CN113074658B - Intelligent detection workstation for repairing blade of aero-engine - Google Patents
Intelligent detection workstation for repairing blade of aero-engine Download PDFInfo
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Abstract
The invention belongs to the technical field of intelligent manufacturing, particularly relates to an intelligent detection workstation for repairing an aircraft engine blade, and aims to solve the problems that in the prior art, an aircraft engine blade detection method is low in efficiency and high in cost, and the current blade detection requirements cannot be met. The application provides an aeroengine blade restores intellectual detection system workstation includes six degree of freedom manipulators, clamping device, the special intelligent storage platform of blade, high accuracy 3D measurement module, special intellectual detection system. Through the integration and the cooperation of software and hardware such as high accuracy 3D measurement module, automatic unloader, six degree of freedom manipulators, clamping device, special intellectual detection system software, realized aeroengine blade and repaired high accuracy, high efficiency, intelligent detection.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing, and particularly relates to an intelligent detection workstation for repairing an aircraft engine blade.
Background
The engine is the core component of important equipment such as aviation, aerospace, naval vessel, and the aeroengine is the bright pearl on the industry imperial crown. The turbine blade is a typical high-temperature alloy component with complex curved surface characteristic requirements, is a key component of an aeroengine, is easy to generate random damages such as ablation, abrasion, cracks, deformation and the like when working in extreme environments such as high temperature, high pressure, alternating load and the like for a long time, and seriously affects the reliability, maintainability and safety of the aeroengine.
For civil aviation engine turbine blades, the number of the turbine blades is very large, but the manufacturing cost is very high, after a certain flight time, the edge parts of the turbine blades can be burnt, abraded and the like in different degrees, and the existing approach for solving the problem is to repair damaged blades through a repairing and polishing technology. The shape precision of the repaired blade can be used for the continuous operation of the airplane only when the repaired blade meets the design standard of the original blade. The turbine blade is very complicated in shape and is a typical complex curved surface part, two detection schemes are used at present, firstly, the repaired blade is measured point by point through a three-coordinate measuring instrument and is compared with a standard blade, the measurement precision is high in the mode, but the efficiency is very low, and the method is only used as spot inspection after process replacement at present. The other detection scheme is that a foreign imported blue light three-dimensional measuring instrument is used, the instrument conducts three-dimensional reconstruction on the blade in a mode of attaching characteristic points to the surface of the blade, measurement data are given, and whether the design standard is met or not is confirmed manually. At present, the turbine blade repairing company of the civil aircraft engine generally adopts the mode for measurement, but has the problems of low measurement efficiency and expensive equipment, and can not meet the requirement of detecting each blade at present.
Accordingly, there is a need in the art for an aircraft engine blade repair smart inspection workstation that solves or at least mitigates the above-mentioned problems.
Disclosure of Invention
In order to solve the problems in the prior art, namely the problems that an aero-engine blade detection method in the prior art is low in efficiency, high in cost and incapable of meeting the current blade detection requirements, the application provides an aero-engine blade repair intelligent detection workstation which comprises a base, wherein an intelligent storage platform, a six-degree-of-freedom manipulator, a high-precision 3D measurement module and an intelligent detection module are mounted on the base, and the intelligent detection module is connected with the intelligent storage platform, the six-degree-of-freedom manipulator and the high-precision 3D measurement module through communication links;
the intelligent material storage platform is provided with a plurality of blade material storage grooves for storing blades, a display device is correspondingly arranged on the periphery of each blade material storage groove, and the display devices are used for displaying the states of the blades in the blade material storage grooves;
the six-degree-of-freedom manipulator is used for clamping the blade and driving the blade to perform spatial six-degree-of-freedom motion;
the intelligent detection module is used for controlling the six-degree-of-freedom mechanical arm to move the blade to be detected in the set blade storage groove to the high-precision 3D measurement module for measurement processing, acquiring a three-dimensional reconstruction model of the blade to be detected, comparing the three-dimensional reconstruction model with a standard blade model, acquiring a comparison result and sending the comparison result to the intelligent storage platform, and the intelligent storage platform controls a corresponding display device to display the comparison result.
In some preferred technical solutions, the display device includes a multicolor light emitting device, and the intelligent detection module selects different light rays to display the detection state of the blade in the blade storage groove based on the comparison result;
when no blade is arranged in the blade storage groove, a display device corresponding to the blade storage groove emits a first light ray;
when the blade storage groove is internally provided with the blade and the blade is not detected, the display device corresponding to the blade storage groove emits a second light ray;
when the blades are arranged in the blade storage grooves and the detection of the blades is qualified, the display devices corresponding to the blade storage grooves emit third light rays;
when the blades are arranged in the blade storage grooves and the detection of the blades is unqualified, the display devices corresponding to the blade storage grooves emit fourth light.
In some preferred technical schemes, the intelligent material storage platform is in communication connection with the intelligent detection module, and the intelligent detection module can acquire the position coordinates of each blade material storage groove and the working state of each display device.
In some preferred technical solutions, the intelligent detection module adjusts a motion trajectory of the six-degree-of-freedom manipulator according to a blade model based on a preset control rule so that a detection range of the high-precision 3D measurement module covers the surface of a blade;
the control rule is a mapping relation between the blade type and the motion trail of the six-degree-of-freedom manipulator.
In some preferred technical solutions, the high-precision 3D measurement module sends the acquired reconstructed blade point cloud of the blade to be detected to the intelligent detection module;
the intelligent detection module intercepts a blade outer edge point set from a standard blade point cloud of a standard blade and a reconstructed blade point cloud of the standard blade on the same height cross section respectively based on a preset intercepting method, and acquires a standard track of the equal-height section of the standard blade and a reconstructed track of the equal-height section of a blade to be detected respectively;
the intelligent detection module compares the equal-height section reconstruction track with the equal-height section standard track to obtain parameter data of the blade to be detected, wherein the parameter data comprises deformation, defect types and size parameters.
In some preferred technical solutions, the high-precision 3D measurement module includes two cameras, a projector, and a camera motion module, the two cameras are respectively mounted on two sides of the projector through the two camera motion modules, the two cameras are symmetrically arranged along an optical axis of the projector, and the camera motion module is configured to adjust a distance and an angle between the cameras and the optical axis of the projector.
In some preferred technical solutions, the camera motion module includes a translation module and a rotation module, wherein the rotation module is rotatably installed above the translation module, and the camera is fixed to the rotation module and can be driven by the rotation module to rotate along an extending direction of the translation module.
In some preferred technical solutions, the six-degree-of-freedom robot comprises a clamping device for clamping the blade, wherein the clamping device comprises a fixed base, a clamping probe and a bottom plane contact plate;
the fixed base is of a U-shaped structure, a bottom plane contact plate is vertically arranged on the inner bottom surface of the U-shaped structure and is used for being tightly attached to the bottom surface of the blade, and the bottom plane contact plate has the freedom degree of moving along the vertical direction relative to the fixed base;
the clamping probes are transversely and movably arranged on the fixed base, a plurality of clamping probes are uniformly distributed at intervals along the width direction of the fixed base to form a line of clamping probes, a plurality of lines of clamping probes are uniformly distributed at intervals along the vertical direction to form a group of clamping probes, the two groups of clamping probes are respectively arranged along the axial plane in the vertical direction of the fixed base in a symmetrical mode, and each clamping probe has a degree of freedom which moves along the horizontal direction relative to the fixed base.
In some preferred technical solutions, a micro-pressure sensor is disposed at the end of the clamping probe, and two micro-pressure sensors in mutually orthogonal directions are disposed on the bottom plane contact plate to detect micro-pressures of the bottom surface and the side surface of the blade respectively.
In some preferable technical schemes, each row of the clamping probes is respectively arranged corresponding to each mortise at the bottom of the blade, the front end of each clamping probe is provided with an arc structure, and the arc radius of each arc structure is matched with the corresponding mortise radius of the blade.
In some preferred technical solutions, in a working state, the clamping device moves to the position of the blade to be detected, and each clamping probe and the bottom plane contact plate move simultaneously until each clamping probe free end and the bottom plane contact plate free end abut against the blade to be detected and respectively reach a preset pressure threshold value, and then stop moving;
and acquiring the position coordinates of the clamping probes and the bottom plane contact plate after the clamping probes and the bottom plane contact plate stop moving, and acquiring the reference position coordinates of the blade to be detected relative to the clamping device based on the position coordinates of the clamping probes and the position coordinates of the bottom plane contact plate.
The invention has the beneficial effects that:
the intelligent detection workstation for repairing the blade of the aero-engine can realize high-precision, high-efficiency and intelligent detection of the blade of the aero-engine through integration and matching of software and hardware such as a special high-precision three-dimensional measuring instrument for the blade, an automatic loading and unloading device, a six-degree-of-freedom mechanical arm, a special blade clamp and special intelligent detection software. The workstation detects the aeroengine blade through this application, can promote blade detection efficiency by a wide margin to each blade detection data can be traceed back, and each module material of workstation easily obtains with low costs, can satisfy current blade detection demand when guaranteeing to detect the precision.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic overall structure diagram of an aircraft engine blade repair intelligent detection workstation according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a high-precision 3D measurement module according to an embodiment of the invention;
FIG. 3 is a first schematic structural view of an aircraft engine blade according to an embodiment of the invention;
FIG. 4 is a second schematic structural view of an aircraft engine blade according to an embodiment of the invention;
FIG. 5 is a schematic view of a clamping device according to an embodiment of the present invention;
FIG. 6 is a schematic view of a blade held by a holding device according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a comparison algorithm of the dedicated intelligent detection system according to an embodiment of the present invention;
list of reference numerals:
1-six degree of freedom manipulator; 2-a clamping device; 3-a special intelligent storage platform for the blades; 4-a high-precision 3D measurement module; 5-fixing a bracket; 6-special intelligent detection system; 7-a workstation support platform; 8-a camera; 9-a projector; 10-a translation module; 11-a rotation module; 12-a camera rig; 13-blade, 13 a-blade bottom surface, 13 b-blade side surface; 14-a fixed base; 15-clamping the probe; 16-bottom planar contact plate.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The intelligent detection workstation for repairing the blade of the aero-engine comprises a base, wherein an intelligent material storage platform, a six-degree-of-freedom mechanical arm, a high-precision 3D measurement module and an intelligent detection module are mounted on the base, and the intelligent detection module is respectively connected with the intelligent material storage platform, the six-degree-of-freedom mechanical arm and the high-precision 3D measurement module through communication links;
the intelligent material storage platform is provided with a plurality of blade material storage grooves for storing blades, a display device is correspondingly arranged on the periphery of each blade material storage groove, and the display devices are used for displaying the states of the blades in the blade material storage grooves;
the six-degree-of-freedom manipulator is used for clamping the blade and driving the blade to perform spatial six-degree-of-freedom motion;
the intelligent detection module is used for controlling the six-degree-of-freedom mechanical arm to move the blade to be detected in the set blade storage groove to the high-precision 3D measurement module for measurement processing, acquiring a three-dimensional reconstruction model of the blade to be detected, comparing the three-dimensional reconstruction model with a standard blade model, acquiring a comparison result and sending the comparison result to the intelligent storage platform, and the intelligent storage platform controls a corresponding display device to display the comparison result.
In order to more clearly describe the intelligent detection workstation for repairing the blade of the aircraft engine, a preferred embodiment of the invention is described in detail below with reference to the attached drawings.
As a preferred embodiment of the present invention, the intelligent detection workstation for repairing an aircraft engine blade of the present invention is shown in fig. 1, and includes a blade-dedicated intelligent storage platform 3, a six-degree-of-freedom manipulator 1, a high-precision 3D measurement module 4, and a dedicated intelligent detection system 6, where the dedicated intelligent detection system 6 is connected to the blade-dedicated intelligent storage platform 3, the six-degree-of-freedom manipulator 1, and the high-precision 3D measurement module 4 through communication links, respectively, where the six-degree-of-freedom manipulator 1 is used to clamp a blade and drive the aircraft engine blade to perform spatial six-degree-of-freedom motion, and for convenience of description, the aircraft engine blade is referred to as a blade 13 for short.
In some preferred embodiments, the six degree-of-freedom robot 1 is further provided with a gripping device 2, the gripping device 2 being for gripping the blade 13. The clamping device 2 is fixedly connected with a tail end shaft of the six-degree-of-freedom mechanical arm 1, and the six-degree-of-freedom mechanical arm 1 drives the clamping device 2 to move so as to drive the blade of the aero-engine to perform spatial six-degree-of-freedom movement.
The special intelligent blade storage platform 3 is placed at a fixed position of the workstation supporting platform 7 and keeps the position fixed. Fixing support 5 installs on workstation supporting platform 7, and high accuracy 3D measurement module 4 is fixed on fixing support 5, and its position keeps fixed becoming.
Further, the blade storage grooves formed by the plurality of arrays are formed in the special intelligent storage platform 3 for the blades and used for storing the blades 13, the periphery sides of the blade storage grooves are correspondingly provided with display devices, and the display devices are used for displaying the blade states in the blade storage grooves. Communication connection between the special intelligent storage platform 3 for the blades and the special intelligent detection system 6, and the special intelligent detection system 6 can acquire information such as the type, the coordinate position and the display signal of the blades in the blade storage grooves and the blades in the blade storage grooves.
Particularly, storing groove entry shape is identical with the front end lobe crown shape of blade 13 to guarantee that the blade inserts with fixed gesture, insert the blade root position of back blade 13 and arrange the blade storing groove outside in, make things convenient for clamping device 2 to press from both sides and get. The shape of the root of the clamping jaw of the clamping device 2 is matched with the outer edge of the blade root of the blade 13, so that accurate positioning and grabbing can be realized.
Preferably, a display device is correspondingly arranged on the peripheral side of each blade storage groove and used for indicating the detection state of the blades in the current blade storage groove. The display device comprises a multicolor light-emitting device, and the special intelligent detection system 6 selects different light rays to display the detection state of the blades in the blade storage grooves based on the detection comparison result of the blades; when no blade is arranged in the blade storage groove, a display device corresponding to the blade storage groove emits a first light ray; when the blades are arranged in the blade storage grooves and are not detected, the display devices corresponding to the blade storage grooves emit second light rays; when the blades are arranged in the blade storage grooves and the detection of the blades is qualified, the display devices corresponding to the blade storage grooves emit third light; when the blades are arranged in the blade storage grooves and the detection of the blades is unqualified, the display devices corresponding to the blade storage grooves emit fourth light.
In some preferred embodiments, the multi-color light emitting device is a three-color led indicator light, the light is off, which represents that no leaf exists in the storage groove, the yellow light represents that no leaf exists in the storage groove, but the detection is not performed, the green light represents that no leaf exists in the storage groove, and the detection is qualified, and the red light represents that no leaf exists in the storage groove, but the detection is not qualified. That is, the first light represents no light, the second light represents yellow, the third light represents green, and the fourth light represents red, and those skilled in the art can understand that the three-color led indicator is only one preferred embodiment of the multi-color light emitting device, and those skilled in the art can select other multi-color light emitting devices as long as the states in the blade storage groove can be distinguished, for example, the first light may be set to be white light, and such a technical scheme that does not exceed the principle of the present application should be limited within the protection scope of the present application.
Referring to fig. 2, the high-precision 3D measurement module 4 includes two cameras 8, a projector 9 and a camera motion module, the two cameras 8 are respectively installed on two sides of the projector 9 through the two camera motion modules, and the two cameras 8 are arranged along the optical axis of the projector 9 in an axisymmetric manner, i.e., along the projection direction of the projector in an axisymmetric manner. The camera motion module is used to adjust the distance and angle between the camera 8 and the projector optical axis.
Specifically, the camera motion module includes a translation module 10 and a rotation module 11, wherein the rotation module 11 is rotatably installed above the translation module 10, and the camera 8 is fixed to the rotation module 11 and can be driven by the rotation module 11 to rotate along the extending direction of the translation module 10. Wherein two cameras 8 link firmly with two rotation module 11 respectively to realize that two cameras can the free rotation adjustment and the projecting apparatus optical axis between the contained angle, two rotation module 11 link firmly with two translation modules 10 respectively, thereby realize that two cameras can follow the horizontal direction and adjust the distance between the two. The projector 9 is fixed to the camera housing 12 and the two translation modules 10 are fixed to the camera housing 12.
The special intelligent detection system 6 is placed at a fixed position of the workstation support platform 7. The special intelligent detection system 6 is used for controlling the six-degree-of-freedom mechanical arm 1 to move the blade to be detected in the set blade storage groove to the high-precision 3D measurement module 4 for measurement processing, acquiring a three-dimensional reconstruction model of the blade to be detected and comparing the three-dimensional reconstruction model with a standard blade model, acquiring a comparison result and sending the comparison result to the special intelligent storage platform 3 for the blade, and the special intelligent storage platform 3 for the blade controls a display device corresponding to the blade to be detected to display based on the comparison result. The purpose of comparing the three-dimensional reconstruction model of the blade to be detected with the standard blade model is to find the defects, the out-of-tolerance, the deformation and other problems of the blade to be detected, the detected data is the first data and is stored and sent to the subsequent processing execution device, and the processing execution device can further process the blade to be processed based on the first data, so that a reference basis is provided for the subsequent processing.
The special intelligent detection system 6 can realize four functions.
The first function is: the special intelligent detection system 6 can be in communication connection with the special intelligent blade storage platform 3, and the special intelligent detection system 6 can acquire the position coordinates of each blade storage groove and the working state of the corresponding display device.
The second function is: the special intelligent detection system 6 can determine the motion trail of the six-degree-of-freedom manipulator 1 according to the type of the detected blade based on a preset control rule, so that the detection range of the high-precision 3D measurement module can be ensured to accurately cover all the shapes of the blade, and the control rule is the mapping relation between the type of the blade and the motion trail of the six-degree-of-freedom manipulator. It should be noted that the type of the blade is determined according to the type of the blade storage groove.
The third function is: the special intelligent detection system 6 compares the reconstructed blade point cloud of the blade to be detected with the standard blade point cloud through a special algorithm, outputs a judgment result and deviation data in a visual form, and specifically, the high-precision 3D measurement module 4 sends the acquired reconstructed blade point cloud of the blade to be detected to the special intelligent detection system 6; the special intelligent detection system 6 respectively intercepts a blade outer edge point set from a cross section of the same height of a reconstructed blade point cloud of a blade to be detected and a standard blade point cloud of a standard blade based on a preset intercepting method, and respectively acquires an equal-height section reconstructed track of the blade to be detected and an equal-height section standard track of the standard blade; the special intelligent detection system 6 compares the contour reconstruction track with the contour standard track to obtain parameter data of the blade to be detected, wherein the parameter data comprises parameters such as deformation, defect type, size and the like.
A fourth function: the special intelligent detection system 6 has a blade detection and traceability function, namely, the system can accurately record the model, detection time, detection result, historical detection quantity and other data of each detected blade, and is convenient to manage, inquire and call.
Further, the high-precision 3D measurement module 4 of the present application has four functions, first: because the curved surface shapes and the sizes of different types of blades are different, the high-precision 3D measuring module 4 can adjust the distance and the included angle between the optical axis of the camera and the optical axis of the projector through the matching of the translation module 10 and the rotation module 11, so that the detection coverage of different types of blades can be realized according to the algorithm requirement; secondly, the method comprises the following steps: the high-precision 3D measuring module 4 adopts a binocular camera, a projector and a manipulator to move, and is matched with a special algorithm for blade reconstruction, so that the functions of high-precision blade three-dimensional reconstruction and dense point cloud accurate splicing are realized; thirdly, obtaining accurate dense point cloud of a blade sheet area by designing a pattern projected by a projector and matching with a corresponding encoding and decoding algorithm; fourthly, the high-precision 3D measuring module 4 is a special 3D measuring instrument for the blade, and the algorithm of the high-precision 3D measuring module is accurately processed according to the shape characteristics of the blade, so that the three-dimensional reconstruction precision of the blade is ensured.
The working process of the intelligent detection workstation for repairing the blade of the aero-engine is explained in detail below.
Firstly, manually putting the blades to be detected into storage lattices of the intelligent storage platform 3 special for the blades in batches, and lighting corresponding storage lattice indicator lamps and displaying yellow; secondly, the six-degree-of-freedom manipulator 1 drives the clamping device 2 to move to clamp the blades in the storage lattice according to an instruction sent by the special intelligent detection system 6; thirdly, the blade is driven by the six-degree-of-freedom manipulator 1 to carry out detection motion according to a preset motion track, and meanwhile, the high-precision 3D measurement module 4 starts to carry out high-precision three-dimensional reconstruction on the blade to obtain high-precision dense point cloud; fourthly, the special intelligent detection system 6 compares the high-precision dense point cloud obtained at present with the standard blade model to calculate deviation data; fifthly, the special intelligent detection system 6 gives a judgment result, the six-degree-of-freedom mechanical arm 1 drives the blade to return to the storage lattice position, the blade is inserted into the storage lattice through the clamping device 2, and meanwhile the storage lattice indicator lamp displays corresponding colors according to the judgment result given by the special intelligent detection system 6. And sixthly, repeating the above processes to continuously detect the next blade until all the blades are detected, and giving a detection completion prompt by the system.
It can be understood that the reconstructed blade point cloud of the blade to be detected and the standard blade point cloud are not on the same reference line, so that the comparison cannot be directly performed, and the two point clouds need to be aligned firstly, so that the comparison can be accurately performed. At present, the conventional method is to register the reconstructed blade Point cloud and the standard blade Point cloud by using an ICP (Iterative Closest Point algorithm), convert the Point clouds into the same coordinate system, and then compare the Point clouds with the standard blade Point cloud. However, because the ICP algorithm is essentially an optimal registration method based on the least square method, if the registration is implemented for two blade point clouds whose positions are completely random by the ICP algorithm, it is a very time-consuming operation, and the matching error is large, the precision is very low, and it is difficult to implement accurate detection of blade repair.
The present application thus provides in some preferred embodiments a clamping device 2 enabling a high precision adaptive clamping of a blade. Referring to fig. 5, the clamping device 2 includes a fixed base 14, a clamping probe 15, and a bottom planar contact plate 16. The fixed base 14 is an axisymmetric structure, preferably, it is a U-shaped structure, and it can be fixedly connected with the six-degree-of-freedom manipulator 1, and is driven by the six-degree-of-freedom manipulator 1 to move. The bottom surface is vertically provided with bottom plane contact plate 16 in the U-shaped structure, bottom plane contact plate 16 is used for closely fitting with the blade bottom surface, bottom plane contact plate 16 is T-shaped structure, it has the degree of freedom that moves along the vertical direction relative to fixed baseplate 14, specifically, the entablature of its T-shaped structure of bottom plane contact plate 16 can closely fit with blade bottom surface (root), the lower vertical beam has the degree of freedom that moves along the y axle direction is flexible. A micro-pressure sensor is arranged at the end part of the clamping probe 15 and is a micro-pressure sensor probe; the clamping probe 2 is driven by a micro motor to move positively and negatively along the x-axis direction. The bottom planar contact plate 16 is provided with two orthogonal micro-pressure sensors for receiving micro-pressures from the blade bottom surface 13a and the blade side surface 13b, respectively, and it is understood that the bottom of the blade 13 extends away from the blade profile direction with an assembly portion, the side surface of which close to the blade bottom surface is used for being tightly matched with the bottom planar contact plate 16 to realize positioning assembly of the blade, namely, determining whether the blade bottom surface 13a and the blade side surface 13b of the blade bottom are tightly matched with the bottom planar contact plate 16. When the blade bottom surface 13a and the blade side surface 13b of the blade bottom are both tightly fitted with the bottom plane contact plate 16, the blade 13 has only freedom of movement in the x-direction at this time.
The bottom plane contact plate 3 is driven by a micro motor to move positively and negatively along the y direction. The amount of displacement of the bottom planar contact plate 3 and the amount of displacement of each of the clamping probes 2 are preferably controlled by a dedicated intelligent detection system 6.
The centre gripping probe 15 is installed in unable adjustment base 14 along horizontal activity, and a plurality of centre gripping probe 15 is along the even interval distribution of unable adjustment base 14 width direction to constitute a line centre gripping probe, a plurality of lines centre gripping probe 15 is along the even interval distribution of vertical direction, in order to constitute a set of centre gripping probe, and two sets of centre gripping probes set up along unable adjustment base 14's vertical direction axial plane symmetry respectively, and each centre gripping probe 15 all has the degree of freedom that moves along the horizontal direction for unable adjustment base 14. Each row of clamping probes 15 are respectively arranged corresponding to each mortise of the root part of the blade, each clamping probe 15 is inserted into the corresponding mortise to clamp the blade, and each clamping probe 15 is far away from the corresponding mortise to release the blade.
In some preferred technical schemes, the front end of the clamping probe 15 is provided with an arc structure, and the arc radius of the arc structure is matched with the corresponding mortise radius of the root of the blade 13, so that self-adaptive clamping can be realized.
Referring to fig. 6, the working principle of the clamping device 2 is as follows: when the blade 13 needs to be clamped, the six-degree-of-freedom manipulator 1 drives the clamping device 2 to reach an appointed position, the clamping device 2 moves to the position of the blade 13 to be detected, then each clamping probe 15 and the bottom plane contact plate 16 move simultaneously until the free ends of all the clamping probes 15 and the free ends of the bottom plane contact plates 16 are pressed against the blade 13 to be detected and respectively stop moving after reaching a preset pressure threshold, and at the moment, the reference position coordinate of the blade 13 relative to the clamping device 2 can be obtained according to the position coordinate of the clamping probes 15 and the position coordinate of the bottom plane contact plates 16. In the prior art, the position and posture of the blade to be detected relative to the clamping of the mechanical arm are not fixed, so that the coordinate of the blade to be detected is a change value, and an error exists.
The intelligent blade detection method applying the clamping device 2 comprises the following steps:
and S100, carrying out three-dimensional reconstruction on the standard blade by using the blade intelligent detection station, wherein the reconstruction step is that the clamping device 2 is driven by the six-degree-of-freedom manipulator 1 to reach a specified position, then the clamping probes 15 and the bottom plane contact plate 16 move simultaneously until all the clamping probes 15 and the bottom plane contact plate 16 reach specified forces, and then stopping the movement, and at the moment, the reference position coordinate of the standard blade relative to the clamping device 2 can be obtained according to the position coordinate of the clamping probes 15 and the position coordinate of the bottom plane contact plate 16. And then, the high-precision 3D measurement module 4 carries out three-dimensional reconstruction on the standard blade to generate a standard blade point cloud model.
And S200, carrying out three-dimensional reconstruction on the blade to be detected by the blade intelligent detection station, wherein the reconstruction step is that the blade high-precision self-adaptive special clamping jaw is driven by a manipulator to reach a specified position, then the clamping probes 15 and the bottom plane contact plate 16 move simultaneously until all the probes and the bottom plane contact plate 16 reach specified forces, and then stopping the movement, and at the moment, the reference position coordinate of the blade to be detected relative to the clamping device 2 can be obtained according to the position coordinate of the clamping probes 15 and the position coordinate of the bottom plane contact plate 16. And then, the high-precision 3D measuring module 4 carries out three-dimensional reconstruction on the blade to generate a blade point cloud model to be detected.
And step S300, performing reference configuration on the generated standard blade point cloud model and the blade point cloud model to be detected according to the coordinates of the blade relative to the clamping device 2 obtained in the step S100 and the step S200, wherein the reference configuration aims to convert the two types of blade point clouds into a coordinate system based on the coordinate system of the clamping device 2. At this time, the two kinds of blade point clouds are in the same coordinate system and have the same standard.
And S400, in order to further improve the precision, the registration can be carried out again by using the traditional ICP algorithm, because the two blades are preliminarily registered in the step S300, the secondary registration is carried out by using the ICP algorithm, so that the precision is further improved, and the ICP algorithm has extremely high convergence speed, so that the registration is quickly finished.
Step S500, after the registration is completed, the blade detection is carried out according to the detection steps shown in FIG. 5, firstly, a standard blade point cloud and a blade point cloud to be detected are intercepted for a high cross section through a preset intercepting method, so that a tangent plane track on each cross section is obtained, then, all track points on the intercepted tangent plane are traversed and compared with the standard blade, and then parameters such as the deformation quantity, the defect type, the size and the like of the blade to be detected are obtained.
In the technical solution in the embodiment of the present application, at least the following technical effects and advantages are provided:
the intelligent detection workstation for repairing the blade of the aero-engine can realize high-precision, high-efficiency and intelligent detection of the blade of the aero-engine through integration and matching of software and hardware such as a special high-precision three-dimensional measuring instrument for the blade, an automatic loading and unloading device, a six-degree-of-freedom mechanical arm, a special blade clamp and special intelligent detection software. The workstation detects the aeroengine blade through this application, can promote blade detection efficiency by a wide margin to each blade detection data can be traceed back, and each module material of workstation easily obtains with low costs, can satisfy current blade detection demand when guaranteeing to detect the precision.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (7)
1. An intelligent detection workstation for repairing an aircraft engine blade is characterized by comprising a base, wherein an intelligent storage platform, a six-degree-of-freedom mechanical arm, a high-precision 3D measurement module and an intelligent detection module are mounted on the base, and the intelligent detection module is respectively connected with the intelligent storage platform, the six-degree-of-freedom mechanical arm and the high-precision 3D measurement module through communication links;
the intelligent material storage platform is provided with a plurality of blade material storage grooves for storing blades, a display device is correspondingly arranged on the periphery of each blade material storage groove, and the display devices are used for displaying the states of the blades in the blade material storage grooves;
the six-degree-of-freedom manipulator is used for clamping the blade and driving the blade to perform spatial six-degree-of-freedom motion, the six-degree-of-freedom manipulator comprises a clamping device for clamping the blade, and the clamping device comprises a fixed base, a clamping probe and a bottom plane contact plate;
the fixed base is of a U-shaped structure, a bottom plane contact plate is vertically arranged on the inner bottom surface of the U-shaped structure and is used for being tightly attached to the bottom surface of the blade, and the bottom plane contact plate has the freedom degree of moving along the vertical direction relative to the fixed base;
the clamping probes are transversely and movably arranged on the fixed base, a plurality of clamping probes are uniformly distributed at intervals along the width direction of the fixed base to form a line of clamping probes, a plurality of lines of clamping probes are uniformly distributed at intervals along the vertical direction to form a group of clamping probes, two groups of clamping probes are respectively arranged along the axial plane of the fixed base in the vertical direction in a symmetrical mode, each clamping probe has a degree of freedom of moving along the horizontal direction relative to the fixed base, the end part of each clamping probe is provided with a micro-pressure sensor, and the bottom plane contact plate is provided with two micro-pressure sensors in mutually orthogonal directions to be respectively used for detecting the micro-pressure of the bottom surface and the side surface of the blade;
each row of the clamping probes is respectively arranged corresponding to each mortise at the bottom of the blade; in a working state, the clamping device moves to the position of the blade to be detected, and each clamping probe and the bottom plane contact plate simultaneously move until each clamping probe free end and the bottom plane contact plate free end are pressed against the blade to be detected and respectively reach a preset pressure threshold value, and then the movement is stopped; acquiring position coordinates of the clamping probes and the bottom plane contact plate after the clamping probes and the bottom plane contact plate stop moving, and acquiring reference position coordinates of the blade to be detected relative to the clamping device based on the position coordinates of the clamping probes and the position coordinates of the bottom plane contact plate;
the intelligent detection module is used for controlling the six-degree-of-freedom mechanical arm to move the blade to be detected in the set blade storage groove to the high-precision 3D measurement module for measurement processing, acquiring a three-dimensional reconstruction model of the blade to be detected, comparing the three-dimensional reconstruction model with a standard blade model, acquiring a comparison result and sending the comparison result to the intelligent storage platform, and the intelligent storage platform controls a corresponding display device to display the comparison result.
2. The intelligent detecting workstation for repairing the blade of the aircraft engine according to claim 1, wherein the display device comprises a multicolor light-emitting device, and the intelligent detecting module selects different light rays to display the detection state of the blade in the blade storage groove based on the comparison result;
when no blade is arranged in the blade storage groove, a display device corresponding to the blade storage groove emits a first light ray;
when the blade storage groove is internally provided with the blade and the blade is not detected, the display device corresponding to the blade storage groove emits a second light ray;
when the blades are arranged in the blade storage grooves and the detection of the blades is qualified, the display devices corresponding to the blade storage grooves emit third light rays;
when the blades are arranged in the blade storage grooves and the detection of the blades is unqualified, the display devices corresponding to the blade storage grooves emit fourth light.
3. The intelligent detection workstation for repairing the blade of the aircraft engine according to claim 1, wherein the intelligent detection module adjusts the motion trail of the six-degree-of-freedom manipulator according to the blade model based on a preset control rule so that the detection range of the high-precision 3D measurement module covers the surface of the blade;
the control rule is a mapping relation between the blade type and the motion trail of the six-degree-of-freedom manipulator.
4. The intelligent detection workstation for repairing the blade of the aircraft engine according to claim 3, wherein the high-precision 3D measurement module sends the acquired point cloud of the reconstructed blade of the blade to be detected to the intelligent detection module;
the intelligent detection module intercepts a blade outer edge point set from a standard blade point cloud of a standard blade and a reconstructed blade point cloud of the standard blade on the same height cross section respectively based on a preset intercepting method, and acquires a standard track of the equal-height section of the standard blade and a reconstructed track of the equal-height section of a blade to be detected respectively;
the intelligent detection module compares the equal-height section reconstruction track with the equal-height section standard track to obtain parameter data of the blade to be detected, wherein the parameter data comprises deformation, defect types and size parameters.
5. The intelligent detection workstation for repairing the blade of the aircraft engine according to claim 1, wherein the high-precision 3D measurement module comprises two cameras, a projector and a camera motion module, the two cameras are respectively mounted on two sides of the projector through the two camera motion modules, the two cameras are arranged in an axisymmetric manner along the direction of the optical axis of the projector, and the camera motion module is used for adjusting the distance and the angle between the cameras and the optical axis of the projector.
6. The intelligent detection workstation for repairing the blade of the aircraft engine as claimed in claim 5, wherein the camera motion module comprises a translation module and a rotation module, wherein the rotation module is rotatably mounted above the translation module, and the camera is fixed with the rotation module and can be driven by the rotation module to rotate along the extension direction of the translation module.
7. The intelligent detecting workstation is restoreed to aeroengine blade of claim 1, characterized in that, centre gripping probe front end is provided with circular arc structure, the circular arc radius of circular arc structure and the corresponding tongue-and-groove radius of blade coincide.
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