Coordinate transformation method of aeroengine blade repair system based on visual-tactile fusion
A technology for aero-engines and repair systems, applied in manufacturing tools, plasma welding equipment, welding equipment, etc., can solve problems such as failure to meet precision requirements, achieve clear conversion relationships, improve precision, and improve efficiency
Active Publication Date: 2022-01-28
HEBEI UNIV OF TECH
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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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[0030] The technical solutions of the present invention will be described in detail below in conjunction with the specific drawings, which do not limit the scope of protection of the present application.
[0031] The present invention is a coordinate transformation method (method for short, see Figure 1-2 ), wherein the aero-engine blade repair system includes a welding torch, tooling, a host computer and three CCD cameras; the tooling is installed on the console, the tooling is equipped with an aero-engine blade, the tooling is provided with a boss, and a pin point is provided on the boss (reference point); three CCD cameras are respectively installed on the welding torch and on the left and right sides of the console, and the pin point is located at the intersection of the sight lines of the two CCD cameras on the left and right.
[0032] The method includes the following steps:
[0033] Step 1. Determine the coordinates of the pin point and the origin of the image coordin...
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The invention discloses a coordinate transformation method of an aeroengine blade repair system based on visual-touch fusion, comprising the following steps: step 1, determining the coordinates of the pin point and the origin of the image coordinate system in the mechanical coordinate system; step 2, determining the coordinates to be welded The X-axis and Y-axis coordinates of the point in the machine coordinate system; step 3, determine the Z-axis coordinate of the point to be welded in the machine coordinate system. This method applies the vision system to the calibration and coordinate conversion of the welding torch, especially in the conversion process of the Z-axis coordinates, using a combination of vision and light touch, and obtains the distance between the welding torch and the plane to be welded by light touch. The small distance that is not easy to collect is effectively supplemented, which improves the accuracy of coordinate transformation, enables the repair system to accurately control the moving distance of the welding torch, and provides a theoretical basis for the development of high-precision aero-engine blade repair equipment. The actual 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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IPC IPC(8): B23K9/00B23K10/00
CPCB23K9/00B23K9/0026B23K10/00
Inventor 戴士杰张建丰李慨季文彬李世博
Owner HEBEI UNIV OF TECH