CN112440011B - Automatic positioning machining method for opposite-impact air film holes of guide blades - Google Patents
Automatic positioning machining method for opposite-impact air film holes of guide blades Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
- B23K26/382—Removing material by boring or cutting by boring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
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Abstract
The invention discloses an automatic positioning and processing method of a guide vane opposite-impact air film hole, which comprises the steps of obtaining a first circle center coordinate after the guide vane is clamped reversely, calculating to obtain a primary offset, a secondary offset and final offsets delta x and delta y, correspondingly adding the final offsets delta x and delta y to a preset coordinate of the opposite-direction air film hole to obtain a corrected coordinate of the opposite-direction air film hole, and processing the opposite-direction air film hole on the guide vane according to the corrected coordinate of the opposite-direction air film hole. The final offset delta x and the final offset delta y can be obtained through a machine vision technology, the coordinate of the gas film hole to be processed is correspondingly added with the final offset to obtain a final processing coordinate, the deviation of the gas film hole in the opposite direction after the guide vane is reversely clamped and secondarily positioned is corrected, no manual intervention is performed in the whole process, the automation degree and the processing efficiency of the gas film hole processing of the guide vane are improved, and manpower and material resources are saved.
Description
Technical Field
The invention relates to the technical field of air film hole machining, in particular to an automatic positioning machining method for a guide vane opposite-impact air film hole.
Background
In an aircraft engine, the operation efficiency of a gas turbine can be effectively improved by increasing the temperature of a turbine inlet, but the normal operation of guide vanes in an engine turbine is influenced by overhigh temperature and thermal stress, so that the temperature is often reduced by adopting a multi-row hole film cooling mode, and the arrangement structure of film holes is obtained by accurate calculation and is distributed on the guide vanes according to the specified shape, inclination angle and arrangement.
Two ends of each guide blade are provided with large-volume solid bosses, and blade body regions are distributed on the same straight line, and the structures with the opposite inclination angles of the front group of air film holes and the rear group of air film holes are of opposite punching hole row structures. When processing is to row's of punching a hole gas film hole, receive the restriction of processing equipment such as axle stroke or other structures, can't accomplish the processing to punching a hole gas film hole in same clamping, need accomplish the processing in positive direction gas film hole when guide vane forward clamping at first, then dismantle guide vane and carry out reverse clamping, accomplish the processing in reverse direction gas film hole.
The positioning method during the machining of the air film hole of the guide vane is based on a small deviation principle, the best fit of the guide vane is calculated by comparing the actual measurement value of the guide vane with the three-dimensional model of the guide vane, and then the best fit of the guide vane is converted into the pose in a machine tool and the machining coordinate of the machine tool. Because the blade body of the guide blade is an irregular curved surface and has certain manufacturing deviation (including casting deviation), the whole positioning error of a workpiece can only be ensured to be minimum, the local error of the processing position of the air film hole cannot be ensured, and the positioning fitting result after twice clamping cannot be completely consistent.
The direct processing after the secondary positioning can cause the deviation between the X direction and the Y direction of the coordinates of the opposite-direction gas film holes, so that the processing positions of the opposite-punched holes are inconsistent with the design, the main expression is that the processed gas film holes can meet the requirement of opposite directions but are not distributed on the same straight line, and the processed gas film holes become a staggered opposite-punched hole arrangement structure, and the serious consequence is that jet flow is easy to interfere with each other at the outlet of the opposite-punched holes, so that the gas film covering effect of the downstream of the gas film holes is influenced.
For the problems, the conventional solution is to process the mark points after secondary positioning and conversion into machine tool coordinates, then observe the positions of the mark points and calculate the offset size of gross adjustment, and then test the guide vane. In addition, the requirement on the quality of operators is high, different people adjust the positions of the air film holes according to own experiences, the processed effects are uneven, and once attention is not focused, errors are easily caused, and meanwhile, the method is low in efficiency and long in time consumption.
Disclosure of Invention
The invention aims to provide an automatic positioning and processing method for a guide vane opposite-impact air film hole, which is used for correcting the deviation between the X direction and the Y direction of the coordinate of the air film hole in the opposite direction after the guide vane is reversely clamped and secondarily positioned.
In order to achieve the purpose, the invention provides the following technical scheme: the automatic positioning and machining method for the opposite-impact air film hole of the guide blade is characterized by comprising the following steps of:
s1, positioning a guide blade, and finishing the machining of the positive direction gas film hole on the guide blade according to the preset coordinate of the positive direction gas film hole to obtain the positive direction gas film hole;
s2, reversely clamping the guide blade and completing secondary positioning to obtain a first circle center coordinate (u) of the positive direction air film hole after reverse clamping 1 ，v 1 )；
S3, obtaining a first circle center coordinate (u) of the positive direction air film hole after reverse clamping through calculation 1 ，v 1 ) Deviation amount Deltau from the coordinate of the image center 1 ＝u 0 -u 1 And Δ v 1 ＝v 0 -v 1 ；
S4, calculating and obtaining the primary offset delta x by using the proportionality coefficient k 1 ＝k×Δu 1 And Δ y 1 ＝k×Δv 1 ；
S5, moving the guide vane by delta x 1 And Δ y 1 Obtaining a second circle center coordinate (u) of the positive direction air film hole after moving 2 ，v 2 )；
S6, obtaining a second circle center coordinate (u) of the positive direction air film hole after moving through calculation 2 ，v 2 ) Deviation amount Deltau from the coordinate of the image center 2 ＝u 0 -u 2 And Δ v 2 ＝v 0 -v 2 ；
S7, calculating by using the proportionality coefficient k to obtain the secondary offset delta x 2 ＝k×Δu 2 And Δ y 2 ＝k×Δv 2 ；
S8, calculating the final offset Δ x ═ Δ x 1 +Δx 2 And Δ y ═ Δ y 1 +Δy 2 ；
And S9, correspondingly adding the final offset delta x and delta y to the preset coordinates of the reverse direction gas film hole to obtain the corrected coordinates of the reverse direction gas film hole, and machining the reverse direction gas film hole on the guide vane according to the corrected coordinates of the reverse direction gas film hole to obtain the reverse direction gas film hole.
In the foregoing technical solution, step S1 specifically includes:
s1.1, positively clamping and positioning the guide blade, and determining a position to be processed according to a preset coordinate of a positive-direction air film hole;
s1.2, using laser to shoot to a position to be processed to process a positive direction air film hole;
s1.3, removing the guide blade from the clamp and removing surface residues.
In the above technical solution, in steps S2 and S6, when the number of positive direction air film holes is plural, the first circle center coordinate (u) is the first circle center coordinate 1 ，v 1 ) And said second centre coordinate (u) 2 ，v 2 ) All the circular coordinates of the last positive direction air film hole which is processed are selected.
In the above technical solution, in step S2 and step S6, the first circle center coordinate (u) of the positive direction air film hole 1 ，v 1 ) And a second circle center coordinate (u) 2 ，v 2 ) Detected and acquired using an image sensor.
In the above technical solution, step S2 specifically includes:
s2.1, moving the positive direction air film hole processed at the last time to the position under the observation position of the image sensor;
s2.2, shooting the positive direction air film hole processed at the last time by using the image sensor;
s2.3, taking out the ROI area from the picture shot in the step S2.2, positioning the center of the positive direction air film hole by using an image detection algorithm in the ROI area, and acquiring a first center coordinate (u) of the positive direction air film hole 1 ，v 1 )。
In the above technical solution, step S5 specifically includes:
s5.1, shooting the positive direction air film hole processed at the last time by using the image sensor again;
s5.2, taking out the ROI area from the picture shot in the step S5.1, positioning the center of the positive direction air film hole by using an image detection algorithm in the ROI area, and acquiring a second center coordinate (u) of the positive direction air film hole 2 ，v 2 )。
In the above technical solution, the proportionality coefficient k is a preset value.
In the above technical solution, the method for presetting the proportionality coefficient k comprises:
obtaining a guide blade with a finished air film hole, and moving the air film hole to the center of an observation position of the image sensor;
adjusting the height of the image sensor to make an image acquired by the image sensor clear, and recording the distance h from the air film hole to the image sensor;
replacing the film holes in the guide vanes with objects with known dimensions;
and calculating the length of the object/the number of pixels occupied by the object in the image, namely obtaining the proportionality coefficient k under the distance h.
In the above technical solution, step S9 specifically includes:
s9.1, correspondingly adding the final offsets delta x and delta y to the preset coordinates of the opposite direction gas film hole to obtain corrected coordinates of the opposite direction gas film hole, and determining the position to be processed according to the corrected coordinates of the opposite direction gas film hole;
s9.2, shooting the laser to the position to be processed to process a reverse direction air film hole;
s9.3, removing the guide blade from the clamp and removing surface residues.
Compared with the prior art, the invention has the beneficial effects that: according to the automatic positioning and machining method for the opposite-impact air film hole of the guide blade, the final offset delta X and delta Y can be obtained through a machine vision technology, the coordinate of the air film hole to be machined is correspondingly added with the final offset delta X and delta Y to obtain the final machining coordinate, the deviation between the X direction and the Y direction of the coordinate of the opposite-direction air film hole after the guide blade is reversely clamped and secondarily positioned is corrected, no manual intervention is caused in the whole process, the automation degree and machining efficiency of machining the air film hole of the guide blade are improved, and manpower and material resources are saved.
Drawings
FIG. 1 is a flow chart of the steps of the present invention.
Fig. 2 is a flowchart of step S1 in the present invention.
Fig. 3 is a flowchart of step S2 in the present invention.
FIG. 4 is a flowchart illustrating the steps of presetting the scaling factor k according to the present invention.
Fig. 5 is a flowchart of step S5 in the present invention.
Fig. 6 is a flowchart of step S7 in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An automatic positioning and processing method for a guide blade opposite-punching air film hole is used for processing an opposite-punching row structure air film hole on a guide blade of an aircraft engine, wherein the surface of the guide blade is provided with an arc-shaped structure, and a laser processing center, a machine vision system and a laser ranging sensor are utilized.
The clamp of the laser processing center is arranged on the electric displacement table, is adaptive to the shape of the guide blade and can clamp the guide blade in a forward clamping and reverse clamping mode. The machine vision system comprises an image sensor and a computer control system, and the computer control system is in signal connection with the laser processing center to drive the laser processing center to act; the laser ranging sensor is also in signal connection with the computer control system to assist the image sensor.
Referring to fig. 1, the method includes:
and S1, positioning the guide blade, and finishing the processing of the positive direction gas film hole on the guide blade according to the preset coordinate of the positive direction gas film hole to obtain the positive direction gas film hole.
Referring to fig. 2, step S1 specifically includes:
s1.1, positively clamping and positioning the guide blade, and determining the position to be processed according to the preset coordinate of the positive-direction air film hole.
The method comprises the following steps of clamping a guide blade on a clamp in a forward clamping mode, positioning the guide blade by using a laser ranging sensor and a positioning method based on a small deviation principle, and further obtaining the coordinate of a to-be-machined positive direction air film hole, namely the to-be-machined position, after the guide blade is clamped in the forward direction.
And S1.2, shooting laser to the position to be processed to process a positive direction air film hole.
This step uses the laser beam drilling function of laser machining center, punctures guide vane's outer wall along the inclination of positive direction to form positive direction air film hole on guide vane.
S1.3, removing the guide blade from the clamp and removing surface residues.
In step S1.3, the method for removing the surface residue is to sequentially perform air blowing and ultrasonic cleaning on the positive direction air film hole on the guide vane.
And in the blowing step, a high-pressure blowing nozzle is adopted and is aligned with the air film hole in the positive direction to blow away the larger residues on the surface of the guide blade. Ultrasonic cleaning adopts the ultrasonic cleaner to get rid of the tiny particle residue of guide vane surface adhesion, after ultrasonic cleaning, can also adopt hot-blast weathering guide vane surface moisture, with the next step that gets into more fast.
S2, reversely clamping the guide vane and completing secondary positioning to obtain a first circle center coordinate (u) of the positive direction air film hole after reverse clamping 1 ，v 1 )。
In the step, the guide blade is clamped on a clamp in a reverse clamping mode, a laser ranging sensor is adopted, and the secondary positioning of the guide blade is completed by using a positioning method based on a small deviation principle.
In this step, the first circle center coordinate (u) of the air film hole in the positive direction 1 ，v 1 ) Detecting and acquiring by using an image sensor; in this step, when the number of the positive direction air film holes is plural, a first circle center coordinate (u) 1 ，v 1 ) And selecting the center coordinates of the last positive direction air film hole to be processed.
Referring to fig. 3, more specifically, step S2 specifically includes:
s2.1, moving the positive direction air film hole processed at the last time to the position under the observation position of the image sensor;
in the step, the electric displacement table is used for moving the clamp to move the guide blade on the clamp, so that the last processed positive direction air film hole is moved to the observation position of the image sensor, and in the process, the displacement of the electric displacement table needs to be added to the coordinate of the negative direction air film hole to be processed.
S2.2, shooting the positive direction air film hole processed at the last time by using the image sensor;
s2.3, taking out the ROI area from the picture shot in the step S2.2, positioning the center of the positive direction air film hole by using an image detection algorithm in the ROI area, and acquiring a first circle center coordinate (u) of the center of the positive direction air film hole 1 ，v 1 )。
Wherein, the ROI (region of interest) region is obtained by extracting a square region near the last processed positive direction air film hole in the picture taken in step S2.2. In the image of the ROI area, the positive direction air film hole is circular or elliptical and has clear edges, so that the characteristic edge recognition of the positive direction air film hole is easily carried out by using an image detection algorithm to position the circle center of the positive direction air film hole and obtain a first circle center coordinate (u) 1 ，v 1 ) (ii) a The image detection algorithm is an image detection algorithm in the prior art, such as Hough Transform algorithm.
S3, obtaining by calculationObtaining a first circle center coordinate (u) of the positive direction air film hole after reverse clamping 1 ，v 1 ) Deviation amount Deltau from the coordinate of the image center 1 ＝u 0 -u 1 And Δ v 1 ＝v 0 -v 1 。
The coordinates of the center of the image are x, the image length/2, y, the image width/2, and the resolution of the image is 640 × 480, for example, (320, 240).
S4, calculating and obtaining the primary offset delta x by using the proportionality coefficient k 1 ＝k×Δu 1 And Δ y 1 ＝k×Δv 1 。
Wherein the proportionality coefficient k is a preset value.
Referring to fig. 4, the method for presetting the scaling factor k includes:
and S0.1, obtaining the guide blade with the processed air film hole, and moving the air film hole to the center of the observation position of the image sensor.
In this step, the worker controls the movement of the displacement table of the laser processing center, so that the guide blade moves until the gas film hole is moved to the center of the observation position of the image sensor.
S0.2, adjusting the height of the image sensor to enable an image acquired by the image sensor to be clear, and recording the distance h from the air film hole to the image sensor.
In some embodiments, the worker adjusts the height of the image sensor by adjusting a displacement mechanism of the image sensor until the image acquired by the image sensor is clear, and the displacement mechanism may be a precision electric sliding table or a manual sliding table. In other embodiments, the image sensor is fixed on a slide rail with a locking mechanism, and the worker adjusts the height of the image sensor on the slide rail until the image captured by the image sensor is clear, and then the image sensor is locked at the position of the slide rail.
And S0.2, pre-adjusting the height of the image sensor to adapt to guide blades of different models and specifications.
And S0.3, replacing the air film hole on the guide vane with an object with a known size.
In the replacement, it is necessary to ensure that the top surface of the object is at the same height as the film hole in the guide vane to ensure that the obtained proportionality coefficient k is suitable for the guide vane.
S0.4, calculating the length of the object/the number of pixels occupied by the object in the image, namely obtaining the proportionality coefficient k under the distance h.
The length of the object may be two measurement points arbitrarily selected on the object and connected by a straight line, for example, the length of the long side of the object or the length of the short side of the object, and the number of pixels occupied by the object in the image is the number of pixels between the two selected measurement points.
S5, moving the guide vane by delta x 1 And Δ y 1 Obtaining a second circle center coordinate (u) of the positive direction air film hole after moving 2 ，v 2 )。
In this step, the jig is moved by the electric displacement table to move the guide blade on the jig by Δ x 1 And Δ y 1 In this process, the displacement of the electric displacement table needs to be added to the coordinates of the opposite direction gas film hole to be processed.
In this step, the second circle center coordinate (u) of the air film hole in the positive direction 2 ，v 2 ) Detecting and acquiring by using an image sensor; in this step, when the number of the positive direction air film holes is plural, a second circle center coordinate (u) 2 ，v 2 ) The center coordinate of the air film hole in the positive direction selected from the last completed machining, i.e., the second center coordinate (u) 2 ，v 2 ) And first circle center coordinate (u) 1 ，v 1 ) All correspond to the same positive direction air film hole.
More specifically, step S5 specifically includes:
s5.1, shooting the positive direction air film hole processed at the last time by using the image sensor again;
s5.2, taking out the ROI area from the picture shot in the step S5.1, positioning the center of the positive direction air film hole by using an image detection algorithm in the ROI area, and obtaining the center of the positive direction air film holeSecond circle center coordinate (u) of air film hole in positive direction 2 ，v 2 )。
Similarly to step S2, the ROI (region of interest) region is obtained by extracting a square region near the last processed positive direction air film hole in the picture taken in step S5.1. In the image of the ROI area, the positive direction air film hole is circular or elliptical and has clear edges, so that the characteristic edge recognition of the positive direction air film hole is easily carried out by using an image detection algorithm to position the circle center of the positive direction air film hole and obtain a second circle center coordinate (u) 2 ，v 2 ) (ii) a The image detection algorithm is an image detection algorithm in the prior art, such as Hough Transform (Hough Transform) algorithm.
S6, obtaining a second circle center coordinate (u) of the positive direction air film hole after moving through calculation 2 ，v 2 ) Deviation amount Deltau from the coordinate of the image center 2 ＝u 0 -u 2 And Δ v 2 ＝v 0 -v 2 。
Similarly to step S3, the coordinates of the image center are x, which is the image length/2, and y, which is the image width/2.
S7, calculating and obtaining a secondary offset delta x by using a proportionality coefficient k 2 ＝k×Δu 2 And Δ y 2 ＝k×Δv 2 。
Obtaining a primary offset Deltax 1 And Δ y 1 Then, considering that the area of the air film hole on the guide blade is often a curved surface, the distance between the surface around the air film hole and the image sensor is greatly different from the distance h selected when the proportionality coefficient k is preset, so that the proportionality coefficient k is inaccurate. Thus obtained Δ x 1 And Δ y 1 It is not possible to calculate the final offset amount as well as the quadratic offset amount, i.e., steps S5-S7.
S8, calculating the final offset Δ x ═ Δ x 1 +Δx 2 And Δ y ═ Δ y 1 +Δy 2 。
And S9, correspondingly adding the final offset delta x and delta y to the preset coordinates of the reverse direction gas film hole to obtain the corrected coordinates of the reverse direction gas film hole, and machining the reverse direction gas film hole on the guide vane according to the corrected coordinates of the reverse direction gas film hole to obtain the reverse direction gas film hole.
Referring to fig. 5, step S9 specifically includes:
s9.1, correspondingly adding the final offset delta x and delta y to the preset coordinates of the reverse direction gas film hole to obtain the corrected coordinates of the reverse direction gas film hole, and determining the position to be processed according to the corrected coordinates of the reverse direction gas film hole.
And S9.2, shooting laser to the position to be processed, and processing a reverse direction air film hole.
In the step, the outer wall of the guide blade is punched through along the inclination angle in the opposite direction by using the laser drilling function of the laser processing center, so that an air film hole in the opposite direction is formed on the guide blade.
S9.3, removing the guide blade from the clamp and removing surface residues.
In step S9.3, the method for removing the surface residue is to sequentially perform air blowing and ultrasonic cleaning on the reverse air film holes on the guide vanes.
And in the air blowing step, a high-pressure air blowing nozzle is adopted to blow air aiming at the air film hole in the opposite direction so as to blow off larger residues on the surface of the guide blade. Ultrasonic cleaning adopts the ultrasonic cleaner to get rid of the tiny particle residue of guide vane surface adhesion, after ultrasonic cleaning, can also adopt hot-blast weathering guide vane surface moisture, with the next step that gets into more fast.
According to the automatic positioning and machining method for the opposite-impact air film hole of the guide blade, the final offset delta X and delta Y can be obtained through a machine vision technology, the coordinate of the air film hole to be machined is correspondingly added with the final offset delta X and Y to obtain the final machining coordinate, the deviation between the X direction and the Y direction of the coordinate of the opposite-direction air film hole after the guide blade is reversely clamped and secondarily positioned is corrected, no manual intervention is caused in the whole process, the automation degree and machining efficiency of machining the air film hole of the guide blade are improved, and manpower and material resources are saved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An automatic positioning and processing method for a guide vane hedging air film hole is characterized by comprising the following steps:
s1, positioning a guide blade, and finishing the machining of the positive direction gas film hole on the guide blade according to the preset coordinate of the positive direction gas film hole to obtain the positive direction gas film hole;
s2, reversely clamping the guide blade and completing secondary positioning to obtain a first circle center coordinate (u) of the positive direction air film hole after reverse clamping 1 ，v 1 )；
S3, obtaining a first circle center coordinate (u) of the positive direction air film hole after reverse clamping through calculation 1 ，v 1 ) Coordinates (u) from the center of the image 0 ，v 0 ) The offset amount Deltau u 1 ＝u 0 -u 1 And Δ v 1 ＝v 0 -v 1 ；
S4, calculating and obtaining the primary offset delta x by using the proportionality coefficient k 1 ＝k×Δu 1 And Δ y 1 ＝k×Δv 1 ；
S5, moving the guide vane by delta x 1 And Δ y 1 Obtaining a second circle center coordinate (u) of the positive direction air film hole after moving 2 ，v 2 )；
S6, obtaining a second circle center coordinate (u) of the positive direction air film hole after moving through calculation 2 ，v 2 ) Deviation amount Deltau from the coordinate of the image center 2 ＝u 0 -u 2 And Δ v 2 ＝v 0 -v 2 ；
S7, calculating and obtaining a secondary offset delta x by using a proportionality coefficient k 2 ＝k×Δu 2 And Δ y 2 ＝k×Δv 2 ；
S8, calculating the final offset Δ x ═ Δ x 1 +Δx 2 And Δ y ═ Δ y 1 +Δy 2 ；
S9, correspondingly adding the final offsets delta x and delta y to the preset coordinates of the reverse direction gas film hole to obtain the corrected coordinates of the reverse direction gas film hole, and processing the reverse direction gas film hole on the guide vane according to the corrected coordinates of the reverse direction gas film hole to obtain the reverse direction gas film hole;
in steps S2 and S6, the first center coordinates (u) of the positive direction air film hole 1 ，v 1 ) And a second circle center coordinate (u) 2 ，v 2 ) Detecting and acquiring by using an image sensor;
the coordinate of the image center is u 0 Image length/2, v 0 Image width/2.
2. The guide vane opposite-impact air film hole automatic positioning machining method according to claim 1, characterized in that: step S1 specifically includes:
s1.1, positively clamping and positioning the guide blade, and determining a position to be processed according to a preset coordinate of a positive-direction air film hole;
s1.2, using laser to shoot to a position to be processed to process a positive direction air film hole;
s1.3, removing the guide blade from the clamp and removing surface residues.
3. The guide vane opposite-impact air film hole automatic positioning machining method according to claim 1, characterized in that: in steps S2 and S6, the first center coordinates (u) of the positive direction air film hole 1 ，v 1 ) And a second circle center coordinate (u) 2 ，v 2 ) Detected and acquired using an image sensor.
4. The guide vane opposite-impact air film hole automatic positioning machining method according to claim 3, characterized in that: step S2 specifically includes:
s2.1, moving the positive direction air film hole processed at the last time to the position under the observation position of the image sensor;
s2.2, shooting the positive direction air film hole processed at the last time by using the image sensor;
s2.3, in stepS2.2, taking out the ROI area from the picture shot in the step S2.2, positioning the circle center of the positive direction air film hole by using an image detection algorithm in the ROI area, and obtaining a first circle center coordinate (u) of the positive direction air film hole 1 ，v 1 )。
5. The guide vane opposite-impact air film hole automatic positioning machining method according to claim 4, characterized in that: step S6 specifically includes:
s5.1, shooting the positive direction air film hole processed at the last time by using the image sensor again;
s5.2, taking out the ROI area from the picture shot in the step S6.1, positioning the center of the positive direction air film hole by using an image detection algorithm in the ROI area, and acquiring a second center coordinate (u) of the positive direction air film hole 2 ，v 2 )。
6. The guide vane opposite-impact air film hole automatic positioning machining method according to claim 1, characterized in that: the proportionality coefficient k is a preset value.
7. The guide vane opposite-impact air film hole automatic positioning machining method according to claim 6, characterized in that: the method for presetting the proportionality coefficient k comprises the following steps:
obtaining a guide blade with a finished air film hole, and moving the air film hole to the center of an observation position of the image sensor;
adjusting the height of the image sensor to make an image acquired by the image sensor clear, and recording the distance h from the air film hole to the image sensor;
replacing the film holes in the guide vanes with objects with known dimensions;
and calculating the length of the object/the number of pixels occupied by the object in the image, namely obtaining the proportionality coefficient k under the distance h.
8. The guide vane opposite-impact air film hole automatic positioning machining method according to claim 1, characterized in that: step S9 specifically includes:
s9.1, correspondingly adding the final offsets delta x and delta y to the preset coordinates of the opposite direction gas film hole to obtain corrected coordinates of the opposite direction gas film hole, and determining the position to be processed according to the corrected coordinates of the opposite direction gas film hole;
s9.2, shooting the laser to the position to be processed to process a reverse direction air film hole;
s9.3, removing the guide blade from the clamp and removing surface residues.
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