Self-adaptive aero-engine blade surface shot blasting control system and shot blasting process

Abstract

The invention belongs to the technical field of shot blasting processes, and provides a self-adaptive aero-engine blade surface shot blasting control system and a shot blasting process. The system comprises a measurement module used for obtaining the three-dimensional geometrical shape of the complex surface of the blade and generating a digital three-dimensional model; the sensor module is used for monitoring and feeding back the shot blasting process condition in real time; the control module is used for dynamically adjusting shot blasting parameters by adopting a self-adaptive algorithm; the shot blasting execution module is used for executing a shot blasting process; the real-time monitoring feedback module is used for dynamically adjusting shot blasting parameters; the process comprises the steps that after the blade surface is cleaned, a three-dimensional model generated by a measuring module and surface data measured by a sensor module are fed back to a control module, a shot blasting injection parameter instruction is obtained through a fuzzy control algorithm, and a shot blasting machine execution module executes the shot blasting process. And the real-time monitoring feedback module dynamically adjusts shot blasting parameters until the shot blasting process requirements are met. According to the invention, accurate and uniform shot blasting treatment on the surface of the blade in a complex shape can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of aero-engine blade surface shot blasting, and in particular to an adaptive aero-engine blade surface shot blasting control system and a shot blasting process. Background Art

[0002] Aircraft engine blades are key components in modern industry. They are located in the parts of aircraft engines with the highest temperature, most complex stress and worst environment, which directly affect the performance and reliability of the engine. Blades must not only withstand extremely high operating temperatures, but also withstand huge aerodynamic and centrifugal forces. Therefore, their performance level, especially the ability to withstand temperature, has become an important indicator of the advanced level of the engine. The importance of blade surface treatment is self-evident. It can protect components from environmental and operational hazards and improve the durability of components. Shot blasting plays an important role in blade surface treatment. It impacts and rubs the metal surface through high-speed spraying of steel shots (or glass shots), removes surface rust and other pollution, obtains a surface with a certain degree of roughness, and reveals the true color of the metal. More importantly, shot blasting can harden the surface of parts, generate a hardened layer, increase the resistance of the surface of parts to plastic deformation and fracture, and generate compressive stress on the surface to improve corrosion resistance and fatigue resistance.

[0003] However, the existing shot peening process faces challenges when processing surfaces with complex shapes. The processing of complex surface areas (such as depressions, edges, corners, etc.) lacks precise control, and problems such as shot accumulation and uneven shot peening may easily occur. In addition, traditional processes usually use fixed nozzle angles and spray parameters, and it is difficult to dynamically adjust the shot peening parameters, which limits the application of shot peening technology in the surface treatment of complex-shaped blades. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an adaptive aero-engine blade surface shot blasting control system and a shot blasting process, which can achieve accurate and uniform processing of complex-shaped blade surfaces and can dynamically adjust shot blasting parameters to improve shot blasting quality.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows: An adaptive aero-engine blade surface shot blasting control system, comprising: The measurement module is used to obtain the 3D geometry of the complex surface of the aircraft engine blade and generate a digital 3D model; The sensor module is used to monitor and provide feedback in real time on the roughness, temperature and shot accumulation in various areas of the aero-engine blade surface during the shot blasting process; A control module, which matches the data fed back by the sensor module with each area of ​​the generated digital three-dimensional model, and dynamically adjusts the shot blasting parameters using an adaptive algorithm; A shot blasting execution module, including an adjustable nozzle and a multi-nozzle coordination system controlled by a servo motor, for executing the shot blasting process according to the instructions of the control module to achieve uniform shot blasting treatment of the complex surface area of ​​the blade; The real-time monitoring feedback module monitors the shot blasting status of the blade surface in real time and feeds back to the control module, so as to dynamically adjust the shot blasting parameters to avoid shot accumulation and ensure shot blasting uniformity.

[0006] As the preferred technical solution: Optionally, the measuring module is a 3D scanning or laser measuring module, which is used to scan the complex surface of the blade with high precision, generate a digital three-dimensional model, and input the model into the control module to dynamically adjust the injection parameters of the shot blasting nozzle, which includes: High-precision 3D laser scanning equipment uses non-contact laser scanning technology to scan the shape and surface curvature of the blade and generate 3D point cloud data of the blade; Industrial camera and structured light system: Through the combination of industrial camera and structured light projection, the blade surface can be measured from multiple angles to obtain high-resolution three-dimensional topography data. The 3D modeling system based on computer tomography technology obtains the complex internal and surface geometric information of the blade by multi-angle X-ray scanning of the blade surface; The generating of the digital three-dimensional model comprises the following steps: Step 1: De-noising, data simplification and point cloud alignment of the three-dimensional point cloud data, high-resolution three-dimensional shape data and complex internal and surface geometric information of the blade; Step 2: Using NURBS curves to fit the three-dimensional point cloud data, the high-resolution three-dimensional shape data, and the complex internal and surface geometric information of the blade, after fitting the basic curve of the blade, an initial surface model of the blade is constructed by a masked method; Step three, using automated image processing software to repair and optimize the holes or uneven surface positions in the initial surface model, and then generate a digital three-dimensional model, the model format includes STL, OBJ, PLY or STEP.

[0007] Optionally, the sensor module includes: Surface roughness sensor, used to detect the roughness of the blade surface in real time and ensure that the surface quality meets the process requirements during shot blasting; Temperature sensor, used to monitor the temperature of the blade surface in real time; Optical sensors are used to detect and provide real-time feedback on the distribution of shot on the complex surface area of ​​the blade during the shot blasting process to prevent shot accumulation.

[0008] Optionally, the adaptive algorithm is a fuzzy control algorithm, which adaptively adjusts the shot blasting parameters according to the three-dimensional geometric shape information of the complex surface of the blade and the data fed back by the sensor.

[0009] Optionally, the specific steps of the fuzzy control algorithm are as follows: S1, fusing the three-dimensional geometric shape information of the blade to be shot blasted with the data fed back by the sensor module, and making correspondences through data mapping or area separation, specifically making correspondences between the data of roughness, temperature and shot accumulation in each area of ​​the complex surface of the blade fed back by the sensor and each curvature area of ​​the digital three-dimensional model; S2, defining the curvature values ​​of each area of ​​the blade complex surface, and the values ​​of different roughness, temperature and projectile accumulation in each area as multiple input variables, and then fuzzifying the multiple input variables into a plurality of fuzzy sets, wherein the fuzzy sets include a fuzzy set of curvature, a fuzzy set of roughness, a fuzzy set of temperature and a fuzzy set of projectile accumulation; S3, based on engineering experience and experimental results, establish the IF-THEN fuzzy control rule base; S4, according to the data acquired in real time by the sensor module, the fuzzy control rule library is used for reasoning to obtain the adjustment value of the shot blasting parameters and obtain the fuzzy value set of the output variable, wherein the shot blasting parameters include the spraying angle, the spraying pressure, the spraying speed and the spraying flow rate; S5, converting the fuzzy value set of the output variable into specific shot blasting parameter control instructions, and transmitting these control instructions to the shot blasting execution module through PID signals; S6, during the process of the shot blasting execution module executing the shot blasting process, the real-time monitoring feedback module uses the feedback data of the blade surface roughness, temperature and shot accumulation monitored in real time by the sensor module to evaluate whether the shot blasting parameters in step S5 have reached the preset optimal process values, specifically comparing the feedback data of the surface roughness, temperature and / or shot accumulation with the preset optimal process values. If there is an error, the system repeats steps S4 and S5 until the preset optimal process values ​​are reached, otherwise, shot blasting is stopped; wherein the preset optimal process values ​​refer to the optimal surface roughness values, optimal temperature values ​​and optimal shot accumulation values ​​input in advance into the system, and the preset optimal process values ​​are obtained based on engineering experience and experimental results.

[0010] Optionally, in step S2, the fuzzy set of curvature refers to a fuzzy set of curvature established according to the curvature value for each area of ​​the digitized three-dimensional model and defined as a low curvature fuzzy set, a medium curvature fuzzy set, and a high curvature fuzzy set; the fuzzy set of roughness refers to a fuzzy set of roughness established according to the roughness values ​​of each area on the blade surface and defined as a low roughness fuzzy set, a medium roughness fuzzy set, and a high roughness fuzzy set; the fuzzy set of temperature refers to a fuzzy set of temperature established according to the temperature values ​​of each area on the blade surface and defined as a low temperature fuzzy set, a normal temperature fuzzy set, and a high temperature fuzzy set; the fuzzy set of pellet accumulation amount refers to a fuzzy set of pellet accumulation amount established according to the pellet accumulation amount values ​​of each area on the blade surface and defined as a low accumulation amount fuzzy set, a normal accumulation amount fuzzy set, and a high accumulation amount fuzzy set.

[0011] Optionally, the curvature fuzzy set is divided according to the blade surface curvature radius r, the low curvature fuzzy set is r>1000mm, the medium curvature fuzzy set is 200mm≤r≤1000mm, and the high curvature fuzzy set is r<200mm; The roughness fuzzy set is divided according to the blade surface roughness Ra, the low roughness fuzzy set is Ra<1.0μm, the medium roughness fuzzy set is 1.0μm≤Ra<2.5μm, and the high roughness fuzzy set is Ra≥2.5μm; The temperature fuzzy set is divided according to the blade surface temperature value T, the low temperature fuzzy set is T<50℃, the normal temperature fuzzy set is 50℃≤T≤150℃, and the high temperature fuzzy set is T>150℃; The fuzzy set of pellet accumulation is divided according to the pellet accumulation value Q on the blade surface. The low accumulation fuzzy set is Q<30g / cm 2 The normal accumulation fuzzy set is 30g / cm 2 ≤Q≤70g / cm 2 , the high accumulation fuzzy set is 70g / cm 2 <Q<100g / cm 2 .

[0012] Optionally, the adjustable nozzle and multi-nozzle collaborative system are used to simultaneously perform shot blasting on different surface areas of the blade. After the control module adjusts the shot blasting parameters of different nozzles according to the local three-dimensional geometric shape characteristics of the blade, the servo motor controls each nozzle to perform the shot blasting process to ensure the uniformity and consistency of the overall shot blasting effect.

[0013] The present invention also provides an adaptive aero-engine blade surface shot blasting process, which is completed using the control system as described above, and includes the following steps: (1) Clean, degrease and rust the surface of the aircraft engine blade to be shot blasted, ensure that the surface is clean and smooth, and then put it into the shot blasting machine; (2) Start the 3D scanning or laser measurement module inside the shot blasting machine, scan the shape and surface curvature of the aircraft engine blade by a high-precision 3D laser scanning device to generate 3D point cloud data of the blade, measure the blade surface from multiple angles by an industrial camera in combination with structured light projection to obtain high-resolution 3D shape data, and obtain the complex internal and surface geometric information of the blade by multi-angle X-ray tomography of the blade surface, and construct a digital 3D model of the blade after fitting the 3D point cloud data, the high-resolution 3D shape data, and the complex internal and surface geometric information of the blade using NURBS curves; (3) The shot blasting machine determines the shot blasting parameters according to the preset optimal process values ​​and starts to blast the blade surface. At the same time, the sensor module monitors the roughness, temperature and shot accumulation in various areas of the blade surface in real time, and records and feeds back the data; (4) The control module collects the data fed back by the sensor module and matches it with each point of the constructed digital three-dimensional model to form multiple input variables, fuzzifies the multiple input variables into several fuzzy sets, and then infers the adjustment values ​​of the shot blasting parameters based on the established IF-THEN fuzzy control rule base to form a fuzzy value set of the output variable, and then defuzzifies each parameter value in the fuzzy value set to obtain the control instructions of the shot blasting parameters; (5) sending the control instruction to the shot blasting execution module, the shot blasting execution module sets the actual value of the shot blasting injection parameter, and the servo motor controls the adjustable nozzle and the multi-nozzle collaborative system to perform shot blasting; (6) the real-time monitoring feedback module evaluates the feedback data of the blade surface roughness, temperature and shot accumulation amount monitored in real time by the sensor module to determine whether the adjustment value of the shot blasting parameter inferred in step (4) reaches the preset optimal process value in step (3), specifically, comparing the feedback data of the surface roughness, temperature and / or shot accumulation amount with the preset optimal process value. If there is an error, the control module and the shot blasting execution module further repeat steps (4) and (5) until the preset optimal process value is reached; (7) After shot blasting, the blade surface is cleaned with deionized water, dried with hot air, and then painted.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention adopts an adaptive control algorithm to dynamically adjust the shot blasting parameters, including the spray angle, speed, pressure and flow rate, according to the real-time feedback data of the blade surface. This intelligent processing method is particularly suitable for blade surfaces with complex shapes, such as depressions, edges, corners and other areas, ensuring that these areas can be evenly and accurately shot blasted.

[0015] 2. The present invention effectively avoids the problems of shot accumulation and uneven shot peening by using an adaptive control algorithm to precisely regulate the complex surface area of ​​the blade. The real-time monitoring of the sensor module and the adjustment of the shot peening process by the control module reduce the risk of local over-processing or under-processing, thereby improving the shot peening quality.

[0016] 3. Different from the fixed nozzle angles and parameters in the traditional process, the present invention adopts an adjustable nozzle controlled by a servo motor and a multi-nozzle collaborative system combined with an adaptive control algorithm, which can adjust the shot blasting parameters in real time according to the specific shape and surface state of the blade. This dynamic adjustment capability makes the shot blasting process more flexible and can adapt to blades of different shapes and material properties, thereby improving the adaptability and effect of the treatment.

[0017] 4. The adaptive control algorithm of the present invention is combined with highly automated equipment, which can be operated according to a preset program, reduce human errors, and improve the consistency of shot blasting treatment in various areas of the blade surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a flow chart of the control system of the present invention; Figure 2 The present invention is a process flow chart of the self-adaptive aero-engine blade surface shot blasting. DETAILED DESCRIPTION

[0020] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0021] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0022] The embodiment of the present invention provides an adaptive aero-engine blade surface shot blasting control system, such as Figure 1 As shown, it includes a 3D scanning or laser measurement module, a sensor module, a control module, a shot blasting execution module and a real-time monitoring feedback module, each module is arranged in the shot blasting machine and is electrically connected to each other. 1. A measurement module, which is used to obtain the three-dimensional geometric shape of the complex surface of the aircraft engine blade and generate a digital three-dimensional model. The measurement module is a 3D scanning or laser measurement module, which is used to generate a digital three-dimensional model by high-precision scanning of the complex surface of the blade, and input the model into the control module for dynamically adjusting the injection parameters of the shot blasting nozzle, which includes: High-precision 3D laser scanning equipment uses non-contact laser scanning technology to scan the shape and surface curvature of the blade and generate 3D point cloud data of the blade; Industrial camera and structured light system: Through the combination of industrial camera and structured light projection, the blade surface can be measured from multiple angles to obtain high-resolution three-dimensional topography data. The 3D modeling system based on computer tomography technology obtains the complex internal and surface geometric information of the blade by multi-angle X-ray scanning of the blade surface; The generating of the digital three-dimensional model comprises the following steps: Step 1: De-noising, data simplification and point cloud alignment of the three-dimensional point cloud data, high-resolution three-dimensional shape data and complex internal and surface geometric information of the blade; Step 2: Using NURBS curves to fit the three-dimensional point cloud data, the high-resolution three-dimensional shape data, and the complex internal and surface geometric information of the blade, after fitting the basic curve of the blade, an initial surface model of the blade is constructed by a masked method; Step three, using automated image processing software to repair and optimize the holes or uneven surface positions in the initial surface model, and then generate a digital three-dimensional model, the model format includes STL, OBJ, PLY or STEP.

[0023] 2. Sensor module, used for real-time monitoring and feedback of roughness, temperature and shot accumulation in various areas of the surface of the aero-engine blade during the shot blasting process. The sensor module includes: Surface roughness sensor, used to detect the roughness of the blade surface in real time and ensure that the surface quality meets the process requirements during shot blasting; Temperature sensor, used to monitor the temperature of the blade surface in real time; Optical sensors are used to detect and provide real-time feedback on the distribution of shot on the complex surface area of ​​the blade during the shot blasting process to prevent shot accumulation.

[0024] 3. The control module matches the data fed back by the sensor module with each area of ​​the generated digital three-dimensional model, and dynamically adjusts the shot blasting parameters using an adaptive algorithm. The adaptive algorithm is a fuzzy control algorithm, which adaptively adjusts the shot blasting parameters according to the three-dimensional geometric shape information of the complex surface of the blade and the data fed back by the sensor. The specific steps of the fuzzy control algorithm are as follows: S1, fusing the three-dimensional geometric shape information of the blade to be shot blasted with the data fed back by the sensor module, and making correspondences through data mapping or area separation, specifically making correspondences between the data of roughness, temperature and shot accumulation in each area of ​​the complex surface of the blade fed back by the sensor and each curvature area of ​​the digital three-dimensional model; S2, define the curvature values ​​of each area of ​​the complex surface of the blade, as well as the values ​​of different roughness, temperature and projectile accumulation in each area as multiple input variables, and then fuzzify the multiple input variables into several fuzzy sets, wherein the fuzzy sets include fuzzy sets of curvature, fuzzy sets of roughness, fuzzy sets of temperature and fuzzy sets of projectile accumulation; wherein the fuzzy set of curvature refers to the fuzzy set of curvature established according to the curvature value of each area of ​​the digital three-dimensional model and defined as a low curvature fuzzy set, a medium curvature fuzzy set, and a high curvature fuzzy set, wherein the fuzzy set of curvature is divided according to the curvature radius r of the blade surface, the low curvature fuzzy set is r>1000mm, the medium curvature fuzzy set is 200mm≤r≤1000mm, and the high curvature fuzzy set is r<200mm; the fuzzy set of roughness refers to the fuzzy set of roughness established according to the values ​​of the roughness of each area of ​​the blade surface and defined as a low roughness fuzzy set, a medium roughness fuzzy set, and a high roughness fuzzy set, wherein the roughness The fuzzy set of roughness is divided according to the roughness Ra of the blade surface, the low roughness fuzzy set is Ra<1.0μm, the medium roughness fuzzy set is 1.0μm≤Ra<2.5μm, and the high roughness fuzzy set is Ra≥2.5μm; the fuzzy set of temperature refers to the fuzzy set of temperature established according to the numerical values ​​of the temperature of each area on the blade surface and defined as low temperature fuzzy set, normal temperature fuzzy set, and high temperature fuzzy set, wherein the fuzzy set of temperature is divided according to the temperature value T of the blade surface, the low temperature fuzzy set is T<50℃, the normal temperature fuzzy set is 50℃≤T≤150℃, and the high temperature fuzzy set is T>150℃; the fuzzy set of projectile accumulation refers to the fuzzy set of projectile accumulation established according to the numerical values ​​of the projectile accumulation in each area on the blade surface and defined as low accumulation fuzzy set, normal accumulation fuzzy set, and high accumulation fuzzy set, wherein the fuzzy set of projectile accumulation is divided according to the numerical value Q of the projectile accumulation on the blade surface, and the low accumulation fuzzy set is Q<30g / cm 2 , the normal accumulation fuzzy set is 30g / cm 2 ≤Q≤70g / cm2 , the high accumulation fuzzy set is 70g / cm 2 <Q<100g / cm 2 ; S3, based on engineering experience and experimental results, establish the IF-THEN fuzzy control rule base; S4, according to the data acquired in real time by the sensor module, the fuzzy control rule library is used for reasoning to obtain the adjustment value of the shot blasting parameters and obtain the fuzzy value set of the output variable, wherein the shot blasting parameters include the spraying angle, the spraying pressure, the spraying speed and the spraying flow rate; S5, converting the fuzzy value set of the output variable into specific shot blasting parameter control instructions, and transmitting these control instructions to the shot blasting execution module through PID signals; S6, during the process of the shot blasting execution module executing the shot blasting process, the real-time monitoring feedback module uses the feedback data of the blade surface roughness, temperature and shot accumulation monitored in real time by the sensor module to evaluate whether the shot blasting parameters in step S5 have reached the preset optimal process values, specifically comparing the feedback data of the surface roughness, temperature and / or shot accumulation with the preset optimal process values. If there is an error, the system repeats steps S4 and S5 until the preset optimal process values ​​are reached, otherwise, shot blasting is stopped; wherein the preset optimal process values ​​refer to the optimal surface roughness values, optimal temperature values ​​and optimal shot accumulation values ​​input in advance into the system.

[0025] 4. A shot blasting execution module, including an adjustable nozzle and a multi-nozzle coordination system controlled by a servo motor, which is used to execute the shot blasting process according to the instructions of the control module to achieve uniform shot blasting treatment of the complex surface area of ​​the blade. The adjustable nozzle and the multi-nozzle coordination system are used to simultaneously perform shot blasting treatment on different surface areas of the blade. After the control module adjusts the shot blasting parameters of different nozzles according to the local three-dimensional geometric shape characteristics of the blade, the servo motor controls each nozzle to execute the shot blasting process to ensure the uniformity and consistency of the overall shot blasting effect; 5. A real-time monitoring feedback module monitors the shot blasting status of the blade surface in real time and feeds back to the control module for dynamically adjusting the shot blasting parameters to avoid shot accumulation and ensure shot blasting uniformity.

[0026] The specific methods of establishing the IF-THEN fuzzy control rule base in this embodiment include but are not limited to: Rule 1: If Curvature is Low Curvature, Roughness is Low Roughness, Temperature is Low Temperature, and Shot Accumulation is Low Accumulation, increase the jet velocity and pressure.

[0027] In areas of low curvature, increasing the jet velocity and pressure can help improve roughness, while the low temperatures and low buildup mean these parameters can be safely increased.

[0028] Rule 2: If the curvature is medium curvature, and the roughness is medium roughness, the temperature is normal temperature, and the shot accumulation is normal accumulation, then maintain the current injection speed and pressure.

[0029] In the medium curvature area, the current injection speed and pressure are suitable and no adjustment is required.

[0030] Rule 3: If the curvature is high, the roughness is high, the temperature is high, and the shot accumulation is high, then reduce the injection velocity and pressure.

[0031] In areas of high curvature, reducing the jet velocity and pressure can prevent excessive wear, and high temperatures and high buildup mean that the jet intensity needs to be reduced to avoid overheating.

[0032] Rule 4: If the curvature is low curvature, and the roughness is high roughness, the temperature is low temperature, and the shot accumulation is high accumulation, then increase the injection angle.

[0033] In areas of low curvature, increasing the jet angle can help better disperse the projectile to reduce buildup in areas of high roughness.

[0034] Rule 5: If Curvature is Medium Curvature, Roughness is Low Roughness, Temperature is Normal Temperature, and Shot Accumulation is Low Accumulation, then reduce the Jet Angle.

[0035] In areas of moderate curvature, reducing the jet angle can focus the shot for improved treatment of low roughness areas.

[0036] Rule 6: If Curvature is High Curvature, Roughness is Medium Roughness, Temperature is High Temperature, and Shot Accumulation is Normal Accumulation, increase the Jet Flow Rate.

[0037] In areas of high curvature, increasing the jet flow rate can improve treatment efficiency, especially under conditions of high temperature and normal accumulation volume.

[0038] Rule 7: If the curvature is low curvature, the roughness is medium roughness, the temperature is low temperature, and the shot accumulation is normal accumulation, then reduce the injection flow rate.

[0039] In areas of low curvature, reducing the injection flow can prevent overtreatment, while low temperatures and normal accumulation volumes mean that the flow can be reduced safely.

[0040] Rule 8: If the curvature is medium curvature, the roughness is high roughness, the temperature is normal temperature, and the shot accumulation is high accumulation, then reduce the injection angle and flow rate.

[0041] In areas of moderate curvature, reducing the spray angle and flow rate can help better control treatment effects in areas of high roughness while managing high buildup.

[0042] The embodiment of the present invention provides an adaptive aero-engine blade surface shot blasting process, which is completed by using the control system as described above. Figure 2 As shown, the following steps are included: (1) Clean, degrease and rust the surface of the aircraft engine blade to be shot blasted, ensure that the surface is clean and smooth, and then put it into the shot blasting machine; (2) Start the 3D scanning or laser measurement module inside the shot blasting machine, use high-precision 3D laser scanning equipment to scan the shape and surface curvature of the aircraft engine blade to generate 3D point cloud data of the blade, use industrial cameras with structured light projection to measure the blade surface from multiple angles to obtain high-resolution 3D morphology data, and use multi-angle X-ray tomography technology to obtain the complex internal and surface geometric information of the blade. Use NURBS curve fitting to fit the above 3D point cloud data, high-resolution 3D morphology data, and complex internal and surface geometric information of the blade to construct a digital 3D model of the blade; (3) The shot blasting machine determines the shot blasting parameters according to the preset optimal process values ​​and starts to blast the blade surface. At the same time, the sensor module monitors the roughness, temperature and shot accumulation in various areas of the blade surface in real time, and records and feeds back the data; (4) The control module collects the data fed back by the sensor module and matches it with each point of the constructed digital three-dimensional model to form multiple input variables, fuzzifies the multiple input variables into several fuzzy sets, and then infers the adjustment values ​​of the shot blasting parameters based on the established IF-THEN fuzzy control rule base to form a fuzzy value set of the output variable, and then defuzzifies each parameter value in the fuzzy value set to obtain the control instructions of the shot blasting parameters; (5) sending the control instruction to the shot blasting execution module, the shot blasting execution module sets the actual value of the shot blasting injection parameter, and the servo motor controls the adjustable nozzle and the multi-nozzle collaborative system to perform shot blasting; (6) The real-time monitoring feedback module uses the feedback data of the blade surface roughness, temperature and shot accumulation monitored in real time by the sensor module to evaluate whether the adjustment value of the shot blasting parameter inferred in step (4) reaches the preset optimal process value in step (3), specifically comparing the feedback data of the surface roughness, temperature and / or shot accumulation with the preset optimal process value. If there is an error, the control module and the shot blasting execution module further repeat steps (4) and (5) until the preset optimal process value is reached; (7) After shot blasting, the blade surface is cleaned with deionized water, dried with hot air, and then painted.

[0043] The above embodiments are only preferred embodiments of the present invention and are not limitations of the technical solutions of the present invention. Any technical solution that can be implemented on the basis of the above embodiments without creative work should be deemed to fall within the scope of protection of the patent of the present invention.

Claims

1. An adaptive aero-engine blade surface shot blasting control system, characterized in that: include: The measurement module is used to obtain the 3D geometry of the complex surface of the aircraft engine blade and generate a digital 3D model; The sensor module is used to monitor and provide feedback in real time on the roughness, temperature and shot accumulation in various areas of the aero-engine blade surface during the shot blasting process; A control module, which matches the data fed back by the sensor module with each area of ​​the generated digital three-dimensional model, and dynamically adjusts the shot blasting parameters using an adaptive algorithm; a shot blasting execution module, including an adjustable nozzle and a multi-nozzle coordination system controlled by a servo motor, for executing the shot blasting process according to the instructions of the control module to achieve uniform shot blasting treatment of the complex surface area of ​​the blade; The real-time monitoring feedback module monitors the shot blasting status of the blade surface in real time and feeds back to the control module, so as to dynamically adjust the shot blasting parameters to avoid shot accumulation and ensure shot blasting uniformity.

2. The adaptive aero-engine blade surface shot blasting control system according to claim 1, characterized in that: The measuring module is a 3D scanning or laser measuring module, which is used to scan the complex surface of the blade with high precision, generate a digital three-dimensional model, and input the model into the control module to dynamically adjust the injection parameters of the shot blasting nozzle, which includes: High-precision 3D laser scanning equipment uses non-contact laser scanning technology to scan the shape and surface curvature of the blade and generate 3D point cloud data of the blade; Industrial camera and structured light system: Through the combination of industrial camera and structured light projection, the blade surface can be measured from multiple angles to obtain high-resolution three-dimensional topography data. The 3D modeling system based on computer tomography technology obtains the complex internal and surface geometric information of the blade by multi-angle X-ray scanning of the blade surface; The generating of the digital three-dimensional model comprises the following steps: Step 1: De-noising, data simplification and point cloud alignment of the three-dimensional point cloud data, high-resolution three-dimensional shape data and complex internal and surface geometric information of the blade; Step 2: Using NURBS curves to fit the three-dimensional point cloud data, the high-resolution three-dimensional shape data, and the complex internal and surface geometric information of the blade, after fitting the basic curve of the blade, an initial surface model of the blade is constructed by a masked method; Step three, using automated image processing software to repair and optimize the holes or uneven surface positions in the initial surface model, and then generate a digital three-dimensional model, the model format includes STL, OBJ, PLY or STEP.

3. The adaptive aero-engine blade surface shot blasting control system according to claim 1, characterized in that: The sensor module comprises: Surface roughness sensor, used to detect the roughness of the blade surface in real time and ensure that the surface quality meets the process requirements during shot blasting; Temperature sensor, used to monitor the temperature of the blade surface in real time; Optical sensors are used to detect and provide real-time feedback on the distribution of shot on the complex surface area of ​​the blade during the shot blasting process to prevent shot accumulation.

4. The adaptive aero-engine blade surface shot blasting control system according to claim 1, characterized in that: The adaptive algorithm is a fuzzy control algorithm, which adaptively adjusts the shot blasting parameters according to the three-dimensional geometric shape information of the complex surface of the blade and the data fed back by the sensor.

5. The adaptive aero-engine blade surface shot blasting control system according to claim 4, characterized in that: The specific steps of the fuzzy control algorithm are as follows: S1, fusing the three-dimensional geometric shape information of the blade to be shot blasted with the data fed back by the sensor module, and making correspondences through data mapping or area separation, specifically making correspondences between the data of roughness, temperature and shot accumulation in each area of ​​the complex surface of the blade fed back by the sensor and each curvature area of ​​the digital three-dimensional model; S2, defining the curvature values ​​of each area of ​​the blade complex surface, and the values ​​of different roughness, temperature and projectile accumulation in each area as multiple input variables, and then fuzzifying the multiple input variables into a plurality of fuzzy sets, wherein the fuzzy sets include a fuzzy set of curvature, a fuzzy set of roughness, a fuzzy set of temperature and a fuzzy set of projectile accumulation; S3, based on engineering experience and experimental results, establish the IF-THEN fuzzy control rule base; S4, according to the data acquired in real time by the sensor module, the fuzzy control rule library is used for reasoning to obtain the adjustment value of the shot blasting parameters and obtain the fuzzy value set of the output variable, wherein the shot blasting parameters include the spraying angle, the spraying pressure, the spraying speed and the spraying flow rate; S5, converting the fuzzy value set of the output variable into specific shot blasting parameter control instructions, and transmitting these control instructions to the shot blasting execution module through PID signals; S6, during the process of the shot blasting execution module executing the shot blasting process, the real-time monitoring feedback module uses the feedback data of the blade surface roughness, temperature and shot accumulation monitored in real time by the sensor module to evaluate whether the shot blasting parameters in step S5 have reached the preset optimal process values, specifically comparing the feedback data of the surface roughness, temperature and / or shot accumulation with the preset optimal process values. If there is an error, the system repeats steps S4 and S5 until the preset optimal process values ​​are reached, otherwise, shot blasting is stopped; wherein the preset optimal process values ​​refer to the optimal surface roughness values, optimal temperature values ​​and optimal shot accumulation values ​​input in advance into the system.

6. The adaptive aero-engine blade surface shot blasting control system according to claim 5, characterized in that: In step S2, the fuzzy set of curvature refers to the fuzzy set of curvature established according to the curvature value of each area of ​​the digitized three-dimensional model and defined as a low curvature fuzzy set, a medium curvature fuzzy set, and a high curvature fuzzy set; the fuzzy set of roughness refers to the fuzzy set of roughness established according to the values ​​of the roughness of each area on the blade surface and defined as a low roughness fuzzy set, a medium roughness fuzzy set, and a high roughness fuzzy set; the fuzzy set of temperature refers to the fuzzy set of temperature established according to the values ​​of the temperature of each area on the blade surface and defined as a low temperature fuzzy set, a normal temperature fuzzy set, and a high temperature fuzzy set; the fuzzy set of pellet accumulation amount refers to the fuzzy set of pellet accumulation amount established according to the values ​​of the pellet accumulation amount of each area on the blade surface and defined as a low accumulation amount fuzzy set, a normal accumulation amount fuzzy set, and a high accumulation amount fuzzy set.

7. The adaptive aero-engine blade surface shot blasting control system according to claim 6, characterized in that: The curvature fuzzy set is divided according to the blade surface curvature radius r, the low curvature fuzzy set is r>1000mm, the medium curvature fuzzy set is 200mm≤r≤1000mm, and the high curvature fuzzy set is r<200mm; The roughness fuzzy set is divided according to the blade surface roughness Ra, the low roughness fuzzy set is Ra<1.0μm, the medium roughness fuzzy set is 1.0μm≤Ra<2.5μm, and the high roughness fuzzy set is Ra≥2.5μm; The temperature fuzzy set is divided according to the blade surface temperature value T, the low temperature fuzzy set is T<50℃, the normal temperature fuzzy set is 50℃≤T≤150℃, and the high temperature fuzzy set is T>150℃; The fuzzy set of pellet accumulation is divided according to the pellet accumulation value Q on the blade surface. The low accumulation fuzzy set is Q<30g / cm 2 , the normal accumulation fuzzy set is 30g / cm 2 ≤Q≤70g / cm 2 , the high accumulation fuzzy set is 70g / cm 2 <Q<100g / cm 2 .

8. The adaptive aero-engine blade surface shot blasting control system according to claim 1, characterized in that: The adjustable nozzle and multi-nozzle coordinated system are used to simultaneously perform shot blasting on different surface areas of the blade. After the control module adjusts the shot blasting parameters of different nozzles according to the local three-dimensional geometric shape characteristics of the blade, the servo motor controls each nozzle to perform the shot blasting process to ensure the uniformity and consistency of the overall shot blasting effect.

9. An adaptive aero-engine blade surface shot blasting process, which is completed by using the control system according to any one of claims 1 to 8, characterized in that: The following steps are involved: (1) Clean, degrease and rust the surface of the aircraft engine blade to be shot blasted, ensure that the surface is clean and smooth, and then put it into the shot blasting machine; (2) Start the 3D scanning or laser measurement module inside the shot blasting machine, scan the shape and surface curvature of the aircraft engine blade by a high-precision 3D laser scanning device to generate 3D point cloud data of the blade, measure the blade surface from multiple angles by an industrial camera in combination with structured light projection to obtain high-resolution 3D shape data, and obtain the complex internal and surface geometric information of the blade by multi-angle X-ray tomography of the blade surface, and construct a digital 3D model of the blade after fitting the 3D point cloud data, the high-resolution 3D shape data, and the complex internal and surface geometric information of the blade using NURBS curves; (3) The shot blasting machine determines the shot blasting parameters according to the preset optimal process values ​​and starts to blast the blade surface. At the same time, the sensor module monitors the roughness, temperature and shot accumulation in various areas of the blade surface in real time, and records and feeds back the data; (4) The control module collects the data fed back by the sensor module and matches it with each point of the constructed digital three-dimensional model to form multiple input variables, fuzzifies the multiple input variables into several fuzzy sets, and then infers the adjustment values ​​of the shot blasting parameters based on the established IF-THEN fuzzy control rule base to form a fuzzy value set of the output variable, and then defuzzifies each parameter value in the fuzzy value set to obtain the control instructions of the shot blasting parameters; (5) sending the control instruction to the shot blasting execution module, the shot blasting execution module sets the actual value of the shot blasting injection parameter, and the servo motor controls the adjustable nozzle and the multi-nozzle collaborative system to perform shot blasting; (6) The real-time monitoring feedback module uses the feedback data of the blade surface roughness, temperature and shot accumulation monitored in real time by the sensor module to evaluate whether the adjustment value of the shot blasting parameter inferred in step (4) reaches the preset optimal process value in step (3), specifically comparing the feedback data of the surface roughness, temperature and / or shot accumulation with the preset optimal process value. If there is an error, the control module and the shot blasting execution module further repeat steps (4) and (5) until the preset optimal process value is reached; (7) After shot blasting, the blade surface is cleaned with deionized water, dried with hot air, and then painted.

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