolling composite repair system provided by the present invention, the feeding mechanism also includes a protective gas cylinder; The wire feeding head is provided with a plurality of nozzles at one end close to the wire guide nozzle, and a gas passage connected to the nozzle is provided inside the wire feeding head; the gas outlet of the protective gas cylinder is connected to the gas passage, and the protective gas in the protective gas cylinder is transported to the area to be repaired on the surface of the shaft part through the gas passage and the plurality of nozzles.

[0014] The present invention also provides a laser coaxial wire feeding additive-in-situ rolling composite repair method, which is applied to the laser coaxial wire feeding additive-in-situ rolling composite repair system as described in any one of the above items, and the repair method comprises the following steps: Step S1, setting the process parameters of laser additive repair-in-situ rolling composite repair of shaft parts, wherein the process parameters include a given amount of rolling force; Step S2, turning on the indicator lights of the multiple groups of laser modules, and adjusting the positions of the multiple groups of laser modules relative to the feeding mechanism, so that the laser beams emitted by the multiple groups of laser modules irradiate the convergence point of the metal wire and the surface of the shaft part from the side at a preset inclination angle; Step S3, starting the motor motion mechanism to move the roller surface of the roller assembly to the rolling point on the surface of the shaft part; Step S4, starting the feeding mechanism to feed the metal wire to the area to be repaired on the surface of the shaft part, and simultaneously starting the plurality of laser modules to emit lasers to melt the metal wire and form a deposition layer on the area to be repaired on the surface of the shaft part; Step S5, the motor motion mechanism drives the roller assembly to perform in-situ roller rolling on the deposited layer, and the pressure sensor measures the roller rolling force feedback in real time, and transmits the roller rolling force feedback to the controller in real time; Step S6, the controller controls the movement direction and movement speed of the roller assembly according to the error between the given amount of the rolling force and the feedback amount of the rolling force, so as to perform real-time regulation on the rolling force during the rolling process.

[0015] According to the laser coaxial wire feeding additive-in-situ rolling composite repair method provided by the present invention, the repair method also includes the following steps: Step S7, judging whether the deposition of the Nth deposition layer is completed, if the deposition of the Nth deposition layer is completed, proceeding to step S8; otherwise, proceeding to step S5; wherein N is a positive integer greater than or equal to 1; Step S8, the roller assembly, the discharge port of the feeding mechanism and the laser focus points of the plurality of laser modules are all moved up along the thickness direction of the deposition layer by a distance of the deposition layer thickness to enter the deposition of the next deposition layer; Step S9, judging the size of the number of layers of the current deposited layer and the total number of repaired layers. If the number of layers of the current deposited layer is greater than or equal to the total number of repaired layers, proceed to step S10; otherwise, proceed to step S3; Step S10, turning off the multiple groups of the laser modules, the feeding mechanism and the motor motion mechanism, and the laser additive repair-in-situ rolling composite repair process of the shaft parts is completed.

[0016] According to the laser coaxial wire feeding additive-in-situ rolling composite repair method provided by the present invention, the process parameters also include the rolling force allowable error, and the rolling force allowable error is set to E AF , set the roller rolling force given value to F G , and setting the movement speed of the roller assembly in step S3 to V O , the step S6 comprises the following steps: Step S6-1, the controller calculates the actual rolling force error between the given rolling force and the feedback rolling force, and sets the actual rolling force error as E GB ; Step S6-2, determine |E GB │With E AF The size of E GB │Less than or equal to E AF , go to step S7; otherwise, go to step S6-3; Step S6-3, determine E GB and 0, if E GB If it is less than or equal to 0, go to step S6-3-1; otherwise, go to step S6-3-2; Step S6-3-1: the motor motion mechanism drives the roller assembly to move upward, and the movement speed of the roller assembly is V R ; Step S6-3-2: the motor motion mechanism drives the roller assembly to move downward, and the movement speed of the roller assembly is V R ; Step S6-4, determine |E GB│、0.1F G and 0.5F G The relationship between the three, if│E GB │More than 0.5F G , V R =0.5V O ; If│E GB │More than 0.1F G , and less than or equal to 0.5F G , V R =0.3V O ; If│E GB │Less than or equal to 0.1F G , V R =0.1V O .

[0017] According to the laser coaxial wire feeding additive-in-situ rolling composite repair method provided by the present invention, in the step S2, the irradiation angle range of the laser beam emitted by each group of the laser modules to the metal wire is 5°~60°, and the multiple laser beams emitted by the multiple groups of the laser modules are combined into a conical beam focused on the convergence point on the surface of the metal wire and the shaft part, and the metal wire is fed along the axis of the conical beam.

[0018] The above technical solution of the present invention has the following beneficial effects: The laser coaxial wire feeding additive-in-situ rolling composite repair system and method of the present invention adopts multiple laser beams to perform irradiation and focusing from the side of the metal wire to achieve melting and deposition of the metal wire on the surface of the shaft parts. Compared with the traditional circumferential laser irradiation and focusing, the present invention avoids the problem of the bottom laser beam being blocked by the shaft parts, improves the laser energy utilization rate, and reduces the thermal impact of the laser on the matrix of the shaft parts. At the same time, the present invention performs in-situ rolling on the laser wire feeding additive repair area of ​​the shaft parts. Compared with the conventional additive repair technology for shaft parts, the rolling of the present invention can apply plastic deformation to the repair area and the heat-affected zone of the matrix. On the one hand, it changes the stress state of the repair area and the heat-affected zone of the matrix, converts the tensile stress into compressive stress, and reduces the porosity and cracking tendency of the shaft repair part; on the other hand, the deformation energy storage induces dynamic recrystallization in the repair area and the heat-affected zone of the matrix, refines the grain structure, and improves the mechanical properties of the repaired part.

[0019] Compared with the traditional arc wire feeding additive-in-situ rolling composite repair technology, the present invention has a wider allowable range of dry elongation of metal wire, a shorter distance between the rolling point and the heat source, a higher rolling temperature, and a greater plastic deformation of the repair zone and the heat affected zone of the matrix; in addition, the laser energy density is higher, the heat input is lower, the microstructure of the repair zone and the heat affected zone of the matrix is ​​finer, and the mechanical properties are higher.

[0020] In addition, the in-situ roller-rolling composite repair technology of the present invention adopts a closed-loop negative feedback control method to control the roller rolling force, with the rolling force as the feedback quantity and the roller movement direction and speed as the control quantity. Through a multi-stage speed adjustment method, it can achieve rapid, real-time and precise control of the roller rolling force, so that the rolling deformation of the shaft parts repair area is stable and the structure is highly uniform, which can effectively improve the anisotropy of the mechanical properties of the shaft repair parts and enhance the fatigue performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of a laser coaxial wire feeding additive-in-situ rolling composite repair system provided in an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a multi-laser module and a feeding mechanism provided in an embodiment of the present invention; Figure 3 A schematic flow chart of a laser coaxial wire feeding additive-in-situ rolling composite repair method provided by an embodiment of the present invention; Figure 4 A block diagram of the closed-loop negative feedback regulation control principle of the rolling force provided in an embodiment of the present invention.

[0023] Reference numerals: 1. Motor drive module; 2. Motor; 3. Lead screw; 4. Mounting table; 5. Roller; 6. Bearing; 7. Mounting seat; 8. Pressure sensor; 9. Laser; 10. Optical fiber; 11. Multi-laser head module; 12. Laser beam; 13. Wire feeder; 14. Wire feed wheel; 15. Protective gas cylinder; 16. Controller; 17. Shaft parts; 18. Slider; 19. Laser head; 20. Arc slide rail; 21. Wire feeder; 22. Protective gas; 23. Wire guide nozzle; 24. Metal wire. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] During the laser additive repair process of shaft parts, the high-energy-density laser heat source has process characteristics such as small molten pool volume, high peak temperature, rapid cooling, and repeated high-temperature thermal cycles. The repair area of ​​shaft parts and the heat-affected zone of the matrix have coarse microstructure, high residual tensile stress, large crack tendency, and serious loss of mechanical properties. The repaired parts are difficult to meet the re-service performance indicators, which greatly limits the promotion and application of this technology in the repair of shaft parts. By applying plastic deformation to the repair area during the additive repair process, the grain structure can be refined and the residual stress can be improved, providing a new technical approach for improving the overall performance of laser additive repair of shaft parts.

[0026] Among them, the short distance between the rolling point and the laser heat source, high-temperature rolling, and precise and stable control of the rolling force during the laser additive-rolling composite repair process of shaft parts have an important influence on improving the rolling deformation and the stability of the rolling process, realizing dynamic recrystallization of the repair area of ​​shaft parts and the heat-affected zone of the matrix, obtaining uniform and fine microstructure, improving the residual stress state, and improving the mechanical properties and their isotropy.

[0027] Based on this, the present invention discloses a laser coaxial wire feeding additive-in-situ rolling composite repair system and method for shaft parts. Figure 1-Figure 4 Give a detailed explanation.

[0028] See also Figure 1 The present invention provides a laser coaxial wire feeding additive-in-situ rolling composite repair system, which is applied to the repair of shaft parts. The repair system includes a motor motion mechanism, a roller assembly, a multi-laser module, a controller 16, a feeding mechanism and a pressure sensor 8. Among them, the motor motion mechanism, the multi-laser module, the feeding mechanism and the pressure sensor 8 are all connected to the controller 16.

[0029] The surface of the shaft part 17 is constructed with an area to be repaired, and the feeding mechanism clamps the metal wire. The feeding mechanism is controlled by the controller 16 to transport the metal wire to the area to be repaired on the surface of the shaft part 17.

[0030] The multi-laser module includes multiple groups of laser modules, which are slidably installed on the feeding mechanism. The multiple groups of laser modules are symmetrically distributed on both sides of the metal wire, and the laser beams 12 emitted by the multiple groups of laser modules irradiate the convergence point of the metal wire and the surface of the shaft part 17 from the side at a preset inclination angle, so that the metal wire is melted and a deposition layer is formed on the surface of the shaft part 17 in the area to be repaired.

[0031] The roller assembly is arranged at the moving end of the motor movement mechanism. The motor movement mechanism drives the roller assembly to move under the control of the controller 16. The roller assembly is used to perform in-situ rolling of the deposited layer.

[0032] The pressure sensor 8 is arranged on the motor motion mechanism, and is used to detect the rolling force feedback of the roller assembly in real time, and transmit the rolling force feedback to the controller 16 in real time.

[0033] The controller 16 is used to control the movement direction and speed of the roller assembly according to the error between the given amount of the rolling force and the feedback amount of the rolling force, so as to perform real-time and precise regulation of the rolling force during the rolling process.

[0034] Specifically, see Figure 1 and Figure 2 The motor motion mechanism includes a motor drive module 1, a motor 2, a lead screw 3 and a mounting platform 4. One end of the motor drive module 1 is connected to the controller 16, and the other end of the motor drive module 1 is connected to the motor 2. The controller 16 drives the motor 2 to move by controlling the motor drive module 1. One end of the lead screw 3 is connected to the output shaft of the motor 2, and the other end of the lead screw 3 is connected to the mounting platform 4. The mounting platform 4 is used to install the roller assembly. The motor 2 drives the mounting platform 4 and the roller assembly to move synchronously through the lead screw 3.

[0035] Among them, the pressure sensor 8 is arranged between the motor 2 and the lead screw 3, and is used to detect the rolling force feedback of the roller assembly in real time. During the rolling process, the roller assembly applies pressure to the repair area where the deposition layer is formed on the surface of the shaft part 17, causing it to undergo plastic deformation. This pressure is simultaneously transmitted to the connection between the motor 2 and the pressure sensor 8 through the mounting table 4 and the lead screw 3. When the pressure sensor 8 senses this pressure, the elastic element inside it will deform. For a resistive pressure sensor, this deformation will cause the resistance value of the elastic metal film to change; for a capacitive pressure sensor, this deformation will cause the capacitance value between the aluminum film and the conductive glue to change. As the elastic element deforms, the circuit inside the sensor will convert this deformation into an electrical signal. By measuring the changes in these electrical signals, the rolling force feedback of the roller assembly can be measured in real time.

[0036] The roller assembly includes a roller 5, a bearing 6 and a mounting seat 7. The roller 5 is connected to the bearing 6, the bearing 6 is fixed on the mounting seat 7, the mounting seat 7 is connected to the mounting platform 4, and the roller assembly is driven to move by a motor motion mechanism.

[0037] The multi-laser module includes at least 4 groups of laser modules and an arc slide rail 20, and the arc slide rail 20 is installed on the feeding mechanism. Each group of laser modules includes a laser 9, a laser head 19 and a slider 18. The laser 9 is connected to the laser head 19 through an optical fiber 10. The laser head 19 is fixed on the slider 18, and the slider 18 is installed in the arc slide rail 20. The laser lateral irradiation optical path of the laser module is adjusted by changing the position of the slider 18 on the arc slide rail 20.

[0038] Further, such as Figure 2 As shown, the laser modules (or laser heads 19) are symmetrically distributed on both sides of the metal wire 24, and the laser beam 12 emitted by each group of laser modules irradiates the metal wire 24 from the side at a certain angle α, and the multiple laser beams 12 emitted by multiple groups of laser modules are combined into a conical beam focused on the convergence point of the metal wire 24 and the surface of the shaft part.

[0039] The lateral irradiation angle α of the laser beam 12 to the metal wire 24 ranges from 5° to 60°.

[0040] See also Figure 1 and Figure 2 In the process of the feeding mechanism conveying the metal wire 24 to the repaired area on the surface of the shaft part 17, the metal wire 24 is fed along the axis of the cone beam composed of multiple laser beams 12. This coaxial wire feeding method can ensure that the metal wire 24 can be accurately added to the molten pool, and that the metal wire 24 can be accurately melted by the laser beam to form a good metallurgical bond with the substrate. Compared with the traditional wire feeding method, this coaxial wire feeding has higher accuracy and stability, and can enable the multiple laser beams 12 emitted by multiple groups of laser modules to irradiate from both sides of the metal wire 24, improve the uniformity of the heat melting of the metal wire 24, and can greatly improve the quality and efficiency of additive manufacturing or repair. At the same time, compared with the traditional laser irradiation method, the conical light beam formed by the combination of multiple laser beams 12 of the present invention can be better inserted between the roller 5 and the shaft parts 17, avoiding the problem of the bottom laser beam being blocked by the shaft parts, so that the rolling point is closer to the heat source, the rolling temperature is higher, and the plastic deformation of the repair zone and the matrix heat affected zone is greater; and the laser energy density of the present invention is higher, the heat input is lower, the microstructure of the repair zone and the matrix heat affected zone is finer, and the mechanical properties are higher.

[0041] The distance between the contact point between the roller 5 and the surface of the shaft part 17 (rolling point) and the laser focus point is set to D LR , preferably, D LR The range is 5 mm ~30 mm.

[0042] Please continue reading Figure 1 and Figure 2The feeding mechanism includes a wire feeder 13, a wire feeder wheel 14, a wire feeder head 21 and a wire guide nozzle 23. The wire guide nozzle 23 is installed on the wire feeder head 21, the wire feeder head 21 is fixedly connected to the arc slide rail 20, the wire feeder wheel 14 is arranged in the wire feeder head 21, and the wire feeder 13 is arranged on the side of the wire feeder head 21 away from the wire guide nozzle 23. The metal wire 24 is installed on the wire feeding disc of the wire feeder 13, and is sequentially conveyed to the repair area on the surface of the shaft part 17 through the wire feeder wheel 14, the wire feeder head 21 and the wire guide nozzle 23. Among them, the metal wire 24 can be stably and accurately conveyed along the preset direction through the guidance of the wire feeder wheel 14, the wire feeder head 21 and the wire guide nozzle 23.

[0043] Furthermore, the feeding mechanism also includes a protective gas cylinder 15, a plurality of nozzles are provided at one end of the wire feeding head 21 near the wire guide nozzle 23, and a gas channel connected to the nozzle is provided inside the wire feeding head 21. The gas outlet of the protective gas cylinder 15 is connected to the gas channel, and the protective gas 22 in the protective gas cylinder 15 is transported to the area to be repaired on the surface of the shaft part 17 through the gas channel and the plurality of nozzles. The protective gas 22 can protect the shaft part 17 from damage by the laser.

[0044] Among them, the controller 16 can be a PLC controller, which is electrically connected to the motor drive module 1, the laser 9 and the wire feeder 13 respectively. The controller 16 sends control instructions to the motor drive module 1, the laser 9 and the wire feeder 13 to respectively control the movement of the motor 2, the turning on and off of the laser 9, and the starting and stopping of the wire feeder 13 to feed wire.

[0045] See also Figure 3 The present invention also provides a laser coaxial wire feeding additive-in-situ rolling composite repair method, which is applied to the laser coaxial wire feeding additive-in-situ rolling composite repair system as described above. Figure 1-Figure 4 As shown, the repair method includes the following steps: Step S1, setting the process parameters of laser additive repair-in-situ rolling composite repair of shaft parts, wherein the process parameters include the given amount of rolling force F G , the distance D between rolling point and laser focus point LR , power P of each laser module L , wire feeding speed W FS And rolling force tolerance E AF wait.

[0046] Step S2, turning on the indicator lights of the multiple laser modules and adjusting the positions of the multiple laser modules relative to the feeding mechanism so that the laser beams emitted by the multiple laser modules irradiate the convergence points of the metal wire and the surfaces of the shaft parts from the side at a preset inclination angle.

[0047] The lateral irradiation angle α of each laser beam 12 is adjusted by adjusting the position of the laser head 19 of each group of laser modules on the arc slide rail 20. It can be judged by the indicator light of each laser module whether each laser module is adjusted to a preset position, so that each laser beam 12 is focused laterally on the convergence point of the metal wire 24 and the surface of the shaft part 17.

[0048] Step S3, start the motor motion mechanism to move the roller surface of the roller assembly to the rolling point on the surface of the shaft part. The movement speed of the roller assembly is V O .

[0049] After the motor drive module 1 receives the control signal sent by the controller 16, the drive motor 2 drives the screw rod 3 and the mounting platform 4 to move, thereby moving the roller surface of the roller 5 to the rolling point on the surface of the shaft part 17, and adjusting the distance between the rolling point and the laser focus point to D LR .

[0050] Step S4, start the feeding mechanism to feed the metal wire to the area to be repaired on the surface of the shaft part, and simultaneously start multiple groups of laser modules to emit lasers to melt the metal wire and form a deposition layer on the area to be repaired on the surface of the shaft part.

[0051] Step S5: the motor movement mechanism drives the roller assembly to roll the deposited layer in situ, and the pressure sensor measures the rolling force feedback value F in real time. B , and the roller rolling force feedback F B Transmitted to the controller in real time.

[0052] Step S6: the controller sets the rolling force F according to the roller pressure. G The rolling force feedback F B The error controls the movement direction and speed of the roll assembly, thereby performing real-time regulation of the roll rolling force during the roll rolling process.

[0053] Step S7, determining whether the deposition of the Nth deposition layer is completed, if the deposition of the Nth deposition layer is completed, proceeding to step S8; otherwise, proceeding to step S5; wherein N is a positive integer greater than or equal to 1.

[0054] Step S8, moving the roller assembly, the discharge port of the feeding mechanism and the laser focus points of the multiple groups of laser modules up along the thickness direction of the deposition layer by a distance of the deposition layer thickness to enter the deposition of the next deposition layer.

[0055] Step S9, determine the number of layers N of the current deposition layer and the total number of layers N to be repaired M If the number of layers N of the current deposition layer is greater than or equal to the total number of layers N to be repaired M , go to step S10; otherwise, go to step S3.

[0056] Step S10, turning off multiple groups of laser modules, feeding mechanisms and motor motion mechanisms, and the laser additive repair-in-situ rolling composite repair process of shaft parts is completed.

[0057] Furthermore, the above step S6 includes the following steps: Step S6-1, the controller calculates the given amount of rolling force F G The rolling force feedback F B The actual error of rolling force E between GB ; Among them, E GB =F G -F B ; Step S6-2, determine |E GB │With E AF The size of E GB │Less than or equal to E AF , go to step S7; otherwise, go to step S6-3; Step S6-3, determine E GB and 0, if E GB If it is less than or equal to 0, go to step S6-3-1; otherwise, go to step S6-3-2; Step S6-3-1: The motor motion mechanism drives the roller assembly to move upward, and the movement speed of the roller assembly is V R ; Step S6-3-2: The motor motion mechanism drives the roller assembly to move downward, and the movement speed of the roller assembly is V R ; Step S6-4, determine |E GB │、0.1F G and 0.5F G The relationship between the three, if│E GB │More than 0.5F G , V R =0.5V O ; If│E GB │More than 0.1F G , and less than or equal to 0.5F G , VR=0.3VO; if │E GB │Less than or equal to 0.1F G , V R =0.1V O ; Enter step S7.

[0058] Preferably, the rolling force given amount F G The range is 0 kN ~100 kN.

[0059] Preferably, the distance D between the rolling point and the laser focus point is LRThe range is 5 mm ~30 mm.

[0060] Preferably, the power P of each laser module L The range is 100W ~3000W.

[0061] Preferably, the wire feeding speed W FS The range is 5 mm / s ~50 mm / s.

[0062] Preferably, the rolling force tolerance E AF The range is 0~5%F G .

[0063] Preferably, the movement speed V of the roller assembly is O The range is 0.1 mm / s ~5 mm / s.

[0064] Preferably, in the above step S2, the irradiation angle of the laser beam emitted by each group of laser modules to the metal wire is in the range of 5° to 60°.

[0065] The present invention adopts a closed-loop negative feedback control method to control the rolling force of the roller, with the rolling force as the feedback quantity and the movement direction and speed of the roller as the control quantity. Through a multi-stage speed adjustment method, rapid, real-time and precise control of the rolling force is achieved. The rolling deformation of the shaft repair area is stable and the tissue uniformity is high. It can effectively improve the anisotropy of the mechanical properties of the shaft repair parts and enhance the fatigue performance.

[0066] The laser coaxial wire feeding additive-in-situ rolling composite repair system and method of the present invention are analyzed in detail below by way of examples and comparative examples, as follows.

[0067] Example 1

[0068] EA4T shaft parts were selected as the repair objects, and ER55-B2 low alloy steel welding wire with a diameter of 1.2 mm was selected as the filler material. The chemical compositions of EA4T and ER55-B2 are shown in Table 1.

[0069] Table 1 Chemical composition of EA4T shaft parts and ER55-B2 metal wire (mass fraction%)

[0070] The laser coaxial wire feeding additive-in-situ rolling composite repair system for shaft parts of the present invention is used for additive repair.

[0071] Process steps: Step S1, setting the process parameters of laser additive repair-in-situ rolling composite repair of shaft parts: rolling force given amount F G: 25 kN; the distance between the rolling point and the laser focus point D LR :10 mm; the power of each laser module P L : 200 W; wire feeding speed W FS :8 mm / s; rolling force tolerance E AF :5%; Step S2, turn on the indicator light of each laser module one by one, adjust the position of each group of laser modules on the arc slide rail, adjust the lateral irradiation angle α of each laser beam to ±10, ±20 and ±30 respectively, so that each laser is focused from the side on the convergence point on the surface of the metal wire and shaft parts, and adjust the distance D between the rolling point and the laser focus point LR : 25 mm; Step S3, start the motor motion mechanism to move the roller surface of the roller assembly to the rolling point on the surface of the shaft part. The movement speed of the roller assembly is V O :2 mm / s.

[0072] Step S4, start the feeding mechanism to feed the metal wire to the area to be repaired on the surface of the shaft part, and simultaneously start multiple groups of laser modules to emit lasers to melt the metal wire and form a deposition layer on the area to be repaired on the surface of the shaft part.

[0073] Step S5: the motor movement mechanism drives the roller assembly to roll the deposited layer in situ, and the pressure sensor measures the rolling force feedback value F in real time. B , and the roller rolling force feedback F B Transmitted to the controller in real time.

[0074] Step S6: the controller sets the rolling force F according to the roller pressure. G The rolling force feedback F B The error controls the movement direction and speed of the roll assembly, thereby performing real-time regulation of the roll rolling force during the roll rolling process.

[0075] Step S6 specifically includes the following steps: Step S6-1, the controller calculates the given amount of rolling force F G (25 kN) and the roller rolling force feedback F B The actual error of rolling force E between GB ; Among them, E GB =F G -F B ; Step S6-2, determine |E GB │With the rolling force tolerance of 5%, if │E GB │Less than or equal to 5%, go to step S7; otherwise, go to step S6-3; Step S6-3, determine EGB and 0, if E GB If it is less than or equal to 0, go to step S6-3-1; otherwise, go to step S6-3-2; Step S6-3-1: The motor motion mechanism drives the roller assembly to move upward, and the movement speed of the roller assembly is V R ; Step S6-3-2: The motor motion mechanism drives the roller assembly to move downward, and the movement speed of the roller assembly is V R ; Step S6-4, determine |E GB │、0.1F G and 0.5F G The relationship between the three, if│E GB │More than 0.5F G , V R =0.5V O ; If│E GB │More than 0.1F G , and less than or equal to 0.5F G , V R =0.3V O ; If│E GB │Less than or equal to 0.1F G , V R =0.1V O ; Enter step S7.

[0076] Step S7, determining whether the deposition of the Nth deposition layer is completed, if the deposition of the Nth deposition layer is completed, proceeding to step S8; otherwise, proceeding to step S5; wherein N is a positive integer greater than or equal to 1.

[0077] Step S8, moving the roller assembly, the discharge port of the feeding mechanism and the laser focus points of the multiple laser modules upward along the thickness direction of the deposition layer by a distance H of the deposition layer thickness. N , H N The deposition into the next deposition layer is actually measured by vernier caliper.

[0078] Step S9, determine the number of layers N of the current deposition layer and the total number of layers N to be repaired M If the number of layers N of the current deposition layer is greater than or equal to the total number of layers N to be repaired M , go to step S10; otherwise, go to step S3.

[0079] Step S10, turning off multiple groups of laser modules, feeding mechanisms and motor motion mechanisms, and the laser additive repair-in-situ rolling composite repair process of shaft parts is completed.

[0080] Example 2

[0081] This embodiment selects EA4T shaft parts as the repair object, and selects ER55-B2 low alloy steel welding wire with a diameter of 1.2 mm as the filling material.

[0082] Compared with the above-mentioned embodiment 1, this embodiment shortens the distance D between the rolling point and the laser focus point. LR Specifically, the distance D between the rolling point and the laser focus point is LR The thickness is shortened to 10 mm, and other process parameters and process steps are the same as those in the above-mentioned embodiment 1, and the steps are not repeated here.

[0083] Comparative Example 1

[0084] Comparative Example 1 adopts the traditional laser wire feeding additive repair process for shaft parts without roller pressing and compounding, selects a circular laser coaxial wire feeding additive repair system, and uses a circular laser as the fuse heat source.

[0085] EA4T shaft parts were selected as the repair objects, and ER55-B2 low alloy steel welding wire with a diameter of 1.2 mm was selected as the filling material.

[0086] The process steps include: S1, set process parameters: laser power P: 1200 W; wire feeding speed W FS :8 mm / s; S2, turn on the indicator light of the laser and adjust the focusing position of the laser beam to the convergence point of the metal wire and the shaft surface; S3, laser light is turned on, wire feeding is started, and additive repair begins; S4, determine the number of deposition layers N and N M Size, where N M To repair the total number of layers, if N is greater than N M , go to step S5; if N is less than or equal to N M , proceed to step S3; S5, turn off the laser, stop wire feeding, and the laser wire feeding additive repair process ends.

[0087] Comparative Example 2

[0088] Comparative Example 2 adopts the existing arc wire feeding additive-rolling composite repair process for shaft parts, selects the arc wire feeding additive repair-rolling composite repair system, and uses the arc energy beam as the fuse heat source.

[0089] Electric arc is selected as the fuse heat source, EA4T shaft parts are selected as the repair object, and ER55-B2 low alloy steel welding wire with a diameter of 1.2mm is selected as the filling material.

[0090] The process steps include: S1, set the process parameters: arc current 180A, arc voltage 23V, wire feeding speed W FS :8 mm / s; S2, setting the convergence point of the arc and the metal wire so that the distance between the convergence point and the rolling point is adjusted to 25 mm; S3, start the motor movement mechanism to move the roller to the surface of the shaft parts at a speed of V O :2 mm / s; S4, start the wire feeding mechanism, start the arc, and start the additive repair; S5, determining whether the Nth deposition layer is finished, if the Nth deposition layer is finished, proceeding to step S6; if the Nth deposition layer is not finished, returning to step S4; wherein N is a positive integer greater than or equal to 1; S6, the roller and the laser move up in height direction by a distance H of the thickness of the deposition layer N , H N It is actually measured by a vernier caliper, and is deposited by entering the next layer; S7, rolling determines the number of deposition layers N and N M Size, where N M To repair the total number of layers, if N is greater than N M , go to step S8; if N is less than or equal to N M , proceed to step S3; S8, close the arc and wire feeding mechanism, stop the motor movement mechanism, and the arc wire feeding additive repair-rolling composite repair process ends.

[0091] Comparative Example 3

[0092] Comparative Example 3 adopts the laser coaxial wire feeding additive-in-situ rolling composite repair process for shaft parts without rolling force closed-loop feedback control, selects EA4T shaft parts as the repair object, and selects ER55-B2 low-alloy steel welding wire with a diameter of 1.2 mm as the filling material.

[0093] The laser wire feeding additive-in-situ rolling composite repair system for shaft parts of the present invention is used to perform additive repair; The process steps include: S1, set process parameters: rolling force F G : 25 kN; distance D between rolling point and laser focus point LR : 10 mm; Power of each laser module P: 200 W; Wire feeding speed W FS :8 mm / s; rolling force tolerance E AF :5%; S2, turn on the indicator light of each laser module one by one, adjust the position of each group of laser modules on the arc slide rail, adjust the lateral irradiation angle α of each laser beam to ±10, ±20 and ±30 respectively, so that each laser is focused from the side on the convergence point of the metal wire and the shaft surface, and the distance between the convergence point and the rolling point is adjusted to D LR : 25 mm; S3, start the motor movement mechanism to move the roller to the surface of the shaft parts at a speed of V O :2 mm / s; S4, starting the feeding mechanism and simultaneously starting multiple groups of laser modules to emit lasers to start additive repair; S5, determining whether the Nth deposition layer is completed, if the Nth deposition layer is completed, proceeding to step S6; if the Nth deposition layer is not completed, proceeding to step S4; wherein N is a positive integer greater than or equal to 1.

[0094] S6, move the roller and the laser up in the height direction by a distance H of the thickness of the deposition layer N , H N It is actually measured by a vernier caliper and enters the next layer of deposition; S7, determine the number of deposition layers N and N M Size, where N M To repair the total number of layers, if N is greater than N·, go to step S8; if N is less than or equal to NM, go to step S3; S8, turn off each laser module and feeding mechanism, stop the motor movement mechanism, and the laser coaxial wire feeding additive-roller pressing composite repair process ends.

[0095] The average grain size, tensile strength and elongation after fracture of the repaired shaft parts of Examples 1-2 and Comparative Examples 1-3 were quantitatively characterized, and the results are shown in Table 1: Table 1 Quantitative characterization results of indicators of the repaired area of ​​shaft parts repaired by additive manufacturing in the embodiment and comparative example

[0096] The results show that the laser coaxial wire feeding additive-in-situ rolling composite repair process for shaft parts provided by the present invention has good grain refinement and mechanical property improvement effects.

[0097] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a laser wire feeding additive-in-situ rolling composite repair system and method for shaft parts, which uses multiple laser beams to irradiate and focus from the side of the metal wire to melt and deposit the metal wire on the surface of the shaft part. At the same time, the deposited layer is rolled in-situ at high temperature to cause plastic deformation in the repair area and the heat-affected zone of the substrate, which has the following beneficial effects: 1. The present invention uses multiple laser beams to irradiate and focus the metal wire from the side to achieve melting and deposition of the metal wire. Compared with circumferential laser irradiation and focusing, it avoids the problem of the bottom laser beam being blocked by the shaft part, improves the laser energy utilization rate, and reduces the thermal effect of the laser on the shaft part substrate.

[0098] 2. The present invention performs in-situ roller rolling on the laser wire feeding additive repair area of ​​shaft parts. Compared with the conventional additive repair technology for shaft parts, roller rolling can impose plastic deformation on the repair area and the heat affected zone of the matrix. On the one hand, it changes the stress state of the repair area and the heat affected zone of the matrix, converts the tensile stress into compressive stress, and reduces the porosity and cracking tendency of the shaft repair parts. On the other hand, the deformation energy storage induces dynamic recrystallization in the repair area and the heat affected zone of the matrix, refines the grain structure, and improves the mechanical properties of the repaired parts.

[0099] 3. Compared with the arc wire feeding additive-in-situ rolling composite repair technology, the present invention has a wider allowable range of dry elongation of metal wire, a shorter distance between the rolling point and the heat source, a higher rolling temperature, and a greater plastic deformation of the repair zone and the heat-affected zone of the matrix; in addition, the laser energy density is higher, the heat input is lower, the microstructure of the repair zone and the heat-affected zone of the matrix is ​​finer, and the mechanical properties are higher.

[0100] 4. The in-situ roller-rolling composite repair technology of the present invention adopts a closed-loop negative feedback control method to control the roller rolling force, with the rolling force as the feedback quantity and the roller movement direction and movement speed as the control quantity. Through a multi-stage speed adjustment method, it can achieve rapid, real-time and precise control of the roller rolling force. The rolling deformation of the shaft repair area is stable and the organization is highly uniform, which can effectively improve the anisotropy of the mechanical properties of the shaft repair parts.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser coaxial wire feeding additive-in-situ rolling composite repair system, characterized in that: It includes a motor motion mechanism, a roller assembly, a multi-laser module, a controller, a feeding mechanism and a pressure sensor, wherein the motor motion mechanism, the multi-laser module, the feeding mechanism and the pressure sensor are all connected to the controller; The feeding mechanism holds the metal wire and is used to feed the metal wire to the area to be repaired on the surface of the shaft part; The multi-laser module includes multiple groups of laser modules, which are slidably mounted on the feeding mechanism, symmetrically distributed on both sides of the metal wire, and the laser beams emitted by the multiple groups of laser modules irradiate the metal wire and the convergence point of the surface of the shaft part from the side at a preset inclination angle, so that the metal wire is melted and forms a deposition layer in the area to be repaired on the surface of the shaft part; The roller assembly is arranged at the moving end of the motor moving mechanism and is used to roll the deposited layer; The pressure sensor is arranged on the motor motion mechanism, and is used to detect the rolling force feedback of the roller assembly in real time, and transmit the rolling force feedback to the controller in real time; The controller is used to control the movement direction and movement speed of the roller assembly according to the error between the given amount of the rolling force and the feedback amount of the rolling force, so as to perform real-time regulation of the rolling force during the rolling process.

2. The laser coaxial wire feeding additive-in-situ rolling composite repair system according to claim 1 is characterized in that: The motor motion mechanism includes a motor drive module, a motor, a lead screw and a mounting platform; One end of the motor drive module is connected to the controller, and the other end of the motor drive module is connected to the motor, and the controller drives the motor to move by controlling the motor drive module; one end of the lead screw is connected to the output shaft of the motor, and the other end of the lead screw is connected to the mounting platform, and the motor drives the mounting platform to move through the lead screw; Wherein, the pressure sensor is arranged between the motor and the lead screw.

3. The laser coaxial wire feeding additive-in-situ rolling composite repair system according to claim 2 is characterized in that: The roller assembly comprises a roller, a bearing and a mounting seat; The roller is connected to the bearing, the bearing is fixed on the mounting seat, the mounting seat is connected to the mounting platform, and the motor movement mechanism drives the roller assembly to move.

4. The laser coaxial wire feeding additive-in-situ rolling composite repair system according to claim 1 is characterized in that: The multi-laser module further comprises an arc slide rail, and the arc slide rail is mounted on the feeding mechanism; Each group of the laser modules includes a laser, a laser head and a slider. The laser is connected to the laser head via an optical fiber. The laser head is fixed on the slider. The slider is installed in the circular arc slide rail. The laser lateral irradiation light path of the laser module is adjusted by changing the position of the slider on the circular arc slide rail.

5. The laser coaxial wire feeding additive-in-situ rolling composite repair system according to claim 4 is characterized in that: The feeding mechanism comprises a wire feeder, a wire feeding wheel, a wire feeding head and a wire guide nozzle; The wire guide nozzle is installed on the wire feeding head, the wire feeding head is fixedly connected to the arc slide rail, the wire feeding wheel is arranged in the wire feeding head, and the wire feeding machine is arranged on the side of the wire feeding head away from the wire guide nozzle; the metal wire is installed on the wire feeding machine, and is sequentially transported through the wire feeding wheel, the wire feeding head and the wire guide nozzle to the area to be repaired on the surface of the shaft part.

6. The laser coaxial wire feeding additive-in-situ rolling composite repair system according to claim 5 is characterized in that: The feeding mechanism also includes a protective gas cylinder; The wire feeding head is provided with a plurality of nozzles at one end close to the wire guide nozzle, and a gas passage connected to the nozzle is provided inside the wire feeding head; the gas outlet of the protective gas cylinder is connected to the gas passage, and the protective gas in the protective gas cylinder is transported to the area to be repaired on the surface of the shaft part through the gas passage and the plurality of nozzles.

7. A laser coaxial wire feeding additive-in-situ rolling composite repair method, characterized in that: Applied to the laser coaxial wire feeding additive-in-situ rolling composite repair system according to any one of claims 1 to 6, the repair method comprises the following steps: Step S1, setting the process parameters of laser additive repair-in-situ rolling composite repair of shaft parts, wherein the process parameters include a given amount of rolling force; Step S2, turning on the indicator lights of the multiple groups of laser modules, and adjusting the positions of the multiple groups of laser modules relative to the feeding mechanism, so that the laser beams emitted by the multiple groups of laser modules irradiate the convergence point of the metal wire and the surface of the shaft part from the side at a preset inclination angle; Step S3, starting the motor motion mechanism to move the roller surface of the roller assembly to the rolling point on the surface of the shaft part; Step S4, starting the feeding mechanism to feed the metal wire to the area to be repaired on the surface of the shaft part, and simultaneously starting the plurality of laser modules to emit lasers to melt the metal wire and form a deposition layer on the area to be repaired on the surface of the shaft part; Step S5, the motor motion mechanism drives the roller assembly to perform in-situ roller rolling on the deposited layer, and the pressure sensor measures the roller rolling force feedback in real time, and transmits the roller rolling force feedback to the controller in real time; Step S6, the controller controls the movement direction and movement speed of the roller assembly according to the error between the given amount of the rolling force and the feedback amount of the rolling force, so as to perform real-time regulation on the rolling force during the rolling process.

8. The laser coaxial wire feeding additive-in-situ rolling composite repair method according to claim 7 is characterized in that: The repair method further comprises the following steps: Step S7, judging whether the deposition of the Nth deposition layer is completed, if the deposition of the Nth deposition layer is completed, proceeding to step S8; otherwise, proceeding to step S5; wherein N is a positive integer greater than or equal to 1; Step S8, the roller assembly, the discharge port of the feeding mechanism and the laser focus points of the plurality of laser modules are all moved up along the thickness direction of the deposition layer by a distance of the deposition layer thickness to enter the deposition of the next deposition layer; Step S9, judging the size of the number of layers of the current deposited layer and the total number of repaired layers. If the number of layers of the current deposited layer is greater than or equal to the total number of repaired layers, proceed to step S10; otherwise, proceed to step S3; Step S10, turning off the multiple groups of the laser modules, the feeding mechanism and the motor motion mechanism, and the laser additive repair-in-situ rolling composite repair process of the shaft parts is completed.

9. The laser coaxial wire feeding additive-in-situ rolling composite repair method according to claim 8, characterized in that: The process parameters also include rolling force tolerance, which is set to E AF , set the roller rolling force to F G , and setting the movement speed of the roller assembly in step S3 to V O , the step S6 comprises the following steps: Step S6-1, the controller calculates the actual rolling force error between the given rolling force and the feedback rolling force, and sets the actual rolling force error as E GB ; Step S6-2, determine |E GB │With E AF The size of E GB │Less than or equal to E AF , go to step S7; otherwise, go to step S6-3; Step S6-3, determine E GB and 0, if E GB If it is less than or equal to 0, go to step S6-3-1; otherwise, go to step S6-3-2; Step S6-3-1: the motor motion mechanism drives the roller assembly to move upward, and the movement speed of the roller assembly is V R ; Step S6-3-2: the motor motion mechanism drives the roller assembly to move downward, and the movement speed of the roller assembly is V R ; Step S6-4, determine |E GB │、0.1F G and 0.5F G The relationship between the three, if│E GB │More than 0.5F G , V R =0.5V O ; If│E GB │More than 0.1F G , and less than or equal to 0.5F G , V R =0.3V O ; If│E GB │Less than or equal to 0.1F G , V R =0.1V O .

10. The laser coaxial wire feeding additive-in-situ rolling composite repair method according to claim 7, characterized in that: In step S2, the irradiation angle range of the laser beam emitted by each group of the laser modules to the metal wire is 5°~60°, and the multiple laser beams emitted by multiple groups of the laser modules are combined into a conical beam focused on the convergence point on the surface of the metal wire and the shaft, and the metal wire is fed along the axis of the conical beam.

Images