CN114406799B - Helicopter main blade torsion angle correction method based on online detection - Google Patents
Helicopter main blade torsion angle correction method based on online detection Download PDFInfo
- Publication number
- CN114406799B CN114406799B CN202210095800.0A CN202210095800A CN114406799B CN 114406799 B CN114406799 B CN 114406799B CN 202210095800 A CN202210095800 A CN 202210095800A CN 114406799 B CN114406799 B CN 114406799B
- Authority
- CN
- China
- Prior art keywords
- point
- blade
- hole
- sta
- blade root
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 238000012937 correction Methods 0.000 title claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 27
- 239000011159 matrix material Substances 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 claims description 13
- 241000143392 Oar Species 0.000 claims description 9
- 238000003754 machining Methods 0.000 claims description 8
- 238000005457 optimization Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 4
- 239000000523 sample Substances 0.000 claims description 3
- 239000011148 porous material Substances 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims description 2
- 238000003908 quality control method Methods 0.000 abstract description 3
- 238000000691 measurement method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
- B23Q15/06—Control or regulation of feed movement according to measuring results produced by two or more gauging methods using different measuring principles, e.g. by both optical and mechanical gauging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention relates to a helicopter main blade torsion angle correction method based on online detection, which comprises the following steps: step 1, measuring and calculating key characteristics of torsion angles; step 2, measuring and calculating a root hole of the oar; and 3, calculating a torsion angle and optimizing boring processing. The method can realize the automatic measurement of key parameters such as the torsion angle of the blade, meets the measurement and processing requirements of the blades of different types, can greatly improve the measurement efficiency and precision, effectively control the appearance quality of the blade, improve the one-time success rate of blade processing, and simultaneously provide a universal and effective measurement method for blade quality control and periodical overhaul.
Description
Technical Field
The invention relates to the technical field of blade processing, in particular to a helicopter main blade torsion angle correction method based on online detection.
Background
The main blade is a key component of the helicopter, aerodynamic force is provided for flight, the appearance quality of the main blade directly influences the aerodynamic capacity of the helicopter, and the boring processing of a blade root bushing and the torsion angle detection of the blade are key procedures in the appearance quality control process of the blade. The bush hole is the benchmark that the paddle torsion angle detected, and current bush processing and torsion angle detect mutually independently, and measuring mode relies on special detection frock and square scale instrument to carry out indirect measurement after the bush processing, and different paddles correspond different special detection frock.
The torsion angle detection of the main blade of the existing helicopter depends on a special tool and a special measuring tool, different tools and measuring tools are required to be matched with different blades, the flexibility of the detection method is low, and the measurement requirements of different blades of the functional multi-functional helicopter cannot be met; the measurement mode depends on manpower, so that certain labor intensity is brought, and additional measurement errors can be brought by human factors; in the torsion angle correction process, the positions of the boring holes are detected by means of a meter, the torsion angle state of each position of the blade cannot be considered, and deviation often occurs when the boring holes are detected on a torsion angle detection tool after the boring holes are finished.
Disclosure of Invention
(1) Technical problem to be solved
The embodiment of the invention provides a helicopter main blade torsion angle correction method based on online detection, which is used for measuring torsion angles and blade roots through a laser profiler and a contact type measuring head, considering torsion angles in the boring process, realizing automatic measurement of key parameters such as blade torsion angles and the like, meeting the measurement and processing requirements of different types of blades, improving the measurement efficiency and precision to a greater extent, effectively controlling the appearance quality of the blades, improving the primary success rate of blade processing, and solving the technical problems that the torsion angle detection of the existing helicopter main blade depends on special tools and special measuring tools, the boring detection depends on the experience and skill proficiency of operators, the measurement efficiency is lower, and the related geometric parameters of the blades cannot be effectively controlled.
(2) Technical proposal
The embodiment of the invention provides a helicopter main blade torsion angle correction method based on online detection, which comprises the following steps:
step 1, measuring and calculating key characteristics of torsion angles, which specifically comprises the following steps:
measuring a three-dimensional profile curve of the blade at sta=m by a laser profiler;
calculating a leading edge point at sta=m by a best fit manner;
calculating the intersection point of the cross section of the blade at the position of STA=m and 25% chord line in a best fit mode;
step 2, measuring and calculating a root hole of the blade, which specifically comprises the following steps:
measuring the end face and the cylindrical surface of the paddle root through a contact measuring head;
constructing plane and axis equations according to the measured end face and cylindrical surface structures;
step 3, torsion angle calculation and boring processing optimization, which specifically comprises the following steps:
correcting the string intersection point in consideration of the influence of the root holes of the paddles on the calculation of the torsion angle, and calculating the torsion angle;
establishing a boring machining model, and calculating machining wall thickness;
and establishing boundary conditions according to the blade shape design parameters, and solving an optimal processing path.
Further, the calculating the leading edge point at sta=m by the best fit method specifically includes:
acquiring a theoretical section profile curve of the blade at the position of STA=m and a front edge point thereof, and recording the theoretical section profile curve as a profile curve G and a point T;
moving the laser profiler to the position of x=m under the blade coordinate system, reading a measuring point data set fed back by the laser profiler, and recording the measuring point data set as a measuring point set P;
calculating a conversion matrix M from G to P by best fitting from the point combination P to the profile curve G;
the measured value T' of the leading edge point is the product of the theoretical leading edge point T and the inverse of the transformation matrix M.
Further, the calculating of the intersection point of the cross section of the blade at sta=m and 25% chord line through the best fitting method specifically comprises the following steps:
acquiring a theoretical section profile curve and a chord line intersection point of the blade at the position of STA=m, and recording the theoretical section profile curve and the chord line intersection point as an outline curve G and a point K;
moving the laser profiler to the position of x=m under the blade coordinate system, reading a measuring point data set fed back by the laser profiler, and recording the measuring point data set as a measuring point set P;
obtaining a conversion matrix M from G to P by best fitting from the point combination P to the profile curve G;
the measured value K' of the string intersection point is the product of the theoretical string intersection point K and the inverse matrix of the conversion matrix M.
The helicopter main blade torsion angle correction method based on-line detection according to claim 2, wherein the measuring of the blade root end surface and the cylindrical surface through the contact measuring head specifically comprises the following steps:
the method comprises the steps of installing a contact probe at the tail end of a machine tool, and carrying out contact measurement on each measurement point planned on the upper surface A of a blade root, the front edge end face B1 of the blade root, the rear edge end face B2 of the blade root, the upper end face C11 of a front hole of the blade root, the lower end face C12 of the blade root, the upper end face C21 of a rear hole of the blade root, the lower end face C22 of the rear hole of the blade root, the cylindrical surface D1 of the front hole of the blade root and the cylindrical surface D2 of the rear hole of the blade root in a three-coordinate measuring machine mode.
Further, the construction of plane and axis equations from the measured end and cylindrical surface structures specifically includes:
fitting according to a plane fitting principle to obtain plane equations of the upper surface A of the blade root, the front edge end face B1 of the blade root, the rear edge end face B2 of the blade root, the upper end face C11 of the front hole of the blade root, the lower end face C12 of the front hole of the blade root, the upper end face C21 of the rear hole of the blade root and the lower end face C22 of the rear hole of the blade root;
and (5) fitting according to a cylindrical fitting principle to obtain an axis equation of the front-hole cylindrical surface D1 of the blade root and the rear-hole cylindrical surface D2 of the blade root.
Further, the correcting string intersection point and calculating the torsion angle specifically includes:
knowing sta=m, processing the theoretical curve G, actually measuring the curve point G ', the theoretical leading edge endpoint T, the theoretical string intersection point K, and rotating the theoretical T, K by the conversion matrix M to obtain the actual T ', K '; because the root holes affect the torsion angle, the actual chord line needs to be further corrected, namely, the chord line intersection points at the positions of STA=0, STA=0. R, STA =0.7R are fitted into a linear equation aX+by+cZ+1=0, and the corrected chord line intersection point is made at the point of x=m, so that the calculation formula of the torsion angle alpha is as follows
The expression of (2) is as follows:
wherein ,
is the vector of points T 'to K' -, where->
Is a vector in the Z direction, (x) T′ ，y T′ ，z T′ ) Is the coordinates of point T' (x) K′ ，y K′ ，z K′ ) Coordinates of the point K'.
Further, the building of the boring machining model, the calculation of the machining wall thickness, specifically includes:
let current oar root hole axis and the oar root hole axis contained angle of waiting to process be beta, actual oar root hole line extreme point is d to current oar root hole axis distance, and just the hole radius is R, and the final pore radius is R, then bore hole wait to process wall thickness calculation formula mu's expression as follows:
further, establishing boundary conditions according to the blade shape design parameters, and solving the optimal processing path specifically includes:
the boring position is determined by the end point positions of the axis of the hole after finishing the boring, namely four point positions of P11, P12, P21 and P22, wherein the point P11 is positioned on the upper end surface C11 of the front hole of the blade root, the point P12 is positioned on the lower end surface C12 of the front hole of the blade root, the point P21 is positioned on the upper end surface C21 of the rear hole of the blade root, the point P22 is positioned on the lower end surface C22 of the rear hole of the blade root, the connecting line of the point P11 and P12 is a first hole axis, the connecting line of the point P21 and P22 is a second hole axis, and the boundary conditions comprise:
1) Distance of point P11 to plane a = distance of point P21 to plane a = distance of point P12 to plane a '= distance of point P22 to plane a';
2) The first hole axis and the second hole axis are parallel to the planes B1 and B2 or parallel to the bisector planes of the planes B1 and B2;
3) The included angles of the first hole axis and the second hole axis with the plane A are 6+/-0.3 degrees;
4) The calculated torsion angle of the chord line formed by the center points of the points P11, P12, P21, P22, the chord line intersection point k|sta=0.25R, and the chord line intersection point k|sta=0.7R satisfies ±20';
5) The wall thickness after processing meets the preset range;
the optimization function is as follows:
wherein ,
when the blade root hole is not bored, the torsion angle alpha calculation formula at the positions of STA=0.25R and STA=0.7R is used as variables by taking coordinate values P (i, j) of P11, P12, P21 and P22, K is the actual torsion angle value at the positions of STA=0.25R and STA=0.7R, omega is the included angle between the first hole axis, the second hole axis and the plane A and the first hole axis by taking P (i, j) as variablesThe calculation formula of the distance between the axes of the second holes, mu is the calculation formula of the wall thickness to be processed of the boring hole, delta by taking P (i, j) as a variable 1 As the weight of torsion angle, delta 2 Delta is the included angle and distance weight 3 Is a wall thickness weight.
(3) Advantageous effects
In summary, the main innovation points of the helicopter main blade torsion angle correction method based on online detection related by the invention are as follows:
(1) The method has the advantages that the key characteristics related to the blade shape and the blade root hole are automatically measured, so that the manual strength is reduced, and the measurement efficiency is improved;
(2) In the processing process, the actual blade appearance parameters are considered, so that the blade appearance control precision is improved, and the blade quality is ensured;
(3) The universal blade measuring and boring correction method can meet the measurement and processing requirements of blades of different types.
The method can realize the automatic measurement of key parameters such as the torsion angle of the blade, meets the measurement and processing requirements of the blades of different types, can greatly improve the measurement efficiency and precision, effectively control the appearance quality of the blade, improve the one-time success rate of blade processing, and simultaneously provide a universal and effective measurement method for blade quality control and periodical overhaul.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a flowchart of a helicopter main blade torsion angle correction method based on online detection according to an embodiment of the invention.
Fig. 2 is a schematic view of a blade coordinate system.
Fig. 3 is a schematic view of blade STA position.
Fig. 4 is a schematic view of three-dimensional profile measurement of a blade.
Fig. 5 is a schematic view of a 25% chord line of the blade.
FIG. 6 is a schematic view of the position of the end face of a root hole.
Fig. 7 is a schematic view of the cylindrical surface position of the root hole.
Fig. 8 is a schematic view of six measuring points of the upper surface a of the blade root.
Fig. 9 is a schematic diagram of four measurement points on the blade root leading edge end face B1 and the blade root trailing edge end face B2.
Fig. 10 is a schematic diagram of six measurement points on the upper end face C11 of the front hole of the blade root, the lower end face C12 of the front hole of the blade root, the upper end face C21 of the rear hole of the blade root, and the lower end face C22 of the rear hole of the blade root.
Fig. 11 is a schematic diagram of twelve measurement points on three layers of the front hole cylindrical surface D1 and the rear hole cylindrical surface D2 of the blade root.
Fig. 12 is a schematic diagram of torsion angles for different STA positions.
FIG. 13 is a schematic diagram of the positional relationship between a current root hole and a root hole of a blade to be processed.
Fig. 14 is a schematic view of a boring position.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, substitutions and improvements in parts, components and connections without departing from the spirit of the invention.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a flowchart of a helicopter main blade torsion angle correction method based on online detection according to an embodiment of the invention, as shown in fig. 1, the method includes:
s1, measuring and calculating key characteristics of torsion angles;
in this embodiment, a blade coordinate system as shown in fig. 2 is first established, an origin of the coordinate system is a center of a rectangle formed by end points of a first hole axis and a second hole axis of the blade root, an X-axis is a 25% chord line, the X-axis points to the blade tip from the blade root and is parallel to the upper surface of the blade root, an included angle between a Y-axis and the upper surface of the blade root is 7.524 °, and an included angle between a Z-axis and the upper surface of the blade root is 82.746 °, a measuring device is a laser profiler, and the measuring method is to install the profiler on a moving tool, calibrate the tool position, and make a scanning position of the laser profiler be sta=m, and scan along the width direction of the blade. The position of the blade STA is shown in fig. 3, where STA is a section formed by a parallel plane (plane equation is x=m) of the YOZ plane and the blade profile in the blade coordinate system. To test the eligibility of blade twist angle, two blade profile sections, sta=2160 (0.25R) and sta=4380 (0.7R), are generally taken for twist angle detection.
The step S1 specifically comprises the following steps:
s11, measuring a three-dimensional profile curve of the blade at a position of STA=m by a laser profiler;
s12, calculating a leading edge point at the position of STA=m in a best fitting mode;
specifically, the specific implementation process of the step is as follows:
as shown in fig. 4, the theoretical section profile curve of the blade at sta=m and its leading edge point are denoted as profile curve G and point T; moving the laser profiler to the position of x=m under the blade coordinate system, reading a measuring point data set fed back by the laser profiler, and recording the measuring point data set as a measuring point set P; calculating a conversion matrix M from G to P by best fitting from the point combination P to the profile curve G; the actual measurement value T' of the leading edge point is the product of the theoretical leading edge point T and the inverse matrix of the conversion matrix M, and the expression is as follows:
s13, calculating the intersection point of the cross section of the blade at the position of STA=m and 25% of chord line in a best fitting mode;
specifically, FIG. 5 is a schematic view of a 25% chord line of a blade. The specific implementation process of the steps is as follows:
acquiring a theoretical section profile curve and a chord line intersection point of the blade at the position of STA=m, and recording the theoretical section profile curve and the chord line intersection point as an outline curve G and a point K; moving the laser profiler to the position of x=m under the blade coordinate system, reading a measuring point data set fed back by the laser profiler, and recording the measuring point data set as a measuring point set P; obtaining a conversion matrix M from G to P by best fitting from the point combination P to the profile curve G; the measured value K' of the string intersection point is the product of the theoretical string intersection point K and the inverse matrix of the conversion matrix M. The expression is as follows:
s2, measuring and calculating a root hole of the oar;
the measuring equipment in the step is used for carrying out contact measurement on a contact probe installed at the tail end of a machine tool, the measuring method is used for carrying out planning measurement on each element according to a three-coordinate measuring machine mode, the measuring elements are seven sections and two cylindrical surfaces of a blade root hole, and as shown in fig. 6 and 7, the measuring method comprises the following steps: the blade root upper surface A, the blade root front edge end surface B1, the blade root rear edge end surface B2, the blade root front hole upper end surface C11, the blade root front hole lower end surface C12, the blade root rear hole upper end surface C21, the blade root rear hole lower end surface C22, the blade root front hole cylindrical surface D1 and the blade root rear hole cylindrical surface D2. The method specifically comprises the following steps:
s21, measuring the end face and the cylindrical surface of the paddle root through a contact measuring head;
in this step, as shown in fig. 8, 9, 10, and 11, the above-mentioned measuring elements of the blade root end face and the cylindrical surface are measured by the above-mentioned measuring means.
S22, constructing plane and axis equations according to the measured end face and cylindrical surface structures;
specifically, the construction process of the plane equation is as follows:
and fitting according to a plane fitting principle to obtain plane equations of the upper surface A of the blade root, the front edge end surface B1 of the blade root, the rear edge end surface B2 of the blade root, the upper end surface C11 of the front hole of the blade root, the lower end surface C12 of the front hole of the blade root, the upper end surface C21 of the rear hole of the blade root and the lower end surface C22 of the rear hole of the blade root.
The specific process of plane fitting is as follows:
according to the plane fitting principle, unknown parameters a, b and c, and an objective function f is as follows: minimizing the square difference of the distances from the point to the plane, i.e.
The construction process of the axis equation is as follows:
and (5) fitting according to a cylindrical fitting principle to obtain an axis equation of the front-hole cylindrical surface D1 of the blade root and the rear-hole cylindrical surface D2 of the blade root.
The specific process of cylindrical fitting is as follows:
according to the principle of cylinder fitting, the unknown parameter x a 、y a 、z a 、x b 、y b 、z b The objective function f is: minimizing the mean square error of the distance of the point from the cylinder centerline, i.e
And S3, torsion angle calculation and boring processing optimization.
The method specifically comprises the following steps:
s31, correcting the string intersection point and calculating the torsion angle by considering the influence of the root holes of the paddles on the torsion angle calculation;
specifically, as shown in fig. 12, the blade twist angle is defined as: the angle formed by the blade profile around the X-axis (25% chord line) is equivalent to the included angle between the line formed by the intersection point of the leading edge end point and the chord line (the intersection point of the 25% chord line and the plane x=sta) and the XOY plane, and the torsion angles corresponding to different STA positions are different.
As a preferred embodiment, the steps specifically include:
knowing sta=m, processing the theoretical curve G, actually measuring the curve point G ', the theoretical leading edge endpoint T, the theoretical string intersection point K, and rotating the theoretical T, K by the conversion matrix M to obtain the actual T ', K '; since the root holes affect the torsion angle, further correction of the actual chord line is required, i.e., fitting the chord line intersection points at sta=0, sta=0. R, STA =0.7r to the straight line equation ax+by+cz+1=0, and calculating the torsion angle α bY taking the corrected chord line intersection point at the point of x=mFormula (VI)
The expression of (2) is as follows:
wherein ,
is the vector of points T 'to K' -, where->
Is a vector in the Z direction, (x) T′ ，y T′ ，z T′ ) Is the coordinates of point T' (x) K′ ，y K′ ，z K′ ) Coordinates of the point K'.
S32, establishing a boring machining model, and calculating machining wall thickness;
as a preferred embodiment, the steps specifically include:
as shown in fig. 13, assuming that the included angle between the axis of the current root hole and the axis of the root hole of the to-be-machined propeller is beta, the distance from the end point of the actual root hole line of the propeller to the axis of the current root hole of the propeller is d, the radius of the primary hole is R, and the radius of the final hole is R, the expression of the calculation formula mu of the wall thickness to be machined of the boring is as follows:
s33, establishing boundary conditions according to the blade profile design parameters, and solving the optimal processing path.
As a preferred embodiment, the steps specifically include:
as shown in fig. 14, the boring position is determined by the positions of the end points of the axis of the hole after finishing the boring, that is, four points P11, P12, P21 and P22, wherein the point P11 is located on the upper end surface C11 of the front hole of the blade root, the point P12 is located on the lower end surface C12 of the front hole of the blade root, the point P21 is located on the upper end surface C21 of the rear hole of the blade root, the point P22 is located on the lower end surface C22 of the rear hole of the blade root, the connecting line of the point P11 and P12 is the first hole axis, and the connecting line of the point P21 and P22 is the second hole axis, and the boundary conditions include:
1) Distance of point P11 to plane a = distance of point P21 to plane a = distance of point P12 to plane a '= distance of point P22 to plane a';
2) The first hole axis and the second hole axis are parallel to the planes B1 and B2 or parallel to the bisector planes of the planes B1 and B2;
3) The included angles of the first hole axis and the second hole axis with the plane A are 6+/-0.3 degrees;
4) The calculated torsion angle of the chord line formed by the center points of the points P11, P12, P21, P22, the chord line intersection point k|sta=0.25R, and the chord line intersection point k|sta=0.7R satisfies ±20';
5) The wall thickness after processing meets the preset range;
the optimization function is as follows:
wherein ,
when the blade root hole is not bored, the coordinate values P (i, j) of P11, P12, P21 and P22 are taken as variables, the calculation formula of the torsion angle alpha at the positions of STA=0.25R and STA=0.7R is taken as a variable, K is the actual torsion angle value at the positions of STA=0.25R and STA=0.7R, ω is taken as a variable, the calculation formula of the included angle between the first hole axis and the plane A and the distance between the first hole axis and the second hole axis and the distance between the second hole axis are taken as a variable, μ is taken as a variable, the calculation formula of the wall thickness to be bored is taken as a variable, delta 1 As the weight of torsion angle, delta 2 Delta is the included angle and distance weight 3 Is a wall thickness weight.
It should be understood that, in the present specification, each embodiment is described in an incremental manner, and the same or similar parts between the embodiments are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. The invention is not limited to the specific steps and structures described above and shown in the drawings. Also, a detailed description of known method techniques is omitted here for the sake of brevity.
The foregoing is merely exemplary of the present application and is not limited thereto. Various modifications and alterations of this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (5)
1. The helicopter main blade torsion angle correction method based on online detection is characterized by comprising the following steps of:
step 1, measuring and calculating key characteristics of torsion angles, which specifically comprises the following steps:
measuring a three-dimensional profile curve of the blade at sta=m by a laser profiler;
calculating a leading edge point at sta=m by a best fit manner;
calculating the intersection point of the cross section of the blade at the position of STA=m and 25% chord line in a best fit mode;
step 2, measuring and calculating a root hole of the blade, which specifically comprises the following steps:
measuring the end face and the cylindrical surface of the paddle root through a contact measuring head;
constructing plane and axis equations according to the measured end face and cylindrical surface structures;
step 3, torsion angle calculation and boring processing optimization, which specifically comprises the following steps:
correcting the string intersection point in consideration of the influence of the root holes of the paddles on the calculation of the torsion angle, and calculating the torsion angle;
establishing a boring machining model, and calculating machining wall thickness;
establishing boundary conditions according to the blade shape design parameters, and solving an optimal processing path;
the correcting string intersection point and calculating the torsion angle specifically comprises:
knowing sta=m, processing the theoretical curve G, actually measuring the curve point G ', the theoretical leading edge endpoint T, the theoretical string intersection point K, and rotating the theoretical T, K by the conversion matrix M to obtain the actual T ', K '; due to the influence of root holes of paddlesThe actual string needs to be further corrected, namely, the string intersection points at sta=0, sta=0. R, STA =0.7r are fitted into a straight line equation ax+by+cz+1=0, the point of x=m is used as the corrected string intersection point, and the calculation formula of the torsion angle alpha is as follows
The expression of (2) is as follows:
wherein ,
is the vector of points T 'to K' -, where->
Is a vector in the Z direction, (x) T′ ，y T′ ，z T′ ) Is the coordinates of point T' (x) K′ ，y K′ ，z K′ ) Coordinates of the point K';
the method for establishing the boring processing model, calculating the processing wall thickness specifically comprises the following steps:
let current oar root hole axis and the oar root hole axis contained angle of waiting to process be beta, actual oar root hole line extreme point is d to current oar root hole axis distance, and just the hole radius is R, and the final pore radius is R, then bore hole wait to process wall thickness calculation formula mu's expression as follows:
establishing boundary conditions according to blade appearance design parameters, and solving an optimal processing path, wherein the method specifically comprises the following steps:
the boring position is determined by the end point positions of the axis of the hole after finishing the boring, namely four point positions of P11, P12, P21 and P22, wherein the point P11 is positioned on the upper end surface C11 of the front hole of the blade root, the point P12 is positioned on the lower end surface C12 of the front hole of the blade root, the point P21 is positioned on the upper end surface C21 of the rear hole of the blade root, the point P22 is positioned on the lower end surface C22 of the rear hole of the blade root, the connecting line of the point P11 and P12 is a first hole axis, the connecting line of the point P21 and P22 is a second hole axis, and the boundary conditions comprise:
1) Distance of point P11 to plane a = distance of point P21 to plane a = distance of point P12 to plane a '= distance of point P22 to plane a';
2) The first hole axis and the second hole axis are parallel to the planes B1 and B2 or parallel to the bisector planes of the planes B1 and B2;
3) The included angles of the first hole axis and the second hole axis with the plane A are 6+/-0.3 degrees;
4) The calculated torsion angle of the chord line formed by the center points of the points P11, P12, P21, P22, the chord line intersection point k|sta=0.25R, and the chord line intersection point k|sta=0.7R satisfies ±20';
5) The wall thickness after processing meets the preset range;
the optimization function is as follows:
wherein ,
when the blade root hole is not bored, the coordinate values P (i, j) of P11, P12, P21 and P22 are taken as variables, the calculation formula of the torsion angle alpha at the positions of STA=0.25R and STA=0.7R is taken as a variable, K is the actual torsion angle value at the positions of STA=0.25R and STA=0.7R, ω is taken as a variable, the calculation formula of the included angle between the first hole axis and the plane A and the distance between the first hole axis and the second hole axis and the distance between the second hole axis are taken as a variable, μ is taken as a variable, the calculation formula of the wall thickness to be bored is taken as a variable, delta 1 As the weight of torsion angle, delta 2 Delta is the included angle and distance weight 3 Is a wall thickness weight.
2. The helicopter main blade torsion angle correction method based on online detection according to claim 1, wherein the calculating the leading edge point at sta=m by the best fit method specifically comprises:
acquiring a theoretical section profile curve of the blade at the position of STA=m and a front edge point thereof, and recording the theoretical section profile curve as a profile curve G and a point T;
moving the laser profiler to the position of x=m under the blade coordinate system, reading a measuring point data set fed back by the laser profiler, and recording the measuring point data set as a measuring point set P;
calculating a conversion matrix M from G to P by best fitting from the point combination P to the profile curve G;
the measured value T' of the leading edge point is the product of the theoretical leading edge point T and the inverse of the transformation matrix M.
3. The helicopter main blade torsion angle correction method based on online detection according to claim 1, wherein the calculation of the intersection point of the blade cross section at sta=m and 25% chord line through the best fitting method specifically comprises:
acquiring a theoretical section profile curve and a chord line intersection point of the blade at the position of STA=m, and recording the theoretical section profile curve and the chord line intersection point as an outline curve G and a point K;
moving the laser profiler to the position of x=m under the blade coordinate system, reading a measuring point data set fed back by the laser profiler, and recording the measuring point data set as a measuring point set P;
obtaining a conversion matrix M from G to P by best fitting from the point combination P to the profile curve G;
the measured value K' of the string intersection point is the product of the theoretical string intersection point K and the inverse matrix of the conversion matrix M.
4. The helicopter main blade torsion angle correction method based on-line detection according to claim 1, wherein the measuring of the blade root end surface and the cylindrical surface through the contact measuring head specifically comprises the following steps:
the method comprises the steps of installing a contact probe at the tail end of a machine tool, and carrying out contact measurement on each measurement point planned on the upper surface A of a blade root, the front edge end face B1 of the blade root, the rear edge end face B2 of the blade root, the upper end face C11 of a front hole of the blade root, the lower end face C12 of the blade root, the upper end face C21 of a rear hole of the blade root, the lower end face C22 of the rear hole of the blade root, the cylindrical surface D1 of the front hole of the blade root and the cylindrical surface D2 of the rear hole of the blade root in a three-coordinate measuring machine mode.
5. The helicopter main blade torsion angle correction method based on online detection according to claim 4, wherein the construction of plane and axis equations based on the measured end face and cylindrical surface structures specifically comprises:
fitting according to a plane fitting principle to obtain plane equations of the upper surface A of the blade root, the front edge end face B1 of the blade root, the rear edge end face B2 of the blade root, the upper end face C11 of the front hole of the blade root, the lower end face C12 of the front hole of the blade root, the upper end face C21 of the rear hole of the blade root and the lower end face C22 of the rear hole of the blade root;
and (5) fitting according to a cylindrical fitting principle to obtain an axis equation of the front-hole cylindrical surface D1 of the blade root and the rear-hole cylindrical surface D2 of the blade root.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210095800.0A CN114406799B (en) | 2022-01-26 | 2022-01-26 | Helicopter main blade torsion angle correction method based on online detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210095800.0A CN114406799B (en) | 2022-01-26 | 2022-01-26 | Helicopter main blade torsion angle correction method based on online detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114406799A CN114406799A (en) | 2022-04-29 |
| CN114406799B true CN114406799B (en) | 2023-04-28 |
Family
ID=81276728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210095800.0A Active CN114406799B (en) | 2022-01-26 | 2022-01-26 | Helicopter main blade torsion angle correction method based on online detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114406799B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006064668A (en) * | 2004-08-30 | 2006-03-09 | Toyota Motor Corp | Twist-testing machine and twist-testing method |
| US8122601B2 (en) * | 2008-04-15 | 2012-02-28 | United Technologies Corporation | Methods for correcting twist angle in a gas turbine engine blade |
| CN205691091U (en) * | 2016-03-25 | 2016-11-16 | 哈尔滨飞机工业集团有限责任公司 | A kind of clamp structure for measuring Helicopter Main blade torsional angle |
| CN107966128B (en) * | 2017-12-03 | 2019-12-20 | 中国直升机设计研究所 | Unmanned aerial vehicle combined material paddle torsional angle detection device |
| CN108907277A (en) * | 2018-06-28 | 2018-11-30 | 中国直升机设计研究所 | A kind of unmanned plane composite material blade boring device and method for boring hole |
| CN109579671A (en) * | 2018-11-15 | 2019-04-05 | 中国直升机设计研究所 | A kind of blade pretwist angular measurement tooling and measurement method |
| CN110260836B (en) * | 2019-07-09 | 2021-06-08 | 中国航发哈尔滨东安发动机有限公司 | Method for rapidly measuring small blade profile bending angle |
| CN112078827A (en) * | 2020-10-13 | 2020-12-15 | 安阳市豪克航空科技有限公司 | Multifunctional propeller measuring instrument and measuring method |
| CN112461175A (en) * | 2020-10-15 | 2021-03-09 | 中国航发沈阳黎明航空发动机有限责任公司 | Method for measuring wide chord and large torsion angle blade profile of fan blisk |
| CN112780484B (en) * | 2021-03-02 | 2022-04-01 | 三一重能股份有限公司 | Torsion angle distribution design method and device of wind power blade and electronic equipment |
| CN113086238A (en) * | 2021-03-29 | 2021-07-09 | 中国航空制造技术研究院 | Automatic hole making and position online correction method based on reference hole position measurement |
-
2022
- 2022-01-26 CN CN202210095800.0A patent/CN114406799B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114406799A (en) | 2022-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9435633B2 (en) | Quasi-virtual locate/drill/shim process | |
| CN107506519B (en) | Parametric machining method for gas film cooling hole of precision-cast turbine blade | |
| CN102284956B (en) | Normal centering method of automatic drilling and riveting robot | |
| CN107717993B (en) | Efficient and convenient simple robot calibration method | |
| Tian et al. | Auto-normalization algorithm for robotic precision drilling system in aircraft component assembly | |
| CN111776164B (en) | High-precision rapid positioning method for side outer plate body | |
| CN110161965B (en) | On-machine measurement method for large-scale aerospace casing inclined hole | |
| CN109141302B (en) | Impeller detection method based on least square method | |
| CN110667799A (en) | Three-dimensional measurement data precision evaluation method based on hull segmented structure | |
| CN110703686A (en) | On-line measuring path planning method for blade section of blisk | |
| CN104462807B (en) | A kind of hot investment casting formula spray pushes away the blade offset method of inspection of impeller | |
| CN114406799B (en) | Helicopter main blade torsion angle correction method based on online detection | |
| CN115592467A (en) | Blisk ring finish machining tool mark receiving control method and system based on-machine measurement | |
| Yu et al. | Integration of tool error identification and machining accuracy prediction into machining compensation in flank milling | |
| CN112784364B (en) | Method for calculating machining allowance of aircraft wing body joint | |
| Chatelain | A level-based optimization algorithm for complex part localization | |
| CN112393708B (en) | In-situ measurement method for five-axis machining of blisk | |
| US9582945B2 (en) | Rigging methods to calibrate control bodies of vehicles, and related systems | |
| CN109163677A (en) | A kind of method that three-dimensional laser scanning system carries out the horizontal measurement of product airfoil structure | |
| CN114719801B (en) | Turbine guide vane welding positioning method | |
| CN115439545A (en) | Positioning method and device for machining turbine blade air film cooling hole and storage medium | |
| CN116068958A (en) | On-machine measurement multi-axis linkage element detection path generation method | |
| CN112355712B (en) | Trigger type on-machine measurement precision calibration method and system | |
| CN115164809A (en) | Six-axis measurement and error compensation method for blisk | |
| EP3736218B1 (en) | Process of joining a wing to an aircraft fuselage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |