CN113251950A - Blade three-dimensional contour high-precision detection method based on blade root self-reference surface - Google Patents
Blade three-dimensional contour high-precision detection method based on blade root self-reference surface Download PDFInfo
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- CN113251950A CN113251950A CN202110797907.5A CN202110797907A CN113251950A CN 113251950 A CN113251950 A CN 113251950A CN 202110797907 A CN202110797907 A CN 202110797907A CN 113251950 A CN113251950 A CN 113251950A
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- blade
- reference surface
- laser sensor
- line laser
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D21/00—Shutting-down of machines or engines, e.g. in emergency; Regulating, controlling, or safety means not otherwise provided for
- F01D21/003—Arrangements for testing or measuring
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a blade three-dimensional contour high-precision detection method based on a blade root self-reference surface, which comprises the following steps of 1: calibrating the pose of the line laser sensor; step 2: calibrating a rotation axis: the high-precision characteristic of the self-aligning surface of the blade is utilized to obtain a rotation center to realize the calibration of a rotation axis; and step 3: detecting the section profile of the blade to be detected; according to the invention, a reference surface with high flatness precision is used for obtaining a plurality of rotation central points, and the rotation axis is calibrated by using the characteristics of big data and a least square method, so that the calibration precision is improved, and the detection precision of the blade is further improved.
Description
Technical Field
The invention belongs to the field of blade contour detection, and particularly relates to a blade three-dimensional contour high-precision detection method based on a blade root 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.
The invention of Chinese patent No. 2020111289896 discloses a method for detecting a blade, which comprises solving a rotation center point by using the high-precision characteristic of a reference surface of the blade and the same distance between the rotation center point and the same reference surface, calculating the deflection angle of a rotary table top by two rotation center points, and calibrating the rotary table top and a rotation axis, wherein the method has the advantages that although the detection precision of the blade is further improved, the calibration of the rotary table top and the rotation axis is realized by only two rotation center points, an error still exists, moving a line laser sensor along the Z axis of a moving coordinate system according to the step (26) in the patent application document, so that the laser surface of the line laser sensor is overlapped with the horizontal reference surface and the side reference surface of the blade, and repeating the step (21) to (24) to obtain the rotation center points O to O3And O4Center point of revolution O3And O4The coordinate data x and y are equal, the rotation axis of the blade is checked, but the measured rotation center point O is found in the actual measurement process3And O4The coordinate data x and y are difficult to be equal, and certain errors exist, and the errors cannot be ignored in the subsequent blade splicing process and detection.
Disclosure of Invention
The invention aims to provide a blade three-dimensional contour high-precision detection method based on a blade root self-reference surface.
In order to achieve the purpose, the invention adopts the following technical scheme:
the blade root self-datum plane based high-precision blade three-dimensional contour detection method comprises the following steps:
step 1: calibrating the pose of the line laser sensor: is used for calibrating X, Y, Z axes of the moving coordinate system, so that the data coordinate system of the line laser sensoro-xyzAnd moving coordinate systemO-XYZParallel connection;
step 2: calibrating a rotation axis: the device is used for calibrating the rotation axis of the rotary table to enable the axis of the blade to be parallel to the rotation axis;
step 21: the blade to be measured is placed on a rotary table, the pose of a line laser sensor is adjusted to enable the laser surface of the line laser sensor to be coincident with the horizontal reference surface of the blade and the side reference surface of the blade, the line laser sensor is moved for n times along the Z axis of a moving coordinate system, and the line laser sensor collects the contour point cloud data of the reference surfaceM 1 ；
Step 22: rotating the rotary table and adjusting the position and posture of the line laser sensor to ensure that the laser surface of the line laser sensor is superposed with the horizontal reference surface of the blade and the side reference surface, and acquiring the contour point cloud data of the side reference surface by the line laser sensorM 2 (ii) a Rotating the rotary table again and adjusting the pose of the line laser sensor to ensure that the laser surface of the line laser sensor is superposed with the horizontal reference surface of the blade and the side reference surface, and acquiring the contour point cloud data of the side reference surface by the line laser sensorM 3 (ii) a The side reference surfaces of the step 21 and the step 22 are the same reference surface, and the moving intervals of the line laser sensors are equal;
step 23: to the contour point cloud dataM 1 、M 2 、M 3 Performing straight line fitting to obtain 3n straight lines, and calculating a central point data set according to the 3n straight linesO=（o 1 ,o 2 ,…,o n ) Fitting the central point data set O by using a least square method to obtain a blade rotation axis;
and step 3: detecting the section profile of the blade to be detected: and establishing a global coordinate system, converting the blade section curve characteristic data acquired by the data coordinate system into the coordinate system, and splicing to realize the detection of the blade section profile.
According to the invention, on the basis of the prior art, a plurality of rotation central points are obtained, and the rotation axis is calibrated by using the characteristics of big data and a least square method, so that the calibration precision is improved, and the detection precision of the blade is further improved.
Drawings
Fig. 1 is a simplified schematic diagram of a four-axis measurement system.
FIG. 2 is a schematic diagram of solving a center of gyration point according to the present invention.
FIG. 3 is a schematic diagram of the present invention for solving the axis of revolution.
FIG. 4 is a schematic view of the present invention fitted to a rotational axis.
FIG. 5 is a schematic view of the inventive blade profile data stitching.
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 root self-reference surface-based blade three-dimensional contour high-precision detection method, and discloses a method for calibrating a rotation axis by utilizing a self-reference surface of a blade. The self-reference surface of the blade 200 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 are intersected and are perpendicular to the reference surface C203, the self-reference surface has high flatness and can be regarded as a high-precision plane characteristic, and the method of the embodiment is that the rotation center and the rotation axis are calibrated by using the characteristic of any one side reference surface of the two reference surfaces A201 and the reference surface B202.
The high-precision detection method for the blade section profile based on the line laser sensor comprises the following steps:
step 1: calibration of line laser sensor
As shown in FIG. 1, the detection device comprises a line laser sensor 100, a control line laser sensor in a moving coordinate systemO-XYZTranslational drive of movement (S X 、S Y 、S Z ) And a rotation drive for controlling the rotation of the turntableW(ii) a A rotation center is inevitably arranged on the rotary table; before the blade 200 is installed, the pose of the line laser sensor 100 needs to be calibrated to ensure the accuracy of subsequent acquisition, the calibration method is the same as that in the prior art, and the description of the embodiment is omitted.
Step 2: calibration of the axis of rotation
Step 21: the blade 100 to be measured is placed at the center of the turntable and is driven by controlling translation (S X 、S Y 、S Z ) Adjusting the pose of the line laser sensor 100 to make the laser plane of the line laser sensor 100 intersect with the reference plane a201, as shown in fig. 1, the blade is processed with two side reference planes a201 and B202 and a horizontal reference plane C203, in this embodiment, the reference plane a201 of the blade is selected, the principle and steps are the same by using the reference plane B202, and the translational driving is controlledS X Movement Δ X1In translation driveS Y Movement Δ Y1In translation driveS Z Movement Δ Z1The turntable is rotated by θ so that the laser beam of the line laser sensor 100 is positioned on the reference plane a201 and overlapped with the reference plane C203, and is drivenS Z The movement causes the line laser sensor to move along the Z axis, and the line laser sensor 100 acquires point cloud data of the contour of the reference surface A201M 1 ；
Step 22: the pose of the line laser sensor 100 is adjusted so that the laser line of the line laser sensor 100 coincides with the reference plane C203, i.e. the line laser sensor 100 is in the moving coordinate systemO-XYZReturning to the initial position and rotatingθAfter the turntable, the rotation angle does not need to be too large, and the laser surface of the line laser sensor 100 is ensured to be intersected with the reference surface A201 to driveS Z The movement causes the line laser sensor to move along the Z axis, and the line laser sensor 100 acquires the point cloud data of the contour line of the reference surface A201 againM 2 And similarly, adjusting the pose of the line laser sensor 100 back to the moving coordinate systemO-XYZReturning to the initial position and rotating the turntable again, the laser plane of the laser sensor 100 also intersects the reference plane A201, and is drivenS Z The line laser sensor moves along the Z axis by the movement, and the line laser sensor 100 acquires the contour line point cloud data of the reference surface A201 againM 3 Driving as requiredS Z The moving intervals are equal;
step 23: the reference surface of the blade has higher straightness, so that the data of the point cloud of the profile line is obtainedM 1 、M 2 、M 3 Performing straight line fitting to obtain n straight lines, taking the first straight line in the point cloud data of the contour line each time as an example, and the three straight lines are respectivelyL 1 、L 2 、 L 3 As shown in fig. 2, the relative pose of the line laser sensor does not change, and the data coordinate system does not change and belongs to the same data coordinate systemo-xyThus center point of gyrationo 1 To three straight linesL 1 、L 2 、L 3 Ofd 1 、d 2 、d 3 Equality, the centre point of rotation can be solvedo 1 (ii) a Solving the data set of the rotation center point by the same methodO=（o 1 ,o 2 ,…,o n ) Fitting the central point data set by using a least square methodOThe blade pivot axis is obtained and as shown in fig. 3 and 4, a pivot axis can be fitted with high accuracy through a large number of pivot center points.
And step 3: testing of blades under test
Step 31: establishing a global coordinate systemO-XYZTaking the intersection point of the blade reference plane C of the plane to be measured and the rotation axis as an origin O, taking two mutually perpendicular normal vectors on the reference plane C as X, Y axes, and taking the rotation axis as a Z axis, at this time, although the rotating table has a certain error, namely a non-absolute vertical state, through the rotation axis fitted in the step 23, the rotation center of the blade rotation axis at each point cloud data cross section is taken, for example, O in fig. 5nPoint reconstruction of point cloud data of each section by using the rotation center can improve acquisitionThe data precision further improves the detection result of the blade;
step 32: the data acquisition of different positions of the blade to be measured 200 is realized by moving the line laser sensor 100 and rotating the turntable, and the acquired data is converted into a global coordinate systemO-XYZAnd carrying out data splicing to realize the profile detection of the blade to be detected.
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 blade root self-datum plane based high-precision blade three-dimensional contour detection method comprises the following steps:
step 1: calibrating the pose of the line laser sensor: is used for calibrating X, Y, Z axes of the moving coordinate system, so that the data coordinate system of the line laser sensoro-xyzAnd moving coordinate systemO-XYZParallel connection;
step 2: calibrating a rotation axis: the device is used for calibrating the rotation axis of the rotary table to enable the axis of the blade to be parallel to the rotation axis;
and step 3: detecting the section profile of the blade to be detected: establishing a global coordinate system, converting the blade section curve characteristic data collected by the data coordinate system to the coordinate system for splicing, and realizing the detection of the blade section profile; the method is characterized in that: the calibration of the rotation axis comprises the following steps:
step 21: the blade to be measured is placed on a rotary table, the pose of a line laser sensor is adjusted to enable the laser surface of the line laser sensor to be coincident with the horizontal reference surface of the blade and the side reference surface of the blade, the line laser sensor is moved for n times along the Z axis of a moving coordinate system, and the line laser sensor collects the contour point cloud data of the reference surfaceM 1 ；
Step 22: rotating the rotary table and adjusting the position and posture of the line laser sensor to ensure that the laser surface of the line laser sensor is superposed with the horizontal reference surface of the blade and the side reference surface, and acquiring the contour point cloud data of the side reference surface by the line laser sensorM 2 (ii) a Rotate againRotating the table and adjusting the position and posture of the line laser sensor to make the laser surface of the line laser sensor coincide with the horizontal reference surface of the blade and the side reference surface, and acquiring the contour point cloud data of the side reference surface by the line laser sensorM 3 (ii) a The side reference surfaces of the step 21 and the step 22 are the same reference surface, and the moving intervals of the line laser sensors are equal;
step 23: to the contour point cloud dataM 1 、M 2 、M 3 Performing straight line fitting to obtain 3n straight lines, and calculating a central point data set according to the 3n straight linesO=（o 1 ,o 2 ,…,o n ) And fitting the central point data set O by using a least square method to obtain the rotation axis of the blade.
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| CN202110797907.5A CN113251950A (en) | 2021-07-15 | 2021-07-15 | Blade three-dimensional contour high-precision detection method based on blade root self-reference surface |
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| CN111982019A (en) * | 2020-10-21 | 2020-11-24 | 四川大学 | High-precision blade section contour detection method based on line-structured light sensor |
| CN112013788A (en) * | 2020-10-22 | 2020-12-01 | 四川大学 | Method for calibrating rotation center based on curve characteristics of local leading edge of blade |
| CN112013797A (en) * | 2020-10-30 | 2020-12-01 | 四川大学 | Method for calibrating spatial revolution axis based on cylinder and line structured light and application thereof |
| CN112013787A (en) * | 2020-10-21 | 2020-12-01 | 四川大学 | Blade three-dimensional contour reconstruction method based on blade self-characteristics |
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2021
- 2021-07-15 CN CN202110797907.5A patent/CN113251950A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20120154820A1 (en) * | 2010-12-21 | 2012-06-21 | Canon Kabushiki Kaisha | Shape measuring method |
| US20190086201A1 (en) * | 2017-09-07 | 2019-03-21 | Asml Netherlands B.V. | Method of Measuring a Parameter and Apparatus |
| CN108562243A (en) * | 2018-04-23 | 2018-09-21 | 西安工业大学 | A kind of four axis Blade measuring system and methods |
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| CN111982019A (en) * | 2020-10-21 | 2020-11-24 | 四川大学 | High-precision blade section contour detection method based on line-structured light sensor |
| CN112013787A (en) * | 2020-10-21 | 2020-12-01 | 四川大学 | Blade three-dimensional contour reconstruction method based on blade self-characteristics |
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Application publication date: 20210813 |