CN113375598A - Self-datum plane-based high-precision matching method for three-dimensional profile of blade - Google Patents
Self-datum plane-based high-precision matching method for three-dimensional profile of blade Download PDFInfo
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- CN113375598A CN113375598A CN202110910832.7A CN202110910832A CN113375598A CN 113375598 A CN113375598 A CN 113375598A CN 202110910832 A CN202110910832 A CN 202110910832A CN 113375598 A CN113375598 A CN 113375598A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a self-datum plane-based high-precision matching method for a three-dimensional profile of a blade, which comprises the steps of (1) calibrating the pose of a linear laser sensor before the blade is installed and calibrating a rotary table surface; (2) calibrating a rotation axis by using the characteristics of a lateral reference surface A and a reference surface B which are intersected with each other of the blades; (3) and (3) rebuilding the three-dimensional profile of the blade, establishing a blade data coordinate system according to the revolution axis and the reference surface C, integrating the collected multi-view-field blade profile data under the blade data coordinate system, and further completing the reconstruction and detection of the three-dimensional profile of the blade through curve and curved surface fitting. The invention utilizes the side datum planes with two intersected sides of the blade to calibrate the rotating axis, is not only suitable for all blades, improves the universality and the efficiency of the detection method, but also reduces the length of an error transmission chain compared with the traditional method and increases the contour reconstruction precision.
Description
Technical Field
The invention belongs to the field of blade detection, and particularly relates to a high-precision matching method for a three-dimensional profile of a blade based on a self-reference surface.
Background
The blade is used as a key part in equipment such as an aircraft engine, a combustion engine, a steam turbine and the like, and bears the important task of converting heat energy into mechanical energy, and the shape and the quality of the blade directly influence the energy conversion efficiency and the service life of the whole machine. The blade has the advantages that the blade is provided with an irregular curved surface section, and the profile of each section is different, so that the difficulty is increased for the blade detection work.
Chinese patent 2020111309847 discloses a blade three-dimensional contour reconstruction method based on blade self-characteristics, which calibrates the center of a turntable by using the characteristic that two side reference surfaces of a blade are connected, and the method calibrates the center of the turntable by only calibrating one turntable center although an external calibration block is not introduced to calibrate the center of the turntable, and then takes a vertical straight line passing through the center of the turntable as a z-axis, so that the actual rotation axis is not parallel to the blade axis, and further, errors exist in later-stage splicing data.
Disclosure of Invention
The invention aims to provide a self-reference surface-based high-precision matching method for the profile of a three-dimensional profile of a blade.
In order to achieve the purpose, the invention adopts the following technical scheme:
the high-precision matching method of the profile of the three-dimensional profile of the blade based on the self-datum plane, wherein the self-datum plane refers to a side datum plane A and a datum plane B which are intersected with each other and a datum plane C which is perpendicular to the datum plane A and the datum plane B, and comprises the following steps:
step 1: calibration of the axis of rotation
a. Placing the blade on a rotary table surface, and adjusting the pose of the line laser sensor to enable the laser surface of the line laser sensor to be simultaneously intersected with the reference surface A and the reference surface B, and the laser surface is superposed with the reference surface C; wheel for moving linear laser sensor along Z axis and collecting bladeContour point cloud data M1The moving distance does not exceed the height of the reference surface A or the reference surface B on the Z axis, and the point cloud data M is obtained1Fitting out surface PA1And PB1；
b. Adjusting the position and posture of the line laser sensor until the laser surface is intersected with the reference surface A and the reference surface B at the same time, the laser surface is overlapped with the reference surface C, the laser surface of the line laser sensor is intersected with the reference surface A and the reference surface B at the same time after the turntable is rotated by a rotation angle theta, and the line laser sensor moves along the Z axis again and collects point cloud data M of the outline of the blade2The moving distance does not exceed the height of the reference surface A or the reference surface B, and the point cloud data M is obtained2Fitting out surface PA2And PB2；
c. According to plane PA1And PB1The included angle between them is determined as the bisector plane P1, and plane PA2And PB2An angular bisector plane P2 is solved according to the included angle between the two planes, and then a straight line L intersecting the angular bisector plane P1 and the angular bisector plane P2 is solved, wherein the straight line is a rotation axis;
step 2: global scanning is carried out on the blade to obtain the three-dimensional profile of the blade
Establishing a global coordinate system o-xyz, wherein the global coordinate system o-xyz takes the intersection point of a rotation axis and a reference plane C as an origin o, two vectors which are perpendicular to each other and pass through the origin on the reference plane C as an x axis and a y axis, and the rotation axis as a Z axis, adjusting the pose of a line laser sensor to enable the laser surface of the line laser sensor to be intersected with the initial position of the blade, the line laser sensor forwards with the Z axis as a scanning direction to scan the blade profile, then adjusting the line laser sensor to return to the initial position, rotating a rotary table and then forwards with the Z axis as the scanning direction to scan the blade profile, and after the blade is completely scanned, converting profile data acquired by the line laser sensor into a data coordinate system to perform surface fitting to obtain the three-dimensional profile of the blade.
Compared with the prior art, the method provided by the invention has the advantages that the blade is provided with two intersected side datum planes to calibrate the rotation axis, the method is suitable for calibrating all blades, the result of calibrating the rotation axis through the self-characteristics is more accurate, the method is suitable for all blades, the universality and the efficiency of the detection method are improved, the error transmission chain length is reduced compared with the traditional method, and the contour reconstruction precision is increased.
Drawings
FIG. 1 is a schematic view of a detection apparatus according to the present invention.
FIG. 2 is a schematic view of the present invention showing the structure of the calibrated axis of rotation.
Fig. 3 is a top view of fig. 2.
The labels in the figure are: 100. a line laser sensor; 200. a blade; 201. a reference plane A; 202. a reference plane B; 203. a reference plane C.
Detailed Description
The embodiment provides a blade three-dimensional profile contour high-precision matching method based on a self-reference surface, and discloses a rotation axis calibration method. The blade 200 self-reference surface refers to two side reference surfaces A201, a reference surface B202 and a horizontal reference surface C203 which are processed when the blade 200 is processed, the reference surface A201 and the reference surface B202 intersect and are perpendicular to the reference surface C203, the self-reference surface is a feature which is common to all blades 200, has high flatness and can be regarded as a high-precision plane feature, and the method of the embodiment is to calibrate a revolution axis by utilizing the intersecting characteristic of the two reference surfaces A201 and the reference surface B202.
The implementation provides a self-datum plane-based high-precision matching method for a three-dimensional profile of a blade, which comprises the following steps:
step 1: calibration of detection device before blade installation
As shown in FIG. 1, the detection device comprises a line laser sensor 100, a translation drive (for controlling the line laser sensor to move in a moving coordinate system O-XYZ)S X 、S Y 、S Z ) And a rotation drive W for controlling the rotation of the turntable; a rotation center is inevitably arranged on the rotary table; before the blade 200 is installed, the detection device needs to be calibrated to ensure the accuracy of subsequent acquisition, wherein the calibration comprises the calibration of the pose of the line laser sensor 100 and the calibration of a turntable surface; the calibration method is the same as that in the prior art, and is not described in detail in this embodiment.
Step 2: calibrating rotating center of rotating platform
a. The blade 200 is placed on a rotary table surface and is driven by controlling translation (S X 、S Y 、S Z ) Adjusting the pose of the line laser sensor 100 to enable the laser surface of the line laser sensor 100 to be simultaneously intersected with the reference surface A201 and the reference surface B202, enabling the laser surface to be superposed with the reference surface C203, enabling the line laser sensor to move along the Z axis and collecting point cloud data M of the outline of the blade1The moving distance does not exceed the height of the reference surface A or the reference surface B, and the point cloud data M is obtained1Fitting out surface PA1And PB1。
b. Adjusting the line laser sensor 100 to be at an initial position, wherein the initial position is that the laser plane of the line laser sensor 100 intersects with the reference plane A201 and the reference plane B202 at the same time, and the laser plane coincides with the reference plane C203, and by controlling the rotary drive W to rotate the turntable, the laser plane of the line laser sensor 100 still intersects with the reference plane A201 and the reference plane B202 at the same time, and the rotation angle isθThe linear laser sensor moves along the Z axis again and collects the point cloud data M of the blade profile2The moving distance does not exceed the height of the reference surface A or the reference surface B, and the point cloud data M is obtained2Fitting out surface PA2And PB2。
c. In the steps a and b, the poses of the line laser sensor 100 in the X axis and the Y axis do not change, and thus the data coordinates of the line laser sensor 100 do not change, and thus the plane P is obtainedA1A plane P of kneadingB1Angle bisecting plane P of1And plane PA2A plane P of kneadingB2Angle bisecting plane P of2(ii) a As shown in fig. 2 and 3, the angle bisecting plane P1And P2The intersecting line L is the rotating axis of the blade, and the calibration of the rotating axis and the reconstruction of the three-dimensional profile of the blade can be completed through the straight line L; in the embodiment, the rotation center is calibrated by adopting two intersected high-precision plane characteristics, and the calibration result is more accurate.
And step 3: blade three-dimensional contour reconstruction
The line laser sensor 100 is connected with a linear encoder and a linear encoderEncoder and translation driveS Z And the working mode of the linear laser sensor is changed into an encoder triggering mode, the translation distance is set by the system every time, the automatic data acquisition is realized, the labor intensity of workers can be reduced, and the data acquisition precision is provided.
a. By controlling the translational drive (S X 、S Y 、S Z ) The laser plane of the alignment line laser sensor 100 intersects with the initial position of the blade 200, which is the bottom of the blade 200 or the top of the blade 200. in this embodiment, the bottom of the blade 200 is selected, so that the subsequent scanning line is moved upward, and vice versa, specifically, a section of the reference plane of the side edge of the blade 200 is as close as possible to the features of the blade 200.
b. This implementation uses the Z axle as scanning direction, sets up the trigger distance, triggers line laser sensor 100 and gathers blade 200 profile data once, sets up Z axle motion range, and motion range is blade 200 height on the Z axle, and the specific setting is to exceed blade 200 height on the Z axle, guarantees that blade 200 can be gathered completely, when translation driveS Z When the total upward moving distance exceeds the Z-axis movement range, the translation drive is controlledS Z The line laser sensor is returned to the initial position.
c. By controlling the translational drive (S X 、S Y ) And a rotational drive W for intersecting the laser plane of the line laser sensor 100 with the side of the blade 200 on which the profile data acquisition is not performed.
d. Repeating steps b and c until all the profiles of the blade 200 have been scanned.
e. Reconstruction of the three-dimensional profile of the blade, conversion of all the acquired profile data into the data coordinate system of the line laser sensor 100o-xyzRemoving the overlapped data and then performing curve fitting to obtain the three-dimensional profile and data coordinate system of the blade 200o-xyzTaking the intersection point of the reference plane C and the rotation axis obtained in the step 2 as an origin o, taking two vectors which are perpendicular to each other and pass through the origin on the reference plane C as an x axis and a y axis, and taking the rotation axis as a z axis; deriving the three-dimensional profile data of the blade 200The computer software can be compared with the designed pattern to detect the error position, so that the detection of the blade profile is realized.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and inventive concept provided by the present invention should be covered within the scope of the present invention.
Claims (1)
1. The high-precision matching method of the profile of the three-dimensional profile of the blade based on the self-datum plane is characterized by comprising the following steps of:
step 1: calibration of the axis of rotation
a. Placing the blade on a rotary table surface, and adjusting the pose of the line laser sensor to enable the laser surface of the line laser sensor to be simultaneously intersected with the reference surface A and the reference surface B, and the laser surface is superposed with the reference surface C; the linear laser sensor moves along the Z axis and collects the point cloud data M of the blade profile1The moving distance does not exceed the height of the reference surface A or the reference surface B on the Z axis, and the point cloud data M is obtained1Fitting out surface PA1And PB1；
b. Adjusting the position and posture of the line laser sensor until the laser surface is intersected with the reference surface A and the reference surface B at the same time, the laser surface is overlapped with the reference surface C, the laser surface of the line laser sensor is intersected with the reference surface A and the reference surface B at the same time after the turntable is rotated by a rotation angle theta, and the line laser sensor moves along the Z axis again and collects point cloud data M of the outline of the blade2The moving distance does not exceed the height of the reference surface A or the reference surface B, and the point cloud data M is obtained2Fitting out surface PA2And PB2；
c. According to plane PA1And PB1The included angle between them is determined as the bisector plane P1, and plane PA2And PB2An angular bisector plane P2 is solved according to the included angle between the two planes, and then a straight line L intersecting the angular bisector plane P1 and the angular bisector plane P2 is solved, wherein the straight line L is a rotation axis;
step 2: global scanning is carried out on the blade to obtain the three-dimensional profile of the blade
Establishing a global coordinate system o-xyz, wherein the global coordinate system o-xyz takes the intersection point of a rotation axis and a reference plane C as an origin o, two vectors which are perpendicular to each other and pass through the origin on the reference plane C as an x axis and a y axis, and the rotation axis as a Z axis, adjusting the pose of a line laser sensor to enable the laser surface of the line laser sensor to be intersected with the initial position of the blade, the line laser sensor forwards with the Z axis as a scanning direction to scan the blade profile, then adjusting the line laser sensor to return to the initial position, rotating a rotary table and then forwards with the Z axis as the scanning direction to scan the blade profile, and after the blade is completely scanned, converting profile data acquired by the line laser sensor into a data coordinate system to perform surface fitting to obtain the three-dimensional profile of the blade.
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Cited By (1)
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| CN115014257A (en) * | 2022-06-30 | 2022-09-06 | 南京航空航天大学 | Two-dimensional line laser sensor calibration device and method |
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