CN108072674A - A kind of gas turbine blades defect three-dimensional fix method based on digital radial - Google Patents
A kind of gas turbine blades defect three-dimensional fix method based on digital radial Download PDFInfo
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Abstract
The invention discloses a kind of gas turbine blades defect three-dimensional fix method based on digital radial, the coordinate system of machine, image coordinate system and workpiece coordinate system of system are established respectively；Coordinate system of machine is expressed by cartesian coordinate system, determines the transformation relation between coordinate system of machine and image coordinate system and coordinate system of machine and workpiece coordinate system to realize the unification of coordinate system；By carrying out transillumination along two different angles to blade, two-dimensional projection's detection image of blade and its defect characteristic is obtained respectively, the position relationship and its changing rule with transillumination angle projected by analyzing defect feature and rotation of rotary table center line on imaging plane realizes three-dimensional fix of the defect compared with blade.The method of the present invention step is simple, three-dimensional fix to a certain model blade all defect can be realized by an establishment of coordinate system and uniformly, effectively improves the efficiency of detection, and save the cost of detection.
Description
Technical field
The invention belongs to industrial x-ray technical field of nondestructive testing, and in particular to a kind of gas turbine based on digital radial
Blade defect three-dimensional fix method.
Background technology
Gas turbine is in the widely applied a kind of large-scale rotary vane type chain drive in the fields such as electric power, navigation.At present,
China not yet grasps the key technology that the gas turbine kernel component using blade as representative manufactures completely, and Related product is also main
By external import.Blade is to interact and realize that energy turns with the working media of high temperature high pressure and hig flow speed on gas turbine
The pneumatic part of core changed manufactures generally use hot investment casting moulding process, and needs to hold under high temperature and pressure
By huge service load.Since no matter blade is manufacturing or be on active service the stage, it may all be formed in the interior thereof such as hole, split
Line, shrinkage porosite such as are mingled at the forms the defects of, will seriously affect the working performance of gas turbine complete machine, service life and operation
Security reliability.Therefore, the detection technique of blade defect is studied, to improving China's gas turbine manufacture level, breaking through flourishing state
The technology blockage of family has important and far-reaching strategic importance.
Since blade belongs to complex free curved surface class part, and usually by the nickel-base high-temperature alloy material with greater density
It forms, therefore to its method of the non-destructive testing generally use based on ray, mainly include two classes：One kind is using industrial x-ray pair
Blade carries out transillumination, and the detection to its defect is realized by film or digital detector imaging.The imaging resolution of this method
It is height, high sensitivity, intuitive and reliable, and have the advantages that in practical applications efficient and at low cost.Due to the method substantially
It is that blade is subjected to projection imaging along transillumination direction, therefore only can show that defect in the projection plane perpendicular to transillumination direction
Compared with the two-dimensional position information of blade, three-dimensional space position information of the defect compared with blade can not be obtained.Another kind is work
The method of industry CT (Computed Tomography), this method is due to can accurately, clearly, intuitively obtain inside testee
The three-dimensional feature information of structure so that it has a degree of application in blade defects detection.But it also deposits both ways
Limitation：On the one hand, since the composition material nickel base superalloy of blade has larger attenuation coefficient, power for ray
Smaller CT completely can not effectively penetrate blade realization.Therefore the industry CT system with larger transillumination power can only be used
System, such system fancy price have directly raised the cost of crop leaf measuring.On the other hand, to be smaller inside precise detection of blade
The defects of scale, need to also largely cut into slices to blade with smaller interval.It is usually required entirely in view of gas turbine blades
Inspection, huge number of slice of data acquisition requirement can not only be greatly reduced the efficiency of detection, can also bring huge operating cost.
Therefore, just because of the high testing cost of industry CT and extremely low detection efficiency, the reality in gas turbine blades is made it difficult to
It is widely used in the detection of border.
The content of the invention
The technical problems to be solved by the invention be for the above-mentioned prior art present in deficiency, one kind is provided and is based on
The gas turbine blades defect three-dimensional fix method of digital radial, by arranging lead material ball test specimen on blade and along not
With angle carry out transillumination, analyze test specimen spherical characteristic and blade defect characteristic institute into projected image with transillumination angle variation rule
Rule, three-dimensional space position information of the defect compared with blade is obtained with reference to coordinate transform.
The present invention uses following technical scheme：
A kind of gas turbine blades defect three-dimensional fix method based on digital radial establishes the machine of system respectively
Coordinate system, image coordinate system and workpiece coordinate system；Coordinate system of machine is expressed by cartesian coordinate system, determines coordinate system of machine
Transformation relation between image coordinate system and coordinate system of machine and workpiece coordinate system realizes that coordinate system is unified；By to blade
The angle different along two carries out transillumination, obtains two-dimensional projection's detection image of blade and its defect characteristic respectively, passes through analysis
The position relationship and its changing rule with transillumination angle that defect characteristic and rotation of rotary table center line project on imaging plane,
Realize three-dimensional fix of the defect compared with blade.
Specifically, the coordinate system of machine of system is established according to the composition of digital radial nondestructive detection system and design feature,
Coordinate system of machine is expressed as follows in the form of cylindrical coordinate and cartesian coordinate system respectively：
Using rotation of rotary table center line upwardly direction just to represent cylindrical coordinate zmAxis；It represents to sit with rotation of rotary table central point
Mark system origin Om；Turntable plane, that is, rmOmθmPlane；System-oriented imaging device, from zmAxis top down sees, horizontal right direction
For polar diameter coordinate rmOriginal zero-bit；From zmAxis top down sees that definition is counterclockwise polar angle coordinate θmPositive direction；It will
Coordinate system of machine is expressed with cartesian coordinate system, origin OmAnd zmAxis is consistent with cylindrical coordinate expression, xmDirection of principal axis and cylindrical coordinate
R in expressionmOriginal zero-bit it is identical, y is determined by the right-hand rulemAxis；
The image coordinate system that system is established according to the specific features of system imaging device and parameter is as follows：
System imaging device imaging region center is origin Oi；Towards imaging plate, horizontal is x to the rightiThe forward direction of axis；Vertically
It is y upwardsiThe forward direction of axis；
Workpiece coordinate system (O is determined by the design coordinate system for being detected blade theoretical modelp-xpypzp)。
Further, coordinate system of machine (Om-xmymzm) and image coordinate system (Oi-xiyi) unification it is specific as follows：
S2011, the lead material ball test specimen for manufacturing two different heights；
S2012, a lead material ball test specimen is positioned over to turntable, control turntable often rotates a step pitch angle to lead material
Ball test specimen transillumination once and pass through system imaging device acquisition image, repeat this process until turntable turn over 360 °；
S2013, the central point that lead material ball test specimen imaging features are extracted from the image of acquisition；
S2014, search in the image coordinates of all central points, there is the center point P of maximum abscissa and minimum abscissal
And Pr；
S2015, the midpoint M for asking for two central point lines1；
S2016, to second lead material ball test specimen, repeat step S2012~S2015, obtain midpoint M2；
S2017, two midpoint M1And M2Throwing of the line, that is, rotation of rotary table center line on system imaging device imaging plane
Shadow；
S2018, the height with reference to lead material ball test specimen, obtain rotation of rotary table center, i.e. coordinate system of machine origin OmScheming
As the projection in coordinate system；
S2019, the machine coordinates x that certain point on system imaging device imaging plane is obtained according to step S2018m、zmAnd figure
As coordinate xi、yiRelation.
Further, on system imaging device imaging plane certain point machine coordinates xm、zmWith image coordinate xi、yi's
Transformation relation is as follows：
Wherein, (a, b) be the coordinate that is projected in image coordinate system under of the centre of gyration on imaging plane, ymFor constant,
That is rotation of rotary table center is to the distance of imaging plane.
Specifically, coordinate system of machine (Om-xmymzm) and workpiece coordinate system (Op-xpypzp) unification it is specific as follows：
S2021, two lead material ball test specimens are respectively arranged on the blade root end face peace platform surface of blade；
S2022, transillumination is carried out to blade along two different angles respectively, obtains two-dimensional projection's detection image；
S2023, the central point for extracting spherical characteristic from two width detection images respectively；
S2024, the distance that the central point obtained in S2023 is projected to centre of gyration line on imaging plane is calculated respectively
WithK=1,2,3,4；
S2025, the difference for calculating respective distances under transillumination twice obtain four spherical characteristics with reference to the difference of transillumination angle
Coordinate of the central point under coordinate system of machine；
S2026, measurement is digitized to blade key geometric properties and spherical characteristic using coordinate measuring machine,
With reference to the workpiece coordinate system of the Theoretical Design establishment of coordinate system blade of blade, the central point of spherical characteristic is obtained in workpiece coordinate system
Under coordinateK=1,2,3,4；
S2027, the coordinate based on the central point of spherical characteristic under coordinate system of machineUnder workpiece coordinate system
CoordinateK=1,2,3,4, obtain the transformation relation of coordinate system of machine and workpiece coordinate system.
Further, it is as follows by solving the transformation relation of system of linear equations acquisition coordinate system of machine and workpiece coordinate system：
Wherein, α, β, γ are respectively around coordinate system of machine xmAxis, ymAxis, zmThe corner of axis；t1、t2、t3Respectively along machine
Coordinate system xmAxis, ymAxis, zmThe translational movement of axis.
Specifically, realize that defect is specific as follows compared with the three-dimensional fix of blade：
S301, transillumination is carried out to blade along two different angles, obtains two-dimensional projection's detection image respectively；
S302, the centroid point for extracting defect from two width detection images respectively；
S303, calculate what the defects of being obtained in S302 centroid point was projected to rotation of rotary table center line on imaging plane respectively
Distance
S304, the difference for calculating respective distances under transillumination twice exist with reference to the difference acquisition defect centroid point of transillumination angle
Polar angle coordinate θ under coordinate system of machinemWith polar diameter coordinate rm；
S305, the transformation relation according to definite coordinate system of machine and workpiece coordinate system, obtain defect centroid point in workpiece
Coordinate under coordinate system realizes three-dimensional fix of the defect compared with blade.
Further, in step S305, according to the transformation relation of coordinate system of machine and workpiece coordinate system, existed by the defect centre of form
Coordinate under coordinate system of machineAsk for its coordinate under workpiece coordinate systemComplete defect characteristic phase
It is as follows for the three-dimensional fix of blade：
Wherein, α, β, γ are respectively around coordinate system of machine xmAxis, ymAxis, zmThe corner of axis；t1、t2、t3Respectively along machine
Coordinate system xmAxis, ymAxis, zmThe translational movement of axis.
Further, it is assumed that cylindrical coordinates of the one point A of space under coordinate system of machine is (rm,θm,zm), the polar diameter of the point is sat
Mark rm, polar angle coordinate θmAnd it projects to rotation of rotary table center line on system imaging device imaging plane and is filled in system imaging
It is set to the distance d projected in image plane1Meet following relation：
d1=rmcosθm
When the point follows turntable to turn over angle delta θm, polar angle coordinate becomes θm+Δθm, distance at this time becomes：
d2=rmcos(θm+Δθm)。
Further, polar angle coordinate θ of the A points under coordinate system of machinemWith polar diameter coordinate rmIt is as follows：
Wherein, d2Δ θ is rotated for turntablemA points project to rotation of rotary table center line on system imaging device imaging plane afterwards
The distance projected on system imaging device imaging plane.
Compared with prior art, the present invention at least has the advantages that：
The invention discloses a kind of gas turbine blades defect three-dimensional fix methods based on digital radial, divide first
The coordinate system of machine, image coordinate system and workpiece coordinate system of system are not established；Coordinate system of machine passes through cartesian coordinate system table
It reaches, determines that the transformation relation between coordinate system of machine and image coordinate system and coordinate system of machine and workpiece coordinate system realizes coordinate
System one；By carrying out transillumination along two different angles to blade, the two-dimensional projection of blade and its defect characteristic is obtained respectively
Detection image, the position relationship projected by analyzing defect feature and rotation of rotary table center line on imaging plane and its with saturating
The changing rule of irradiation angle realizes three-dimensional fix of the defect compared with blade, in practical applications by special fixture, only
It need to by an establishment of coordinate system and uniformly, you can realize the three-dimensional fix to a certain model blade all defect, can have
Effect makes up digital radial detection method in deficiency of the defect along transillumination direction location information, so as to fulfill to defect compared with blade
Three-dimensional fix；Compared to industrial CT system, can be realized with higher efficiency with lower cost to gas turbine blades
The three-dimensional fix of defect.
Further, it is to realize to the system of transillumination object (blade, lead material ball test specimen) and its imaging features spatial position
One description, this method establish the coordinate system of machine of system, blade need to be positioned on turntable in actually detected, and passes through control
The adjustment to transillumination object (blade, lead material ball test specimen) transillumination position and transillumination direction is realized in the movement and rotation of turntable processed,
This method establishes the coordinate system of machine of system with turntable feature (turntable plane, centre of gyration line and central point), convenient for obtaining machine
The polar angle coordinate parameters of device coordinate system (when being expressed with cylindrical coordinate).
Further, to realize the description to transillumination object (blade, lead material ball test specimen) imaging features, this method is established
The image coordinate system of system.Since flat panel detector imaging region is usually a square area, with its main feature (as in
The heart) it is the image coordinate system that system is established in reference, convenient for the analysis subsequently to transillumination object imaging features image coordinate.
Further, to determine three-dimensional space position of the defect compared with blade, the workpiece that this method establishes blade is sat
Mark system.Since blade is in design, design coordinate system can be established in order to describe its key feature.Therefore establish blade as reference
Workpiece coordinate system, convenient for description defect compared with blade key feature three-dimensional space position.
Further, this method is closed by the unified conversion obtained therebetween of coordinate system of machine and image coordinate system
System, the imaging features of binding deficient can obtain coordinate of the defect under coordinate system of machine with the changing rule of transillumination angle.
Further, it is to obtain coordinate of the defect under workpiece coordinate system to realize that it determines compared with the three dimensions of blade
Position need to pass through the unified transformation relation obtained therebetween of coordinate system of machine and workpiece coordinate system by lead material ball test specimen.
Further, blade and spherical characteristic are measured using coordinate measuring machine, the workpiece for establishing blade is sat
Mark is and obtains coordinate of the spherical characteristic center under workpiece coordinate system, with reference to seat of the spherical characteristic center under coordinate system of machine
Mark, establishes the transformation relation between system machine coordinate system and blade workpiece coordinate system, is sat according to the defect centre of form in system machine
Coordinate under mark system obtains its coordinate under blade workpiece coordinate system, and then completes three-dimensional of the defect characteristic compared with blade
Space orientation.
Further, the present invention elaborates space any point and rotation of rotary table center by taking A points described herein as an example
The position relationship and its changing rule with transillumination angle that line projects on imaging plane.
In conclusion the method for the present invention step is simple, can be realized by an establishment of coordinate system and uniformly to a certain type
The three-dimensional fix of number blade all defect, effectively improves the efficiency of detection, and saves the cost of detection.
Below by drawings and examples, technical scheme is described in further detail.
Description of the drawings
Fig. 1 is digital radial nondestructive detection system schematic diagram of the present invention；
Fig. 2 is coordinate system of machine schematic diagram of the present invention；
Fig. 3 is image coordinate system schematic diagram of the present invention；
Fig. 4 is workpiece coordinate system schematic diagram of the present invention；
Fig. 5 is lead material ball test specimen schematic diagram of the present invention, wherein, (a) is test specimen 1, and (b) is test specimen 2；
Fig. 6 arranges schematic diagram for lead material ball test specimen of the present invention；
Fig. 7 is present system establishment of coordinate system schematic diagram；
Fig. 8 is the unified schematic diagram of coordinate system of machine of the present invention and image coordinate system；
Fig. 9 is the relation schematic diagram of polar angle coordinate of the present invention and projector distance.
Specific embodiment
Referring to Fig. 1, the present invention provides a kind of gas turbine blades defect three-dimensional fixs based on digital radial
The digital radial nondestructive detection system of method, including system imaging device (flat panel detector), turntable, x-ray source and computer,
System imaging device, turntable and x-ray source are connected with computer, emission control are carried out to x-ray source by computer, in turntable
On be placed with blade, carry out motion control to turntable by computer, computer to blade on system imaging device institute into image
Carry out data acquisition.
A kind of gas turbine blades defect three-dimensional fix method based on digital radial of the present invention, including following three
Aspect：
S1, system coordinate system are established
In order to accurately describe defect and its three-dimensional space position compared with blade, three important coordinates need to be rationally established
System：First, the coordinate system of machine of system is established according to the composition of digital radial nondestructive detection system and design feature；Then, root
The image coordinate system of system is established according to the specific features and parameter of system imaging device (flat panel detector)；Finally, according to blade
Theoretical Design model foundation workpiece coordinate system.
As description defect and its important references compared with blade three-dimensional space position, separately below to machine coordinates
The foundation of system, image coordinate system and workpiece coordinate system is elaborated.
S101, coordinate system of machine
Coordinate system of machine defined in the present invention is respectively with cylindrical coordinate (Om-rmθmzm) and cartesian coordinate system (Om-rmθmzm) form expression, specific method for building up is as shown in Figure 2：
Cylindrical coordinate is expressed
zmAxis：Rotation of rotary table center line, using upwardly direction as just；Coordinate origin Om：Rotation of rotary table central point；rmOmθm
Plane：Turntable plane；Polar diameter coordinate rmOriginal zero-bit：Towards flat panel detector, from zmAxis top down sees, horizontal right direction；
Polar angle coordinate θmPositive direction：From zmAxis top down sees that definition is counterclockwise for just.
Cartesian coordinate system is expressed
Machine coordinates tie up to when being expressed with cartesian coordinate system, origin OmAnd zmAxis is consistent with cylindrical coordinate expression.xmAxis side
The r in being expressed with cylindrical coordinatemOriginal zero-bit it is identical, y can determine by the right-hand rulemAxis.
S102, image coordinate system
Image coordinate system defined in the present invention is located in the imaging plane of flat panel detector, is a plane coordinate system (Oi-
xiyi), specific method for building up is as shown in Figure 3：
Origin Oi：Flat panel detector imaging region center；xiAxis：In the horizontal direction, towards imaging plate to the right for just；yiAxis：
Vertically, towards imaging plate upwards for just.
S103, workpiece coordinate system
Workpiece coordinate system (O defined in the present inventionp-xpypzp), it is true by the design coordinate system for being detected blade theoretical model
It is fixed, as shown in figure 4, the two is consistent.
S2, system coordinate system are unified
After the coordinate system of blade is defined, how to determine the transformation relation between coordinate system and realize the system of coordinate system
One, it is subsequent descriptions defect and its key issue compared with blade three-dimensional space position.The present invention is by determining machine coordinates
System and the transformation relation between image coordinate system and coordinate system of machine and workpiece coordinate system realize the unification of coordinate system, and machine is sat
Mark system passes through cartesian coordinate system (Om-xmymzm) expression.Details are as follows for specific method：
S201, coordinate system of machine (Om-xmymzm) and image coordinate system (Oi-xiyi) unification
From the definition of foregoing coordinate system, the x of coordinate system of machinemOmzmThe imaging plane of plane and flat panel detector
xiOiziKeeping parallelism；The definite method of the two transformation relation is as follows：
S2011, the lead material ball test specimen for manufacturing two different heights, as shown in Figure 5；
S2012, a lead material ball test specimen is positioned over to turntable, control turntable often rotates a step pitch angle to lead material
Ball test specimen transillumination once and by flat panel detector gathers image, repeats this process until turntable turns over 360 °；
S2013, the central point that lead material ball test specimen imaging features are extracted from the image of acquisition；
S2014, search in the image coordinates of all central points, there is the central point of maximum abscissa and minimum abscissa；
S2015, the midpoint M for asking for two central point lines1；
S2016, to another lead material ball test specimen, repeat step S2012~S2016, obtain midpoint M2；
S2017, two midpoint M1And M2Line be exactly throwing of the rotation of rotary table center line on flat panel detector imaging plane
Shadow；
S2018, the known altitude with reference to lead material ball test specimen, can obtain rotation of rotary table center (i.e. coordinate system of machine origin
Om) projection in image coordinate system；
S2019, so as to obtaining xmAnd xi、zmAnd yiRelation.
S202, coordinate system of machine (Om-xmymzm) and workpiece coordinate system (Op-xpypzp) unification
The present invention discloses method and four lead material ball test specimens is arranged on blade.Blade is carried out thoroughly along two different angles
According to the two-dimensional projection image of acquisition test specimen spherical characteristic.By analyzing spherical characteristic with rotation of rotary table center line in imaging plane
The position relationship of upper projection and its changing rule with transillumination angle realize the unification of coordinate system of machine and workpiece coordinate system.Tool
Body includes following steps：
S2021, two lead material ball test specimens are respectively arranged on the blade root end face peace platform surface of blade, as shown in Figure 6；
S2022, transillumination is carried out to blade along two different angles respectively, obtains two-dimensional projection's detection image；
S2023, the central point for extracting spherical characteristic from two width detection images respectively；
S2024, the distance that the central point obtained in S2023 is projected to centre of gyration line on imaging plane is calculated respectively；
S2025, the difference for calculating respective distances under transillumination twice obtain four spherical characteristics with reference to the difference of transillumination angle
Coordinate of the central point under coordinate system of machine；
S2026, measurement is digitized to blade key geometric properties and spherical characteristic using coordinate measuring machine,
With reference to the workpiece coordinate system of the Theoretical Design establishment of coordinate system blade of blade, the central point of spherical characteristic is obtained in workpiece coordinate system
Under coordinate；
S2027, the coordinate based on the central point of spherical characteristic under coordinate system of machine and workpiece coordinate system obtain machine and sit
Mark system and the transformation relation of workpiece coordinate system.
S3, defect three-dimensional fix
Completing the foundation of coordinate system and after reunification, method disclosed by the invention by blade along two different angles
Degree carries out transillumination, obtains two-dimensional projection's detection image of blade and its defect characteristic respectively.By analyzing defect feature and turn
The position relationship and its changing rule with transillumination angle that platform centre of gyration line projects on imaging plane, realize defect compared with
The three-dimensional fix of blade.Specifically include following steps：
S301, transillumination is carried out to blade along two different angles respectively, obtains two-dimensional projection's detection image；
S302, the centroid point for extracting defect from two width detection images respectively；
S303, calculate what the defects of being obtained in S302 centroid point was projected to rotation of rotary table center line on imaging plane respectively
Distance；
S304, the difference for calculating respective distances under transillumination twice exist with reference to the difference acquisition defect centroid point of transillumination angle
Coordinate under coordinate system of machine；
S305, the transformation relation according to coordinate system of machine and workpiece coordinate system definite in step S2, obtain the defect centre of form
Coordinate of the point under workpiece coordinate system, so as to fulfill defect compared with the three-dimensional fix of blade.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention being described and shown in usually here in attached drawing is real
Applying the component of example can be arranged and be designed by a variety of configurations.Therefore, the present invention to providing in the accompanying drawings below
The detailed description of embodiment be not intended to limit the scope of claimed invention, but be merely representative of the selected of the present invention
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The every other embodiment obtained, belongs to the scope of protection of the invention.
A kind of gas turbine blades defect three-dimensional fix method based on digital radial of the present invention.
1) system coordinate system is established
The coordinate system of machine, image coordinate system and workpiece coordinate system of system are established, as shown in Figure 7.
2) system coordinate system is unified
Specific implementation is as follows：
As previously mentioned, first by coordinate system of machine by cylindrical coordinate (Om-rmθmzm) be converted to cartesian coordinate system (Om-
xmymzm)：
Coordinate system of machine (Om-xmymzm) and image coordinate system (Oi-xiyi) unification
In view of the x of coordinate system of machinemOmzmPlane x where plane and image coordinate systemiOiyiIt is parallel, and coordinate system of machine
OmxmAxis, OmzmThe axis O with image coordinate system respectivelyixiAxis, OiyiAxis is parallel.By the lead material ball of two known different heights
Test specimen is positioned over turntable, the two distance different from turntable center holding.Control system turntable is often rotated since a certain position
1 ° carries out a transillumination to lead material ball test specimen, until turntable turns over 360 °.It is extracted by the sequence image obtained two different high
The lead material ball test specimen of degree on flat panel detector into the overlay area of image, as shown in Figure 8.
For each corresponding transillumination image sequence of lead material ball test specimen, following processing is done (here by taking test specimen 1 as an example)：
First, the central point of lead material ball test specimen imaging features is extracted；Then, the image coordinate of Correlation Centre point, finding has maximum
With the center point P of minimum abscissalAnd Pr；Finally, two center point Ps are asked forlAnd PrThe midpoint M of line1；Similarly obtain test specimen 2
Corresponding midpoint M2。
Two midpoint M1And M2Line be rotation of rotary table center line (coordinate system of machine zmAxis) throwing on imaging plane
Shadow.According to the known altitude (h of test specimen1Or h2), obtain the centre of gyration (coordinate system of machine origin Om) on imaging plane
Project Omi, and then obtain OmiCoordinate (a, b) under image coordinate system.It is it follows that a certain on flat panel detector imaging plane
The machine coordinates x of pointm、zmWith image coordinate xi、yiTransformation relation it is as follows：
The machine coordinates y of the pointmFor the distance of a constant, i.e. rotation of rotary table center to imaging plane.
3) defect three-dimensional fix
As shown in Figure 9, it is assumed that cylindrical coordinates of the one point A of space under coordinate system of machine is (rm,θm,zm), the polar diameter of the point is sat
Mark rm, polar angle coordinate θmAnd its projected on flat panel detector imaging plane rotation of rotary table center line flat panel detector into
The distance d projected in image plane1Meet following relation：
d1=rmcosθm (3)
When the point follows turntable to turn over an angle delta θm, polar angle coordinate becomes θm+Δθm, distance at this time becomes：
d2=rmcos(θm+Δθm) (4)
From formula (3) and formula (4)：
It can be obtained by formula (5) derivation：
Therefore：
Polar angle coordinate θ of this under coordinate system of machine can be obtained by formula (7) convolution (3)mWith polar diameter coordinate rm：
The method of the present invention is real first by placing lead material ball test specimen on blade and carrying out the transillumination of different angle to it
The unification of existing coordinate system of machine and workpiece coordinate system, and then obtain coordinate of the defect centre of form under workpiece coordinate system.The ball of test specimen
The mathematical relationship that the coordinate of shape eigencenter and the defect centre of form under coordinate system of machine can be based on formula (3)~(9) description is given
To determine, therefore during actual implementation, the projection detection image of spherical characteristic and defect under some transillumination angle
It can be obtained by a transillumination, specific implementation step is as follows：
A) blade for arranging lead material ball test specimen is positioned over system turntable along a certain transillumination angle；
B) transillumination is carried out to blade and lead material ball test specimen, obtains the projection detection image under the transillumination angle；
C) control turntable turns over an angle delta θm, projection detection image is obtained again；
D) the projection detection image under two transillumination angles is combined, obtains four test specimen spherical characteristic centers to rotation of rotary table
Center line projection distance (WithK=1,2,3,4) and the defect centre of form to rotation of rotary table center line projection distance (
With)；
E) polar angle coordinate of four spherical characteristic centers under coordinate system of machine is obtained according to formula (8) and formula (9)And pole
Footpath coordinate
F) according to coordinate of the formula (2) by four spherical characteristic centers under image coordinate systemIt is asked for respectively to sit in machine
Coordinate under mark system
G) according to cylindrical coordinates of the formula (1) by four spherical characteristic centers under coordinate system of machineK=1,2,
3,4 are converted to cartesian coordinateK=1,2,3,4；
H) polar angle coordinate of the defect centre of form under coordinate system of machine is asked for according to formula (8) and formula (9)With polar diameter coordinate
I) according to coordinate of the formula (2) by the defect centre of form under image coordinate systemAsk for its coordinate under coordinate system of machine
J) according to cylindrical coordinates of the formula (1) by the defect centre of form under coordinate system of machineBe converted to cartesian coordinate
K) measurement is digitized to blade key geometric properties and test specimen spherical characteristic using coordinate measuring machine,
With reference to the workpiece coordinate system of the Theoretical Design establishment of coordinate system blade of blade, the central point of spherical characteristic is obtained in workpiece coordinate system
Under coordinateK=1,2,3,4；
L) coordinate based on the central point of spherical characteristic under coordinate system of machine and workpiece coordinate systemWithK=1,2,3,4, by the transformation relation for solving system of linear equations acquisition coordinate system of machine and workpiece coordinate system；
Wherein, α, β, γ are respectively around coordinate system of machine xmAxis, ymAxis, zmThe corner of axis；t1、t2、t3Respectively along machine
Coordinate system xmAxis, ymAxis, zmThe translational movement of axis.
M) according to the transformation relation of coordinate system of machine and workpiece coordinate system, by the seat in the defect centre of form under coordinate system of machine
MarkAsk for its coordinate under workpiece coordinate systemComplete three-dimensional of the defect characteristic compared with blade
Space orientation.
The method of the present invention along two different angles by blade and being positioned over its designated position (blade root end face peace platform
Surface) lead material ball test specimen carry out transillumination, obtain test specimen spherical characteristic center, the defect centre of form and rotation of rotary table center line flat
Projection in partitioned detector imaging plane.It is projected by analyzing spherical characteristic central projection and the defect centre of form under two transillumination angles
To the variation of centre of gyration line projection distance, the seat of spherical characteristic center and the defect centre of form under system machine coordinate system is obtained
Mark.
Blade and spherical characteristic are measured using coordinate measuring machine, establish workpiece coordinate system and the acquisition of blade
Coordinate of the spherical characteristic center under workpiece coordinate system.With reference to coordinate of the spherical characteristic center under coordinate system of machine, system is established
The transformation relation united between coordinate system of machine and blade workpiece coordinate system.According to seat of the defect centre of form under system machine coordinate system
Mark obtains its coordinate under blade workpiece coordinate system, and then completes three-dimensional fix of the defect characteristic compared with blade.
More than content is merely illustrative of the invention's technical idea, it is impossible to protection scope of the present invention is limited with this, it is every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (10)
- A kind of 1. gas turbine blades defect three-dimensional fix method based on digital radial, which is characterized in that establish respectively Coordinate system of machine, image coordinate system and the workpiece coordinate system of system；Coordinate system of machine is expressed by cartesian coordinate system, is determined Transformation relation between coordinate system of machine and image coordinate system and coordinate system of machine and workpiece coordinate system realizes that coordinate system is unified； By carrying out transillumination along two different angles to blade, two-dimensional projection's detection figure of blade and its defect characteristic is obtained respectively Picture, the position relationship projected by analyzing defect feature and rotation of rotary table center line on imaging plane and its with transillumination angle Changing rule, realize defect compared with blade three-dimensional fix.
- 2. a kind of gas turbine blades defect three-dimensional fix method based on digital radial according to claim 1, It is characterized in that, the coordinate system of machine of system, machine are established according to the composition of digital radial nondestructive detection system and design feature Coordinate system is expressed as follows in the form of cylindrical coordinate and cartesian coordinate system respectively：Using rotation of rotary table center line upwardly direction just to represent cylindrical coordinate zmAxis；With rotation of rotary table central point denotation coordination system Origin Om；Turntable plane, that is, rmOmθmPlane；System-oriented imaging device, from zmAxis top down sees that horizontal right direction is pole Footpath coordinate rmOriginal zero-bit；From zmAxis top down sees that definition is counterclockwise polar angle coordinate θmPositive direction；By machine Coordinate system is expressed with cartesian coordinate system, origin OmAnd zmAxis is consistent with cylindrical coordinate expression, xmDirection of principal axis is expressed with cylindrical coordinate Middle rmOriginal zero-bit it is identical, y is determined by the right-hand rulemAxis；The image coordinate system that system is established according to the specific features of system imaging device and parameter is as follows：System imaging device imaging region center is origin Oi；Towards imaging plate, horizontal is x to the rightiThe forward direction of axis；Straight up For yiThe forward direction of axis；Workpiece coordinate system (O is determined by the design coordinate system for being detected blade theoretical modelp-xpypzp)。
- 3. a kind of gas turbine blades defect three-dimensional fix side based on digital radial according to claim 1 or 2 Method, which is characterized in that coordinate system of machine (Om-xmymzm) and image coordinate system (Oi-xiyi) unification it is specific as follows：S2011, the lead material ball test specimen for manufacturing two different heights；S2012, a lead material ball test specimen is positioned over to turntable, control turntable, which often rotates a step pitch angle, tries lead material ball Part transillumination once and pass through system imaging device acquisition image, repeat this process until turntable turn over 360 °；S2013, the central point that lead material ball test specimen imaging features are extracted from the image of acquisition；S2014, search in the image coordinates of all central points, there is the center point P of maximum abscissa and minimum abscissalAnd Pr；S2015, the midpoint M for asking for two central point lines1；S2016, to second lead material ball test specimen, repeat step S2012~S2015, obtain midpoint M2；S2017, two midpoint M1And M2Projection of the line, that is, rotation of rotary table center line on system imaging device imaging plane；S2018, the height with reference to lead material ball test specimen, obtain rotation of rotary table center, i.e. coordinate system of machine origin OmIn image coordinate Projection in system；S2019, the machine coordinates x that certain point on system imaging device imaging plane is obtained according to step S2018m、zmIt is sat with image Mark xi、yiRelation.
- 4. a kind of gas turbine blades defect three-dimensional fix method based on digital radial according to claim 3, It is characterized in that, on system imaging device imaging plane certain point machine coordinates xm、zmWith image coordinate xi、yiConversion close System is as follows：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mi>m</mi> </msub> <mo>=</mo> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>-</mo> <mi>a</mi> </mtd> </mtr> <mtr> <mtd> <msub> <mi>z</mi> <mi>m</mi> </msub> <mo>=</mo> <msub> <mi>y</mi> <mi>i</mi> </msub> <mo>-</mo> <mi>b</mi> </mtd> </mtr> </mtable> </mfenced>Wherein, (a, b) be the coordinate that is projected in image coordinate system under of the centre of gyration on imaging plane, ymFor constant, i.e. turntable The centre of gyration is to the distance of imaging plane.
- 5. a kind of gas turbine blades defect three-dimensional fix method based on digital radial according to claim 1, It is characterized in that, coordinate system of machine (Om-xmymzm) and workpiece coordinate system (Op-xpypzp) unification it is specific as follows：S2021, two lead material ball test specimens are respectively arranged on the blade root end face peace platform surface of blade；S2022, transillumination is carried out to blade along two different angles respectively, obtains two-dimensional projection's detection image；S2023, the central point for extracting spherical characteristic from two width detection images respectively；S2024, the distance that the central point obtained in S2023 is projected to centre of gyration line on imaging plane is calculated respectivelyWithK=1,2,3,4；S2025, the difference for calculating respective distances under transillumination twice are obtained with reference to the difference of transillumination angle in four spherical characteristics Coordinate of the heart point under coordinate system of machine；S2026, measurement, reference are digitized to blade key geometric properties and spherical characteristic using coordinate measuring machine The workpiece coordinate system of the Theoretical Design establishment of coordinate system blade of blade obtains the central point of spherical characteristic under workpiece coordinate system CoordinateK=1,2,3,4；S2027, the coordinate based on the central point of spherical characteristic under coordinate system of machineWith the seat under workpiece coordinate system MarkK=1,2,3,4, obtain the transformation relation of coordinate system of machine and workpiece coordinate system.
- 6. a kind of gas turbine blades defect three-dimensional fix method based on digital radial according to claim 5, It is it is characterized in that, as follows by the transformation relation for solving system of linear equations acquisition coordinate system of machine and workpiece coordinate system：<mrow> <mfenced open = "(" close = ")"> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>p</mi> <mi>k</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>p</mi> <mi>k</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>z</mi> <mi>p</mi> <mi>k</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "(" close = ")"> <mtable> <mtr> <mtd> <mrow> <mi>cos</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>sin</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <msub> <mi>t</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>cos</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&gamma;</mi> <mo>+</mo> <mi>sin</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&beta;</mi> <mi>cos</mi> <mi>&gamma;</mi> </mrow> </mtd> <mtd> <mrow> <mi>cos</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&gamma;</mi> <mo>-</mo> <mi>sin</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&beta;</mi> <mi>sin</mi> <mi>&gamma;</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <msub> <mi>t</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>sin</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&gamma;</mi> <mo>-</mo> <mi>cos</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&beta;</mi> <mi>cos</mi> <mi>&gamma;</mi> </mrow> </mtd> <mtd> <mrow> <mi>sin</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&gamma;</mi> <mo>+</mo> <mi>cos</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&beta;</mi> <mi>sin</mi> <mi>&gamma;</mi> </mrow> </mtd> <mtd> <mrow> <mi>cos</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <msub> <mi>t</mi> <mn>3</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "(" close = ")"> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>m</mi> <mi>k</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>m</mi> <mi>k</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>z</mi> <mi>m</mi> <mi>k</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </mrow>Wherein, α, β, γ are respectively around coordinate system of machine xmAxis, ymAxis, zmThe corner of axis；t1、t2、t3Respectively along machine coordinates It is xmAxis, ymAxis, zmThe translational movement of axis.
- 7. a kind of gas turbine blades defect three-dimensional fix method based on digital radial according to claim 1, It is characterized in that, realize that defect is specific as follows compared with the three-dimensional fix of blade：S301, transillumination is carried out to blade along two different angles, obtains two-dimensional projection's detection image respectively；S302, the centroid point for extracting defect from two width detection images respectively；S303, the distance that the defects of being obtained in S302 centroid point is projected to rotation of rotary table center line on imaging plane is calculated respectivelyS304, the difference for calculating respective distances under transillumination twice obtain defect centroid point in machine with reference to the difference of transillumination angle Polar angle coordinate θ under coordinate systemmWith polar diameter coordinate rm；S305, the transformation relation according to definite coordinate system of machine and workpiece coordinate system, obtain defect centroid point in workpiece coordinate Coordinate under system realizes three-dimensional fix of the defect compared with blade.
- 8. a kind of gas turbine blades defect three-dimensional fix method based on digital radial according to claim 7, It is characterized in that, in step S305, according to the transformation relation of coordinate system of machine and workpiece coordinate system, sat by the defect centre of form in machine Coordinate under mark systemAsk for its coordinate under workpiece coordinate systemComplete defect characteristic compared with The three-dimensional fix of blade is as follows：<mrow> <mfenced open = "(" close = ")"> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>p</mi> <mi>c</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>p</mi> <mi>c</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>z</mi> <mi>p</mi> <mi>c</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "(" close = ")"> <mtable> <mtr> <mtd> <mrow> <mi>cos</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>sin</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <msub> <mi>t</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>cos</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&gamma;</mi> <mo>+</mo> <mi>sin</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&beta;</mi> <mi>cos</mi> <mi>&gamma;</mi> </mrow> </mtd> <mtd> <mrow> <mi>cos</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&gamma;</mi> <mo>-</mo> <mi>sin</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&beta;</mi> <mi>sin</mi> <mi>&gamma;</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <msub> <mi>t</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>sin</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&gamma;</mi> <mo>-</mo> <mi>cos</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&beta;</mi> <mi>cos</mi> <mi>&gamma;</mi> </mrow> </mtd> <mtd> <mrow> <mi>sin</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&gamma;</mi> <mo>+</mo> <mi>cos</mi> <mi>&alpha;</mi> <mi>sin</mi> <mi>&beta;</mi> <mi>sin</mi> <mi>&gamma;</mi> </mrow> </mtd> <mtd> <mrow> <mi>cos</mi> <mi>&alpha;</mi> <mi>cos</mi> <mi>&beta;</mi> </mrow> </mtd> <mtd> <msub> <mi>t</mi> <mn>3</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "(" close = ")"> <mtable> <mtr> <mtd> <msubsup> <mi>x</mi> <mi>m</mi> <mi>c</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>y</mi> <mi>m</mi> <mi>c</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>z</mi> <mi>m</mi> <mi>c</mi> </msubsup> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </mrow>Wherein, α, β, γ are respectively around coordinate system of machine xmAxis, ymAxis, zmThe corner of axis；t1、t2、t3Respectively along machine coordinates It is xmAxis, ymAxis, zmThe translational movement of axis.
- 9. a kind of gas turbine blades defect three-dimensional fix side based on digital radial according to claim 5 or 7 Method, which is characterized in that assuming that cylindrical coordinates of the one point A of space under coordinate system of machine is (rm,θm,zm), the polar diameter coordinate of the point rm, polar angle coordinate θmAnd it projects to rotation of rotary table center line in system imaging device on system imaging device imaging plane The distance d projected on imaging plane1Meet following relation：d1=rmcosθmWhen the point follows turntable to turn over angle delta θm, polar angle coordinate becomes θm+Δθm, distance at this time becomes：d2=rmcos(θm+Δθm)。
- 10. a kind of gas turbine blades defect three-dimensional fix method based on digital radial according to claim 9, It is characterized in that, polar angle coordinate θ of the A points under coordinate system of machinemWith polar diameter coordinate rmIt is as follows：<mrow> <msub> <mi>&theta;</mi> <mi>m</mi> </msub> <mo>=</mo> <msup> <mi>tan</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>cos&Delta;&theta;</mi> <mi>m</mi> </msub> <mo>-</mo> <mfrac> <msub> <mi>d</mi> <mn>2</mn> </msub> <msub> <mi>d</mi> <mn>1</mn> </msub> </mfrac> </mrow> <mrow> <msub> <mi>sin&Delta;&theta;</mi> <mi>m</mi> </msub> </mrow> </mfrac> <mo>)</mo> </mrow> </mrow><mrow> <msub> <mi>r</mi> <mi>m</mi> </msub> <mo>=</mo> <mfrac> <msub> <mi>d</mi> <mn>1</mn> </msub> <mrow> <msub> <mi>cos&theta;</mi> <mi>m</mi> </msub> </mrow> </mfrac> </mrow>Wherein, d2Δ θ is rotated for turntablemA points project to rotation of rotary table center line on system imaging device imaging plane and are being afterwards The distance projected on system imaging device imaging plane.
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