Control method for aero-engine bladed disc repair and three-dimensional reconstruction and application thereof

An aero-engine, three-dimensional reconstruction technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as pitting, fatigue, cracks, etc., to avoid joint restrictions, high repair and reconstruction accuracy, and good control robustness Effect

Pending Publication Date: 2022-04-29
AIR FORCE UNIV PLA +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0002] As a key component of an aero-engine, the aero-engine blisk’s own reliability and working condition safety are extremely important to the aero-engine; however, due to its long-term working environment of high temperature, high pressure, vibration and corrosion It also makes the aero-engine blisks prone to def

Method used

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  • Control method for aero-engine bladed disc repair and three-dimensional reconstruction and application thereof
  • Control method for aero-engine bladed disc repair and three-dimensional reconstruction and application thereof
  • Control method for aero-engine bladed disc repair and three-dimensional reconstruction and application thereof

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Embodiment 1

[0095] Embodiment 1: Using the motion planning controller described in the present invention to implement the robot trajectory planning method to carry out the specific process of blisk repair and forming includes

[0096] Step S1: Install the area array structured light camera on the end of the industrial robot arm, and clamp the blade to be tested on the rotary table;

[0097] Step S2: Define the end coordinate system {O 0}, base coordinate system {O 1}, rotating table coordinate system {O 2};

[0098] Step S3: Establish the kinematic equations of the industrial robot and the rotary table through the D-H (Denavit-Hartenberg) method built in the motion planning controller;

[0099] Step S4: Set the single rotation angle and dwell time of the rotary table according to the complexity of the fan blade to be tested;

[0100] Step S501: designate two measurement points as the target position of the end effector of the industrial robot;

[0101] Step S502: Use the cylinder wit...

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Abstract

The invention discloses a control method for aero-engine bladed disc repair and three-dimensional reconstruction and application of the control method. The control method comprises the steps that Step1, a motion planning controller is connected with a six-degree-of-freedom industrial robot controller and a rotary workbench servo driver; 2, the aeroengine blisk is installed on the rotary workbench; 3, a D-H method is used for constructing a coordinate system of six robot space connecting rods and a rotary workbench; step 4, controlling an industrial robot and a rotary workbench to work through a motion planning controller, and carrying out repair forming and surface strengthening three-dimensional trajectory reconstruction planning on the blisk of the aero-engine; according to the method, the fast exploration random tree algorithm and the forward and backward inverse kinematics algorithm are embedded in the motion planning controller to automatically calculate the advancing path of the robot, aero-engine blisk repair forming and surface strengthening three-dimensional trajectory reconstruction tasks can be completed, and the method has the advantages of being good in control robustness and high in repair and reconstruction precision.

Description

technical field [0001] The invention relates to the technical field of robot motion control, in particular to a control method for aeroengine blisk repair and three-dimensional reconstruction and its application. Background technique [0002] As a key component of an aero-engine, the aero-engine blisk’s own reliability and working condition safety are extremely important to the aero-engine; however, due to its long-term working environment of high temperature, high pressure, vibration and corrosion It also makes the aero-engine blisks prone to defects such as burning, fatigue, pitting, cracks and even fractures; due to the manufacturing cost of aero-engine blisks, three-dimensional reconstruction of the digital model of the aero-engine blisks is usually used to accurately locate the aero-engine Damaged blisks, remanufacturing and repairing the damaged blisks; [0003] Since the overall blisk of the aero-engine has multiple complex surfaces and is invariant to rotation, an i...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602
Inventor 何光宇柴艳王孝义谈莉斌杨竹芳陈琪
Owner AIR FORCE UNIV PLA
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