A method of straightening a cable-type multi-strand hardfacing flux-cored wire

Abstract

The present application relates to the technical field of welding wire straightening, and discloses a cable type multi-strand hard surfacing flux-cored wire straightening method, which comprises the following steps: calculating the twisted coupling radial stress based on initial parameters, evaluating the flux yield probability index and calculating the dynamic compensation down pressure; calculating the longitudinal slip displacement by using the pressure and the material modulus, and then calculating the differential drive speed and the resonance excitation frequency; combining the cross-section moment of inertia and the resonance excitation frequency to obtain the torsional resonance energy density and the spatial phase shift angle, and calculating the anti-resonance tension; sequentially calculating the longitudinal tensile strain and the volume strain variable according to the anti-resonance tension, and obtaining the compaction density stiffness feedback coefficient; applying the coefficient to the dynamic compensation down pressure for closed-loop correction, and outputting the final dynamic compensation down pressure; finally, combining the surface friction coefficient to calculate the straightening wheel drive torque, and issuing the bottom equipment control instruction to adjust the servo motor.

Description

Technical Field

[0001] This invention relates to the field of welding wire straightening technology, specifically to a method for straightening cable-type multi-strand hardface welding flux-cored wire. Background Technology

[0002] In the manufacturing process of welding materials, the straightening of cable-type multi-strand hardface flux-cored welding wire is a necessary step to ensure smooth wire feeding. Existing wire straightening technologies mostly employ mechanical straightening methods relying on macroscopic bending deflection feedback. These methods are typically based on conventional linear contact mechanics models, directly setting the initial downward pressure of the straightening rollers through mechanical reduction. However, cable-type multi-strand hardface flux-cored welding wire has a complex stranded structure. In actual straightening scenarios, when the welding wire is compressed by the straightening roller assembly, the normal pressure is non-uniformly transmitted along the strand angle of the outer strands. Existing straightening technologies often neglect this stranded mechanical coupling phenomenon. This leads to radial stress concentration in the flux-cored coating layer under pressure, resulting in microcracks in the internal flux powder due to excessive local pressure. Simultaneously, during the application of downward pressure, asynchronous axial extension occurs between the compressed outer metal strands and the internal flux. This extension manifests microscopically as longitudinal slippage between layers, easily causing the overall structure of the welding wire to become loose. To address this type of slippage problem, speed compensation mechanisms may be introduced in some industrial settings. However, when applied to multi-strand welding wires with inherent twisting angles, simple speed changes can induce torsional resonance energy, disrupting the spatial straightness of the welding wire during straightening. Furthermore, when applying mechanical tension to suppress such resonance, the tensile force induces lateral Poisson contraction of the welding wire. This microscopic contraction causes volumetric strain changes in the internal flux core, resulting in a physical shift in the compaction density stiffness of the powder within the flux core. Existing straightening control systems fail to capture this microscopic volumetric phase change feedback. The calculated compensation pressure may exhibit undercompensation or overcompensation after the compaction stiffness shift, causing the system to fail to output a final dynamic compensation pressure that matches the actual mechanical state, thus hindering the accurate output of the straightening wheel drive torque to the underlying servo motor.

[0003] In summary, a method for straightening cable-type multi-strand hardface flux-cored welding wire is needed. By constructing a micromechanical feedback closed loop, the stiffness deviation caused by radial damage, interlayer slip, and volume phase transformation can be solved, thereby achieving accurate output of straightening torque. Summary of the Invention

[0004] This invention provides a method for straightening cable-type multi-strand hardface welding flux-cored wire, which helps to solve the problems mentioned in the background art.

[0005] This invention provides the following technical solution: a method for straightening cable-type multi-strand hardface welding flux-cored wire, comprising:

[0006] Based on the initial reference downward pressure, the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the stranding angle of the outer strands, the radial stress of the stranding coupling is calculated.

[0007] The yield probability index of the core is calculated based on the stranded coupling radial stress, the core elastic modulus, and the outer strand strand strand twisting angle, and the dynamic compensation pressure is calculated in conjunction with the initial reference downward pressure.

[0008] The longitudinal slip displacement is calculated using the dynamic compensation downward pressure, the shear modulus of the strand material, the nominal radius of the multi-strand welding wire, and the twisting angle of the outer strand.

[0009] The differential drive speed is calculated based on the longitudinal sliding displacement, the contact length of the straightening wheel, and the initial traction speed, and the resonance excitation frequency is calculated by combining the nominal radius of the multi-strand welding wire and the twisting angle of the outer strand.

[0010] The moment of inertia per unit length of the cross section is calculated using the mass of the welding wire per unit length and the nominal radius of the multi-strand welding wire. The torsional resonance energy density and spatial phase shift angle are then obtained by combining the resonant excitation frequency, and the anti-resonance tension is calculated accordingly.

[0011] Based on the anti-resonance tension, the elastic modulus of the strand and the Poisson's ratio of the strand, the longitudinal tensile strain and the volumetric strain variable are calculated sequentially, and the compaction density stiffness feedback coefficient is calculated based on the maximum volumetric strain limit set value.

[0012] The compaction density stiffness feedback coefficient is applied to the dynamic compensation downward pressure, and the final dynamic compensation downward pressure is output after closed-loop correction calculation.

[0013] The straightening wheel drive torque is calculated by combining the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the surface friction coefficient, and the servo motor is adjusted by issuing the underlying equipment drive control command based on the straightening wheel drive torque.

[0014] Optionally, the calculation of the stranded coupling radial stress based on the initial reference downward pressure, the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the stranding angle of the outer strands includes:

[0015] A laser diameter measuring instrument, a high-resolution visual encoder, and a tension sensor are respectively installed at the entrance and exit of the straightening equipment, and a servo drive torque feedback interface is installed at the end of each straightening wheel axle.

[0016] After the equipment is turned on, the traction mechanism guides the welding wire at a constant speed;

[0017] Acquire the initial reference downward pressure collected by the sensor, as well as the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the twisting angle of the outer strands inherent to the device;

[0018] Calculate the ratio of the initial reference downward pressure to the product of the nominal radius of the multi-strand welding wire and the contact length of the straightening wheel;

[0019] Obtain the cosine value of the outer strand twist angle and calculate the square of the cosine value;

[0020] The radial stress of the twisted coupling is calculated by multiplying the ratio by the square of the cosine value.

[0021] Optionally, the step of calculating the core yield probability index based on the stranded coupling radial stress, the core elastic modulus, and the outer strand strand strand twisting angle, and calculating the dynamic compensation pressure in conjunction with the initial reference pressure, includes:

[0022] Obtain the inherent elastic modulus of the core material;

[0023] Calculate the ratio of the radial stress of the stranded coupling to the elastic modulus of the core.

[0024] Obtain the tangent value of the twist angle of the outer strands;

[0025] Multiplying the ratio by the tangent value yields the yield probability index of the core.

[0026] Obtain the sine value of the outer strand twist angle;

[0027] Multiplying the yield probability index of the core material by the sine value yields an intermediate product term;

[0028] The numerical difference is obtained by subtracting the intermediate product term from the numerical value.

[0029] The dynamic compensation pressure is calculated by multiplying the initial reference pressure by the numerical difference.

[0030] Optionally, the calculation of longitudinal slip displacement using the dynamic compensation downward pressure, the shear modulus of the strand material, the nominal radius of the multi-strand welding wire, and the strand twisting angle of the outer strands includes:

[0031] Obtain the inherent shear modulus of the material strands;

[0032] Calculate the product of the dynamic compensation downward pressure and the contact length of the straightening wheel, and use it as the first product term;

[0033] Calculate the square of the nominal radius of the multi-strand welding wire;

[0034] Calculate the product of the shear modulus of the strand material and its square, and use it as the second product term;

[0035] Calculate the ratio of the first product term to the second product term;

[0036] Obtain the sine value of the outer strand twist angle;

[0037] The longitudinal slip displacement is calculated by multiplying the ratio by the sine value.

[0038] Optionally, the step of calculating the differential drive speed based on the longitudinal sliding displacement, the contact length of the straightening wheel, and the initial traction speed, and calculating the resonant excitation frequency in combination with the nominal radius of the multi-strand welding wire and the twisting angle of the outer strands, includes:

[0039] Obtain the initial traction speed;

[0040] Calculate the ratio of the longitudinal sliding displacement to the contact length of the straightening wheel;

[0041] Adding a value of one to the ratio yields the speed adjustment coefficient.

[0042] The differential drive speed is calculated by multiplying the initial traction speed by the speed adjustment coefficient.

[0043] Calculate the difference between the differential drive speed and the initial traction speed;

[0044] Calculate the product of the nominal radius of the multi-strand welding wire and the twisting angle of the outer strands;

[0045] The ratio of the difference to the product is calculated to obtain the resonant excitation frequency.

[0046] Optionally, the step of calculating the moment of inertia per unit length section using the mass of the welding wire per unit length and the nominal radius of the multi-strand welding wire, and then calculating the torsional resonance energy density and spatial phase shift angle by combining the resonant excitation frequency, and further calculating the anti-resonance tension, includes:

[0047] To obtain the inherent mass per unit length of welding wire;

[0048] Calculate the square of the nominal radius of the multi-strand welding wire;

[0049] The moment of inertia per unit length of the cross section is calculated by multiplying the mass of the welding wire per unit length by the square of the mass.

[0050] Calculate the product of the numerical value 2, pi, and the resonant excitation frequency;

[0051] Find the square of this consecutive product;

[0052] The torsional resonance energy density is calculated by successively multiplying half of the value, the moment of inertia per unit length section, and the square value.

[0053] Calculate the product of the contact length of the straightening wheel and the resonant excitation frequency;

[0054] Calculate the ratio of this product to the initial traction speed to obtain the spatial phase offset angle;

[0055] Calculate the product of the torsional resonance energy density and the contact length of the straightening wheel;

[0056] Calculate the ratio of this product to the nominal radius of the multi-strand welding wire;

[0057] Obtain the sine value of the spatial phase offset angle;

[0058] The anti-resonance tension is calculated by multiplying the ratio by the sine value.

[0059] Optionally, the step of calculating the longitudinal tensile strain and volumetric strain variables sequentially based on the anti-resonance tension, the elastic modulus of the strand, and the Poisson's ratio of the strand, and calculating the compaction density stiffness feedback coefficient based on the maximum volumetric strain limit set value, includes:

[0060] Obtain the elastic modulus and Poisson's ratio of the stock line;

[0061] Set the maximum volumetric strain limit setting value;

[0062] Calculate the square of the nominal radius of the multi-strand welding wire;

[0063] Calculate the continuous product of the elastic modulus of the strand, pi, and the square of the value;

[0064] The longitudinal tensile strain is calculated by calculating the ratio of the anti-resonance tension to the continuous product.

[0065] Calculate the product of the numerical value two and the Poisson's ratio of the strand;

[0066] Subtracting the product from the numerical value yields the Poisson contractility coefficient.

[0067] The volumetric strain variable is calculated by multiplying the longitudinal tensile strain by the Poisson's contraction coefficient.

[0068] Calculate the ratio of the volumetric strain variable to the maximum volumetric strain limit setting value;

[0069] Adding the value of one to this ratio yields the compaction density stiffness feedback coefficient.

[0070] Optionally, applying the compaction density stiffness feedback coefficient to the dynamic compensation downward pressure, and outputting the final dynamic compensation downward pressure after closed-loop correction calculation, includes:

[0071] The final dynamic compensation pressure is calculated by multiplying the dynamic compensation pressure by the compaction density stiffness feedback coefficient.

[0072] Optionally, the step of calculating the straightening wheel drive torque by combining the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the surface friction coefficient, and adjusting the servo motor by issuing a drive control command to the underlying equipment based on the straightening wheel drive torque, includes:

[0073] Set the surface friction coefficient;

[0074] Adding a value of one to the surface friction coefficient yields the friction amplification factor.

[0075] The straightening wheel drive torque is calculated by successively multiplying the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the friction amplification coefficient.

[0076] The servo motor is adjusted based on the drive torque of the straightening wheel, which sends a drive control command to the underlying device.

[0077] The present invention has the following beneficial effects:

[0078] 1. Based on parameters such as the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the stranding angle of the outer strands, the system sequentially calculates the stranding coupling radial stress, dynamic compensation downward pressure, longitudinal slip displacement, differential drive speed, anti-resonance tension, and compaction density stiffness feedback coefficient. Finally, it outputs the straightening wheel drive torque to adjust the underlying servo motor. This solution establishes the equipment straightening control logic for cable-type multi-strand hardface flux-cored welding wire. In the specific processing environment of cable-type multi-strand welding wire straightening, this type of welding wire has a special structure where the outer strands are stranded and encapsulate the powdered flux core. Conventional mechanical compression can cause stress concentration, leading to compressive yielding of the flux core and longitudinal slip displacement of the internal and external structures. Furthermore, torsional resonance is easily induced during traction operation, while applying physical tension can induce Poisson contraction, causing a phase transition shift in the compaction density stiffness of the flux core. This solution converts the material's microscopic yield probability, slip deformation, resonance excitation frequency, and volumetric strain variables into servo control commands. This process can reduce the microscopic damage to the flux core caused by radial stress concentration, compensate for the structural loosening caused by strand slippage, weaken the torsional resonance energy density, and use the feedback coefficient to correct the stiffness change caused by volumetric strain, so that the final output control torque can adapt to the actual mechanical state after the flux core phase transformation, and maintain the structural stability and continuity of the composite welding wire in the straightening process.

[0079] 2. By configuring laser diameter measuring instruments, high-resolution visual encoders, and tension sensors at specific locations on the straightening equipment, and acquiring the initial reference downward pressure, the nominal radius of the multi-strand welding wire, the contact length with the straightening wheel, and the outer strand twisting angle, the initial reference downward pressure is spatially projected onto the initial reference downward pressure based on the square cosine of the outer strand twisting angle. The twisted coupling radial stress is calculated, transforming the traditional linear contact mechanics model into a three-dimensional transmission model adapted to the cable-type welding wire twisting structure. This model considers the dispersive and obstructive effect of the outer spiral angle of the multi-strand welding wire on the vertical downward pressure, restoring the actual normal force state acting on the flux-cored coating layer. This establishes a reliable physical analysis benchmark for subsequent micromechanical evolution prediction.

[0080] 3. By introducing the obtained intrinsic elastic modulus of the flux core, combined with the pre-calculated stranded coupling radial stress and the stranding angle of the outer strands, the yield probability index of the flux core is calculated. This index is then used to dynamically attenuate the initial reference pressure, and the dynamic compensation pressure is calculated. This quantifies the critical failure index of the internal flux core structure under complex pressure conditions, alleviates the local stress concentration phenomenon caused by the non-uniform transmission of radial stress along the stranding angle when the cable stranded structure is subjected to pressure after passing through a conventional straightening wheel set, reduces the probability of structural fracture caused by the internal filling flux core powder exceeding the material's compressive strength threshold due to local pressure, and maintains the internal structural integrity of the composite welding wire material.

[0081] 4. By obtaining the inherent shear modulus of the wire strands and comprehensively utilizing the calculated dynamic compensation pressure and the sinusoidal distribution characteristics of the nominal radius of the multi-strand welding wire and the twisting angle of the outer strands, the longitudinal slip displacement is calculated based on the physical relationship of shear deformation. This quantifies the degree of asynchronous axial extension between the outer metal strands and the inner flux core layer after applying dynamic compensation pressure. The non-uniform unfolding of elastic deformation on the helical path is transformed into a specific longitudinal geometric misalignment index, revealing the mechanical evolution process of the loosening of the overall structure of the welding wire under forced conditions. This provides a quantitative kinematic reference index for the subsequent speed adjustment and mechanical synchronous compensation operation of the traction wheel set.

[0082] 5. By obtaining the initial traction speed and combining it with the previously calculated ratio between the longitudinal sliding displacement and the contact length of the straightening wheel, a differential driving speed is generated to counteract structural looseness. Furthermore, by utilizing the difference between this differential driving speed and the initial traction speed, as well as the product of the nominal radius of the multi-strand welding wire and the twisting angle of the outer strand, the resonance excitation frequency is calculated. While compensating for the relative sliding displacement of the inner and outer layers, the dynamic force balance state broken by the difference in traction speed acting on the helical twisted structure is captured, and the periodic vibration frequency characteristics derived from this imbalance state are identified, indicating the specific dynamic intervention frequency band for subsequent intervention to suppress mechanical amplitude.

[0083] 6. By obtaining the inherent mass per unit length of welding wire and combining it with the nominal radius of the multi-strand welding wire, the moment of inertia per unit length section is calculated. The torsional resonance energy density is obtained using this moment of inertia and the resonant excitation frequency. The spatial phase offset angle is derived by combining the initial traction speed. Finally, the anti-resonance tension is calculated by sinusoidal projection. Based on the law of rotational dynamics, the internal torsional kinetic energy accumulated by the welding wire due to forced resonance during the straightening process is extracted. The problem of eliminating the destruction of spatial straightness is transformed into a solution for suppressing tension. This allows the straightening mechanism to apply a reverse restraining force feedforward at a specific spatial phase angle, thereby weakening the adverse effects of torsional resonance on the stability of cable welding wire processing.

[0084] 7. By introducing the elastic modulus and Poisson's ratio of the strand, the applied anti-resonance tension is converted into longitudinal tensile strain based on the Poisson effect of solid materials. Then, the transverse shrinkage caused by this tensile strain, i.e., the volumetric strain variable, is derived. Based on the maximum volumetric strain limit set value, the compaction density stiffness feedback coefficient is calculated by normalization. This captures the physical phase transition process caused by the decrease in porosity of the internal flux core powder when the welding wire is stretched under tension. The degree of displacement caused by the micro-shrinkage of the flux core volume to enhance its resistance to external deformation is quantified. The complex compaction phase transition mechanism of micro-particle media is transformed into a macroscopically callable engineering feedback coefficient, which establishes an adjustment basis for adaptive changes in the internal mechanical state of materials.

[0085] 8. By directly applying the compaction density stiffness feedback coefficient, which contains the material stiffness variation characteristics, to the dynamic compensation pressure calculated based on the initial state, a closed-loop product correction calculation is performed to output the final dynamic compensation pressure. This overcomes the control lag defect caused by the powder compaction hardening due to anti-resonance tension, which leads to the mismatch of the original pressure. It prevents the system from applying disproportionate mechanical loads when the core stiffness drifts, avoids the straightening failure caused by under-compensation of pressure and the wire crushing caused by over-compensation of pressure, and enables the output control parameters to closely match the real-time dynamic physical properties of the material under multiple forced states.

[0086] 9. By setting the surface friction coefficient based on physical testing of the contact interface, and superimposing this coefficient with the product of the final dynamic compensation pressure and the nominal radius of the multi-strand welding wire, the driving torque of the straightening wheel is calculated. Based on this driving torque, the underlying equipment drive control command is issued to adjust the servo motor. The theoretical pressure after multi-element mechanical decoupling and phase change correction is converted into an electromechanical torque parameter to overcome contact friction. This opens up the physical control link from the upper-level micro-deformation analysis to the lower-level hardware action execution, enabling the servo drive system to output control power that matches the forced slip boundary, ensuring the continuity of the welding wire traction feed action and the steady-state response of the servo adjustment. Attached Figure Description

[0087] Figure 1 This is a schematic diagram of the basic process of the present invention.

[0088] Figure 2 This is a schematic diagram illustrating the principle of radial stress and slip displacement prediction in this invention.

[0089] Figure 3 This is a schematic diagram illustrating the principle of torsional resonance identification and tension suppression in this invention.

[0090] Figure 4 This is a schematic diagram illustrating the stiffness feedback correction and torque output principle of the present invention. Detailed Implementation

[0091] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0092] Example 1, refer to Figure 1 A method for straightening cable-type multi-strand hardface flux-cored welding wire, comprising:

[0093] Based on the initial reference downward pressure, the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the stranding angle of the outer strands, the radial stress of the stranding coupling is calculated.

[0094] The yield probability index of the core is calculated based on the stranded coupling radial stress, the core elastic modulus, and the outer strand strand strand twisting angle, and the dynamic compensation pressure is calculated in conjunction with the initial reference downward pressure.

[0095] The longitudinal slip displacement is calculated using the dynamic compensation downward pressure, the shear modulus of the strand material, the nominal radius of the multi-strand welding wire, and the twisting angle of the outer strand.

[0096] The differential drive speed is calculated based on the longitudinal sliding displacement, the contact length of the straightening wheel, and the initial traction speed, and the resonance excitation frequency is calculated by combining the nominal radius of the multi-strand welding wire and the twisting angle of the outer strand.

[0097] The moment of inertia per unit length of the cross section is calculated using the mass of the welding wire per unit length and the nominal radius of the multi-strand welding wire. The torsional resonance energy density and spatial phase shift angle are then obtained by combining the resonant excitation frequency, and the anti-resonance tension is calculated accordingly.

[0098] Based on the anti-resonance tension, the elastic modulus of the strand and the Poisson's ratio of the strand, the longitudinal tensile strain and the volumetric strain variable are calculated sequentially, and the compaction density stiffness feedback coefficient is calculated based on the maximum volumetric strain limit set value.

[0099] The compaction density stiffness feedback coefficient is applied to the dynamic compensation downward pressure, and the final dynamic compensation downward pressure is output after closed-loop correction calculation.

[0100] The straightening wheel drive torque is calculated by combining the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the surface friction coefficient, and the servo motor is adjusted by issuing the underlying equipment drive control command based on the straightening wheel drive torque.

[0101] The calculation of the stranded coupling radial stress based on the initial reference downward pressure, the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the stranding angle of the outer strands includes:

[0102] A laser diameter measuring instrument, a high-resolution visual encoder, and a tension sensor are respectively installed at the entrance and exit of the straightening equipment, and a servo drive torque feedback interface is installed at the end of each straightening wheel axle.

[0103] After the equipment is turned on, the traction mechanism guides the welding wire at a constant speed;

[0104] Acquire the initial reference downward pressure collected by the sensor, as well as the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the twisting angle of the outer strands inherent to the device;

[0105] Calculate the ratio of the initial reference downward pressure to the product of the nominal radius of the multi-strand welding wire and the contact length of the straightening wheel;

[0106] Obtain the cosine value of the outer strand twist angle and calculate the square of the cosine value;

[0107] The radial stress of the twisted coupling is calculated by multiplying the ratio by the square of the cosine value.

[0108] The step of calculating the core yield probability index based on the stranded coupling radial stress, the core elastic modulus, and the outer strand strand strand twisting angle, and calculating the dynamic compensation pressure in conjunction with the initial reference pressure, includes:

[0109] Obtain the inherent elastic modulus of the core material;

[0110] Calculate the ratio of the radial stress of the stranded coupling to the elastic modulus of the core.

[0111] Obtain the tangent value of the twist angle of the outer strands;

[0112] Multiplying the ratio by the tangent value yields the yield probability index of the core.

[0113] Obtain the sine value of the outer strand twist angle;

[0114] Multiplying the yield probability index of the core material by the sine value yields an intermediate product term;

[0115] The numerical difference is obtained by subtracting the intermediate product term from the numerical value.

[0116] The dynamic compensation pressure is calculated by multiplying the initial reference pressure by the numerical difference.

[0117] The calculation of longitudinal slip displacement using the dynamic compensation downward pressure, the shear modulus of the strand material, the nominal radius of the multi-strand welding wire, and the strand twisting angle of the outer strands includes:

[0118] Obtain the inherent shear modulus of the material strands;

[0119] Calculate the product of the dynamic compensation downward pressure and the contact length of the straightening wheel, and use it as the first product term;

[0120] Calculate the square of the nominal radius of the multi-strand welding wire;

[0121] Calculate the product of the shear modulus of the strand material and its square, and use it as the second product term;

[0122] Calculate the ratio of the first product term to the second product term;

[0123] Obtain the sine value of the outer strand twist angle;

[0124] The longitudinal slip displacement is calculated by multiplying the ratio by the sine value.

[0125] The calculation of the differential drive speed based on the longitudinal slip displacement, the contact length of the straightening wheel, and the initial traction speed, and the calculation of the resonant excitation frequency in combination with the nominal radius of the multi-strand welding wire and the twisting angle of the outer strands, includes:

[0126] Obtain the initial traction speed;

[0127] Calculate the ratio of the longitudinal sliding displacement to the contact length of the straightening wheel;

[0128] Adding a value of one to the ratio yields the speed adjustment coefficient.

[0129] The differential drive speed is calculated by multiplying the initial traction speed by the speed adjustment coefficient.

[0130] Calculate the difference between the differential drive speed and the initial traction speed;

[0131] Calculate the product of the nominal radius of the multi-strand welding wire and the twisting angle of the outer strands;

[0132] The ratio of the difference to the product is calculated to obtain the resonant excitation frequency.

[0133] The calculation of the moment of inertia per unit length section using the mass of the welding wire per unit length and the nominal radius of the multi-strand welding wire, combined with the resonant excitation frequency to determine the torsional resonance energy density and spatial phase shift angle, and then calculating the anti-resonance tension, includes:

[0134] To obtain the inherent mass per unit length of welding wire;

[0135] Calculate the square of the nominal radius of the multi-strand welding wire;

[0136] The moment of inertia per unit length of the cross section is calculated by multiplying the mass of the welding wire per unit length by the square of the mass.

[0137] Calculate the product of the numerical value 2, pi, and the resonant excitation frequency;

[0138] Find the square of this consecutive product;

[0139] The torsional resonance energy density is calculated by successively multiplying half of the value, the moment of inertia per unit length section, and the square value.

[0140] Calculate the product of the contact length of the straightening wheel and the resonant excitation frequency;

[0141] Calculate the ratio of this product to the initial traction speed to obtain the spatial phase offset angle;

[0142] Calculate the product of the torsional resonance energy density and the contact length of the straightening wheel;

[0143] Calculate the ratio of this product to the nominal radius of the multi-strand welding wire;

[0144] Obtain the sine value of the spatial phase offset angle;

[0145] The anti-resonance tension is calculated by multiplying the ratio by the sine value.

[0146] The step of calculating longitudinal tensile strain and volumetric strain variables sequentially based on the anti-resonance tension, the elastic modulus of the strand, and the Poisson's ratio of the strand, and calculating the compaction density stiffness feedback coefficient based on the maximum volumetric strain limit setpoint, includes:

[0147] Obtain the elastic modulus and Poisson's ratio of the stock line;

[0148] Set the maximum volumetric strain limit setting value;

[0149] Calculate the square of the nominal radius of the multi-strand welding wire;

[0150] Calculate the continuous product of the elastic modulus of the strand, pi, and the square of the value;

[0151] The longitudinal tensile strain is calculated by calculating the ratio of the anti-resonance tension to the continuous product.

[0152] Calculate the product of the numerical value two and the Poisson's ratio of the strand;

[0153] Subtracting the product from the numerical value yields the Poisson contractility coefficient.

[0154] The volumetric strain variable is calculated by multiplying the longitudinal tensile strain by the Poisson's contraction coefficient.

[0155] Calculate the ratio of the volumetric strain variable to the maximum volumetric strain limit setting value;

[0156] Adding the value of one to this ratio yields the compaction density stiffness feedback coefficient.

[0157] The step of applying the compaction density stiffness feedback coefficient to the dynamic compensation compressive pressure, and outputting the final dynamic compensation compressive pressure after closed-loop correction calculation, includes:

[0158] The final dynamic compensation pressure is calculated by multiplying the dynamic compensation pressure by the compaction density stiffness feedback coefficient.

[0159] The process of calculating the straightening wheel drive torque by combining the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the surface friction coefficient, and then issuing a drive control command to the underlying equipment to adjust the servo motor based on the straightening wheel drive torque, includes:

[0160] Set the surface friction coefficient;

[0161] Adding a value of one to the surface friction coefficient yields the friction amplification factor.

[0162] The straightening wheel drive torque is calculated by successively multiplying the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the friction amplification coefficient.

[0163] The servo motor is adjusted based on the drive torque of the straightening wheel, which sends a drive control command to the underlying device.

[0164] Example 2: A method for straightening a cable-type multi-strand hardfacing flux-cored welding wire, comprising:

[0165] The radial stress of the stranded coupling is calculated based on the initial reference pressure, the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the stranding angle of the outer strands, with reference to... Figure 2 , Figure 2 This is a schematic diagram illustrating the principle of radial stress and slip displacement prediction in this invention. It shows the path from initial downward pressure to radial stress and the calculation of interlayer slip, including:

[0166] The purpose of this step is to transform the traditional linear contact mechanics model into a three-dimensional transmission model that adapts to the characteristics of cable stranding.

[0167] A laser diameter measuring instrument, a high-resolution visual encoder, and a tension sensor are respectively installed at the entrance and exit of the straightening equipment, and a servo drive torque feedback interface is installed at the end of each straightening wheel axle.

[0168] After the equipment is turned on, the traction mechanism guides the welding wire at a constant speed;

[0169] First, obtain the initial reference downforce acquired by the sensor. And obtain the nominal radius of the multi-strand welding wire inherent in the equipment. Length of contact with straightening wheel Twisting angle with outer strands ;

[0170] Because the outer strands of the multi-strand welding wire have a helical angle, the applied vertical downward pressure will be dispersed. Therefore, it is necessary to first calculate the stranded coupling radial stress actually acting on the flux-cored coating layer to provide a reference physical quantity for subsequent yield analysis. The stranded coupling radial stress is calculated using the following formula:

[0171] in, This indicates the radial stress of the stranded coupling. This indicates the initial reference downward pressure. Indicates the nominal radius of multi-strand welding wire. Indicates the contact length of the straightening wheel. Indicates the twist angle of the outer strands.

[0172] By configuring laser diameter measuring instruments, high-resolution visual encoders, and tension sensors at specific locations on the straightening equipment, and acquiring the initial reference downward pressure, the nominal radius of the multi-strand welding wire, the contact length with the straightening wheel, and the twisting angle of the outer strands, the initial reference downward pressure is spatially projected onto the initial reference downward pressure based on the square cosine of the outer strand twisting angle. The twisted coupling radial stress is calculated, transforming the traditional linear contact mechanics model into a three-dimensional transmission model adapted to the cable-type welding wire twisting structure. This model considers the dispersive and obstructive effect of the outer spiral angle of the multi-strand welding wire on the vertical downward pressure, restoring the actual normal force state acting on the flux-cored coating layer. This establishes a reliable physical analysis benchmark for subsequent micromechanical evolution prediction.

[0173] The step of calculating the core yield probability index based on the stranded coupling radial stress, the core elastic modulus, and the outer strand strand strand twisting angle, and calculating the dynamic compensation pressure in conjunction with the initial reference pressure, includes:

[0174] This step is used to address the problem of microcracks in the core material caused by radial stress concentration.

[0175] First, obtain the inherent elastic modulus of the core material. ;

[0176] The failure probability index of the internal core structure under the current stress state is calculated. This index is then used to compensate for the attenuation of the initial pressure, ensuring that the applied straightening pressure does not exceed the critical point of the core's structural integrity. The yield probability index of the core is calculated using the following formula:

[0177] in, This represents the yield probability index of the drug core. This indicates the radial stress of the stranded coupling. Indicates the elastic modulus of the drug core. Indicates the twist angle of the outer strands;

[0178] After obtaining the above indices, the dynamic compensation downward pressure is calculated using the following formula:

[0179] in, This indicates the dynamic compensation downward pressure. This indicates the initial reference downward pressure. This represents the yield probability index of the drug core. Indicates the twist angle of the outer strands.

[0180] By introducing the obtained intrinsic elastic modulus of the flux core, combined with the pre-calculated stranded coupling radial stress and the stranding angle of the outer strands, the yield probability index of the flux core is calculated. This index is then used to dynamically attenuate the initial reference pressure, and the dynamic compensation pressure is calculated. This quantifies the critical failure index of the internal flux core structure under complex pressure conditions, alleviates the local stress concentration phenomenon caused by the non-uniform transmission of radial stress along the stranding angle when the cable stranded structure is subjected to pressure after passing through a conventional straightening wheel set, reduces the probability of structural fracture caused by the internal filling flux core powder exceeding the material's compressive strength threshold due to local pressure, and maintains the internal structural integrity of the composite welding wire material.

[0181] The calculation of longitudinal slip displacement using the dynamic compensation downward pressure, the shear modulus of the strand material, the nominal radius of the multi-strand welding wire, and the strand twisting angle of the outer strands includes:

[0182] This step is used to identify the problem of compensating pressure-induced interlayer slip;

[0183] First, obtain the inherent shear modulus of the wire strand material. ;

[0184] After applying dynamic compensation pressure, the elastic deformation unfolds along the helical path, causing asynchronous axial extension of the metal strands and the core layer. This step calculates the longitudinal slip displacement during a single straightening process based on the shear deformation principle. The longitudinal slip displacement is calculated using the following formula:

[0185] in, Indicates longitudinal sliding displacement. This indicates the dynamic compensation downward pressure. Indicates the contact length of the straightening wheel. Indicates the shear modulus of the wire strand material. Indicates the nominal radius of multi-strand welding wire. Indicates the twist angle of the outer strands.

[0186] By obtaining the inherent shear modulus of the wire strands and comprehensively utilizing the calculated dynamic compensation pressure and the sinusoidal distribution characteristics of the nominal radius of the multi-strand welding wire and the twisting angle of the outer strands, the longitudinal slip displacement is calculated based on the physical relationship of shear deformation. This quantifies the degree of asynchronous axial extension between the outer metal strands and the inner flux core layer after applying dynamic compensation pressure. The non-uniform unfolding of elastic deformation on the helical path is transformed into a specific longitudinal geometric misalignment index, revealing the mechanical evolution process of the loosening of the overall structure of the welding wire under forced conditions. This provides a quantitative kinematic reference index for the subsequent speed adjustment and mechanical synchronous compensation operation of the traction wheel set.

[0187] The differential drive speed is calculated based on the longitudinal slip displacement, the contact length of the straightening wheel, and the initial traction speed. The resonant excitation frequency is then calculated by combining the nominal radius of the multi-strand welding wire and the twisting angle of the outer strands, with reference to... Figure 3 , Figure 3 This is a schematic diagram illustrating the torsional resonance identification and tension suppression principle of the present invention. It shows the logic of differential drive initiated by slippage, which excites resonance and is then suppressed by tension, including:

[0188] The purpose of this step is to address the problem of interlayer slip induced by compensating pressure and to identify the problem of straightness failure due to torsional resonance.

[0189] First, obtain the initial traction speed acquired by the device's vision encoder. ;

[0190] To counteract longitudinal slip displacement, an additional differential drive speed needs to be calculated and allocated to the traction wheel set. The differential drive speed is calculated using the following formula:

[0191] in, Indicates the differential drive speed. Indicates the initial traction speed. Indicates longitudinal sliding displacement. Indicates the contact length of the straightening wheel;

[0192] However, the injection of differential drive speed will disrupt the original helical balance, thus requiring the calculation of the torsional resonance frequency excited by this process. The resonance excitation frequency is calculated using the following formula:

[0193] in, Indicates the resonant excitation frequency. Indicates the differential drive speed. Indicates the initial traction speed. Indicates the nominal radius of multi-strand welding wire. Indicates the twist angle of the outer strands.

[0194] By obtaining the initial traction speed and combining it with the previously calculated ratio between the longitudinal slip displacement and the contact length of the straightening wheel, a differential driving speed is generated to counteract structural looseness. Furthermore, by utilizing the difference between this differential driving speed and the initial traction speed, as well as the product of the nominal radius of the multi-strand welding wire and the twisting angle of the outer strand, the resonant excitation frequency is calculated. While compensating for the relative sliding displacement of the inner and outer layers, the dynamic force balance state disrupted by the difference in traction speed acting on the helical twisted structure is captured, and the periodic vibration frequency characteristics derived from this imbalance state are identified, indicating the specific dynamic intervention frequency band for subsequent intervention to suppress mechanical amplitude.

[0195] The calculation of the moment of inertia per unit length section using the mass of the welding wire per unit length and the nominal radius of the multi-strand welding wire, combined with the resonant excitation frequency to determine the torsional resonance energy density and spatial phase shift angle, and then calculating the anti-resonance tension, includes:

[0196] The purpose of this step is to solve the problem of torsional resonance disrupting straightness;

[0197] First, obtain the inherent mass per unit length of welding wire. ;

[0198] Based on rotational dynamics, the inertial mechanical characteristics of the multi-strand welding wire cross-section are first determined, and the moment of inertia per unit length of the cross-section is calculated using the following formula:

[0199] in, The moment of inertia per unit length of the cross section is represented by the moment of inertia. Indicates the mass of welding wire per unit length. Indicates the nominal radius of multi-strand welding wire;

[0200] Subsequently, the energy density accumulated due to resonance is calculated using the following formula:

[0201] in, Indicates the torsional resonance energy density. The moment of inertia per unit length of the cross section is represented by the moment of inertia. Indicates the resonant excitation frequency;

[0202] Next, the spatial phase offset angle is calculated using the following formula:

[0203] in, Indicates the spatial phase offset angle. Indicates the contact length of the straightening wheel. Indicates the resonant excitation frequency. Indicates the initial traction speed;

[0204] Finally, combining the spatial phase within the contact area, the anti-resonance tension used to suppress torsional amplitude is output, and the anti-resonance tension is calculated using the following formula:

[0205] in, Indicates anti-resonance tension. Indicates the torsional resonance energy density. Indicates the contact length of the straightening wheel. Indicates the nominal radius of multi-strand welding wire. This indicates the spatial phase offset angle.

[0206] By obtaining the inherent mass per unit length of welding wire and calculating the moment of inertia per unit length section in combination with the nominal radius of the multi-strand welding wire, the torsional resonance energy density is obtained using this moment of inertia and the resonant excitation frequency. The spatial phase offset angle is derived by combining the initial traction speed. Finally, the anti-resonance tension is calculated by sinusoidal projection. Based on the law of rotational dynamics, the internal torsional kinetic energy accumulated by the welding wire due to forced resonance during the straightening process is extracted. The problem of eliminating the destruction of spatial straightness is transformed into a solution for suppressing tension, so that the straightening mechanism can apply a reverse restraining force feedforward at a specific spatial phase angle, thereby weakening the adverse effect of torsional resonance on the processing stability of cable welding wire.

[0207] The longitudinal tensile strain and volumetric strain variables are calculated sequentially based on the anti-resonance tension, the elastic modulus of the strand, and the Poisson's ratio of the strand. The compaction density stiffness feedback coefficient is then calculated based on the maximum volumetric strain limit setpoint, with reference to… Figure 4 , Figure 4 This is a schematic diagram illustrating the principle of stiffness feedback correction and torque output of the present invention, showing the process by which tension induces volumetric strain, corrects pressure, and then outputs torque, including:

[0208] This step is used to identify and initially resolve the problem of tension-induced volumetric strain and stiffness shift in the drug core.

[0209] First, obtain the elastic modulus of the stock line. Poisson ratio of the stock line ;

[0210] Set the maximum volumetric strain limit value Its value is determined based on the porosity limit of the powder filling the inside of the flux-cored wire of that type. If this value is set too high, the system will become insensitive to changes in powder density, causing correction lag and crushing of the flux core; if the value is set too low, the feedback system will enter a high-frequency oscillation state, causing the pressure of the straightening wheel to fluctuate frequently.

[0211] After applying anti-resonance tension, the welding wire will experience longitudinal stretching and transverse Poisson contraction, which will lead to a decrease in the porosity of the powder inside the flux core. This step requires calculating the small volume variables based on the solid mechanics equations and normalizing them into stiffness feedback coefficients.

[0212] First, calculate the longitudinal tensile strain using the following formula:

[0213] in, This represents longitudinal tensile strain. Indicates anti-resonance tension. This represents the elastic modulus of the stock. Indicates the nominal radius of multi-strand welding wire;

[0214] Subsequently, the volumetric strain variable is calculated using the following formula:

[0215] in, Represents volumetric strain. This represents longitudinal tensile strain. Indicates the Poisson ratio of the stock line;

[0216] Finally, the compaction density stiffness feedback coefficient is calculated using the following formula:

[0217] in, This represents the compaction density stiffness feedback coefficient. Represents volumetric strain. This indicates the maximum volumetric strain limit setting value.

[0218] By introducing the elastic modulus and Poisson's ratio of the strand, the applied anti-resonance tension is converted into longitudinal tensile strain based on the Poisson effect of solid materials. Then, the transverse contraction, i.e., volumetric strain variable, caused by this tensile strain is derived. Based on the maximum volumetric strain limit set value, the compaction density stiffness feedback coefficient is calculated by normalization. This captures the physical phase transition process caused by the decrease in porosity of the internal flux core powder when the welding wire is subjected to tension. It quantifies the degree of deviation caused by the micro-contraction of the flux core volume, which enhances its resistance to external deformation. The complex compaction phase transition mechanism of micro-particle media is transformed into a macroscopically callable engineering feedback coefficient, thus constructing an adjustment basis for adaptive changes in the internal mechanical state of materials.

[0219] The step of applying the compaction density stiffness feedback coefficient to the dynamic compensation compressive pressure, and outputting the final dynamic compensation compressive pressure after closed-loop correction calculation, includes:

[0220] This step completes the final solution to the problem of tension-induced volumetric strain and stiffness shift in the drug core.

[0221] The final dynamic compensation downward pressure is calculated using the following formula:

[0222] in, This indicates the final dynamic compensation downward pressure. This indicates the dynamic compensation downward pressure. This represents the compaction density stiffness feedback coefficient.

[0223] By directly applying the compaction density stiffness feedback coefficient, which contains the material stiffness variation characteristics, to the dynamic compensation pressure calculated based on the initial state, a closed-loop product correction calculation is performed to output the final dynamic compensation pressure. This overcomes the control lag defect caused by powder compaction hardening due to anti-resonance tension, which leads to the mismatch of the original pressure. It prevents the system from applying disproportionate mechanical loads when the core stiffness drifts, avoids straightening failure caused by under-compensation of pressure and wire crushing caused by over-compensation of pressure, and ensures that the output control parameters closely match the real-time dynamic physical properties of the material under multiple forced conditions.

[0224] The process of calculating the straightening wheel drive torque by combining the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the surface friction coefficient, and then issuing a drive control command to the underlying equipment to adjust the servo motor based on the straightening wheel drive torque, includes:

[0225] The purpose of this step is to convert the mechanical theoretical calculation results into torque control parameters that the servo motor can directly execute;

[0226] First, set the surface friction coefficient. Its value is determined based on the standard tribological test of the contact surface between the steel strand surface and the straightening wheel.

[0227] Based on the laws of tribology and combined with the final dynamic compensation pressure, the driving torque at the end of the straightening wheel axle is output. The driving torque of the straightening wheel is calculated using the following formula:

[0228] in, Indicates the straightening wheel drive torque. This indicates the final dynamic compensation downward pressure. Indicates the nominal radius of multi-strand welding wire. Indicates the surface friction coefficient;

[0229] According to the straightening wheel drive torque Send down the underlying device drive control commands to adjust the servo motor.

[0230] By setting the surface friction coefficient based on physical testing of the contact interface, and superimposing this coefficient with the product of the final dynamic compensation pressure and the nominal radius of the multi-strand welding wire, the driving torque of the straightening wheel is calculated. Based on this driving torque, the underlying equipment drive control command is issued to adjust the servo motor. The theoretical pressure, after multi-element mechanical decoupling and phase change correction, is converted into an electromechanical torque parameter to overcome contact friction. This establishes a physical control link from upper-level microscopic deformation analysis to lower-level hardware action execution, enabling the servo drive system to output control power that matches the forced slip boundary, ensuring the continuity of the welding wire traction feed action and the steady-state response of the servo adjustment.

[0231] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0232] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for straightening cable-type multi-strand hardfacing flux-cored welding wire, characterized in that, include: Based on the initial reference downward pressure, the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the stranding angle of the outer strands, the radial stress of the stranding coupling is calculated. The yield probability index of the core is calculated based on the stranded coupling radial stress, the core elastic modulus, and the outer strand strand strand twisting angle, and the dynamic compensation pressure is calculated in conjunction with the initial reference downward pressure. The longitudinal slip displacement is calculated using the dynamic compensation downward pressure, the shear modulus of the strand material, the nominal radius of the multi-strand welding wire, and the twisting angle of the outer strand. The differential drive speed is calculated based on the longitudinal sliding displacement, the contact length of the straightening wheel, and the initial traction speed, and the resonance excitation frequency is calculated by combining the nominal radius of the multi-strand welding wire and the twisting angle of the outer strand. The moment of inertia per unit length of the cross section is calculated using the mass of the welding wire per unit length and the nominal radius of the multi-strand welding wire. The torsional resonance energy density and spatial phase shift angle are then obtained by combining the resonant excitation frequency, and the anti-resonance tension is calculated accordingly. Based on the anti-resonance tension, the elastic modulus of the strand and the Poisson's ratio of the strand, the longitudinal tensile strain and the volumetric strain variable are calculated sequentially, and the compaction density stiffness feedback coefficient is calculated based on the maximum volumetric strain limit set value. The compaction density stiffness feedback coefficient is applied to the dynamic compensation downward pressure, and the final dynamic compensation downward pressure is output after closed-loop correction calculation. The straightening wheel drive torque is calculated by combining the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the surface friction coefficient, and the servo motor is adjusted by issuing the underlying equipment drive control command based on the straightening wheel drive torque.

2. The method for straightening a cable-type multi-strand hardfacing flux-cored welding wire according to claim 1, characterized in that, The calculation of the stranded coupling radial stress based on the initial reference downward pressure, the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the stranding angle of the outer strands includes: A laser diameter measuring instrument, a high-resolution visual encoder, and a tension sensor are respectively installed at the entrance and exit of the straightening equipment, and a servo drive torque feedback interface is installed at the end of each straightening wheel axle. After the equipment is turned on, the traction mechanism guides the welding wire at a constant speed; Acquire the initial reference downward pressure collected by the sensor, as well as the nominal radius of the multi-strand welding wire, the contact length of the straightening wheel, and the twisting angle of the outer strands inherent to the device; Calculate the ratio of the initial reference downward pressure to the product of the nominal radius of the multi-strand welding wire and the contact length of the straightening wheel; Obtain the cosine value of the outer strand twist angle and calculate the square of the cosine value; The radial stress of the twisted coupling is calculated by multiplying the ratio by the square of the cosine value.

3. The method for straightening a cable-type multi-strand hardfacing flux-cored welding wire according to claim 2, characterized in that, The step of calculating the core yield probability index based on the stranded coupling radial stress, the core elastic modulus, and the outer strand strand strand twisting angle, and calculating the dynamic compensation pressure in conjunction with the initial reference pressure, includes: Obtain the inherent elastic modulus of the core material; Calculate the ratio of the radial stress of the stranded coupling to the elastic modulus of the core. Obtain the tangent value of the twist angle of the outer strands; Multiplying the ratio by the tangent value yields the yield probability index of the core. Obtain the sine value of the outer strand twist angle; Multiplying the yield probability index of the core material by the sine value yields an intermediate product term; The numerical difference is obtained by subtracting the intermediate product term from the numerical value. The dynamic compensation pressure is calculated by multiplying the initial reference pressure by the numerical difference.

4. The method for straightening a cable-type multi-strand hardfacing flux-cored welding wire according to claim 3, characterized in that, The calculation of longitudinal slip displacement using the dynamic compensation downward pressure, the shear modulus of the strand material, the nominal radius of the multi-strand welding wire, and the strand twisting angle of the outer strands includes: Obtain the inherent shear modulus of the material strands; Calculate the product of the dynamic compensation downward pressure and the contact length of the straightening wheel, and use it as the first product term; Calculate the square of the nominal radius of the multi-strand welding wire; Calculate the product of the shear modulus of the strand material and its square, and use it as the second product term; Calculate the ratio of the first product term to the second product term; Obtain the sine value of the outer strand twist angle; The longitudinal slip displacement is calculated by multiplying the ratio by the sine value.

5. A method for straightening a cable-type multi-strand hardfacing flux-cored welding wire according to claim 4, characterized in that, The calculation of the differential drive speed based on the longitudinal slip displacement, the contact length of the straightening wheel, and the initial traction speed, and the calculation of the resonant excitation frequency in combination with the nominal radius of the multi-strand welding wire and the twisting angle of the outer strands, includes: Obtain the initial traction speed; Calculate the ratio of the longitudinal sliding displacement to the contact length of the straightening wheel; Adding a value of one to the ratio yields the speed adjustment coefficient. The differential drive speed is calculated by multiplying the initial traction speed by the speed adjustment coefficient. Calculate the difference between the differential drive speed and the initial traction speed; Calculate the product of the nominal radius of the multi-strand welding wire and the twisting angle of the outer strands; The ratio of the difference to the product is calculated to obtain the resonant excitation frequency.

6. A method for straightening a cable-type multi-strand hardfacing flux-cored welding wire according to claim 5, characterized in that, The calculation of the moment of inertia per unit length section using the mass of the welding wire per unit length and the nominal radius of the multi-strand welding wire, combined with the resonant excitation frequency to determine the torsional resonance energy density and spatial phase shift angle, and then calculating the anti-resonance tension, includes: To obtain the inherent mass per unit length of welding wire; Calculate the square of the nominal radius of the multi-strand welding wire; The moment of inertia per unit length of the cross section is calculated by multiplying the mass of the welding wire per unit length by the square of the mass. Calculate the product of the numerical value 2, pi, and the resonant excitation frequency; Find the square of this consecutive product; The torsional resonance energy density is calculated by successively multiplying half of the value, the moment of inertia per unit length section, and the square value. Calculate the product of the contact length of the straightening wheel and the resonant excitation frequency; Calculate the ratio of this product to the initial traction speed to obtain the spatial phase offset angle; Calculate the product of the torsional resonance energy density and the contact length of the straightening wheel; Calculate the ratio of this product to the nominal radius of the multi-strand welding wire; Obtain the sine value of the spatial phase offset angle; The anti-resonance tension is calculated by multiplying the ratio by the sine value.

7. A method for straightening a cable-type multi-strand hardfacing flux-cored welding wire according to claim 6, characterized in that, The step of calculating longitudinal tensile strain and volumetric strain variables sequentially based on the anti-resonance tension, the elastic modulus of the strand, and the Poisson's ratio of the strand, and calculating the compaction density stiffness feedback coefficient based on the maximum volumetric strain limit setpoint, includes: Obtain the elastic modulus and Poisson's ratio of the stock line; Set the maximum volumetric strain limit setting value; Calculate the square of the nominal radius of the multi-strand welding wire; Calculate the continuous product of the elastic modulus of the strand, pi, and the square of the value; The longitudinal tensile strain is calculated by calculating the ratio of the anti-resonance tension to the continuous product. Calculate the product of the numerical value two and the Poisson's ratio of the strand; Subtracting the product from the numerical value yields the Poisson contractility coefficient. The volumetric strain variable is calculated by multiplying the longitudinal tensile strain by the Poisson's contraction coefficient. Calculate the ratio of the volumetric strain variable to the maximum volumetric strain limit setting value; Adding the value of one to this ratio yields the compaction density stiffness feedback coefficient.

8. A method for straightening a cable-type multi-strand hardfacing flux-cored welding wire according to claim 7, characterized in that, The step of applying the compaction density stiffness feedback coefficient to the dynamic compensation compressive pressure, and outputting the final dynamic compensation compressive pressure after closed-loop correction calculation, includes: The final dynamic compensation pressure is calculated by multiplying the dynamic compensation pressure by the compaction density stiffness feedback coefficient.

9. A method for straightening a cable-type multi-strand hardfacing flux-cored welding wire according to claim 8, characterized in that, The process of calculating the straightening wheel drive torque by combining the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the surface friction coefficient, and then issuing a drive control command to the underlying equipment to adjust the servo motor based on the straightening wheel drive torque, includes: Set the surface friction coefficient; Adding a value of one to the surface friction coefficient yields the friction amplification factor. The straightening wheel drive torque is calculated by successively multiplying the final dynamic compensation downward pressure, the nominal radius of the multi-strand welding wire, and the friction amplification coefficient. The servo motor is adjusted based on the drive torque of the straightening wheel, which sends a drive control command to the underlying device.

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