Coordinate conversion method of aero-engine blade repair system based on visuo-tactile coordination

Abstract

The invention discloses a coordinate conversion method of an aero-engine blade repair system based on visuo-tactile coordination. The coordinate conversion method comprises the following steps: 1, determining coordinates of a pin point and an original point of an image coordinate system under a mechanical coordinate system; 2, determining X-axis and Y-axis coordinates of a to-be-welded point under the mechanical coordinate system; and 3, determining Z-axis coordinates of the to-be-welded point under the mechanical coordinate system. According to the method, a visual system is applied to calibration and coordinate conversion of a welding gun, especially a visuo-tactile coordination mode is adopted in the conversion process of the Z-axis coordinates, and the distance between the welding gun and a plane to be welded is obtained in a tactile mode, so that a small distance which is not easy to collect visually is effectively supplemented, the coordinate conversion precision is improved, the repair system can accurately control the moving distance of the welding gun, a theoretical basis is laid for development of high-precision aero-engine blade repair equipment, and the practical engineering application value is very high.

Description

technical field [0001] The invention relates to the technical field of aero-engine blade welding repair, in particular to a coordinate conversion method of an aero-engine blade repair system based on visual-tactile fusion. Background technique [0002] Aeroengine blades have very high requirements on workpiece quality and service strength due to the special use environment. Therefore, the repair of blades by ordinary welding methods cannot meet the precision requirements. At present, plasma arc welding is mostly used for fine welding. When welding and repairing the blade, it is necessary to plan the welding trajectory, and the fine welding trajectory planning depends on high-precision coordinate transformation, that is, the position coordinates of the points to be welded in space are transformed into the mechanical coordinate system of the welding torch, which is conducive to repair The system plans the welding path and controls the movement of the welding torch. [0003] I...

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Problems solved by technology

[0002] Aeroengine blades have very high requirements on the quality and strength of the workpiece due to the special environment in which they are used. Therefore, repairing the blades by ordinary welding methods cannot meet the precision requirements. At present, plasma arc welding is mostly used for fine welding.

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