CN104567679A - Turbine blade visual inspection system - Google Patents
Turbine blade visual inspection system Download PDFInfo
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- CN104567679A CN104567679A CN201510006964.1A CN201510006964A CN104567679A CN 104567679 A CN104567679 A CN 104567679A CN 201510006964 A CN201510006964 A CN 201510006964A CN 104567679 A CN104567679 A CN 104567679A
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Abstract
The invention discloses a turbine blade visual inspection system comprising a machine body, an electric rotating platform and an electric horizontal movement platform. The upper portion of the machine body is provided with a workbench, and a top cover is arranged on the machine body and covers the workbench. The electric rotating platform is installed on the surface of the workbench and used for containing a blade to be detected. The electric horizontal movement platform is provided with a guide slide rail in the vertical direction. A measurement sensor is arranged on the guide slide rail and can move up and down relative to a workbench surface. The measurement sensor is provided with a laser device and a camera, wherein the laser device can emit the laser which is used for measurement and enters the blade in an incidence mode, and the camera is used for receiving light reflected by the blade to conduct imaging. Through cooperation between vertical movement of the measurement sensor on the workbench surface and rotation of the blade on the electric rotating platform arranged opposite to the measurement sensor, multipoint scanning imaging can be conducted on the axial upper portion and the axial lower portion of the blade and the two surfaces of the blade, and therefore the blade can be precisely and rapidly scanned and measured. The turbine blade visual inspection system achieves automatic blade detection, is high in work efficiency and high in measurement precision and greatly improves the detection efficiency of blade type parts.
Description
Technical field
The invention belongs to field of visual inspection, be specifically related to a kind of system and method for blade vision-based detection.
Background technology
Along with developing rapidly of process industry, shape of product design is day by day complicated, complex-curvedly widely uses in engineering field.Wherein variable cross section is complex-curved especially at blade of aviation engine, turbine blade, widespread use in marine propeller blade.
Here blade parts needs to detect before machining, to ensure its precision of processing.Such as aviation cast blade size is examined eventually needs to measure blade is complex-curved, characteristic parameter and product model is compared, evaluates cast blade.But its strong distortion of this kind of part, thin-wall part, yielding, low damage, cause the difficulty that processing detects.
Traditional measurement mode mainly adopts three coordinate machine to blade surface point-to-point measurement, and measurement data amount is large, measurement efficiency is slow, data processing slow, can not obtain leaf characteristic size fast, greatly reduce production efficiency.Such as adopt off-line three-dimensional coordinates measurement machine testing, namely with three coordinate machine to blade surface point-to-point measurement, but this mode measurement data amount large, measure that efficiency is slow, data processing slow, leaf characteristic size can not be obtained fast, greatly reduce production efficiency.In addition, adopt manual detection mode, cast surplus, partial correction amount, scale error etc. by artificial master plate to blade to detect, but, this mode relates to complicated secondary clamping, the design of multi items model customization, manual hand manipulation etc., inefficiency, cannot meet Quick Measurement and the profile precision controlling demand of casting turbo blade.
For overcoming the defect of above-mentioned detection mode, occurred the non-contact measurement mode based on machine vision technique in prior art, wherein, measuring three-dimensional shape of structured light uses more a kind of metering system.Measuring three-dimensional shape of structured light has Binocular vision photogrammetry and line-structured light vision measurement two kinds of modes, wherein line-structured light measuring system is due to its quick, accurate, good stability, and structure is simple, is easy to the advantages such as realization, obtains apply widely in every field.
Current line-structured light measuring system is as U.S.'s Cognex, Japanese Keyemce and three rich, German MAHR etc., although it has higher measuring accuracy, but still there is many problems, such as part system is when the little depth of field, very high measuring accuracy can be reached, but once the depth of field increases to certain distance, precision then reduces greatly; In addition, part measuring system Measuring Time is longer, substantially reaches about 100s, and measurement range is less, is only adapted to the aerial blade of certain size size and comprehensive measurement that cannot realize blade.
Patent documentation CN104236879A discloses a kind of engine blade sound state detection system based on machine vision and method, it is by turntable simulation blade working process, by high speed camera, blade is taken, utilize high precision projection code system to reduce the reflective impact produced shooting of blade simultaneously, produce high resolving power, the digital picture of high-contrast, keep the colour purity of image simultaneously, by voice signal during microphone array acquisition blade rotation while obtaining image information, and compare with voice signal when normally working, judge the difference of voice signal in different faults situation.
The program can realize measurement as isoparametric in blade profile and can analyze the most common failure occurred in blade vibration process, as blade is unbalance, and rotating stall, the faults such as unstability.But, this system is only the measurement of rotation realization to each surface of blade by being with moving vane, and for the complex leaf of changes of section, it cannot obtain the measurement data under multiple different cross section, and due to its imaging system be multiple, make its imaging coupling processing more for complicated, the structure of whole system is also comparatively complicated; In addition, its imaging system is traditional imaging, can cause damage, cannot obtain high-precision measurement data to the information acquisition precision of blade.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of system and method for blade vision-based detection, its object is to adopt clamped one time operation, by being arranged on high-accuracy type motorized precision translation stage survey sensor, the blade of clamping on accurate electric rotary table is scanned, realize the crop leaf measuring of robotization, work efficiency is high, and measuring accuracy is high, greatly improves blade parts detection efficiency.
For achieving the above object, the invention provides a kind of turbo blade vision detection system, it comprises:
Fuselage, its top is provided with worktable, and a top cover is arranged on this body upper and covers on described worktable, thus is formed for laying blade to be measured and the operating space of carrying out measuring between this top cover and worktable;
Electric rotary table, it is arranged on described worktable on the surface, and for arranging blade to be detected, this electric rotary table can the rotation on described worktable by controlling, thus can drive the blade on it with electric rotary table from then rotate; And
Motorized precision translation stage, it is arranged on described worktable on the surface and keep at a certain distance away with described electric rotary table, this motorized precision translation stage is provided with directive slide track at vertical direction, one survey sensor is arranged on this directive slide track and also can be moved relative to this slide rail by controlling, to realize moving up and down of relative work top;
This survey sensor has the laser instrument that can send measurement laser and incide described blade and for receiving described blade reflected light with the camera of imaging, by its moving up and down and coordinating the rotation of the blade on described electric rotary table positioned opposite at work top, the multi-point scanning imaging to the axially lower of described blade and two surfaces can be realized, and then realize measuring the accurate rapid scanning of blade.
As improvement of the present invention, described survey sensor comprises camera, bottom, annular outer cover, fixing right angle frame and laser line generator, wherein, be hollow in the middle part of described annular outer cover, annular outer cover two sides are by bottom capping, thus make to form the sensor housing of middle part for cavity, fixing right angle frame is vertically arranged in housing hollow, camera is arranged on one end of above-mentioned right angle frame, its camera lens communicates with blade light path to be detected by the window on annular outer cover, laser line generator is arranged on the relative other end of right angle frame, its laser sent shines on blade to be detected by another window on annular outer cover.
As improvement of the present invention, described blade is vertically placed on electric rotary table vertically, to make both axis coaxles or parallel.
As improvement of the present invention, described camera is preferably CCD or CMOS camera.
As improvement of the present invention, also comprise controller, it is for controlling the movement of the survey sensor on described motorized precision translation stage, the rotation of described electric rotary table and coordination between the two.
As improvement of the present invention, described blade is the blade with different cross section shape, such as blade of aviation engine, turbine blade or marine propeller blade.
In the present invention, the measurement campaign of at least two degree of freedom can be completed, comprise upward-downward translation (measuring the different cross section of blade) and rotate (measuring the outline data in blade different angles all directions), thus obtain the data of multiple point, the measurement data of blade is accurately obtained with this.
According to the present invention, also provide a kind of method utilizing above-mentioned vision detection system to detect blade.
In general, the above technical scheme conceived by the present invention compared with prior art, has following beneficial effect:
1) the present invention overcomes conventional measurement systems and cannot realize the defect that speed and precision satisfy the demand simultaneously, the blade utilizing separated by a distance and double freedom to arrange and the mode of sensor, realize the measurement of quick multiple spot, quick and high-precision measurement can be realized.
2) survey sensor of the present invention adopts line laser structured light mode, and data volume is less, is easy to realize quick detection.
3) structure of the present invention is simple, can solve the loss of significance problem when increasing the measurement depth of field well, and simple to operate, measures efficiency high, and highly versatile, can carry out secondary development.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram according to the vision detection system constructed by the embodiment of the present invention;
Fig. 2 is the main TV structure figure of the vision detection system in Fig. 1;
Fig. 3 is the structural representation installing motorized precision translation stage on the table and accurate electric rotary table in the vision detection system in Fig. 1;
Fig. 4 is the structural representation according to the survey sensor in the vision detection system constructed by the embodiment of the present invention;
Fig. 5 is the schematic front view of the survey sensor in Fig. 4;
Fig. 6 carries out the schematic flow sheet of crop leaf measuring according to the vision measurement system constructed by the embodiment of the present invention for utilizing.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
As Figure 1-3, according to a kind of turbo blade vision detection system constructed by the embodiment of the present invention, it comprises fuselage 105, top cover 101, computing machine 104, worktable 106, is arranged on the accurate electric rotary table 107 on worktable 106, high-accuracy type motorized precision translation stage 103, and the turbo blade to be measured 100 being arranged on survey sensor on high-accuracy type motorized precision translation stage 103 102 and being arranged on accurate electric rotary table 107.
Worktable 106 is arranged on back, and top cover 101 to be arranged on above fuselage 105 and to cover on worktable 106, forms operating space between top cover and worktable.Electric rotary table 107 and motorized precision translation stage 103 to be all arranged on worktable 106 and to be placed in operating space.
Particularly, blade to be detected is placed on electric rotary table 107, its can with electric rotary table 107 from then rotate, be preferably vertically placed in vertically on electric rotary table 107, with axis coaxle or parallel both making.
Survey sensor 102 is arranged on motorized precision translation stage 103, wherein this motorized precision translation stage 103 and electric rotary table 107 layout separated by a distance, this motorized precision translation stage is provided with directive slide track at vertical direction, survey sensor 102 is arranged on this directive slide track and also can moves relative to this slide rail, thus realize moving up and down of relative work top, measure for scanning up and down blade positioned opposite.
As shown in Figures 4 and 5, the survey sensor of the embodiment of the present invention comprises camera 201, bottom 202, annular outer cover 203, fixing right angle frame 204, laser line generator 205.Wherein, be hollow in the middle part of described annular outer cover 203, annular outer cover 203 two sides are by bottom 202 capping, thus make to form the sensor housing of middle part for cavity, fixing right angle frame 204 is vertically arranged in housing hollow, camera 201 is preferably CCD or CMOS camera, and it is arranged on one end of above-mentioned right angle frame 204, and its camera lens communicates with blade light path to be detected by the window on annular outer cover 203.Laser line generator 205 is arranged on the relative other end of right angle frame 204, and its laser sent shines on blade to be detected by another window on annular outer cover 203.
As shown in Figure 6, the preferred process utilizing the detection system of the present embodiment to carry out measuring is:
Take off top cover 101, turbo blade 100 leaf basin macro cell facing 102 is arranged on accurate electric rotary table 107, connect the power supply of camera 201 and laser line generator 205, carry out demarcation calibration by computing machine 104 pairs of sensors 102.
Carry out control survey by computing machine 104 afterwards, such as, can select manual or automatic metering system, control sensor displacement parameter.Under the drive of servomotor, sensor 102 carries out upward-downward translation on high-accuracy type motorized precision translation stage 103, continuous coverage collection is carried out to multiple cross sections of tested blade 100 (such as preferably 5 to 8 cross sections), acquisition rate is the highest 13 frames/second preferably, is sent into by the optical strip image collected in computing machine 104 and carries out processing in real time obtaining three-dimensional point cloud output display.Control accurate electric rotary table 107 subsequently and rotate 180 °, make the leaf back of measurement blade 100 to sensor 102, in a manner described duplicate measurements.Each parameter is processed in real time, profiling object surface data can be obtained, can also examining report be generated.In fact, the speed of the measurement of the above-mentioned measuring system in the present embodiment can reach 1 minute/monolithic.
In the present embodiment, such as can measure cast blade 5 ~ 8 cross sections, the blade outline error obtained, comprising the characteristic parameters such as leaf basin, blade back, leading edge, trailing edge, maximum gauge, windup-degree with designing a model mates errors value, examining report is generated in real time while measurement can also be arranged on, show each Testing index error amount, judge that whether tested blade is qualified according to preset requirement.
The measuring distance of sensor design described in the embodiment of the present invention is preferably 350mm ~ 450mm, and measurement range can be preferably 120mm ~ 160mm.
In the present embodiment, sensor design is mainly used in the relative position relation determining sensor internal camera and laser instrument, and made material object is used for sensor tentatively to be tested, and after determining sensor internal size, carries out suitable shelling machine.
In the present embodiment, sensor outer housing design preferably uses material to be organic glass.Organic glass is easy to processing, and has higher intensity, can complete design requirement well, and the camera of sensor and laser instrument radiating portion adopt colourless organic glass to carry out anti-gray proofing dust and protecting.
In the present invention, worktable comprises a high-accuracy type motorized precision translation stage and an accurate electric rotary table, system motion controls to comprise two large steps point: the translation of sensor and the rotation of blade.Because line structured light vision sensor itself is merely able to measure single cross section, can not obtain the three-dimensional appearance of testee, complete measurement just must by worktable, traverse measurement object under precise control, complete the measurement of multi-section, and then complete overall measuring three-dimensional morphology.Worktable also comprises kinetic control system supporting with it, completes the accurate control to platform, determines real time kinematics parameter simultaneously, carry out three-dimensional modeling for measuring system.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a turbo blade vision detection system, it comprises:
Fuselage (105), its top is provided with worktable (106), one top cover (101) is arranged on this fuselage (105) top and covers on described worktable (106), thus between this top cover (101) and worktable (106), form the operating space being used for laying blade to be measured (100) and carrying out measuring;
Electric rotary table (107), it is arranged on described worktable (106) on the surface, for arranging blade (100) to be detected, this electric rotary table (107) can by controlling in the upper rotation of described worktable (106), thus can drive the blade (100) on it to rotate; And
Motorized precision translation stage (103), it is arranged on described worktable (106) on the surface and keep at a certain distance away with described electric rotary table (107), this motorized precision translation stage (103) is provided with directive slide track at vertical direction, one survey sensor (102) is arranged on this directive slide track and also can be moved relative to this slide rail by controlling, to realize moving up and down of relative work top;
This survey sensor (102) has the laser instrument that can send measurement laser and incide described blade (100) and for receiving described blade (100) reflected light with the camera of imaging, by its moving up and down and coordinating the rotation of the blade (100) on described electric rotary table (107) positioned opposite at work top, the multi-point scanning imaging to the axially lower of described blade (100) and two surfaces can be realized, and then realize measuring the accurate rapid scanning of blade (100).
2. a kind of turbo blade vision detection system according to claim 1, wherein, described survey sensor comprises camera (201), bottom (202), annular outer cover (203), fixing right angle frame (204) and laser line generator (205), wherein, described annular outer cover (203) middle part is hollow, two sides are by bottom (202) capping, thus make to form the sensor housing of middle part for cavity, fixing right angle frame (204) is vertically arranged in housing hollow, camera (201) is arranged on one end of above-mentioned right angle frame (204), its camera lens communicates with blade to be detected (100) light path by the window on annular outer cover (203), described laser line generator (205) is arranged on the relative other end of right angle frame (204), its laser sent shines on blade (100) to be detected by another window on annular outer cover (203).
3. a kind of turbo blade vision detection system according to claim 1 and 2, wherein, described blade (100) is perpendicular to be vertically placed on electric rotary table (107), to make both axis coaxles or parallel.
4. a kind of turbo blade vision detection system according to Claims 2 or 3, wherein, described camera (201) is CCD or CMOS camera preferably.
5. a kind of turbo blade vision detection system according to any one of claim 1-4, wherein, also comprise controller, its for realize survey sensor on described motorized precision translation stage (103) mobilely to control, the rotation of described electric rotary table (107) controls and cooperation control between the two.
6. a kind of turbo blade vision detection system according to any one of claim 1-5, wherein, described blade (100) for having the blade of different cross section shape, such as blade of aviation engine, turbine blade or marine propeller blade.
7. the method utilizing the vision detection system according to any one of claim 1-6 to detect blade.
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