CN110218999B - Ultrasonic vibration multidimensional influence laser cladding equipment and method - Google Patents

Abstract

The invention relates to the technical field of laser cladding equipment, in particular to ultrasonic vibration multidimensional influence laser cladding equipment and a method. The ultrasonic welding machine comprises a frame, a manipulator component, a cladding chuck component, a coupling ultrasonic system component and a turntable system component which are arranged on the frame, and also comprises a control cabinet; the manipulator component is provided with a cladding head, the cladding head can move in multiple dimensions, one end of the coupling ultrasonic system component is connected with the turntable system component, the other end of the coupling ultrasonic system component is connected with the cladding chuck component, the cladding chuck component is provided with a cladding piece, the coupling ultrasonic system component drives the cladding piece to perform ultrasonic composite vibration, and the turntable system component drives the cladding piece to rotate; the control cabinet is electrically connected with and controls the manipulator component, the coupled ultrasound system component and the turntable system component. The ultrasonic vibration influence in any direction can be loaded on the cladding channel, the influence is multidimensional and variable in power and controllable in amplitude, and then a multidimensional ultrasonic auxiliary laser cladding platform with high efficiency and automation is established.

Description

Ultrasonic vibration multidimensional influence laser cladding equipment and method

Technical Field

The invention relates to the technical field of laser cladding equipment, in particular to ultrasonic vibration multidimensional influence laser cladding equipment and a method.

Background

With the development of modern industry, the requirements on the surface performance of mechanical products are higher and higher, and reliable and continuous working under high-speed, high-temperature, high-pressure, heavy-load and corrosion working conditions are required, which presents challenges for the manufacturing technology. After surface treatment, the general metal material can replace noble metal, even the service life of mechanical products can be prolonged and the productivity can be improved due to the improvement of the surface property. As a new processing technology, laser cladding can well meet the above requirements, and has been widely paid attention to and studied in recent years and has been applied to a certain extent. However, in a specific process implementation process, microscopic cracks are inevitably generated in the cladding layer, and the existence of the microscopic cracks has a great influence on the service life of a workpiece, so that the effect on the cladding process is exerted, and the bottleneck problem in the laser cladding field is formed by reducing the microscopic cracks through quantitatively refining the grain structure.

The sound wave frequency which can be heard by human ears is usually in the range of 16 kHz-20 kHz, and the sound wave with the frequency exceeding 20kHz is ultrasonic wave. The ultrasonic wave has the phenomena of high frequency, short wavelength, high energy, high power, easier reflection, refraction, scattering, resonance, attenuation and the like in the propagation process. The ultrasonic vibration is to act on the vibrator system by taking ultrasonic waves generated by the ultrasonic generator as power, so that the vibrator is promoted to generate high-frequency micro-vibration, and meanwhile, the high-frequency electric signals of the ultrasonic generator are output into mechanical vibration with the same frequency through the transducer, amplitude is amplified through the amplitude transformer, and then the ultrasonic waves are transmitted to the surface of an acting object through the end face at the bottom of the vibrator, so that the ultrasonic vibration effect is achieved. The ultrasonic vibration technology is widely applied to various fields by virtue of the characteristics of ultrahigh frequency, micro vibration, safety, no pollution and the like. Practice shows that: the ultrasonic auxiliary mode is adopted to influence the laser cladding process, and the cavitation effect, the mechanical effect and the thermal effect of the ultrasonic waves effectively promote the homogenization of the stress field of the cladding layer, so that the grain structure is refined, and the generation of cracks can be fundamentally restrained. Compared with the common cladding, the ultrasonic-assisted laser cladding has the advantages that the range of zero temperature gradient is larger, the temperature field distribution is more uniform, and the residual stress of the finished product is effectively reduced.

However, the existing equipment for influencing laser cladding by utilizing ultrasonic vibration is not perfect, and the main appearance is that: the equipment has poor systematicness, unstable ultrasonic power, unstable amplitude, too single vibration application mode (only staying in the single direction of vertical direction or horizontal direction to affect), and unstable vibration affecting direction, so that the affecting effect of ultrasonic vibration on laser cladding cannot be quantified, and the technological implementation process is unsatisfactory.

The prior equipment using ultrasonic auxiliary laser cladding does not consider multidimensional loading of vibration, and the field is still blank. CN 106350817A discloses a method and a device for preparing a crack-free cladding layer by ultrasonic vibration assisted laser cladding, wherein the ultrasonic assisted vibration direction is only unidirectional vibration, and the design structure can cause the laser cladding head to be interfered by ultrasonic vibration, so that the cladding precision is affected, and even the cladding head can be damaged. CN 106917086A discloses a method and device for assisting laser cladding by ultrasonic vibration, which uses the externally applied energy field of ultrasonic vibration introduced horizontally to improve the structure and performance of the laser cladding layer, and adopts cooling water to be introduced into a cooling water tank to reduce the heat transferred to a transducer in the laser cladding process, thereby improving the production efficiency of laser cladding processing. However, the ultrasonic loading in a single direction is considered, so that the ultrasonic auxiliary effect cannot be effectively exerted, the design structure is complex, and the occupied area is large.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides ultrasonic vibration multidimensional influence laser cladding equipment and a method. The ultrasonic vibration influence in any direction can be loaded on the cladding channel, the influence is multidimensional and variable in power and controllable in amplitude, and then a multidimensional ultrasonic auxiliary laser cladding platform with high efficiency and automation is established.

In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:

an ultrasonic vibration multidimensional influence laser cladding device comprises a frame, a manipulator part, a cladding chuck part, a coupling ultrasonic system part and a turntable system part which are arranged on the frame, and also comprises a control cabinet; the manipulator component is provided with a cladding head, the cladding head can move in multiple dimensions, one end of the coupling ultrasonic system component is connected with the turntable system component, the other end of the coupling ultrasonic system component is connected with the cladding chuck component, the cladding chuck component is provided with a cladding piece, the coupling ultrasonic system component drives the cladding piece to perform ultrasonic composite vibration, and the turntable system component drives the cladding piece to rotate; the control cabinet is electrically connected with and controls the manipulator component, the coupled ultrasound system component and the turntable system component.

The manipulator component comprises a manipulator system and a cladding head; one end of the manipulator system is fixed on the upper surface of the frame through a base of the manipulator system, the cladding head is a coaxial laser cladding head, and the cladding head is fixed at the other end of the manipulator system.

The cladding chuck component comprises a grooved chuck, a cladding piece and a clamp; the cladding piece is placed above the slotting chuck and is fixed through a fixture.

The upper surface of the middle part of the slotting chuck is provided with a T-shaped groove penetrating through in a cross mode, the slotting chuck is provided with a plurality of claws, and the upper surface of each claw is provided with a T-shaped groove.

The coupled ultrasonic system component comprises a fastening bolt, an amplitude transformer, a transducer, a transverse transducer supporting cylinder, a lateral bracket and a longitudinal transducer supporting cylinder; the amplitude transformer is connected with the longitudinal transducer supporting cylinder, the fastening bolt is arranged on the amplitude transformer, the lateral support is fixed on the longitudinal transducer supporting cylinder, the transverse transducer supporting cylinder is fixed on the lateral support, and the transverse transducer supporting cylinder is connected with the amplitude transformer; the transducers are mounted in the transverse transducer support cylinder and the longitudinal transducer support cylinder.

The end part of the amplitude transformer is provided with an annular groove, the fastening bolt is placed in the groove, and the coupling ultrasonic system is connected with the cladding chuck component through the fastening bolt.

The turntable system component comprises a turntable, an angle measurement sensor, a worm wheel, a worm, a gear and a power system; the angle sensor is arranged on the turntable, the turntable is coaxial with the worm wheel, the worm wheel is matched with the worm, and the power system drives the worm wheel to rotate through the gear, so that the turntable is driven to rotate.

The rack comprises a locating pin, a base and a heat dissipation system; the base is of a box type structure, the heat dissipation system is arranged on the wall of the box, and the positioning pins are fixed on the upper surface of the base; the base is connected with the cladding chuck component through a locating pin.

An ultrasonic vibration multidimensional influence laser cladding method specifically comprises the following steps: the cladding piece is clamped on the surface of the slotting chuck, the cladding substrate is fixed, the manipulator system drives the cladding head to finish the appointed action, and a cladding channel in any direction is formed on the cladding substrate.

Meanwhile, the turntable system component drives the cladding piece to rotate at a specified angle, and the amplitude transformer coupled with the ultrasonic system component drives the slotting chuck and the cladding piece thereon to perform compound vibration with specified amplitude and phase, so that the influence of a quantified ultrasonic compound vibration source is applied to a cladding channel formed on a cladding substrate at a specified angle;

finally, the multidimensional ultrasonic vibration influence on the appointed direction, amplitude and phase of the cladding piece is completed, and the multidimensional influence on the surface microstructure and the internal microstructure of the cladding layer is controllable.

Compared with the prior art, the invention has the beneficial effects that:

(1) The invention is provided with the cladding chuck component, the upper surface of the middle part of the slotting chuck is provided with the T-shaped slot which is penetrated by a cross, so that clamping and fixing operations of cladding substrates with different shapes and sizes can be realized; meanwhile, the slotting chuck is provided with a plurality of claws, and the upper surface of each claw is provided with a T-shaped slot, so that the slotting chuck is suitable for clamping and fixing operation of a large-size cladding substrate.

(2) According to the invention, the manipulator drives the cladding head to move, so that the cladding head can move in any direction, the cladding chuck component can fix the cladding substrate, and the cladding chuck component is effectively matched with the cladding head driven by the manipulator to form a cladding channel in any direction on the cladding substrate.

(3) The longitudinal and transverse directions of the coupling ultrasonic system component are respectively provided with a transducer, and the horizontal ultrasonic vibration influence and the vertical ultrasonic vibration influence are fixedly coupled to form an ultrasonic composite vibration source.

(4) The invention is provided with a turntable system component, the coupled ultrasonic system component is connected with the turntable system component, and the turntable system component drives the coupled ultrasonic system component to rotate so as to drive the composite vibration source to realize circumferential rotation at any angle.

According to the invention, the horizontal ultrasonic vibration influence and the vertical ultrasonic vibration influence are fixedly coupled to form an ultrasonic composite vibration source, the special chuck is utilized to fix the cladding substrate, the cladding substrate is effectively matched with the cladding head driven by the manipulator, and the cladding channel in any direction is formed on the cladding substrate. The compound vibration source is driven by the specially designed turntable system to realize circumferential rotation at any angle, thereby applying the influence of the quantified ultrasonic compound vibration source to a cladding channel formed on a cladding substrate at any angle to realize the multidimensional ultrasonic vibration influence on laser cladding,

the invention can realize the multidimensional ultrasonic vibration influence on the laser cladding process, realizes quantitative controllability of amplitude and phase through flexible adjustment of power, realizes the multidimensional influence controllability of the surface microcosmic appearance and the internal microcosmic structure of the cladding layer, and provides a device platform for deeply researching the multidimensional ultrasonic vibration influence of different vibration modes on the cladding process, thereby improving cladding performance and controllability of the cladding process.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of the present invention (excluding a control cabinet);

FIG. 3 is a schematic view of the components of the manipulator of the present invention;

FIG. 4 is a schematic view of the cladding chuck assembly of the present invention;

FIG. 5 is an enlarged view of part of the view of FIG. 4 IIA;

FIG. 6 is an enlarged view of part of the view of FIG. 4 IIB;

FIG. 7 is a schematic perspective view of components of a coupled ultrasound system of the present invention;

FIG. 8 is a schematic cross-sectional view of the horn construction of the present invention;

FIG. 9 is a schematic front view of a side bracket structure of the present invention;

FIG. 10 is a schematic top view of a side bracket structure of the present invention;

FIG. 11 is a schematic view of the longitudinal transducer support cartridge, transducer and transducer gland configuration of the present invention;

FIG. 12 is a schematic perspective view of a frame of the present invention;

FIG. 13 is a schematic front view of the frame structure of the present invention;

FIG. 14 is a schematic side view of a frame structure of the present invention;

FIG. 15 is a schematic view of a perspective structure of a frame locating pin according to the present invention;

FIG. 16 is a schematic perspective view of the components of the turntable system of the present invention;

FIG. 17 is a schematic front view of the components of the turntable system of the present invention;

FIG. 18 is a cross-sectional view taken along the direction B of FIG. 17;

FIG. 19 is a cross-sectional view taken in the direction C of FIG. 17;

FIG. 20 is a schematic perspective view of the drive portion of the turntable system according to the present invention;

FIG. 21 is a schematic view of the attachment of the cladding chuck assembly to the coupled ultrasound system assembly of the present invention.

Figure 22 is a schematic diagram of the connection of the ultrasound system components to the turret system components of the present invention.

In the figure: i-robot components, II-cladding chuck components, III-coupled ultrasound system components, IV-frames, V-turret system components, VI-control cabinets, I01-robot systems, I02-coaxial laser cladding heads, II 01-slotted chucks, II 02-cladding, II 03-clamps, II 04-fastening nuts, III 01-fastening bolts, III 02-horns, III 03-transducers, III 04-transverse transducer support barrels, III 05-transducer covers, III 06-lateral brackets, III 07-longitudinal flange transducer support barrels, IV 01-locating pins, IV 02-mounts, IV 03-door, IV 04-heat dissipation systems, IV 05-windows, V01-turrets, V02-angle measurement sensors, V03-worm shaft end caps, V04-turret boxes, V05-oil valves, V06-pinion input shafts, V07-large gears, V08-lifting lugs, V09-power systems, V10-power system brackets, V11-pinion gears, V12-worm gears, V13-hollow shafts, V13-spindle heads, V14-worm shafts, and V15-worm shafts.

Detailed Description

The following detailed description of the invention is further illustrative, but is not intended to limit the scope of the invention:

as shown in fig. 1 and 2, the ultrasonic vibration multidimensional influencing laser cladding equipment comprises a manipulator component I, a laser cladding chuck component ii, a coupled ultrasonic system component iii, a frame iv, a turntable system component V and a system control cabinet VI. The control cabinet VI is electrically connected to and controls the manipulator assembly I, the coupled ultrasound system assembly iii, and the turntable system assembly V.

As shown in FIG. 3, the manipulator component I comprises a coaxial laser cladding head I01 and a manipulator system I02, wherein the laser cladding head I01 is fixed at the end part of the manipulator, and the manipulator system I02 is fastened on the upper surface of the rack IV through a base of the manipulator system I02.

As shown in fig. 4, 5 and 6, the cladding chuck assembly ii is composed of a ii 01 grooved chuck, a ii 02 cladding, a ii 03 clamp, and a ii 04 fastening nut. The surface of the chuck is provided with a T-shaped transverse groove penetrating through the cross, and the hexagonal fastening bolt for fixing the cladding substrate plate can move along the groove in the transverse groove of the chuck so as to realize clamping and fixing operations of cladding substrate plates with different shapes and sizes.

Meanwhile, T-shaped transverse grooves are respectively formed in the four corners of the chuck along the diagonal direction, so that the clamping and fixing operation of the cladding substrate plate with the larger size is applicable, and the shape of each transverse groove is shown in a fifth drawing. Two positioning holes are respectively formed in four corners of the chuck, the aperture of the positioning holes is slightly larger than an IV 01 positioning bolt shown in a figure twelve, and the positioning bolt is fixedly connected to the upper surface of the frame in a welding mode, so that circumferential rotation of the chuck part II is limited, and vertical up-and-down vibration of the chuck part II is ensured.

As shown in fig. 7 to 11, the ultrasonic vibration system component iii is composed of a fastening bolt iii 01, an amplitude transformer iii 02, a transducer iii 03, a transverse transducer support cylinder iii 04, a transducer gland iii 05, a lateral bracket iii 06, and a longitudinal flange transducer support cylinder iii 07.

As shown in fig. 8, the top of the horn iii 02 is provided with an annular groove. As shown in fig. 21, the fastening bolt III 01 is placed in the groove of the horn III 02, and in the loosened state, the bolt can move in any circumferential direction in the groove, and when the fastening bolt is tightened, the fastening bolt III 01 connects the horn III 02 with the horn ii 01 and makes the two coaxially rotate, thereby realizing the controllable separation of the chuck component ii from the ultrasonic vibration system component III as required in this manner.

As shown in fig. 7, 9 and 10, the transverse transducer iii 03 is in threaded connection with the amplitude transformer iii 02, and an adjustment allowance is left, and the transverse transducer support cylinder iii 04 is arranged at the top of the lateral support iii 06 and is fixedly connected with the lateral support iii 06 by welding. The bottom plane of the lateral bracket III 06 is attached to the flange surface of the longitudinal flange transducer supporting cylinder III 07. Both the lateral support iii 06 and the longitudinal flange transducer support cylinder iii 07 are bolted above the turntable v 01.

As shown in fig. 11, the transducer gland iii 05 is used to limit the longitudinal and circumferential freedom of the transducer, is placed in a groove in the wall of the cylinder iii 07, and is then fastened by a screw.

As shown in fig. 12-15, the rack IV consists of an IV 01 locating pin, an IV 02 base, an IV 03 box door, an IV 04 heat radiation system and an IV 05 monitoring window. The IV 01 locating pin is arranged on the top surface of the base IV 02 and fixedly connected with the base IV 02 by welding; the IV 04 heat dissipation system is fixed with the IV 02 base through threads; the IV 03 box door is in rotary connection with the IV 02 base through a bolt.

As shown in fig. 16-20, turret system component v consists of v 01 turntable, v 02 angle measurement sensor, v 03 worm shaft end cap, v 04 turret case, v 05 oil valve, v 06 pinion input shaft, v 07 large gear, v 08 shackle, v 09 power system, v 10 power system bracket, v 11 pinion, v 12 worm gear, v 13 bottom cap, v 14 turntable hollow shaft, v 15 worm shaft. And V09 power system adopts motor.

The V01 turntable is connected with the V14 turntable hollow shaft through the cooperation of the positioning groove, the V14 turntable hollow shaft is assembled with the V12 worm wheel in an interference manner, the V03 worm shaft end cover is connected with the V04 turntable box through a bolt, the V06 pinion input shaft is connected with the V11 pinion through a key to realize circumferential transmission, the V09 power system is connected with input power through a key, the V11 pinion is meshed with the V07 gear to be transmitted, the V07 gear is assembled with the V15 worm shaft in an interference manner, the V09 power system is connected with the V10 power system bracket through a bolt, the V12 worm wheel is meshed with the V15 worm shaft, and the V13 bottom cover is connected with the V04 turntable box through a bolt.

As shown in fig. 1-22, the manipulator component i is bolted to the frame iv; the cladding piece chuck component II is connected with the coupling ultrasonic system component III through a bolt II 04, and the chuck component II and the ultrasonic vibration system component III are controllably separated according to requirements by loosening or tightening the bolt II 04. When loosened, the bolts can move freely in the grooves of the coupled ultrasonic system component III, so that the horizontal and vertical composite ultrasonic vibration sources can rotate around the shaft by any angle. However, the cladding piece chuck component II and the frame IV are positioned by adopting bolts, so that the cladding piece chuck component II does not rotate around the shaft along with the coupled ultrasonic system component III, the cladding piece is limited to be circumferentially fixed, and the vertical freedom degree of the cladding piece is reserved. The coupled ultrasonic system component III is connected with the turntable system component V by bolts, and the turntable drives the ultrasonic system to integrally rotate around the shaft; the turntable system component V is connected with the frame IV by bolts, so that all degrees of freedom of the turntable base are limited; the frame IV is fixedly connected with the ground by bolts, so that all degrees of freedom are limited.

The cladding piece is clamped on the slotting chuck II 01 through the clamp II 03, the hexagonal bolt and the hexagonal nut, the hexagonal bolt head is embedded in a groove with the interface IIB, and when the nut is loosened, the bolt can freely move along the groove to enable the clamp and the cladding piece to be clamped on the slotting chuck II 01 at any position and any angle.

After the II 04 nut is loosened, a multidimensional ultrasonic vibration auxiliary laser cladding platform control system is operated through a touch screen of an IV 03 box door, cladding parameters, cladding paths, vibration power, vibration phases, vibration directions and the like are input, control signals are fed back to a central control system of a VI control cabinet, a V09 power system is driven to output corresponding torque, the corresponding torque is transmitted to a gear pair consisting of a V11 pinion and a V07 large gear through a V06 pinion input shaft, a V15 worm shaft is driven to axially rotate, and then a V12 worm wheel meshed with the V15 worm shaft is driven to axially rotate at a low speed, and a V14 turntable hollow shaft is driven to rotate to finally enable a V01 turntable to rotate.

V01 carousel drives III coupling ultrasonic system part whole rotation, and then III 03 transducer output direction changes. At the moment, the II 04 fastening nut is screwed down to start cladding action, and the cladding action mainly relates to a powder feeder, a powder feeding nozzle and a connecting pipeline. In the working process of the platform, the IV 04 heat dissipation system continuously works as heat dissipation in the box body. And IV 03, a plurality of simple control keys and monitoring instructions are embedded in the box door, and corresponding additional operations can be performed by observing information reflected by the monitoring and touch screen and combining the actual conditions of the cladding piece.

When technological parameters need to be changed in the cladding process, particularly operation related to the influence of the multidimensional ultrasonic vibration direction, the platform work needs to be suspended, a platform control system is operated after the II 04 fastening nut is loosened, the II 04 fastening nut is re-tightened after the vibration direction is adjusted, and the cladding process is continued.

A laser cladding method is affected by ultrasonic vibration in multiple dimensions, and a cladding piece is clamped on the surface of a II 01 slotting chuck during operation. The manipulator and the turntable are cooperatively controlled by the central processing system to adjust the manipulator to drive the cladding head to finish the appointed action, the turntable rotates by an appointed angle, the transducer outputs the vibration with appointed amplitude and phase, and finally the multidimensional ultrasonic vibration influence of the appointed direction, the amplitude and the phase on the cladding piece is finished. The platform has the advantages that ultrasonic vibration parameters are flexible and adjustable; the loading of ultrasonic vibration does not affect the manipulator and the cladding head, and only affects the cladding piece. When the cladding piece is subjected to laser cladding, ultrasonic assistance can refine the cladding layer grains, reduce residual stress, reduce surface roughness, improve surface wear resistance and the like; on the basis, the multidimensional ultrasonic auxiliary laser cladding platform is used for laser cladding for different materials, so that the controllable accurate processing of the surface microscopic morphology of a workpiece and the grain refinement degree inside a cladding layer can be achieved, and the requirements of various limiting working conditions on the surface performance of the workpiece can be met.

According to the invention, the horizontal ultrasonic vibration influence and the vertical ultrasonic vibration influence are fixedly coupled to form an ultrasonic composite vibration source, the special chuck is utilized to fix the cladding substrate, the cladding substrate is effectively matched with the cladding head driven by the manipulator, and the cladding channel in any direction is formed on the cladding substrate. The compound vibration source is driven by the specially designed turntable system to realize circumferential rotation at any angle, thereby applying the influence of the quantified ultrasonic compound vibration source to a cladding channel formed on a cladding substrate at any angle to realize the multidimensional ultrasonic vibration influence on laser cladding,

the invention can realize the multidimensional ultrasonic vibration influence on the laser cladding process, realizes quantitative controllability of amplitude and phase through flexible adjustment of power, realizes the multidimensional influence controllability of the surface microcosmic appearance and the internal microcosmic structure of the cladding layer, and provides a device platform for deeply researching the multidimensional ultrasonic vibration influence of different vibration modes on the cladding process, thereby improving cladding performance and controllability of the cladding process.

The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.

Claims (7)

1. An ultrasonic vibration multidimensional influencing laser cladding device is characterized in that: the ultrasonic welding machine comprises a frame, a manipulator component, a cladding chuck component, a coupling ultrasonic system component and a turntable system component which are arranged on the frame, and also comprises a control cabinet; the manipulator component is provided with a cladding head, the cladding head can move in multiple dimensions, one end of the coupling ultrasonic system component is connected with the turntable system component, the other end of the coupling ultrasonic system component is connected with the cladding chuck component, the cladding chuck component is provided with a cladding piece, the coupling ultrasonic system component drives the cladding piece to perform ultrasonic composite vibration, and the turntable system component drives the cladding piece to rotate; the control cabinet is electrically connected with and controls the manipulator component, the coupled ultrasonic system component and the turntable system component;

the manipulator component comprises a manipulator system and a cladding head; one end of the manipulator system is fixed on the upper surface of the frame through a base of the manipulator system, the cladding head is a coaxial laser cladding head, and the cladding head is fixed at the other end of the manipulator system;

the coupled ultrasonic system component comprises a fastening bolt, an amplitude transformer, a transducer, a transverse transducer supporting cylinder, a lateral bracket and a longitudinal transducer supporting cylinder; the amplitude transformer is connected with the longitudinal transducer supporting cylinder, the fastening bolt is arranged on the amplitude transformer, the lateral support is fixed on the longitudinal transducer supporting cylinder, the transverse transducer supporting cylinder is fixed on the lateral support, and the transverse transducer supporting cylinder is connected with the amplitude transformer; the transducers are mounted in the transverse transducer support cylinder and the longitudinal transducer support cylinder.

2. An ultrasonic vibration multidimensional influencing laser cladding apparatus of claim 1 wherein: the cladding chuck component comprises a grooved chuck, a cladding piece and a clamp; the cladding piece is placed above the slotting chuck and is fixed through a fixture.

3. An ultrasonic vibration multidimensional influencing laser cladding apparatus as defined in claim 2 wherein: the upper surface of the middle part of the slotting chuck is provided with a T-shaped groove penetrating through in a cross mode, the slotting chuck is provided with a plurality of claws, and the upper surface of each claw is provided with a T-shaped groove.

4. An ultrasonic vibration multidimensional influencing laser cladding apparatus of claim 1 wherein: the end part of the amplitude transformer is provided with an annular groove, the fastening bolt is placed in the groove, and the coupling ultrasonic system is connected with the cladding chuck component through the fastening bolt.

5. An ultrasonic vibration multidimensional influencing laser cladding apparatus of claim 1 wherein: the turntable system component comprises a turntable, an angle measurement sensor, a worm wheel, a worm, a gear and a power system; the angle sensor is arranged on the turntable, the turntable is coaxial with the worm wheel, the worm wheel is matched with the worm, and the power system drives the worm wheel to rotate through the gear, so that the turntable is driven to rotate.

6. An ultrasonic vibration multidimensional influencing laser cladding apparatus of claim 1 wherein: the rack comprises a locating pin, a base and a heat dissipation system; the base is of a box type structure, the heat dissipation system is arranged on the wall of the box, and the positioning pins are fixed on the upper surface of the base; the base is connected with the cladding chuck component through a locating pin.

7. A cladding method based on the apparatus of claim 1, comprising in particular: clamping the cladding piece on the surface of the slotting chuck to fix the cladding substrate, and driving the cladding head by the manipulator system to finish the appointed action to form a cladding channel in any direction on the cladding substrate;

meanwhile, the turntable system component drives the cladding piece to rotate at a specified angle, and the amplitude transformer coupled with the ultrasonic system component drives the slotting chuck and the cladding piece thereon to perform compound vibration with specified amplitude and phase, so that the influence of a quantified ultrasonic compound vibration source is applied to a cladding channel formed on a cladding substrate at a specified angle;

finally, the multidimensional ultrasonic vibration influence on the appointed direction, amplitude and phase of the cladding piece is completed, and the multidimensional influence on the surface microstructure and the internal microstructure of the cladding layer is controllable.