Punching device, punching method, computing device, and storage medium

Abstract

The present invention provides a punching device, a punching method, a computing device, and a storage medium. The punching device includes: a workbench (1) for fixing a target object (6) to be punched thereon; a calibration unit for acquiring an image of the target object (6) fixed on the workbench (1) and determining calibration information for the target object (6) according to the acquired image; and an operation unit (2) for performing a punching operation according to the calibration information determined by the calibration unit to form a hole at a predetermined punching area on the surface of the target object (6). The punching device of the present invention may be a punching device that uses a combination of laser and electric discharge machining, and through this punching device, cooling holes can be formed in a turbine blade. The punching device and the punching method of the present invention can improve the quality and efficiency of hole processing.

Description

Technical Field

[0001] The present invention relates to a punching device and method, and more particularly to a punching device and method using a combination of laser and electric discharge machining, as well as related computing devices and storage media. Background Art

[0002] In order to ensure the quality of the cooling holes on the turbine blades of a gas turbine and the surface ceramic thermal barrier coating, the cooling holes on the turbine blades sometimes use a combination of electric discharge machining and laser machining. First, the non-conductive thermal barrier coating is removed by laser ablation, and then electric discharge machining is used to drill the cooling holes.

[0003] However, usually the laser and electric discharge machining processes are carried out on different devices, resulting in position and angle deviations between the two. When the deviation is large, the electrode wire for subsequent electric discharge machining often cannot accurately be in the "opening for removing the ceramic thermal barrier coating" position. This will directly lead to coating burn or the process cannot proceed.

[0004] To solve this problem, currently, the position of the electrode wire is visually adjusted manually to align the electrode wire with the "opening". However, this method has low efficiency and poor accuracy, and it is difficult to control the correction of the machining direction. When the electrode wire is not accurately aligned, it may cause the electrode wire to first partially contact the ceramic thermal barrier coating, resulting in poor conductivity and generating electric discharge to burn the ceramic thermal barrier coating, causing premature failure of the coating during operation. Summary of the Invention

[0005] In view of this, the present invention aims to provide a punching device and method that can make the electrode wire for electric discharge machining enter the opening of laser ablation more accurately, reducing the problem of thermal barrier coating burn.

[0006] According to one aspect of the present invention, there is provided a punching device, the punching device comprising:

[0007] A workbench on which a target object to be punched is fixed;

[0008] A calibration unit that acquires an image of the target object fixed on the workbench and determines calibration information for the target object based on the acquired image;

[0009] An operation unit that performs a punching operation based on the calibration information determined by the calibration unit to form a hole at a predetermined punching area on the surface of the target object.

[0010] In an exemplary embodiment, the calibration unit includes:

[0011] An image acquisition unit that acquires an image of the target object fixed on the workbench;

[0012] A punching area recognition unit receives the image acquired by the image acquisition unit and recognizes a predetermined punching area on the surface of the target object in the image;

[0013] A correction information determination unit determines the correction information according to the recognized predetermined punching area,

[0014] wherein the predetermined punching area on the surface of the target object is an opening formed by removing a part of the outer layer of the target object in advance on the surface of the target object, exposing a corresponding part of the inner layer covered by the removed part of the outer layer of the target object.

[0015] In an exemplary embodiment, the image acquisition unit is mounted on the operation unit so that the optical axis of the lens for acquiring the image of the image acquisition unit forms a predetermined positional relationship with the punching axis of the operation unit.

[0016] The correction information determination unit includes:

[0017] A position deviation determination unit determines position deviation information indicating the position deviation of the punching axis included in the correction information according to the position of the recognized predetermined punching area in the image and the predetermined positional relationship.

[0018] An attitude deviation determination unit determines the shape deviation between the shape of the recognized predetermined punching area and the actual shape of the predetermined punching area on the surface of the target object according to the shape of the recognized predetermined punching area in the image and the actual shape of the predetermined punching area on the surface of the target object, and determines attitude deviation information indicating the attitude deviation of the punching axis included in the correction information according to the determined shape deviation and the predetermined positional relationship.

[0019] In an exemplary embodiment, the optical axis of the lens for acquiring the image of the image acquisition unit is parallel to the punching axis of the operation unit and is separated by a predetermined distance; wherein the position deviation determination unit is configured to: calculate the position deviation of the punching axis in the real coordinate system relative to the preset theoretical position of the punching axis according to the position coordinate information of the center of the recognized predetermined punching area in the image coordinate system with the center of the image as the origin, the conversion relationship between the image coordinate system and the real coordinate system, and the predetermined distance. In the theoretical position, the projection of the center of the end of the punching axis on the plane where the predetermined punching area on the surface of the target object is located coincides with the center of the predetermined punching area on the surface of the target object.

[0020] In an exemplary embodiment, the actual shape of a predetermined area to be drilled on the surface of the target object is a circular shape with a predetermined diameter. Wherein, the attitude deviation determination unit is configured to, when the shape of the identified predetermined area to be drilled in the image is an elliptical shape, calculate based on the lengths of the major axis and the minor axis of the elliptical shape to obtain the angular deviation information included in the attitude deviation information, which represents the deviation between the actual angle of the drilling axis and the predetermined theoretical machining angle. In the theoretical machining angle, the central axis of the drilling axis and the central axis of the predetermined area to be drilled on the surface of the target object are on the same straight line.

[0021] And wherein, the attitude deviation determination unit is configured to, when the shape of the identified predetermined area to be drilled in the image is an elliptical shape, convert the elliptical shape into a perfect circular shape based on the lengths of the major axis and the minor axis of the elliptical shape, and calculate based on the ratio of the length of the diameter of the perfect circular shape to the length of the predetermined diameter of the circular shape to obtain the machining distance deviation information included in the attitude deviation information, which represents the deviation between the actual distance of the drilling axis and the preset theoretical machining distance. The theoretical machining distance refers to the preset distance between the central position at the end of the drilling axis and the plane where the predetermined area to be drilled on the surface of the target object is located.

[0022] In an exemplary embodiment, the operating unit is an electric discharge machining device. The electric discharge machining device includes a main body and an electrode wire. The electrode wire has an elongated shape defining a longitudinal centerline, and the electrode wire includes a first end mounted on the main body and an end opposite to the first end along the longitudinal centerline. The electrode wire defines the drilling axis.

[0023] In an exemplary embodiment, the drilling device further includes a laser processing device, which is adapted to ablate on the outer layer of the target object to form a predetermined area to be drilled on the surface of the target object. The target object is a turbine blade, and the outer layer of the turbine blade is a ceramic thermal barrier coating. The hole is a cooling hole.

[0024] According to another aspect of the present invention, a drilling method is provided. The drilling method includes a calibration calculation step and a machining step:

[0025] In the calibration calculation step, a calibration unit is used to obtain an image of the target object fixed on the workbench, and determine calibration information for the target object based on the obtained image;

[0026] In the processing step, the operation unit performs a punching operation according to the correction information determined by the correction unit, so as to form a hole at a predetermined punching area on the surface of the target object.

[0027] In an exemplary embodiment, the correction calculation step includes:

[0028] The image acquisition unit acquires an image of the target object fixed on the workbench;

[0029] The punching area recognition unit receives the image acquired by the image acquisition unit and recognizes a predetermined punching area on the surface of the target object in the image;

[0030] The correction information determination unit determines the correction information according to the recognized predetermined punching area;

[0031] Wherein, the predetermined punching area on the surface of the target object is an opening formed by removing a part of the outer layer of the target object in advance on the surface of the target object, exposing a corresponding part of the inner layer covered by the removed part of the outer layer of the target object.

[0032] In an exemplary embodiment, the correction calculation step includes the following steps:

[0033] The position deviation determination unit determines the position deviation information indicating the position deviation of the punching axis included in the correction information according to the position of the recognized predetermined punching area in the image and the predetermined positional relationship between the optical axis of the lens for acquiring the image of the image acquisition unit and the punching axis of the operation unit;

[0034] The attitude deviation determination unit determines the shape deviation between the shape of the recognized predetermined punching area and the actual shape of the predetermined punching area on the surface of the target object according to the shape of the recognized predetermined punching area in the image and the actual shape of the predetermined punching area on the surface of the target object, and determines the attitude deviation information indicating the attitude deviation of the punching axis included in the correction information according to the determined shape deviation and the predetermined positional relationship.

[0035] In an exemplary embodiment, the optical axis of the lens of the image acquisition unit for acquiring an image is parallel to the punching axis of the operation unit and is separated by a predetermined distance. The correction calculation step includes the following steps: The position deviation determination unit calculates, according to the position coordinate information of the center of the recognized predetermined punching area in the image coordinate system with the center of the image as the origin, the conversion relationship between the image coordinate system and the real coordinate system, and the predetermined distance, the position deviation of the punching axis in the real coordinate system relative to the preset theoretical position of the punching axis. In the theoretical position, the projection of the center of the end of the punching axis on the plane where the predetermined punching area is located on the surface of the target object coincides with the center of the predetermined punching area on the surface of the target object.

[0036] In an exemplary embodiment, the actual shape of the predetermined punching area on the surface of the target object is a circular shape with a predetermined diameter. The correction calculation step further includes the following steps:

[0037] When the shape of the recognized predetermined punching area in the image is an elliptical shape, the attitude deviation determination unit calculates according to the lengths of the major axis and the minor axis of the elliptical shape to obtain the angle deviation information included in the attitude deviation information, which represents the deviation between the actual angle of the punching axis and the predetermined theoretical processing angle. In the theoretical processing angle, the central axis of the punching axis and the central axis of the predetermined punching area on the surface of the target object are on the same straight line.

[0038] And the attitude deviation determination unit converts the elliptical shape into a circular shape according to the lengths of the major axis and the minor axis of the elliptical shape, and calculates according to the ratio of the length of the diameter of the circular shape to the length of the predetermined diameter of the circular shape to obtain the processing distance deviation information included in the attitude deviation information, which represents the deviation between the actual distance of the punching axis and the preset theoretical processing distance. The theoretical processing distance refers to the preset distance between the center position of the end of the punching axis and the plane where the predetermined punching area is located on the surface of the target object.

[0039] In an exemplary embodiment, before the correction calculation step, the method further includes the following steps: an opening forming step of removing materials in the area of the outer layer of the target object by using a first processing device to form the opening; a target object clamping step of clamping the target object to the workbench after forming the opening.

[0040] In an exemplary embodiment, before the calibration calculation step, the method further includes an adjustment step after the calibration calculation step. In the adjustment step, the operation unit adjusts the position and posture of the punching shaft based on the position deviation information and the posture deviation information obtained in the calibration calculation step.

[0041] In an exemplary embodiment, the number of the openings is plural. The calibration calculation step, the adjustment step, and the processing step are repeated for each opening; or after the calibration calculation step is completed for all the openings, the subsequent adjustment step and processing step are respectively performed for each opening.

[0042] In an exemplary embodiment, the number of the openings is plural. The calibration calculation step is only performed for a part of the openings, and then a linear interpolation method is used to obtain correction values. After that, the adjustment step and the processing step are performed for all the openings.

[0043] In an exemplary embodiment, in the opening forming step, a laser processing device as the first processing device is used to ablate the opening on the target object.

[0044] According to another aspect of the present invention, there is provided a computing device, including a memory and a processor. The memory stores a computer program for executing the method according to any one of the above solutions of the present invention, and the processor is configured to execute the computer program.

[0045] According to another aspect of the present invention, there is provided a storage medium, which includes a stored program. When the program runs, it controls the device where the storage medium is located to execute the method according to any one of the above solutions of the present invention.

[0046] Through the punching device and method of the present invention, at least the following beneficial technical effects can be achieved.

[0047] First, compared with the prior art, the punching device and method of the present invention can achieve higher correction accuracy, thus improving the quality and efficiency of hole processing and reducing the manual working time at the same time.

[0048] Second, through the device and method of the present invention, the electrode wire for electric discharge punching can enter the opening ablated by the laser more accurately, reducing the problem of thermal barrier coating burn. The quality of part processing is guaranteed, and since it is a fully automatic process, the working intensity of workers is greatly reduced. Description of the Drawings

[0049] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those of ordinary skill in the art can more clearly understand the above and other features and advantages of the present invention. In the drawings:

[0050] Figure 1 is a schematic diagram of a punching device according to an exemplary embodiment of the present invention.

[0051] Figure 2 is a view of an image obtained by an image acquisition unit of a punching device according to an exemplary embodiment of the present invention, and the image includes an image of an opening.

[0052] Figure 3 and Figure 4 is a view showing the principle of converting an elliptical figure into a perfect circular figure.

[0053] Figure 5 is a flowchart of a punching method according to an exemplary embodiment of the present invention.

[0054] Among them, the reference numerals are as follows:

[0055] 1. Workbench

[0056] 2. Operation unit

[0057] 3. Punching shaft

[0058] 4. Image acquisition unit

[0059] 5. Calibration module

[0060] 51. Identification unit for area to be punched

[0061] 52. Calibration information determination unit

[0062] 521. Position deviation determination unit

[0063] 522. Attitude deviation determination unit

[0064] 6. Target object

[0065] 7. Opening

[0066] d'e'. Projection line

[0067] OO'. Coordinate axis

[0068] S101. Opening formation step

[0069] S103. Target object clamping step

[0070] S105. Calibration calculation step

[0071] S107. Adjustment step

[0072] S109. Processing Steps

[0073] XYZ. Coordinate System Detailed Implementation Manner

[0074] To make the objectives, technical solutions and advantages of the present invention clearer, the following examples are given to further elaborate on the present invention in detail. Obviously, the described examples are only a part of the examples of the present invention, rather than all of them. The description of at least one exemplary embodiment below is actually only illustrative and in no way serves as any limitation on the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0075] It should be noted that the terms used here are only for describing the specific implementation manner and are not intended to limit the exemplary embodiments according to the present application. As used here, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form.

[0076] Aiming at the problem of difficult alignment when drilling holes in the opening in the prior art, the present invention is based on image recognition technology, and corrects the drilling position and angle through image comparison calculation, and solves this problem by compensating the machine tool program. In the case of forming holes by using laser and electric discharge machining in combination, when the machining positions of the two processes of laser drilling and electric discharge drilling are the same, in the direction of electric discharge machining, the shape of the hole after the ceramic coating is removed by laser is a perfect circle. However, due to the position and angle deviations of the target object (such as a turbine blade), an ellipse with a shifted position is presented in the machining direction. The present invention uses an image acquisition unit to acquire the information of the position, major axis and minor axis of the ellipse, and obtains the corrected transformation of the coordinate system of the target object through position transformation from the ellipse to a perfect circle, etc., so as to achieve the purpose of correcting the machining position and posture of the drilling axis of the operation unit for the target object.

[0077] To facilitate the understanding of the solution of the present invention, reference can first be made to Figure 3 and Figure 4 , which show the principle of converting an elliptical graph to a perfect circular graph. Since there are deviations in the position and angle of the predetermined area to be drilled on the surface of the target object, it is necessary to correct the machining origin and angle. In the case of drilling a round hole, the angle in the machining plane does not need to be corrected. Converting the elliptical graph in the image to a perfect circular graph is a mathematical problem: after the ellipse coincides with the center of the circle, it can be known that the ellipse is a projection of a circle at a certain distance and angle, Figure 3 and Figure 4 the d'e' in Figure 4 indicates the projection line, and Figure 3The axis at the intersection of the two planes in []. It can be understood that based on mathematical calculation methods, the relevant directions and distances can be solved, so as to correct the deviations in the position and angle of the predetermined area to be drilled on the surface of the target object by controlling the position, angle and running path of the drilling axis of the operating unit. Specific descriptions will be given below.

[0078] Referring to Figure 1 , a schematic diagram of a drilling device according to an exemplary embodiment of the present invention is shown. Specifically, the present invention provides a drilling device that uses a combination of laser and electric discharge machining to form holes. The drilling device mainly includes: a workbench 1 on which a target object 6 to be drilled is fixed; a calibration unit that acquires an image of the target object 6 fixed on the workbench 1 and determines calibration information for the target object 6 based on the acquired image; an operating unit 2 that performs a drilling operation according to the calibration information determined by the calibration unit to form a hole at a predetermined area to be drilled on the surface of the target object 6.

[0079] Specifically, the operating unit 2 can be an electric discharge machining device. The electric discharge machining device includes a main body and an electrode wire. The electrode wire has an elongated shape defining a longitudinal center line, and the electrode wire includes a first end mounted on the main body and an end opposite to the first end along the longitudinal center line. The electrode wire defines a drilling axis 3. The size of the cross-section of the drilling axis 3 corresponds to the size of the opening 7. The drilling device may further include a laser machining device that is adapted to ablate the outer layer of the target object 6 to form a predetermined area to be drilled on the surface of the target object 6, that is, the opening 7. The target object 6 can be a turbine blade, and the outer layer of the turbine blade is a ceramic thermal barrier coating, and the hole to be formed is a cooling hole.

[0080] Still referring to Figure 1 , the calibration unit mainly includes an image acquisition unit 4 and a calibration module 5. The image acquisition unit 4 can be a camera for acquiring an image of the target object 6 fixed on the workbench 1. The calibration module 5 can be, for example, an industrial personal computer (IPC). The calibration module 5 may include a to-be-drilled area recognition unit 51 and a calibration information determination unit 52. The to-be-drilled area recognition unit 51 is used to receive the image acquired by the image acquisition unit 4 and recognize the predetermined area to be drilled on the surface of the target object 6 in the image. The calibration information determination unit 52 determines calibration information based on the recognized predetermined area to be drilled. Figure 2 shows the image acquired by the image acquisition unit 4, and the image contains an image of the opening 7.

[0081] Still referring to Figure 1, the image acquisition unit 4 is installed on the operation unit 2 so that the optical axis of the lens for acquiring images of the image acquisition unit 4 forms a predetermined positional relationship with the punching axis 3 of the operation unit 2. The correction information determination unit 52 may include: a position deviation determination unit 521 that determines, based on the position of the identified predetermined punching area in the image and the predetermined positional relationship, position deviation information indicating the position deviation of the punching axis 3 included in the correction information; an attitude deviation determination unit 522 that determines the shape deviation between the shape of the identified predetermined punching area in the image and the actual shape of the predetermined punching area on the surface of the target object 6 based on the shape of the identified predetermined punching area in the image and the actual shape of the predetermined punching area on the surface of the target object 6, and determines, based on the determined shape deviation and the predetermined positional relationship, attitude deviation information indicating the attitude deviation of the punching axis 3 included in the correction information.

[0082] Here, it should be noted that the position of the identified predetermined punching area in the image can be determined by the punching area identification unit 51, and the shape of the identified predetermined punching area in the image can also be determined by the punching area identification unit 51.

[0083] Referring to Figure 1 , the optical axis of the lens for acquiring images of the image acquisition unit 4 and the punching axis 3 of the operation unit can be parallel and spaced apart by a predetermined distance. The position deviation determination unit 521 is configured to: calculate the position deviation of the punching axis 3 in the real coordinate system relative to the preset theoretical position of the punching axis 3 based on the position coordinate information of the center of the identified predetermined punching area in the image coordinate system with the origin at the center of the image, the conversion relationship between the image coordinate system and the real coordinate system, and the predetermined distance. The theoretical position refers to the position where the punching axis 3 is located when the projection of the center of the end of the punching axis 3 on the plane where the predetermined punching area on the surface of the target object 6 is located coincides with the center of the predetermined punching area on the surface of the target object 6, that is, the theoretical position refers to the position where the center of the end of the punching axis 3 is aligned with the center of the opening 7. The correction unit is configured to perform a correction calculation process and an adjustment process.

[0084] The predetermined punching area (i.e., the opening 7) on the surface of the target object 6 defines a reference plane. The position deviation corresponds to the offsets ΔX and ΔY on the X-axis and Y-axis in the reference plane of the predetermined punching area on the surface of the target object 6 relative to the theoretical position of the punching axis 3. Therefore, based on the value of the position deviation, the position deviation determination unit 521 can obtain a first correction value for the position of the target object 6. When the first correction value is not equal to zero, during the adjustment process, the operation unit 2 controls the movement relative to the target object 6 based on the first correction value, thereby making the punching axis 3 in the theoretical position.

[0085] Reference Figure 1 , the actual shape of the predetermined area to be punched (i.e., the opening 7) on the surface of the target object 6 is a circular shape with a predetermined diameter. The attitude deviation determination unit 522 is configured to, when the shape of the identified predetermined area to be punched in the image is an elliptical shape, calculate based on the lengths of the major axis and the minor axis of the elliptical shape to obtain the angular deviation information included in the attitude deviation information, which represents the deviation between the actual angle of the punching axis 3 and the predetermined theoretical processing angle. The theoretical processing angle refers to the angle at which the punching axis 3 is located when the central axis of the punching axis 3 and the central axis of the predetermined area to be punched on the surface of the target object 6 are in a straight line.

[0086] The angular deviation information corresponds to the deflection angles θ and γ of the central axis of the predetermined area to be punched on the surface of the target object 6 relative to the central axis of the punching axis 3 in two angular directions. During the correction calculation process, the attitude deviation determination unit 522 calculates the shape of the image of the opening 7. If the image of the opening is an elliptical shape, the attitude deviation determination unit 522 performs calculations based on the angular deviation information using mathematical methods including trigonometric functions, matrix transformation, etc. to obtain a second correction value for the angle of the target object 6. And if the second correction value is not equal to zero, during the adjustment process, the operation unit 2 controls the movement of the punching axis 3 relative to the target object 6 based on the second correction value, so that the angle of the target object 6 is equal to the theoretical processing angle.

[0087] Of course, it can be understood that when the shape of the identified predetermined area to be punched (i.e., the opening 7) in the image is an elliptical shape, the image acquisition unit 4 can also be adjusted manually or automatically to make the shape of the opening 7 in the image a perfect circular shape, thereby directly realizing the correction of the angle of the target object 6.

[0088] In addition, the attitude deviation determination unit 522 can be configured to, when the shape of the identified predetermined area to be punched (i.e., the opening 7) in the image is an elliptical shape, convert the elliptical shape into a perfect circular shape according to the lengths of the major axis and the minor axis of the elliptical shape, and calculate according to the ratio of the length of the diameter of the perfect circular shape to the length of the predetermined diameter of the circular shape to obtain the machining distance deviation information included in the attitude deviation information, which represents the deviation between the actual distance of the punching axis 3 and the preset theoretical processing distance. The theoretical processing distance refers to the preset distance between the central position at the end of the punching axis 3 and the plane where the predetermined area to be punched on the surface of the target object 6 is located.

[0089] It can be understood that factors such as the position and parameters of the image acquisition unit 4 will cause the diameter of the obtained perfect circular shape to change, and the diameter of the perfect circular shape is obviously a function related to the machining distance (also called machining height) of the punching axis 3.

[0090] It is understandable that the machining distance deviation information is the offset ΔZ on the Z-axis perpendicular to the reference plane of the theoretical machining distance of a predetermined area to be drilled on the surface of the target object 6 with respect to the drilling axis 3. During the correction calculation process, the position deviation determination unit 521 is configured to obtain a third correction value for the position of the target object 6 based on ΔZ, and if the third correction value is not equal to zero during the adjustment process, the operation unit 2 controls the movement of the drilling axis 3 relative to the target object 6 based on the third correction value, so that the actual machining distance of the drilling axis 3 is equal to the theoretical machining distance. The correction unit can alternately execute the correction calculation process and the adjustment process.

[0091] According to the present invention, a drilling method is also provided. The drilling method may mainly include one or more of the following steps: an opening forming step S101, using a first processing device to remove materials in the outer layer area of the target object 6 to form an opening 7. Specifically, in the opening forming step S101, a laser processing device as the first processing device may be used to ablate an opening 7 on the target object 6; a target object clamping step S103, after forming the opening 7, clamping the target object 6 onto the workbench 1; a correction calculation step S105, using the correction unit to obtain an image of the target object 6 fixed on the workbench 1 and determine correction information for the target object 6 based on the obtained image; an adjustment step S107, the operation unit 2 adjusts the position and posture of the drilling axis 3 based on the position deviation information and the attitude deviation information obtained in the correction calculation step S105; and a machining step S109, using the operation unit 2 to perform a drilling operation to form a hole at a predetermined area to be drilled on the surface of the target object 6. The correction calculation step S105 and the adjustment step S107 can be alternately executed. It is understandable that the adjustment step S107 and the machining step S109 can be integrated into one step.

[0092] The correction calculation step S105 may include: using the image acquisition unit 4 to acquire an image of the target object 6 fixed on the workbench 1; using the area to be drilled recognition unit 51 to receive the image acquired by the image acquisition unit 4 and recognize a predetermined area to be drilled on the surface of the target object 6 in the image; using the correction information determination unit 52 to determine correction information based on the recognized predetermined area to be drilled. The predetermined area to be drilled on the surface of the target object 6 is an opening 7 formed by previously removing a part of the outer layer of the target object 6 to expose a corresponding part of the inner layer covered by the removed part of the outer layer of the target object 6.

[0093] In the correction calculation step S105, the following steps may be included: The position deviation determination unit 521 determines, according to the position of the recognized predetermined area to be punched in the image and the predetermined positional relationship between the optical axis of the lens for acquiring the image of the image acquisition unit 4 and the punching axis 3 of the operation unit 2, the position deviation information indicating the position deviation of the punching axis 3 included in the correction information; The attitude deviation determination unit 522 determines, according to the shape of the recognized predetermined area to be punched in the image and the actual shape of the predetermined area to be punched on the surface of the target object 6, the shape deviation between the shape of the recognized predetermined area to be punched and the actual shape of the predetermined area to be punched on the surface of the target object 6, and determines, according to the determined shape deviation and the predetermined positional relationship, the attitude deviation information indicating the attitude deviation of the punching axis 3 included in the correction information.

[0094] The optical axis of the lens for acquiring the image of the image acquisition unit 4 and the punching axis 3 of the operation unit may be parallel and separated by a predetermined distance. In the correction calculation step S105, the following steps are included: The position deviation determination unit calculates, according to the position coordinate information of the center of the recognized predetermined area to be punched in the image coordinate system with the center of the image as the origin, the conversion relationship between the image coordinate system and the real coordinate system, and the predetermined distance, the position deviation of the punching axis 3 in the real coordinate system relative to the preset theoretical position of the punching axis 3. The theoretical position means the position where the punching axis 3 is located when the projection of the center at the end of the punching axis 3 on the plane where the predetermined area to be punched on the surface of the target object 6 is located coincides with the center of the predetermined area to be punched on the surface of the target object 6.

[0095] The actual shape of the predetermined area to be punched on the surface of the target object 6 may be a circular shape with a predetermined diameter. In the correction calculation step S105, the following steps are further included: When the shape of the recognized predetermined area to be punched in the image is an elliptical shape, the attitude deviation determination unit 522 calculates according to the lengths of the major axis and the minor axis of the elliptical shape to obtain the angle deviation information indicating the deviation between the actual angle of the punching axis 3 and the predetermined theoretical processing angle included in the attitude deviation information. The theoretical processing angle means the angle where the punching axis 3 is located when the central axis of the punching axis 3 and the central axis of the predetermined area to be punched on the surface of the target object 6 are on a straight line. Further, the attitude deviation determination unit 522 converts the elliptical shape into a circular shape according to the lengths of the major axis and the minor axis of the elliptical shape, and calculates according to the ratio of the length of the diameter of the circular shape to the length of the predetermined diameter of the circular shape to obtain the processing distance deviation information indicating the deviation between the actual distance of the punching axis 3 and the preset theoretical processing distance included in the attitude deviation information. The theoretical processing distance means the preset distance between the center position at the end of the punching axis 3 and the plane where the predetermined area to be punched on the surface of the target object 6 is located.

[0096] The number of openings 7 can be multiple, and the calibration calculation step S105, adjustment step S107, and machining step S109 are repeated for each opening 7; or after the calibration calculation step S105 is completed for all openings 7, the subsequent adjustment step S107 and machining step S109 are performed for each opening 7 respectively. Of course, according to the method of the present invention, the calibration calculation step S105 can also be performed only for a part of the openings, and then the correction value is obtained by linear interpolation, and then the adjustment step S107 and machining step S109 are performed for all openings.

[0097] According to the solution of the present invention, there can be two sets of programs for electric discharge machining. The first set of programs is for machining, and the second set of programs is generated by offsetting the first set of programs by a fixed distance value and is used for subsequent calibration by the image acquisition unit. When the second set of programs is run, the central coordinate position of the lens of the image acquisition unit is the same as the theoretical machining position of the electrode wire in the first set of programs. After the step of laser ablation of the opening is completed, the target object is clamped on the workbench of the electric discharge machining equipment, and the second set of programs is run. At this time, the shape of the opening will be seen as an ellipse, and there is a deviation between the center of the ellipse and the central coordinate position of the lens of the image acquisition unit (i.e., the theoretical machining position). The calibration unit records information such as the center of the ellipse, the lengths of the major axis and minor axis of the ellipse, so as to be able to use these values for subsequent correction calculations.

[0098] The adjustment of the position and attitude of the electrode wire of the electric discharge machining device in the above text is also a process of correcting the deviation of the position and attitude of the opening on the target object. Since the diameter of the circular shape of the opening is a known value, the following transformation is performed according to the true coordinate system of the circular shape:

[0099] First, the origin of the machining plane is transformed according to the distance between the center of the ellipse of the opening image and the theoretical position, that is, the center position of the end of the electrode wire is corrected.

[0100] Second, the ellipse is rotated into a perfect circle according to the measured values of the major axis and minor axis of the ellipse of the opening image, the rotation angle and the rotation axis are obtained, and the numerical solutions that do not match the machining direction seriously are excluded according to the machining direction to correct the machining angle of the electrode wire.

[0101] Third, the second set of programs is run again, the diameter of the ellipse image transformed into a perfect circle image is measured, and the machining distance of the electrode wire is corrected by calculation.

[0102] After the second set of programs is run, the obtained correction value can be imported into the first set of programs, and the electric discharge machining of the hole can be completed by using the first set of programs.

[0103] Those skilled in the art can understand that in the embodiments of the present invention, round holes are formed by using lasers and electric sparks. The devices and methods of the present invention can also be applied to some other forms of holes, such as square holes. Through the size information of the square holes themselves and the information of the images captured by the image acquisition unit, the position and posture of the drilling shaft can also be appropriately adjusted to achieve the purpose of rapid and precise drilling.

[0104] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A punching device, comprising: A workbench (1) for fixing a target object (6) to be punched thereon; A calibration unit for acquiring an image of the target object (6) fixed on the workbench (1) and determining calibration information for the target object (6) based on the acquired image; An operation unit (2) for performing a punching operation according to the calibration information determined by the calibration unit to form a hole at a predetermined punching area on the surface of the target object (6); The calibration unit includes: An image acquisition unit (4) for acquiring an image of the target object (6) fixed on the workbench (1); Characterized in that the calibration unit further includes: A punching area recognition unit (51) for receiving the image acquired by the image acquisition unit (4) and recognizing a predetermined punching area on the surface of the target object (6) in the image; A calibration information determination unit (52) for determining the calibration information according to the recognized predetermined punching area, Wherein the predetermined punching area on the surface of the target object (6) is an opening (7) formed by removing a part of the outer layer of the target object (6) in advance to expose a corresponding part of the inner layer covered by the removed part of the outer layer of the target object (6) on the surface of the target object (6); Wherein the image acquisition unit (4) is installed on the operation unit (2) such that the optical axis of the lens for acquiring an image of the image acquisition unit (4) forms a predetermined positional relationship with the punching axis (3) of the operation unit (2), The calibration information determination unit (52) includes: A position deviation determination unit (521) for determining position deviation information representing the position deviation of the punching axis (3) included in the calibration information according to the position of the recognized predetermined punching area in the image and the predetermined positional relationship; An attitude deviation determination unit (522) for determining the shape deviation between the shape of the recognized predetermined punching area and the actual shape of the predetermined punching area on the surface of the target object (6) according to the shape of the recognized predetermined punching area in the image and the actual shape of the predetermined punching area on the surface of the target object (6), and determining attitude deviation information representing the attitude deviation of the punching axis (3) included in the calibration information according to the determined shape deviation and the predetermined positional relationship.

2. The punching device according to claim 1, wherein, The optical axis of the lens for acquiring an image of the image acquisition unit (4) is parallel to the punching axis (3) of the operation unit and is spaced apart by a predetermined distance; Wherein, the position deviation determination unit (521) is configured to: calculate the position deviation of the punching axis (3) relative to the preset theoretical position of the punching axis (3) in the real coordinate system according to the position coordinate information of the center of the identified predetermined punching area in the image coordinate system with the center of the image as the origin, the conversion relationship between the image coordinate system and the real coordinate system, and the predetermined distance. In the theoretical position, the projection of the center of the end of the punching axis (3) on the plane of the predetermined punching area on the surface of the target object (6) coincides with the center of the predetermined punching area on the surface of the target object (6).

3. The punching device according to claim 2, characterized in that The actual shape of the predetermined punching area on the surface of the target object (6) is a circular shape with a predetermined diameter. Wherein, the attitude deviation determination unit (522) is configured to, when the shape of the identified predetermined punching area in the image is an elliptical shape, calculate based on the lengths of the major axis and the minor axis of the elliptical shape to obtain the angular deviation information included in the attitude deviation information, which represents the deviation between the actual angle of the punching axis (3) and the predetermined theoretical machining angle. In the theoretical machining angle, the central axis of the punching axis (3) is in a straight line with the central axis of the predetermined punching area on the surface of the target object (6). And wherein, the attitude deviation determination unit (522) is configured to, when the shape of the identified predetermined punching area in the image is an elliptical shape, convert the elliptical shape into a circular shape according to the lengths of the major axis and the minor axis of the elliptical shape, and calculate according to the ratio of the length of the diameter of the circular shape to the length of the predetermined diameter of the circular shape to obtain the machining distance deviation information included in the attitude deviation information, which represents the deviation between the actual distance of the punching axis (3) and the preset theoretical machining distance. The theoretical machining distance refers to the preset distance between the center position of the end of the punching axis (3) and the plane of the predetermined punching area on the surface of the target object (6).

4. The punching device according to any one of claims 1 to 3, characterized in that The operating unit (2) is an electric discharge machining device. The electric discharge machining device includes a main body and an electrode wire. The electrode wire has an elongated shape defining a longitudinal center line, and the electrode wire includes a first end mounted on the main body and an end opposite to the first end along the longitudinal center line. The electrode wire defines the punching axis (3).

5. The punching device according to any one of claims 1 to 3, characterized in that, The punching device further includes a laser processing device, which is adapted to ablate on the outer layer of the target object (6) to form the predetermined punching area on the surface of the target object (6). The target object (6) is a turbine blade, and the outer layer of the turbine blade is a ceramic thermal barrier coating. The hole is a cooling hole.

6. A punching method, the punching method includes a correction calculation step (S105) and a machining step (S109): In the calibration calculation step (S105), the calibration unit is used to obtain an image of the target object (6) fixed on the workbench (1), and calibration information for the target object (6) is determined based on the obtained image; In the machining step (S109), the operating unit (2) is used to perform a punching operation according to the calibration information determined by the calibration unit, so as to form a hole at a predetermined punching area on the surface of the target object (6); The calibration calculation step (S105) includes: The image acquisition unit (4) is used to obtain an image of the target object (6) fixed on the workbench (1); It is characterized in that the calibration calculation step (S105) further includes: The punching area recognition unit (51) is used to receive the image obtained by the image acquisition unit (4) and recognize a predetermined punching area on the surface of the target object (6) in the image; The calibration information determination unit (52) determines the calibration information according to the recognized predetermined punching area, wherein the predetermined punching area on the surface of the target object (6) is an opening (7) formed by removing a part of the outer layer of the target object (6) in advance on the surface of the target object (6), exposing a corresponding part of the inner layer covered by the removed part of the outer layer of the target object (6); The calibration calculation step (S105) includes the following steps: The position deviation determination unit (521) determines position deviation information representing the position deviation of the punching axis (3) included in the calibration information according to the position of the recognized predetermined punching area in the image and a predetermined positional relationship between the optical axis of the lens of the image acquisition unit (4) for acquiring the image and the punching axis (3) of the operating unit (2); The attitude deviation determination unit (522) determines the shape deviation between the shape of the recognized predetermined punching area and the actual shape of the predetermined punching area on the surface of the target object (6) according to the shape of the recognized predetermined punching area in the image and the actual shape of the predetermined punching area on the surface of the target object (6), and determines attitude deviation information representing the attitude deviation of the punching axis (3) included in the calibration information according to the determined shape deviation and the predetermined positional relationship.

7. The punching method according to claim 6, wherein The optical axis of the lens of the image acquisition unit (4) for acquiring the image is parallel to the punching axis (3) of the operating unit and is separated by a predetermined distance, The calibration calculation step (S105) includes the following steps: The position deviation determination unit calculates the position deviation of the punching axis (3) with respect to the preset theoretical position of the punching axis (3) in the real coordinate system based on the position coordinate information of the center of the identified predetermined punching area in the image coordinate system with the center of the image as the origin, the conversion relationship between the image coordinate system and the real coordinate system, and the predetermined distance. In the theoretical position, the projection of the center of the end of the punching axis (3) on the plane of the predetermined punching area on the surface of the target object (6) coincides with the center of the predetermined punching area on the surface of the target object (6).

8. The punching method according to claim 7, wherein The actual shape of the predetermined punching area on the surface of the target object (6) is a circular shape with a predetermined diameter. The correction calculation step (S105) further includes the following steps: When the shape of the identified predetermined punching area in the image is an elliptical shape, the attitude deviation determination unit (522) calculates based on the lengths of the major axis and the minor axis of the elliptical shape to obtain the angular deviation information included in the attitude deviation information, which represents the deviation between the actual angle of the punching axis (3) and the predetermined theoretical machining angle. In the theoretical machining angle, the central axis of the punching axis (3) is in a straight line with the central axis of the predetermined punching area on the surface of the target object (6). And the attitude deviation determination unit (522) converts the elliptical shape into a circular shape according to the lengths of the major axis and the minor axis of the elliptical shape, and calculates according to the ratio of the length of the diameter of the circular shape to the length of the predetermined diameter of the circular shape to obtain the machining distance deviation information included in the attitude deviation information, which represents the deviation between the actual distance of the punching axis (3) and the preset theoretical machining distance. The theoretical machining distance refers to the preset distance between the center position of the end of the punching axis (3) and the plane of the predetermined punching area on the surface of the target object (6).

9. The punching method according to any one of claims 6 to 8, characterized in that, Before the correction calculation step, the method further includes the following steps: Opening formation step (S101), using a first processing device to remove materials in the outer layer area of the target object (6) to form the opening (7); Target object clamping step (S103), after forming the opening (7), clamping the target object (6) onto the workbench (1).

10. The punching method according to any one of claims 6 to 8, characterized in that Before the correction calculation step, the method further includes an adjustment step (S107) after the correction calculation step (S105). In the adjustment step (S107), the operation unit (2) adjusts the position and attitude of the punching axis (3) based on the position deviation information and the attitude deviation information obtained in the correction calculation step (S105).

11. The punching method according to claim 10, wherein, The number of the openings (7) is multiple, and the correction calculation step (S105), the adjustment step (S107) and the processing step (S109) are repeated for each opening (7); or after the correction calculation step (S105) is completed for all the openings (7), the subsequent adjustment step (S107) and the processing step (S109) are respectively carried out for each opening (7).

12. The punching method according to claim 10, characterized in that, The number of the openings (7) is multiple. Only a part of the openings execute the correction calculation step (S105), and then the correction value is obtained by the method of linear interpolation, and then the adjustment step (S107) and the processing step (S109) are executed for all the openings.

13. The punching method according to claim 9, characterized in that, In the opening forming step (S101), the laser processing device as the first processing device is used to ablate the opening (7) on the target object (6).

14. A computing device, characterized in that, It includes a memory and a processor. The memory stores a computer program for executing the method according to any one of claims 6 to 13, and the processor is used to execute the computer program.

15. Storage medium, characterized in that, The storage medium includes a stored program, wherein the program controls the device where the storage medium is located to execute the method according to any one of claims 6 to 13 when running.

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