Coaxial powder feeding laser cladding equipment for special-shaped wear-resistant lining plate

Abstract

The present application relates to laser processing equipment and intelligent welding system technical field, specifically relates to a kind of coaxial powder feeding laser cladding equipment of special wear-resistant lining, including main frame, and fixed in the upper workbench of main frame, workbench is used to support special wear-resistant lining, one side of workbench is provided with moving frame, laser, powder feeder and coaxial powder feeding cladding head communicated with both are provided on moving frame, one side of moving frame facing workbench is fixed with conformal datum frame, and swing mounting frame is arranged in conformal datum frame;Front guide roller and rear guide roller are arranged before and after conformal datum frame, and linkage swing shaft is rotatably arranged on the upper portion of conformal datum frame.Compared with prior art, the height difference of the two guide rollers before and after is used as a single mechanical input, and the cladding head posture and movable baffle ring opening are adjusted simultaneously, so that the matching relationship between laser focal point and powder coverage can be continuously maintained between plane, inclined plane and short fillet.

Description

Technical Field

[0001] This invention relates to the field of laser processing equipment and intelligent welding system technology, and in particular to a coaxial powder feeding laser cladding device for irregularly shaped wear-resistant liners. Background Technology

[0002] Wear-resistant liners typically have bent surfaces, stepped surfaces, inclined surfaces, rounded corner surfaces, or multiple intersecting working surfaces. Their service areas are subjected to combined wear from impact, sliding abrasive particles, and localized high temperatures. Using coaxial powder-feeding laser cladding to form a high-hardness alloy layer on the liner surface can reduce the thermal impact on the substrate and improve powder utilization, becoming an important technical route for the remanufacturing and surface strengthening of wear-resistant liners. Unlike flat plates, the distance from the cladding head to the substrate surface and the incident attitude of the laser beam relative to the substrate change instantaneously when the cladding head passes through the transition position between a flat surface and an inclined surface or rounded corner on irregularly shaped liners. This causes the powder density of the annular powder beam on both sides of the corner to change accordingly, easily leading to problems such as powder accumulation on the inside of the corner, powder deficiency on the outside, broken cladding layers, incomplete fusion at overlaps, or localized overheating of the substrate.

[0003] In the prior art, Chinese patent document CN111441048A discloses a laser cladding powder feeding device with an annular powder flow channel and multiple diversion channels, which can improve the stability of powder aggregation. However, it mainly solves the problem of uniform circumferential diversion of powder at the powder feeding port, and does not address the local powder flow changes caused by the contour abruptness at the corner of the irregular liner. Chinese patent document CN112962093A discloses a coaxial powder feeding laser cladding head that adjusts the powder defocusing amount by sliding the powder feeding tube. This requires a lifting drive mechanism and relies on control input to change the position of the powder tube, and still does not solve the problem of synchronous reverse compensation between the cladding head posture and the powder flow on both sides in the transition zone of the irregular liner. Chinese patent document CN105648436B discloses a process for overlapping curved solid parts at unequal heights along the radius of curvature and gradually changing the negative defocus amount. This process is suitable for additive manufacturing of curved solid parts, but its motion trajectory and defocus changes rely on pre-established curvature coordinates, making it difficult to directly adapt to the local bends, short fillets, and discontinuous corners commonly found in wear-resistant linings. Chinese patent document CN113897607B relates to a laser cladding process and auxiliary equipment for wear-resistant plates, focusing on the combination of wear-resistant materials and the cladding process. It does not provide a device that can simultaneously correct the cladding head posture and the amount of powder fed in different zones using a simple mechanical structure when corners occur.

[0004] Therefore, the key problem that existing technologies need to solve is: without relying on complex multi-axis linkage and high-frequency manual parameter adjustment, how to maintain an effective focal length and stable powder coverage width in the plane, inclined surface and corner transition area of ​​the irregular wear-resistant liner, so as to continuously form a cladding layer with relatively consistent thickness and metallurgical bonding state. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a coaxial powder feeding laser cladding device for irregularly shaped wear-resistant liners, so as to solve the problem that the existing cladding device has an uneven cladding layer on the inside and outside of the corner due to the disconnect between the change of the cladding head posture and the change of powder flow distribution in the corner transition zone of the irregularly shaped liner.

[0006] To achieve the above objectives, the present invention provides a coaxial powder feeding laser cladding device for irregularly shaped wear-resistant liners, comprising a main frame and a worktable fixed on the upper part of the main frame. The worktable is used to support the irregularly shaped wear-resistant liner. A movable frame is provided on one side of the worktable. A laser, a powder feeder, and a coaxial powder feeding cladding head communicating with the laser and the powder feeder are provided on the movable frame. A conformal reference frame is fixed on the side of the movable frame facing the worktable. A swing mounting frame is provided inside the conformal reference frame. The coaxial powder feeding cladding head is fixed on the swing mounting frame. A partitioned powder feeding cavity is provided at the lower part of the coaxial powder feeding cladding head. The outlet of the partitioned powder feeding cavity forms opposing partitioned powder spraying nozzles and a movable powder-blocking ring is rotatably installed. The conformal reference frame is provided with front guide rollers and rear guide rollers at the front and rear. A linkage swing shaft is rotatably provided on its upper part. The middle part of the linkage swing shaft is fixedly connected to the upper part of the swing mounting frame, and one end is fixedly connected to the middle part of the differential linkage. The two ends of the differential linkage are respectively connected to two guide rollers. A powder blocking linkage is provided between the differential linkage and the movable powder blocking ring. When the two guide rollers have a height difference, the differential linkage drives the linkage swing shaft to rotate, causing the swing mounting frame to drive the coaxial powder feeding cladding head to deflect, so that the axis of the coaxial powder feeding cladding head is adjusted toward the local normal direction of the surface to be clad, and the movable powder blocking ring is driven to rotate via the powder blocking linkage, so that the effective opening amount of the partition powder spraying port on the lower side of the surface to be clad increases and the effective opening amount of the other partition powder spraying port on the higher side decreases. A controller is installed on one side of the main frame, and the controller is electrically connected to the moving frame, laser, powder feeder and coaxial powder feeding cladding head.

[0007] Preferably, clamping seats are provided on both sides of the workbench, and each clamping seat has a clamping end facing the edge of the irregular wear-resistant liner. The clamping seats are adjustable in the direction of approaching or moving away from the edge of the irregular wear-resistant liner so that the clamping end presses the irregular wear-resistant liner onto the support surface of the workbench.

[0008] Preferably, the main frame is provided with guide rails extending in a first direction at the positions on both sides of the workbench, the movable frame is slidably mounted on the guide rails, the movable frame is provided with transverse guide rails extending in a second direction, and the coaxial powder feeding and cladding head moves along the transverse guide rails, the first direction and the second direction being perpendicular to each other.

[0009] Preferably, the coaxial powder feeding cladding head has a laser channel at its center, and the partitioned powder feeding cavity is an annular cavity surrounding the laser channel. The annular cavity is divided into a first partition and a second partition arranged opposite to each other along the circumference. The first partition and the second partition are respectively connected to the partitioned powder spraying port arranged opposite to each other. The coaxial powder feeding cladding head is provided with a protective gas sleeve at a position outside the partitioned powder spraying port. The protective gas sleeve surrounds the partitioned powder spraying port and is connected to a protective gas source.

[0010] Preferably, the movable powder-blocking ring is rotatably installed at the outlet of the partitioned powder feeding chamber. The movable powder-blocking ring is provided with a first adjustment window and a second adjustment window, which are respectively opposite to the first partition and the second partition. The first adjustment window and the second adjustment window each have adjustment edges that are offset along the circumferential direction. When the movable powder-blocking ring is in the neutral position, the effective flow areas of the two partitioned powder spraying nozzles are equal. When the movable powder-blocking ring rotates along the first circumferential direction, the effective flow area of ​​one partitioned powder spraying nozzle increases while the effective flow area of ​​the other partitioned powder spraying nozzle decreases. When it rotates along the opposite second circumferential direction, the above-mentioned changes are reversed.

[0011] Preferably, the conformal reference frame has guide holes extending vertically on both sides, and the front guide roller and the rear guide roller are slidably installed in the corresponding guide holes and abut against the surface of the irregular wear-resistant liner to be clad by compression springs; the differential connecting rod is set on the upper part of the conformal reference frame, and the two ends of the differential connecting rod are connected to the upper ends of the front guide roller and the rear guide roller respectively.

[0012] Preferably, the upper part of the conformal reference frame includes a fixed frame and a floating support that guides and moves vertically relative to the fixed frame. The central fulcrum of the differential link is located on the floating support. The bearing seat of the linkage swing shaft is supported by the floating support. The swing mounting frame and the coaxial powder feeding cladding head rise and fall together with the floating support. When the front guide roller and the rear guide roller rise and fall by the same amount, the floating support moves vertically according to the average displacement of the two guide rollers. When the front guide roller and the rear guide roller generate relative displacement, the differential link rotates relative to the floating support around the central fulcrum and drives the swing mounting frame to deflect through the linkage swing shaft. The two ends of the differential link are connected to the upper ends of the corresponding guide rollers by sliding hinges that allow compensating displacement along the length of the link, so as to absorb the lateral component generated at the ends when the differential link rotates and avoid motion interference when the two guide rollers slide only in the vertical direction.

[0013] Preferably, a bearing seat is provided on the floating support part of the conformal reference frame, and the linkage swing shaft is rotatably supported in the bearing seat; a bushing is fixedly sleeved on the upper part of the swing mounting frame and fixedly connected to the middle part of the linkage swing shaft, and the middle part of the differential connecting rod is fixed to one end of the linkage swing shaft; an angle limiting seat is fixedly provided on one side of the conformal reference frame located on the swing mounting frame, the angle limiting seat forming a limiting surface on the side facing the swing mounting frame, and also includes a return spring, one end of which is connected to the swing mounting frame and the other end is connected to the angle limiting seat.

[0014] Preferably, the outer periphery of the outlet of the partitioned powder feeding chamber is provided with two annular limiting shoulders spaced axially. The movable powder blocking ring is rotatably sleeved between the two annular limiting shoulders, and its axial movement along the coaxial powder feeding cladding head is restricted by the two annular limiting shoulders. The outer periphery of the movable powder blocking ring is provided with inclined guide grooves extending obliquely along its axial and circumferential directions. The fixed hinge seat is provided on the floating support part of the conformal reference frame and located on one side of the movable powder blocking ring. The middle part of the powder blocking connecting rod is hinged to the fixed hinge seat. The differential connecting rod is provided with a deflecting pin located on one side of the linkage swing shaft. The upper end of the powder blocking connecting rod forms a strip hole that slides with the deflecting pin, and the lower end is provided with a follower column that slides into the inclined guide groove, so that the differential connecting rod drives the powder blocking connecting rod to swing around the fixed hinge seat through the deflecting pin, and the follower column moves along the inclined guide groove to drive the movable powder blocking ring to rotate in two opposite directions in the circumferential direction.

[0015] Preferably, the controller is configured to: determine the corner transition zone based on the pre-input profile data of the irregular wear-resistant liner and the predetermined cladding trajectory; with the laser and powder feeder off, enable the coaxial powder feeding cladding head to complete a profile pre-scan along the predetermined cladding trajectory, and establish a correspondence between the position of each corner transition zone and the corresponding scanning speed, laser output power, and reverse retrace position; during formal cladding, reduce the scanning speed of the moving frame and adjust the laser output power before entering the corner transition zone, and after reaching the reverse retrace position, enable the coaxial powder feeding cladding head to retrace a preset distance in the opposite direction of the main scanning direction, and then continue cladding along the main scanning direction; the movable powder blocking ring is always mechanically driven by the real-time relative displacement of the two guide rollers through the differential linkage and the powder blocking linkage during the above process, and is not actively set or maintained by the controller.

[0016] Preferably, the controller is equipped with a process recording module, which is used to record the entry position, exit position, scanning speed, reverse retrace position and retrace distance of the corner transition zone, the output power of the laser, and the powder feeding amount of the powder feeder according to the position of the moving frame.

[0017] The beneficial effects of this invention are: By setting the mechanical conformal relationship between the average displacement and differential displacement formed by the front guide roller and the rear guide roller, the common lifting amount of the two guide rollers is used to drive the coaxial powder feeding cladding head to rise and fall as a whole with the surface of the irregular wear-resistant liner, so as to compensate for the height change of the workpiece surface and maintain the working distance. At the same time, the relative displacement of the two guide rollers drives the linkage swing shaft to adjust the axis of the coaxial powder feeding cladding head toward the local normal direction of the surface to be clad, thereby simultaneously dealing with the height change and slope change of the corner transition zone.

[0018] Based on the aforementioned differential displacement output, the differential linkage further drives the movable powder-blocking ring to rotate according to a predetermined transmission relationship through the powder-blocking linkage, the follower column, and the inclined guide groove. This causes the effective flow area of ​​the low-position side partition powder spraying port to increase as the deflection amplitude of the cladding head increases, while the effective flow area of ​​the high-position side partition powder spraying port decreases accordingly. This allows the cladding head attitude adjustment and powder flow redistribution to share the same mechanical input, reducing the problems caused by asynchronous responses between the two, such as powder accumulation on the inner side of the corner, powder shortage on the outer side, cladding layer breakage, and layer thickness fluctuation.

[0019] While achieving the aforementioned real-time mechanical conformal and complementary powder separation, the controller only adjusts the scanning speed, laser output power, and reverse scanning position of the corner transition zone based on the preset contour and contour pre-scan results. The movable powder-blocking ring always obeys the real-time mechanical differential relationship and does not rely on the controller to actively maintain the bias, thereby reducing independent execution links and improving the continuity, repeatability, and process traceability of the corner cladding process of irregular wear-resistant liners. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural diagram of the overall device of the present invention; Figure 2 This is a two-dimensional positional diagram of the worktable, clamping seat, and irregularly shaped wear-resistant liner of the present invention. Figure 3 This is a two-dimensional front view schematic diagram of the coaxial powder feeding cladding head, the linkage swing shaft, and the conformal reference frame of the present invention; Figure 4 This is a schematic diagram of the radial cross-sectional structure of the coaxial powder feeding cladding head of the present invention; Figure 5 This is a two-dimensional top view of the partitioned powder feeding chamber and the movable powder-blocking ring of the present invention; Figure 6This is a schematic diagram of the conformal and powder offset compensation of the cladding head of the present invention when it passes through the descending turning angle; Figure 7 This is a schematic diagram of the connection structure of the differential connecting rod, the powder-blocking connecting rod and the movable powder-blocking ring of the present invention when they are in the neutral position. Figure 8 This is a control flowchart for contour pre-scanning, corner reverse retracement, and macroscopic process parameter adjustment in this invention. Figure 9 This is a schematic diagram of the weld overlap in the corner transition zone of the present invention; Figure 10 This is a schematic diagram comparing the changes in powder coverage width in the corner transition zone between the conventional symmetrical powder feeding method and the differential compensation powder feeding method of the present invention.

[0022] The components in the diagram are labeled as follows: 1. Main frame; 2. Worktable; 3. Clamping seat; 4. Irregularly shaped wear-resistant liner; 5. Laser; 6. Coaxial powder feeding and cladding head; 7. Powder feeder; 8. Controller; 9. Moving frame; 10. Swinging mounting frame; 11. Conformal reference frame; 12. Front guide roller; 13. Rear guide roller; 14. Differential linkage; 15. Linkage swing shaft; 16. Return spring; 17. Laser channel; 18. Zoned powder feeding chamber; 19. Zoned powder spraying nozzle; 20. Movable powder blocking ring; 21. Protective air sleeve; 22. Laser focus; 23. Angle limit seat; 24. Process recording module; 25. Powder blocking linkage; 26. Inclined guide groove; 27. Follower column; 28. Fixed hinge seat; 29. ​​Actuating pin; 30. Annular limit shoulder. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0024] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] like Figures 1 to 10As shown, a coaxial powder feeding laser cladding device for irregularly shaped wear-resistant liners includes a main frame 1 and a worktable 2 fixed on the upper part of the main frame 1. The worktable 2 supports the irregularly shaped wear-resistant liner 4. A movable frame 9 is provided on one side of the worktable 2. A laser 5, a powder feeder 7, and a coaxial powder feeding cladding head 6 connected to the laser 5 and the powder feeder 7 are mounted on the movable frame 9. A conformal reference frame 11 is fixed on the side of the movable frame 9 facing the worktable 2. A swing mounting frame 10 is provided inside the conformal reference frame 11 for coaxial powder feeding. The cladding head 6 is fixed on the swing mounting frame 10; the lower part of the coaxial powder feeding cladding head 6 is provided with a partitioned powder feeding chamber 18, the outlet of the partitioned powder feeding chamber 18 forms a corresponding partitioned powder spraying nozzle 19 and a movable powder blocking ring 20 is rotatably installed; the conformal reference frame 11 is provided with a front guide roller 12 and a rear guide roller 13, and a linkage swing shaft 15 is rotatably installed on its upper part. The middle part of the linkage swing shaft 15 is fixedly connected to the upper part of the swing mounting frame 10, and one end is fixedly connected to the middle part of the differential connecting rod 14. The two ends of the differential connecting rod 14 are respectively connected to Two guide rollers are connected, and a powder-blocking link 25 is provided between the differential link 14 and the movable powder-blocking ring 20. When the two guide rollers have a height difference, the differential link 14 drives the linkage swing shaft 15 to rotate, causing the swing mounting frame 10 to drive the coaxial powder feeding cladding head 6 to deflect, so that the axis of the coaxial powder feeding cladding head 6 is adjusted towards the local normal direction of the surface to be clad, and the movable powder-blocking ring 20 is driven to rotate via the powder-blocking link 25, so that the effective opening amount of the low-position side partition powder spraying nozzle 19 increases, and the high-position side partition powder spraying nozzle 20 increases. The effective opening of the powder spraying nozzle 19 is reduced; a controller 8 is provided on one side of the main frame 1. The controller 8 is electrically connected to the moving frame 9, the laser 5, the powder feeder 7 and the coaxial powder feeding cladding head 6. The main frame 1 is provided with guide rails extending in the first direction on both sides of the worktable 2. The moving frame 9 is slidably mounted on the guide rails. The moving frame 9 is provided with transverse guide rails extending in the second direction. The coaxial powder feeding cladding head 6 moves along the transverse guide rails. The first direction and the second direction are perpendicular to each other. The main frame 1 is equipped with a guide rail for sliding the movable frame 9 along the first direction, and the movable frame 9 is equipped with a transverse guide rail along the second vertical direction. The coaxial powder feeding and cladding head 6 is mounted on the transverse slide. The movable frame 9 is driven by a servo screw, synchronous belt or linear module. The laser 5 and the powder feeder 7 are respectively connected to the coaxial powder feeding and cladding head 6. The controller 8 outputs start / stop, power, powder feeding amount and scanning speed commands.

[0026] like Figures 2 to 5As shown, a laser channel 17 is set at the center of the coaxial powder feeding cladding head 6. The laser beam output by the laser 5 is focused by the laser channel 17 onto the surface of the irregular wear-resistant liner 4 to be clad, forming a laser focus 22. A partitioned powder feeding cavity 18 is set around the laser channel 17. The partitioned powder feeding cavity 18 is an annular cavity and is divided into a first partition and a second partition arranged opposite to each other along the circumference. The first partition and the second partition are respectively connected to the partitioned powder spraying port 19 arranged opposite to each other. The alloy powder provided by the powder feeder 7 enters the two partitions under the action of the carrier gas and converges at the laser focus 22. A protective gas sleeve 21 surrounds the outside of the partitioned powder spraying port 19. The protective gas sleeve 21 directs the powder powder towards the cladding surface. A protective airflow is output around the pool; a movable dust-blocking ring 20 is rotatably installed at the outlet of the partitioned dust-feeding chamber 18. The movable dust-blocking ring 20 forms a first adjustment window and a second adjustment window corresponding to the first and second partitions, respectively. The two adjustment windows each have an adjustment edge that is offset along the circumferential direction. When the movable dust-blocking ring 20 is in the neutral position, the effective flow area formed by the dust-spraying nozzles 19 of the two partitions and the corresponding adjustment windows is equal. When the movable dust-blocking ring 20 rotates along one circumferential direction, the overlapping area of ​​the dust-spraying nozzle 19 of one partition and the corresponding adjustment window gradually increases, while the overlapping area of ​​the dust-spraying nozzle 19 of the other partition gradually decreases. When rotating along the opposite circumferential direction, the above changes are reversed.

[0027] A conformal reference frame 11 is fixedly installed on the side of the movable frame 9 facing the worktable 2. The conformal reference frame 11 adopts a portal frame with an upper crossbeam and two vertical support arms on both sides. The upper crossbeam of the conformal reference frame 11 is fixedly connected to the transverse sliding block of the movable frame 9. The upper part of the conformal reference frame 11 includes a fixed frame body fixedly connected to the portal frame and a floating support part that guides and moves vertically relative to the fixed frame body. The floating support part can adopt a vertical guide rail and slider, a guide post and linear bearing, or an equivalent low-clearance linear guide structure. The swing mounting frame 10 is located inside the frame of the conformal reference frame 11. The bearing seat of the linkage swing shaft 15 is fixed on the floating support part. The bushing on the upper part of the swing mounting frame 10 is fixedly sleeved in the middle of the linkage swing shaft 15. The coaxial powder feeding cladding head 6 is fixedly clamped in the middle of the swing mounting frame 10 by the upper and lower spaced clamps. Therefore, when the floating support moves vertically, the linkage swing shaft 15, the swing mounting frame 10, and the coaxial powder feeding and cladding head 6 move together as a lifting and conforming unit; when the linkage swing shaft 15 rotates relative to the floating support, the swing mounting frame 10 and the coaxial powder feeding and cladding head 6 deflect angularly relative to the floating support. The conforming reference frame 11 has a front guide roller 12 installed at the front and a rear guide roller 13 installed at the rear along the main scanning direction. The center distance between the two guide rollers is preferably 30 mm to 80 mm, so that the front guide roller 12 can sense the height change of the irregular wear-resistant liner 4 in advance, and the rear guide roller 13 can provide a rear contour reference corresponding to the front guide roller 12.

[0028] The front guide roller 12 and the rear guide roller 13 are respectively installed in the guide holes of the conformal reference frame 11. The guide holes allow the two guide rollers to move elastically in the vertical direction. The two guide rollers are respectively pressed against the surface of the irregular wear-resistant liner 4 to be clad by compression springs. The guide rollers can be made of heat-resistant ceramic wheels, hard alloy wheels, or stainless steel wheels with heat insulation sleeves. The outer edge of the roller is an arc surface to reduce scratching of the clad layer. The two ends of the differential link 14 are respectively connected to the upper ends of the front guide roller 12 and the rear guide roller 13, and its central fulcrum is supported on the floating support part. The two ends preferably adopt a sliding hinge structure that allows the differential link to generate compensating displacement along the length of the differential link, such as a pin and an elongated hole, a pin and a short groove, or other structures that allow compensation displacement along the length of the differential link, so as to absorb the lateral displacement component generated at the ends when the differential link 14 rotates. When the front guide roller 12 and the rear guide roller 13 rise or fall by the same amount, the differential link 14 does not need to generate a relative swing angle. The common displacement of the two rollers drives the floating support and the coaxial powder feeding and cladding head 6 to rise and fall as a whole. When the two rollers generate different vertical displacements, the differential link 14 rotates relative to its midpoint while rising and falling together with the floating support, thereby outputting the common displacement component and the relative displacement component of the two rollers as the lifting conformal amount and the angle conformal amount, respectively.

[0029] To illustrate the mechanical coupling relationship between the average displacement and the differential displacement, let the vertical displacements of the front guide roller 12 and the rear guide roller 13 relative to the neutral position be z1 and z2, respectively, and the center distance between the two guide rollers be L. In the preferred arrangement with equal arm symmetry, the vertical conformal amount z of the floating support is... m Satisfy z m =(z1+z2) / 2, the differential displacement Δz satisfies Δz=z1-z2; the local slope angle α determined by the contact point of the two rollers can be expressed as α=arctan(Δz / L). Where, z m Δz represents the average displacement of the two guide rollers, Δz represents the relative displacement of the two guide rollers, L represents the center distance between the two guide rollers, and α represents the local slope angle determined by the contact point of the two rollers.

[0030] By selecting the effective arm length of the differential linkage 14, the angular transmission relationship between the linkage swing shaft 15 and the swing mounting bracket 10, the upper and lower lever arm ratio of the powder-blocking linkage 25, and the circumferential lift of the inclined guide groove 26, a predetermined relationship is formed between the swing angle θ of the coaxial powder feeding cladding head 6 and the local slope angle α, and a predetermined relationship is formed between the rotation angle φ of the movable powder-blocking ring 20 and the swing angle θ. Within the designed working range, the above relationship can be approximately expressed as θ=k θ ·α、φ=k φ ·θ, where k θ k represents the angular transmission coefficient determined by the differential link 14 and the linkage pivot 15. φThe transmission coefficient of the powder-blocking ring is determined by the powder-blocking connecting rod 25, the follower column 27, and the inclined guide groove 26. By determining the absolute value of the two transmission coefficients and the assembly direction, the axis of the cladding head 6 is adjusted in the local normal direction, while the movable powder-blocking ring 20 rotates in the direction that increases the size of the powder spraying nozzle on the lower side.

[0031] For the preferred structure using complementary adjustment sides, let the effective flow areas of the first and second zone powder injection ports be A1(φ) and A2(φ), respectively, and the effective flow area at the neutral position be A0. Then, within the predetermined turning angle range, zero-position calibration can be performed according to A1(0)=A2(0)=A0. By using the circumferential misalignment relationship between the two adjustment sides, when the movable powder-blocking ring 20 rotates in one direction, A1(φ) monotonically increases and A2(φ) monotonically decreases, and when it rotates in the opposite direction, the two changes are opposite. Preferably, A1(φ)+A2(φ) is kept basically constant within the set adjustment range to achieve a redistribution of the powder flow ratio on both sides without a sudden change in the basic powder feed rate. Since both the swing angle θ and the turning angle φ are triggered by the same differential displacement Δz, the attitude compensation and powder flow compensation do not pass through independent real-time execution channels, which can reduce the spatial misalignment of the two compensations at the turning angle. The synchronization effect can be evaluated by the distance between the position where the attitude begins to change and the position where the difference in the flow area of ​​the two powder injection ports begins to change, as well as the dispersion of the thickness of the cladding layer at the turning angle.

[0032] The differential link 14 is mounted on the upper part of the conformal reference frame 11. Its left end is connected to the upper end of the rear guide roller 13 through a sliding hinge structure that allows for displacement compensation, and its right end is connected to the upper end of the front guide roller 12 through the same or equivalent sliding hinge structure. The middle part is fixed to the front end of the linkage swing shaft 15 facing the drawing. The linkage swing shaft 15 is rotatably mounted in the bearing seat of the floating support. The middle part of the linkage swing shaft 15 is fixedly sleeved to the bushing on the upper part of the swing mounting frame 10 through a flat key or spline. Therefore, the axis of the linkage swing shaft 15 can rise and fall with the floating support as a whole, while the differential link 14 can still rotate relative to the floating support around the axis of the linkage swing shaft 15. The common rise and fall of the two guide rollers is transmitted through the floating support as the overall rise and fall of the coaxial powder feeding cladding head 6. The relative displacement of the two guide rollers causes the differential link 14 to generate a relative rotation angle and drive the linkage swing shaft 15 to rotate, thereby avoiding kinematic interference caused by simultaneously constraining two rollers that can only move vertically with a fixed central fulcrum. An angle limiting seat 23 is also provided on the fixed frame of the conformal reference frame 11. The angle limiting seat 23 forms two limiting surfaces on the side facing the swing mounting frame 10. It also includes a return spring 16. One end of the return spring 16 is connected to the swing mounting frame 10, and the other end is connected to the angle limiting seat 23, so that the swing mounting frame 10 returns to the angular neutral position after the relative displacement of the two guide rollers is restored, and the angle limiting seat 23 limits the two extreme swing angles.

[0033] like Figure 7As shown, the outer periphery of the outlet of the partitioned powder feeding chamber 18 forms annular limiting shoulders 30 with upper and lower intervals. The movable powder blocking ring 20 is rotatably sleeved between the two annular limiting shoulders 30, so that the movable powder blocking ring 20 can rotate around the central axis of the coaxial powder feeding cladding head 6 but cannot rise and fall relative to the central axis. The outer cylindrical surface of the movable powder blocking ring 20 is provided with an inclined guide groove 26. The inclined guide groove 26 extends simultaneously along the axial and circumferential directions of the movable powder blocking ring 20. Its unfolded shape can be a straight inclined groove, and when the swing angle is large, it is set as an arc inclined groove according to the actual arc trajectory of the follower column 27. The fixed hinge seat 28 is fixed on the floating support part of the conformal reference frame 11, so that the fixed hinge seat 28, the linkage swing shaft 15 and the swing mounting frame 10 maintain common lifting and lowering under the action of average displacement, and avoid the common lifting and lowering amount being mistakenly converted into the rotation angle of the movable powder blocking ring 20; the middle part of the powder blocking connecting rod 25 is hinged to the fixed hinge seat 28, and the differential connecting rod 14 is provided with a deflecting pin 29 on one side of the linkage swing shaft 15. The strip hole at the upper end of the powder blocking connecting rod 25 is sleeved on the outside of the deflecting pin 29 to absorb the lateral component. The lower end of the powder blocking connecting rod 25 is provided with a ball-head or roller-type follower column 27, and the follower column 27 is slidably embedded in the groove cavity of the inclined guide groove 26. Only when the differential link 14 rotates relative to the floating support, the actuating pin 29 drives the powder-blocking link 25 to swing around the fixed hinge seat 28, the follower column 27 moves along the inclined guide groove 26, and the groove wall of the inclined guide groove 26 converts the relative motion into the rotation of the movable powder-blocking ring 20 in two opposite directions in the circumferential direction. Figure 3 and Figure 6 The overall arrangement of the powder-blocking connecting rod 25 is shown. Figure 7 The specific hinge and sliding relationships of this transmission branch are shown.

[0034] like Figure 3 and Figure 7 As shown, when the irregular wear-resistant liner 4 has a turning angle from the low surface to the high surface, the front guide roller 12 located in front is first raised along the rising surface, while the rear guide roller 13 remains in the low surface. The average displacement of the two guide rollers changes with the overall height of the surface. The floating support part drives the linkage swing shaft 15, the swing mounting frame 10 and the coaxial powder feeding and cladding head 6 to rise as a whole to compensate for the working distance. At the same time, the two guide rollers generate differential displacement in the first direction. The differential connecting rod 14 swings relative to the floating support part and causes the linkage swing shaft 15 to rotate. The linkage swing shaft 15 drives the swing mounting frame 10 and the coaxial powder feeding and cladding head 6 to deflect in the local normal direction of the rising surface. The differential linkage 14 also drives the powder-blocking linkage 25 to swing around the fixed hinge seat 28 via the actuating pin 29, and the follower column 27 moves along the inclined guide groove 26 and makes the movable powder-blocking ring 20 rotate in the corresponding circumferential direction, so that the effective flow area of ​​the partition powder spraying port 19 near the low position side increases and the effective flow area of ​​the partition powder spraying port 19 near the high position side decreases, thereby simultaneously compensating for the working distance, the attitude of the cladding head and the powder coverage on the low position side.

[0035] like Figure 6and Figure 7 As shown, when the irregular wear-resistant liner 4 has a turning angle from the high surface to the low surface, the front guide roller 12 falls into the low surface first, while the rear guide roller 13 remains in the high surface. The floating support part drives the coaxial powder feeding and cladding head 6 to fall as a whole to compensate for the change in surface height, as the average displacement of the two guide rollers decreases. The differential displacement of the two guide rollers simultaneously produces a sign opposite to the rising turning angle. The differential connecting rod 14 swings in the opposite direction relative to the floating support part. The linkage swing shaft 15 causes the swing mounting frame 10 to deflect in the local normal direction of the falling surface. The actuating pin 29 causes the powder blocking connecting rod 25 to swing in the opposite direction. The following column 27 moves along the inclined guide groove 26 to the other end and causes the movable powder blocking ring 20 to rotate in the opposite circumferential direction, so that the new low-side partition powder spraying port 19 obtains a larger effective flow area. Since the attitude of the cladding head and the rotation angle of the movable powder-blocking ring 20 both originate from the same differential displacement Δz, and the average displacement only drives the common lifting and lowering without driving the rotation of the powder-blocking ring, it is possible to handle surface height changes and local slope changes separately under the same mechanical reference, reducing the asynchrony between attitude adjustment and powder flow adjustment within a short distance of the rotation angle.

[0036] The first and second adjustment windows of the movable powder-blocking ring 20 can be pre-processed according to the powder particle size, laser power, and target cladding width. The two adjustment windows form circumferentially offset adjustment edges. During normal planar cladding, the movable powder-blocking ring 20 is in a neutral position, and the first and second adjustment windows form equal effective flow areas with the corresponding zone powder spraying nozzles 19, making the basic powder flow rates of the two zones basically equal. In the corner transition zone, the movable powder-blocking ring 20 changes the overlapping area of ​​the two adjustment windows with the zone powder spraying nozzles 19 according to the relative swing angle of the differential linkage 14, so that the effective flow area on the lower side increases with the increase of the absolute value of the swing angle, and the effective flow area on the higher side decreases accordingly. The two adjustment edges are preferably designed to be complementary in opening and closing relationship, so that the sum of the effective flow areas of the two zone powder spraying nozzles 19 within the set adjustment range remains basically constant, thereby changing the powder flow ratio on both sides without sudden change in the basic powder feed rate of the powder feeder 7, avoiding powder pulse and attitude-powder flow misalignment caused by instantaneous start and stop of the powder feeder or lag in response of the independent actuator. When the relative displacement of the two guide rollers decreases, the return spring 16 returns the swing mounting bracket 10 to the angular neutral position, and the actuating pin 29 simultaneously causes the movable powder-blocking ring 20 to smoothly return to the neutral opening via the powder-blocking connecting rod 25, the follower column 27 and the inclined guide groove 26.

[0037] like Figure 1 , Figures 6 to 10As shown, the controller 8 determines the corner transition zone based on the pre-input contour data of the irregular wear-resistant liner 4 and the predetermined cladding trajectory, and pre-sets the scanning speed, laser output power, reverse retrace position, and retrace distance for each corner transition zone. Before processing, the controller 8 first turns off the laser 5 and the powder feeder 7, and causes the moving frame 9 to drive the coaxial powder feeding cladding head 6 to perform a contour pre-scan according to the predetermined cladding trajectory, which is used to verify the correspondence between the moving path and the process parameters of the corner transition zone. During the contour pre-scan, the front guide roller 12 and the rear guide roller 13 are still in contact with the surface to be clad, and the movable powder blocking ring 20 only mechanically follows the real-time relative displacement of the two guide rollers, without the controller 8 actively setting its angle. During the formal cladding, the controller 8 reduces the scanning speed of the moving frame 9 and adjusts the laser output power according to the preset parameters before entering the corner transition zone. After reaching the preset reverse retrace position, it first retraces the preset distance in the opposite direction of the main scanning direction, and then continues cladding in the main scanning direction.

[0038] The starting point of the reverse retrace is located on the stable melt channel already formed on the lower side of the corner. The retrace distance is preferably 0.5 to 1.5 times the width of one melt channel. During the retrace, the laser 5, powder feeder 7, and protective gas sleeve 21 remain operational, allowing the alloy powder to form a short reinforcing melt channel at the root of the corner. During the reverse retrace, the movable powder-blocking ring 20 is not locked or forcibly held by the controller 8, but is always mechanically adjusted according to the real-time differential displacement of the two guide rollers. Therefore, it is preferable to check the retrace interval during the contour pre-scan and parameter setting stages to ensure that the sign of the differential displacement during the retrace does not change in a way that would cause an unexpected reversal of the powder flow compensation direction. When the predetermined contour does not meet this condition, the retrace distance can be shortened or only corner deceleration and laser power adjustment can be used. Subsequently, the coaxial powder feeding and cladding head 6 continues to move along the main scanning direction, with the main cladding track covering the outer area of ​​the short reinforcing cladding track. When the two guide rollers are back at similar heights, the differential displacement decreases, and the movable powder-blocking ring 20 returns to its neutral opening via mechanical transmission. Simultaneously, the controller 8 restores the scanning speed and laser output power of the moving frame 9 to the set values ​​for the corresponding planar area. In the above control method, the controller 8 is responsible for the macroscopic process path, scanning speed, laser power, and retrace position, while attitude and powder flow compensation are always completed by the real-time mechanical conformal mechanism.

[0039] Preferably, the irregularly shaped wear-resistant liner 4 is an alloy steel plate with a thickness of 12 mm to 35 mm, using iron-based, nickel-based, or tungsten carbide-containing powder with a particle size of 30 micrometers to 90 micrometers, a laser power of 1200 watts to 4000 watts, a powder feeding rate of 5 grams per minute to 25 grams per minute, a protective gas flow rate of 8 liters per minute to 18 liters per minute, and a center distance of 30 mm to 80 mm between the two guide rollers. The above parameters can be adjusted according to the material and the target layer thickness.

[0040] During operation, the irregularly shaped wear-resistant liner 4 is first placed on the support surface of the worktable 2 and clamped and fixed by the clamping seat 3. Then, the workpiece contour data, scanning trajectory and cladding parameters are input into the controller 8. After the contour pre-scan is completed, the formal cladding is started. In the planar area, the average displacement of the two guide rollers remains stable and the differential displacement is close to zero. The movable powder blocking ring 20 remains neutrally open. When entering the height change area, the average displacement of the two guide rollers drives the coaxial powder feeding cladding head 6 to rise and fall as a whole. When entering the corner area, the differential displacement of the two guide rollers further triggers the cladding head posture and powder flow compensation. After completing the reverse retrace at the root of the corner according to the preset conditions, the main scan is resumed.

[0041] During assembly and adjustment, first, position the worktable 2 at a horizontal reference, move the coaxial powder feeding and cladding head 6 to the starting area of ​​the plane of the irregular wear-resistant liner 4, adjust the installation height of the conformal reference frame 11 and the neutral height of the floating support, so that the front guide roller 12 and the rear guide roller 13 are subjected to similar preload on the same plane, and reserve upward and downward conformal stroke for the floating support; then, place the centering target or use a low-power indicator light in the laser channel 17 to confirm that the laser focus 22 is located at the powder beam intersection center of the two partitioned powder spraying ports 19, and finally adjust the zero angle of the linkage swing shaft 15 and the swing mounting frame 10, the position of the fixed hinge seat 28, and the center position of the toggle pin 29 and the strip hole, so that the follower column 27 is in the middle of the inclined guide groove 26, and the two adjustment windows of the movable powder blocking ring 20 form an equal neutral effective flow area with the corresponding partitioned powder spraying ports 19. Through the above zero-position adjustment, the common displacement of the two guide rollers is used to drive the floating support to rise and fall, while the relative displacement of the two guide rollers is used to drive the deflection of the cladding head and the rotation of the movable powder-blocking ring 20. The two outputs are mechanically separate but originate from the same pair of guide rollers.

[0042] When the fillet radius is large, the average displacement and differential displacement of the two guide rollers change continuously with the contour, and the lifting amount of the floating support, the swing angle of the cladding head, and the offset of the movable powder-blocking ring 20 change continuously accordingly. When the bending angle is large, the center distance of the rollers, the effective arm length of the differential linkage 14, the lever arm ratio of the fixed hinge seat 28 to the actuating pin 29, or the circumferential lift of the inclined guide groove 26 can be adjusted according to the contour of the target workpiece, and the scanning speed can be reduced, and the retrace overlap length can be increased or canceled. Multiple continuous rotation angles call the corresponding speed, power, and retrace parameters one by one according to the preset rotation angle interval in the input contour data, while the real-time attitude and powder flow compensation are automatically completed by the same mechanical conformal relationship.

[0043] When multiple overlaps are required, the reference weld lines for the low-level surface, corner surface, and high-level surface are completed first, and then overlaps are performed at 30% to 60% of the weld line width. Subsequent overlaps are still driven by the average displacement of the two guide rollers to follow the shape, and the attitude and powder flow compensation are triggered by differential displacement. The reverse retrace can be shortened or canceled according to the geometric state of the formed weld lines. The process recording module 24 saves the corner interval, scanning speed, reverse retrace position and retrace distance, laser power, and powder feed amount according to the position of the moving frame 9, for parameter reuse and process traceability of the same type of workpiece.

[0044] During maintenance, remove the conformal reference frame 11 and pull out the linkage swing shaft 15 to remove the swing mounting frame 10 and the cladding head 6. Check the fit clearance of the guide roller, compression spring, actuating pin 29 and strip hole, fixed hinge seat 28, and follower column 27 and inclined guide groove 26 in sequence, and clean the movable powder-blocking ring 20. When changing the compensation ratio, the movable powder-blocking ring 20 with different adjustment window width or inclined groove circumferential lift can be replaced.

[0045] When the input contour data or contour pre-scan path indicates that the required cladding head swing angle for the target corner may exceed the allowable range of the angle limit seat 23, the controller 8 keeps the laser 5 and powder feeder 7 off and stops the moving frame 9 to avoid initiating cladding on contours that exceed the mechanical conformal range. After completing a section of processing, if the mechanical reset check finds that the movable powder blocking ring 20 fails to return to the neutral position as the differential displacement of the two guide rollers decreases, a no-laser, no-powder-feed no-no ...

[0046] After the powder feeder 7 is connected to the partitioned powder feeding chamber 18, the powder conveying branches supply powder to the first and second partitions respectively. Each branch can be equipped with an adjustable throttling device. During calibration, the movable powder-blocking ring 20 is first placed in a neutral position and carrier gas is introduced. The basic powder output of the two partitioned powder injection ports 19 is measured respectively. The basic powder output on both sides is adjusted to be approximately equal using the corresponding throttling devices. Then, the neutral overlap position of the first and second adjustment windows is calibrated. During processing, the basic powder feeding rate of the powder feeder 7 remains continuous. Only the movable powder-blocking ring 20 changes the relative effective flow area of ​​the two partitioned powder injection ports 19 to redistribute the powder flow ratio on both sides. The rotation angle of the movable powder-blocking ring 20 and the actual powder output can be established through machine calibration, so that the powder flow rate on the lower side increases with the increase of the effective flow area, and avoids simply equating the change in flow area with an uncalibrated linear mass flow rate change.

[0047] The conformal reference frame 11 can also be supported by a double bearing bracket located on both sides of the cladding head 6 to support the linkage swing shaft 15; the fixed hinge seat 28 is still fixed to the conformal reference frame 11, and the powder blocking connecting rod 25 still receives input through the actuating pin 29 and drives the movable powder blocking ring 20 through the follower column 27 and the inclined guide groove 26. This replacement does not change the working principle.

[0048] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention is limited to these examples; under the concept of the invention, the technical features of the above embodiments or different embodiments can be combined without contradicting each other, each process step is executed according to its technical logic and control relationship, and there are many other variations of the different aspects of the invention as described above, which are not provided in the details for the sake of brevity.

Claims

1. A coaxial powder feeding laser cladding device for irregularly shaped wear-resistant liners, comprising a main frame (1) and a worktable (2) fixed on the upper part of the main frame (1), the worktable (2) being used to support irregularly shaped wear-resistant liners (4), a movable frame (9) being provided on one side of the worktable (2), and a laser (5), a powder feeder (7), and a coaxial powder feeding cladding head (6) communicating with the laser (5) and the powder feeder (7) being provided on the movable frame (9), characterized in that: The movable frame (9) has a conformal reference frame (11) fixed on the side facing the workbench (2). The conformal reference frame (11) is equipped with a swing mounting frame (10). The coaxial powder feeding and cladding head (6) is fixed on the swing mounting frame (10). The lower part of the coaxial powder feeding and cladding head (6) is equipped with a partitioned powder feeding chamber (18). The outlet of the partitioned powder feeding chamber (18) forms a corresponding partitioned powder spraying port (19) and a movable powder blocking ring (20) is rotatably installed. The conformal reference frame (11) is provided with a front guide roller (12) and a rear guide roller (13) at the front and rear. A linkage swing shaft (15) is rotatably provided on its upper part. The middle part of the linkage swing shaft (15) is fixedly connected to the upper part of the swing mounting frame (10), and one end is fixedly connected to the middle part of the differential connecting rod (14). The two ends of the differential connecting rod (14) are respectively connected to two guide rollers. A powder blocking connecting rod (25) is provided between the differential connecting rod (14) and the movable powder blocking ring (20). When the two guide rollers have a height difference, the differential linkage (14) drives the linkage swing shaft (15) to rotate, causing the swing mounting frame (10) to drive the coaxial powder feeding cladding head (6) to deflect, so that the axis of the coaxial powder feeding cladding head (6) is adjusted toward the local normal direction of the surface to be clad, and the movable powder blocking ring (20) is driven to rotate via the powder blocking linkage (25), so that the effective opening amount of the partition powder spraying port (19) located on the low side of the surface to be clad increases, and the effective opening amount of the other partition powder spraying port (19) located on the high side of the surface to be clad decreases; A controller (8) is provided on one side of the main frame (1). The controller (8) is electrically connected to the moving frame (9), the laser (5), the powder feeder (7), and the coaxial powder feeding and cladding head (6).

2. The coaxial powder feeding laser cladding equipment for irregularly shaped wear-resistant liners according to claim 1, characterized in that, Clamping seats (3) are provided on both sides of the workbench (2). Each clamping seat (3) has a clamping end facing the edge of the irregular wear-resistant liner (4). The clamping seat (3) is adjustable in the direction close to or away from the edge of the irregular wear-resistant liner (4) so ​​that the clamping end presses the irregular wear-resistant liner (4) onto the support surface of the workbench (2).

3. The coaxial powder feeding laser cladding equipment for irregularly shaped wear-resistant liners according to claim 1, characterized in that, The main frame (1) is provided with guide rails extending in the first direction at the positions on both sides of the workbench (2). The movable frame (9) is slidably mounted on the guide rails. The movable frame (9) is provided with transverse guide rails extending in the second direction. The coaxial powder feeding and cladding head (6) moves along the transverse guide rails. The first direction and the second direction are perpendicular to each other.

4. The coaxial powder feeding laser cladding equipment for irregularly shaped wear-resistant liners according to claim 1, characterized in that, The coaxial powder feeding cladding head (6) has a laser channel (17) at its center. The partitioned powder feeding cavity (18) is an annular cavity surrounding the laser channel (17). The annular cavity is divided into a first partition and a second partition arranged opposite to each other along the circumference. The first partition and the second partition are respectively connected to the partitioned powder spraying port (19) arranged opposite to each other. The coaxial powder feeding cladding head (6) is provided with a protective gas sleeve (21) located outside the partitioned powder spraying port (19). The protective gas sleeve (21) surrounds the partitioned powder spraying port (19) and is connected to the protective gas source.

5. The coaxial powder feeding laser cladding equipment for irregularly shaped wear-resistant liners according to claim 4, characterized in that, The movable powder-blocking ring (20) is rotatably installed at the outlet of the partitioned powder feeding chamber (18). The movable powder-blocking ring (20) is provided with a first adjustment window and a second adjustment window that are respectively opposite to the first partition and the second partition. The first adjustment window and the second adjustment window respectively have adjustment edges that are offset along the circumferential direction. When the movable powder-blocking ring (20) is in the neutral position, the effective flow areas of the two partition powder spraying ports (19) are equal; when the movable powder-blocking ring (20) rotates along the first circumferential direction, the effective flow area of ​​the partition powder spraying port (19) corresponding to the first partition increases and the effective flow area of ​​the partition powder spraying port (19) corresponding to the second partition decreases. When it rotates along the second circumferential direction opposite to the first circumferential direction, the above-mentioned changes are reversed.

6. The coaxial powder feeding laser cladding equipment for irregularly shaped wear-resistant liners according to claim 1, characterized in that, The conformal reference frame (11) has guide holes extending vertically on both sides. The front guide roller (12) and the rear guide roller (13) are slidably installed in the corresponding guide holes and abut against the surface to be clad on the irregular wear-resistant liner (4) by compression springs. The differential connecting rod (14) is set on the upper part of the conformal reference frame (11). The two ends of the differential connecting rod (14) are connected to the upper ends of the front guide roller (12) and the rear guide roller (13) respectively.

7. The coaxial powder feeding laser cladding equipment for irregularly shaped wear-resistant liners according to claim 6, characterized in that, The upper part of the conformal reference frame (11) is provided with a bearing seat, and the linkage swing shaft (15) is rotatably supported in the bearing seat; the upper part of the swing mounting frame (10) is provided with a bushing fixedly sleeved in the middle of the linkage swing shaft (15), and the middle part of the differential connecting rod (14) is fixed to one end of the linkage swing shaft (15); the conformal reference frame (11) is fixedly provided with an angle limiting seat (23) on one side of the swing mounting frame (10), and the angle limiting seat (23) forms a limiting surface on the side facing the swing mounting frame (10), and also includes a return spring (16), one end of the return spring (16) is connected to the swing mounting frame (10), and the other end is connected to the angle limiting seat (23).

8. The coaxial powder feeding laser cladding equipment for irregularly shaped wear-resistant liners according to claim 7, characterized in that, Two annular limiting shoulders (30) are axially spaced on the outer periphery of the outlet of the partitioned powder feeding chamber (18). The movable powder blocking ring (20) is rotatably sleeved between the two annular limiting shoulders (30), and its axial movement along the coaxial powder feeding cladding head (6) is restricted by the two annular limiting shoulders (30). The outer periphery of the movable powder blocking ring (20) is provided with inclined guide grooves (26) extending obliquely along its axial and circumferential directions. The conformal reference frame (11) is fixedly provided with a fixed hinge seat (28) on one side of the movable powder blocking ring (20). The middle part of the powder blocking connecting rod (25) is connected to the... The fixed hinge seat (28) is hinged; a deflecting pin (29) is provided on the differential connecting rod (14) at one side of the linkage swing shaft (15). The upper end of the powder blocking connecting rod (25) forms a strip hole that slides with the deflecting pin (29), and the lower end is provided with a follower column (27) that slides into the inclined guide groove (26), so that the differential connecting rod (14) drives the powder blocking connecting rod (25) to swing around the fixed hinge seat (28) through the deflecting pin (29), and the follower column (27) moves along the inclined guide groove (26) to drive the movable powder blocking ring (20) to rotate in two opposite directions in the circumferential direction.

9. The coaxial powder feeding laser cladding equipment for irregularly shaped wear-resistant liners according to claim 1 or 8, characterized in that, The controller (8) is configured to: determine the corner transition zone based on the pre-input contour data of the irregular wear-resistant liner (4) and the predetermined cladding trajectory; with the laser (5) and powder feeder (7) off, make the coaxial powder feeding cladding head (6) complete a contour pre-scan along the predetermined cladding trajectory, and establish a correspondence between the position of each corner transition zone and the corresponding scanning speed, the output power of the laser (5), and the reverse scanning position; during formal cladding, reduce the scanning speed of the moving frame (9) and adjust the laser (5) before entering the corner transition zone. The output power of the coaxial powder feeding cladding head (6) reaches the reverse scanning position and then the coaxial powder feeding cladding head (6) first scans back a preset distance in the opposite direction of the main scanning direction, and then continues to clad along the main scanning direction. During the contour pre-scanning and formal cladding process, the rotation position of the active powder blocking ring (20) is not actively set by the controller (8), but is changed by the real-time relative displacement of the front guide roller (12) and the rear guide roller (13) through the differential linkage (14) and the powder blocking linkage (25), and mechanically returns to the neutral position when the relative displacement of the two guide rollers decreases.

10. The coaxial powder feeding laser cladding equipment for irregularly shaped wear-resistant liners according to claim 9, characterized in that, The controller (8) is equipped with a process recording module (24), which is used to record the entry position, exit position, scanning speed, reverse scanning position and scanning distance of the corner transition zone, the output power of the laser (5) and the powder feeding amount of the powder feeder (7) according to the position of the moving frame (9).

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