A method, device and equipment for machining and detecting turbine blades

Abstract

The present application provides a method, device and equipment for processing and detecting turbine blades. When executing the method, first, scan the blade entity to obtain the actual size and actual spatial position of the blade; integrate the actual size of the blade with the theoretical model to obtain the optimized spatial position of the blade; calculate and obtain the blade deviation model based on the optimized spatial position; then calculate and obtain the theoretical feature points of the blade based on the optimized spatial position; collect the actual feature points of the blade at the actual position of the blade based on the blade deviation model; finally, adjust the actual position of the blade until the theoretical feature points coincide with the actual feature points to adjust the actual spatial position. In this way, various errors in the process of manufacturing turbine blades can be reduced, adaptive processing of turbine blades and on-machine detection of turbine blades can be achieved, and the production efficiency of turbine blades can be greatly improved.

Description

Technical Field

[0001] The present application relates to the field of aero-engine manufacturing, and in particular to a method, device and equipment for machining and detecting turbine blades. Background Art

[0002] Turbine blades are one of the important parts of aircraft engines. As a representative of highly complex and high-precision parts, their manufacturing accuracy has a vital impact on the service performance of aircraft engines. The core of processing and production is to ensure the quality of parts processing and production efficiency. In the processing and production of blades, the accuracy of detection and processing is the key to ensuring the quality of blade processing. The efficiency of the detection and processing process controls the efficiency of blade production as a whole, so detection and processing are the key links in blade production.

[0003] At present, the traditional blade processing process uses the "six-point positioning" of the blade body to limit the freedom of the blade in six directions. During the casting process of the blade blank, casting errors will occur due to various complex factors. If the processing process still relies on the blade theoretical model, poor consistency, processing step difference, and even out-of-tolerance conditions will occur, resulting in reduced blade processing quality. Processing and inspection are two independent processes. A blade may require multiple clamping and positioning, introducing clamping errors. In addition, there may be a certain deviation between the workpiece coordinate system of three-coordinate measurement and the coordinate system of the CNC machine tool. The benchmarks for inspection and processing are inconsistent, making it difficult to ensure the accuracy of processing. Therefore, how to automatically and accurately perform adaptive processing of turbine blades and perform on-machine inspection on them is an urgent problem to be solved. Summary of the invention

[0004] In view of the above problems, the present application provides a method, device and equipment for processing and detecting turbine blades, which can realize adaptive processing of turbine blades and on-machine detection thereof.

[0005] In a first aspect, an embodiment of the present application provides a method for machining and detecting a turbine blade, the method comprising:

[0006] Scan the blade entity to obtain the actual size and actual spatial position of the blade;

[0007] Integrate the actual size of the blade with the theoretical model to obtain the spatially optimized position of the blade;

[0008] According to the spatially optimized posture, a blade deviation model is calculated;

[0009] According to the spatially optimized posture, the theoretical characteristic points of the blade are calculated and obtained;

[0010] According to the blade deviation model, collecting actual feature points of the blade at the actual position of the blade;

[0011] Adjusting the actual position of the blade until the theoretical feature point coincides with the actual feature point, so as to adjust the actual spatial position;

[0012] According to the adjusted actual spatial posture, a machining reference plane is selected to design a machining tool and perform machining.

[0013] Optionally, integrating the actual size of the blade with the theoretical model to obtain the spatially optimized position of the blade includes:

[0014] generating an actual point cloud according to the actual size of the blade;

[0015] According to the theoretical model design, a theoretical model point cloud is obtained;

[0016] Performing an initial registration of the actual point cloud and the theoretical model point cloud, and adjusting the coordinate system of the actual point cloud and the coordinate system of the theoretical model point cloud to coincide with each other;

[0017] According to the local features of the blade that need to be protected, a feature point cloud data set is selected from the theoretical model point cloud;

[0018] According to the feature point cloud data set, the actual point cloud is registered to obtain a target point cloud that coincides with the feature point cloud data set, and the target point cloud is the spatial optimized posture of the blade obtained after integration.

[0019] Optionally, calculating and obtaining a blade deviation model according to the spatially optimized posture includes:

[0020] According to the spatial optimized posture of the blade, the difference between the actual point cloud and all points of the theoretical model point cloud is calculated, and the difference is integrated to obtain a blade deviation model;

[0021] Among them, when the actual point cloud is larger than the theoretical model point cloud, it is a positive deviation value, and when the actual point cloud is larger than the theoretical model point cloud, it is a negative deviation value.

[0022] Optionally, the method further includes:

[0023] According to the spatial optimized posture, it is determined whether the difference between the machining position and the actual spatial posture meets the upper limit value of the deviation model, and if not, the actual spatial posture is adjusted.

[0024] Optionally, adjusting the actual position and posture in space includes:

[0025] According to the actual feature point, the coordinates of the actual feature point are marked as (x i ,y i , zi ), i = 1, 2, ... 6 and its vector direction cosine is recorded as (a xi , a yi , a zi ), i = 1, 2, ... 6, where x i is the horizontal coordinate value of the i-th feature point, y i is the ordinate value of the i-th feature point, z i is the vertical axis coordinate value of the i-th feature point; a xi is the horizontal coordinate value of the direction cosine of the i-th vector, a yi is the ordinate value of the direction cosine of the i-th vector, a zi is the vertical axis coordinate value of the i-th vector direction cosine;

[0026] According to the spatial optimized posture obtained by the integration, the deviation value between the actual feature point and the theoretical feature point is recorded as b;

[0027] The theoretical point compensation value is calculated according to the theoretical characteristic point compensation formula, and the theoretical characteristic point compensation formula is:

[0028]

[0029] Wherein, x' is the abscissa value of the compensation value, y' is the ordinate value of the compensation value, z' is the ordinate value, and (x', y', z') is the value obtained after compensation;

[0030] The compensated value is input into the numerical control program of the five-axis machine tool, and the actual position and posture in the space are adjusted so that the actual feature points coincide with the theoretical feature points.

[0031] Optionally, selecting a machining reference plane according to the actual spatial position and posture, thereby designing a machining tool and performing machining, includes:

[0032] According to the actual spatial posture, a machining plane is selected to ensure that the subsequent repeated machining positioning error is within a preset range, and then a machining surface relative to the machining reference surface is selected to ensure the subsequent machining of the machining reference surface for machining.

[0033] In a second aspect, an embodiment of the present application provides a device for processing and detecting a turbine blade, the device comprising:

[0034] A posture acquisition module is used to scan the blade entity to obtain the actual size and actual spatial posture of the blade;

[0035] An integration module, used for integrating the actual size of the blade with the theoretical model to obtain the spatially optimized position of the blade;

[0036] A deviation model calculation module, used to calculate and obtain a blade deviation model according to the spatially optimized posture;

[0037] A theoretical feature point acquisition module is used to calculate and acquire the theoretical feature points of the blade according to the spatially optimized posture;

[0038] An actual point acquisition module, used for collecting the actual characteristic point of the blade at the actual position of the blade according to the blade deviation model;

[0039] A posture adjustment module is used to adjust the actual position of the blade until the theoretical feature point coincides with the actual feature point, so as to adjust the actual posture in space;

[0040] The design module selects a machining reference surface according to the actual spatial position, thereby designing a machining tool and performing machining.

[0041] Optionally, the integration module includes:

[0042] An actual point cloud generating unit, used for generating an actual point cloud according to the actual size of the blade;

[0043] A theoretical model point cloud acquisition unit, used for obtaining a theoretical model point cloud according to a theoretical model design;

[0044] An adjustment unit, used for initially registering the actual point cloud with the theoretical model point cloud, and adjusting the coordinate system of the actual point cloud to coincide with the coordinate system of the theoretical model point cloud;

[0045] A theoretical model point cloud set acquisition unit is used to select a feature point cloud data set from the theoretical model point cloud according to the local features of the blade that need to be protected;

[0046] The spatial optimized posture acquisition unit is used to align the actual point cloud according to the feature point cloud data set, and obtain the target point cloud that coincides with the feature point cloud data set, and the target point cloud is the spatial optimized posture of the blade obtained after integration.

[0047] Optionally, the deviation model calculation module is specifically used for:

[0048] According to the spatial optimized posture of the blade, the difference between the actual point cloud and all points of the theoretical model point cloud is calculated, and the difference is integrated to obtain a blade deviation model;

[0049] Among them, when the actual point cloud is larger than the theoretical model point cloud, it is a positive deviation value, and when the actual point cloud is larger than the theoretical model point cloud, it is a negative deviation value.

[0050] In a third aspect, an embodiment of the present application provides a device for processing and detecting turbine blades, including:

[0051] A memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for processing and detecting turbine blades described in the first aspect above is implemented.

[0052] The embodiment of the present application provides a method, device and equipment for processing and detecting turbine blades. When executing the method, first, scan the blade entity to obtain the actual size and actual spatial position of the blade; integrate the actual size of the blade with the theoretical model to obtain the optimized spatial position of the blade; calculate and obtain the blade deviation model based on the optimized spatial position; then calculate and obtain the theoretical feature points of the blade based on the optimized spatial position; collect the actual feature points of the blade at the actual position of the blade based on the blade deviation model; finally, adjust the actual position of the blade until the theoretical feature points coincide with the actual feature points to adjust the actual spatial position. In this way, various errors in the process of manufacturing turbine blades can be reduced, adaptive processing of turbine blades and on-machine detection of turbine blades can be achieved, and the production efficiency of turbine blades can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in this embodiment or 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.

[0054] Figure 1 A flow chart of a method for machining and detecting turbine blades provided in an embodiment of the present application;

[0055] Figure 2 A flow chart of a method for machining and detecting turbine blades according to an embodiment of the present application scenario;

[0056] Figure 3 A schematic diagram of a device for processing and detecting turbine blades provided in an embodiment of the present application;

[0057] Figure 4 Schematic diagram of the corresponding device and computer storage medium provided for the embodiments of the present application. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] It should be noted that the method, device and equipment for processing and detecting turbine blades provided in this application are used in the field of aircraft engine manufacturing. The above is only an example and does not limit the application field of the method and device provided in this application.

[0060] See also Figure 1 , this figure is a flow chart of a method for processing and detecting turbine blades provided in an embodiment of the present application. It should be noted that in this embodiment, only the turbine guide blades are taken as an example, and it is necessary to prioritize ensuring that the local features of the turbine guide blades are the cavity and the inner edge plate, but the present application is not limited to turbine guide blades.

[0061] The turbine guide blade is one of the key parts of the aircraft engine. The turbine guide blade is subjected to higher operating temperature and greater thermal stress when working. Therefore, in order to make the engine work stably under the above conditions, the structural design of the turbine guide blade is very complicated, which involves a number of tasks such as blade body shaping, blade strength calculation, material selection, etc., and the influence on the internal and external airflow is decisive, which can directly affect the advantages of the overall performance of the engine, such as: starting performance, weight, cost and reliability. Therefore, the aircraft engine has very strict requirements on the shape of the turbine guide blade, including the outer shape, inner shape, position and number of the guide blade. In the processing of the turbine guide blade, the design of the machining tooling needs to be more rigorous, and the error of the blade parts obtained by machining also needs to be smaller.

[0062] S101: Scan the turbine guide blade entity to obtain the actual size and actual spatial position of the turbine guide blade.

[0063] In this embodiment, the posture refers to the position and posture of the blade when clamped.

[0064] One possible method is to obtain the solid three-dimensional contour size of the turbine guide blade by non-contact blue light scanning.

[0065] The non-contact blue light scanning device is a method for obtaining the three-dimensional coordinate information of the surface of the turbine guide blade by using certain physical phenomena that interact biomimetically with the surface of an object, such as light, sound, and electromagnetism.

[0066] The actual spatial position and posture include: three-dimensional outline dimensions of the turbine guide blades and local features that need to be guaranteed, etc.

[0067] S102: Integrate the actual size of the blade with the theoretical model to obtain the spatially optimized position of the turbine guide blade.

[0068] In an embodiment of the present application, after scanning the turbine guide blade, the actual size of the blade is compared and integrated with a theoretical model for manufacturing the turbine guide blade, thereby obtaining the spatially optimized position of the turbine guide blade.

[0069] One possible method is as follows, including the following steps:

[0070] According to the actual size of the turbine guide blade obtained after scanning, a solid point cloud Q of the turbine guide blade is generated.

[0071] Import the theoretical model of the turbine guide blade into GOM software (a processing software that supports simple or complex inspection tasks throughout the entire inspection process, from recording the parts to be tested, mesh processing, importing CAD, necessary shape and position calculations, to trend analysis, digital assembly or special inspections) to generate the theoretical model of the turbine guide blade Point Cloud X.

[0072] The solid point cloud Q of the turbine guide blade obtained by scanning is initially aligned with the theoretical model point cloud X by using PCA (Principal Component Analysis) so that the reference coordinate systems of the two point clouds are adjusted to be consistent.

[0073] The registration refers to automatic registration. The point cloud automatic registration technology uses a computer to calculate the displacement between two point clouds through a certain algorithm or statistical law, so as to achieve the effect of automatically registering the two point clouds.

[0074] Select the characteristic dimension point cloud data set E of the cavity and the inner edge plate in the theoretical model point cloud X of the turbine guide blade.

[0075] The ICP algorithm (Iterative Closest Point) is used to align the characteristic dimension point cloud dataset E of the theoretical model of the turbine guide blade with the solid point cloud of the turbine guide blade part. After the alignment, the theoretical model E of the turbine guide blade and the characteristic dimension point cloud of the solid model will overlap, completing the local feature integration of the turbine guide blade and obtaining the optimized spatial pose of a turbine guide blade.

[0076] The point cloud and point cloud data set refer to a massive set of points of target surface characteristics, including three-dimensional coordinates, laser reflection intensity, color information, etc.

[0077] S103: Calculate and obtain a turbine guide blade deviation model according to the spatially optimized posture.

[0078] In this embodiment, according to the above-mentioned space optimization posture, the deviation model of the turbine guide blade is obtained by calculating the difference between the entity point cloud and the theoretical model point cloud.

[0079] The deviation model is the difference between the actual point and the theoretical model point.

[0080] One possible way is as follows:

[0081] According to the spatial optimized posture, the difference between the positions of all points of the integrated solid point cloud of the turbine guide blade part and the theoretical model point cloud of the turbine guide blade is calculated to obtain a deviation model of the turbine guide blade under the optimized spatial posture, wherein when the actual point cloud is larger than the theoretical model point cloud, it is a positive deviation value, and when the actual point cloud is larger than the theoretical model point cloud, it is a negative deviation value.

[0082] S104: Calculate and obtain theoretical characteristic points of turbine guide blades according to the spatially optimized posture.

[0083] In this embodiment, according to the spatial optimized posture obtained in the above steps, the deviation model is used to calculate and obtain the theoretical characteristic points of the turbine guide blade, including but not limited to the characteristic points such as the reference six points.

[0084] Among them, the six reference points refer to six reasonably distributed support points in a spatial rectangular coordinate system with six degrees of freedom, namely three degrees of freedom of movement along the X, Y, and Z axes and three degrees of freedom of rotation around these three axes, which enable the blade to occupy the correct position in the fixture and limit the six degrees of freedom of the blade.

[0085] The theoretical characteristic points are the positions of the characteristic points of the blade under an ideal state, including but not limited to the six reference points.

[0086] S105: According to the turbine guide vane deviation model, actual feature point positions of the blade at the actual position of the blade are collected.

[0087] The actual feature points are the positions of the various feature points of the blade in the actual state, including but not limited to the six reference points.

[0088] In this embodiment, actual feature points in actual positions are collected on the turbine guide blades according to the turbine guide blade deviation model obtained in step S103.

[0089] One possible way is as follows:

[0090] According to the optimized posture, the aligned turbine guide blade entity point cloud Q and the theoretical model point cloud model X, the turbine guide blade entity point cloud Q at each machining position is convex to the theoretical model point cloud model X, and the machining allowance is sufficient.

[0091] The machining allowance is a positive deviation value when the actual point cloud Q is greater than the theoretical model point cloud X, and a negative deviation value when the actual point cloud Q is greater than the theoretical model point cloud X. It is necessary to determine whether the difference between the machining position and the actual posture in space meets the upper limit value of the deviation model. If not, the actual posture in space needs to be adjusted in subsequent steps.

[0092] Find the positions of the six positioning reference points G, E1, E2, K1, and K2 in the deviation model, and obtain the deviation values ​​T of the six positioning reference points G 、T E 、T E2 、T K1 、T K2 、T JB .

[0093] S106: Adjusting the actual position of the turbine guide blade until the theoretical feature point coincides with the actual feature point, so as to adjust the actual spatial posture.

[0094] In this embodiment, if the machining allowance is not sufficient, the actual position of the turbine guide blade is adjusted so that the theoretical feature point position coincides with the actual feature point position in the actual spatial position.

[0095] One possible way is as follows:

[0096] The turbine guide blade is clamped on a five-axis milling machine equipped with an on-machine contact probe using a fixture. The spatial positions of the six points located by the on-machine probe are recorded as (x i ,y i , z i ), i=1, 2, ...6.

[0097] In the five-axis machine tool CNC program, the six positioning points are adjusted according to the deviation value T G 、T E 、T E2 、T K1 、T K2 、T JB , compensation is performed according to the positioning point compensation formula:

[0098]

[0099] Then according to the compensated six-point positioning coordinates (x i ,y i , z i ), i = 1, 2, ... 6, iteratively establish the coordinate system, and adjust the spatial posture of the turbine guide blades to make it basically consistent with the optimized spatial posture obtained during the non-contact detection process 1.

[0100] Among them, xi is the horizontal coordinate value of the i-th feature point, y i is the ordinate value of the i-th feature point, z i is the vertical axis coordinate value of the i-th feature point, a xi is the horizontal coordinate value of the direction cosine of the i-th vector, a yi is the ordinate value of the direction cosine of the i-th vector, a zi is the vertical axis coordinate value of the i-th vector direction cosine. According to the spatial optimized posture obtained by the integration, the deviation value between the actual feature point position and the theoretical feature point position is recorded as T.

[0101] S107: According to the adjusted actual spatial position, a machining reference plane is selected to design a machining tool and perform machining.

[0102] In this embodiment, the actual spatial position, structural shape and machining features of the turbine guide blade are used to select a machining reference surface so as to reduce errors in subsequent machining.

[0103] One possible way is as follows:

[0104] According to the actual spatial position, structural shape and machining characteristics of a turbine guide blade, two machined planes, the back wedge surface and the inlet edge plate, were selected as intermediate conversion reference surfaces.

[0105] In the spatial posture controlled by the five-axis milling machine described in step S106, the back wedge surface and the air intake edge plate are milled, and a machining allowance of 0.08 mm is left.

[0106] It should be noted that in the embodiments of the present application, the above-mentioned machining allowance is only used as an example. In actual applications, it can be set according to the required machining allowance, which is also within the protection scope of the present application.

[0107] The machining positioning tooling is designed with the back wedge surface and the intake edge plate as the reference surfaces. The turbine guide vanes are mounted on a five-axis CNC machining grinder. The two machining reference surfaces, the basin side wedge surface and the exhaust edge plate, are ground according to the machining allowance obtained by the deviation model under the optimized spatial posture during the non-contact detection process in steps S101-S105.

[0108] Taking the basin side wedge surface and the exhaust edge plate as the reference, the position of the cavity and the inner edge plate is detected by a three-coordinate machine to confirm the manufacturing conformity of the turbine guide blade entity with the cavity and the inner edge plate in the simulated optimized posture state. Based on this, the machining tooling is designed and machining is carried out.

[0109] Based on the above content, it can be known that in the embodiment of the present application, the actual size of the turbine guide blade is obtained by contact detection in the machine and the theoretical model is integrated to obtain the spatial optimization posture of the turbine guide blade, and then the actual posture in space is adjusted, and the reference surface is selected to design the machining tooling and perform machining. In the case of the machining tooling designed after the reference surface is selected, it is no longer necessary to perform differential adjustment of the turbine guide blade, and only the subsequent fixed machining process needs to be completed. Through the above steps, the error rate in the machining process of the turbine guide blade can be greatly reduced, and the machining quality can be improved.

[0110] The above introduces the method for processing and detecting turbine blades provided in the embodiment of the present application. The following is an illustrative description of the method for processing and detecting turbine blades in combination with specific application scenarios.

[0111] See also Figure 2 , is a flow chart of a method for processing and detecting turbine blades in an embodiment of the present application scenario, the method comprising:

[0112] S201: Perform blue light scanning on the blade to obtain the actual size and actual spatial position of the blade.

[0113] The actual size includes the three-dimensional size of the blade and the size of each characteristic point to be protected by the blade.

[0114] S202: Integrate the actual size of the blade obtained in step S201 with the theoretical model of the blade to obtain the spatial position of the blade.

[0115] The integration includes the following steps:

[0116] According to the actual size of the turbine blade obtained after scanning, the turbine blade entity point cloud Q is generated.

[0117] Import the theoretical model of the turbine blade into GOM software (a processing software that supports simple or complex inspection tasks throughout the entire inspection process, from recording the parts to be tested, mesh processing, importing CAD, necessary shape and position calculations, to trend analysis, digital assembly or special inspections) to generate the theoretical model of the turbine blade Point Cloud X.

[0118] The turbine blade entity point cloud Q obtained by scanning is initially aligned with the theoretical model point cloud X using PCA (Principal Component Analysis) so that the reference coordinate systems of the two point clouds are adjusted to be consistent.

[0119] Select the characteristic dimension point cloud dataset E of the cavity and the inner edge plate in the theoretical model point cloud X of the turbine blade.

[0120] The ICP algorithm (Iterative Closest Point) is used to align the characteristic dimension point cloud dataset E of the turbine blade theoretical model with the solid point cloud of the turbine blade part. After the alignment, the theoretical model E of the turbine blade and the characteristic dimension point cloud of the solid model will overlap, completing the local feature integration of the turbine blade and obtaining the optimized spatial pose of a turbine blade.

[0121] The point cloud and point cloud data set refer to a massive set of points of target surface characteristics, including three-dimensional coordinates, laser reflection intensity, color information, etc.

[0122] S203: Obtaining a deviation model of the turbine blade according to the spatial optimized posture calculation.

[0123] In this step, it is necessary to calculate the difference between the positions of all points in the integrated turbine blade part entity point cloud and the turbine blade theoretical model point cloud. When the actual point cloud is larger than the theoretical model point cloud, it is a positive deviation value; when the actual point cloud is larger than the theoretical model point cloud, it is a negative deviation value. The deviation model of the turbine blade is obtained according to the deviation value.

[0124] S204: Install the blades and perform on-machine testing.

[0125] In this step, the tooling is first clamped on a five-axis milling machine equipped with an on-machine contact probe, and then on-machine inspection is performed.

[0126] Wherein, the on-machine detection includes:

[0127] The spatial position (x i ,y i , z i ), i=1, 2, ...6.

[0128] Among them, x i is the horizontal coordinate value of the i-th feature point, y i is the ordinate value of the i-th feature point, z i is the vertical axis coordinate value of the i-th feature point.

[0129] In this step, the coordinates of the six positions are located by on-machine detection and acquisition.

[0130] S205: Determine whether the on-board posture of the blade needs to be adjusted.

[0131] The coordinates of the six positioning points obtained in step S204 are compared with the actual size and actual spatial position of the blade obtained after the blue light scanning in step S201 to determine whether the on-machine posture of the blade needs to be adjusted.

[0132] In this step, if it is determined that the on-machine posture needs to be adjusted, the on-machine posture of the blade is adjusted; if it is determined that it is not necessary, the process proceeds to step S206.

[0133] Among them, the on-machine posture of the blade should be adjusted according to the following steps:

[0134] According to the optimized posture, the aligned turbine guide blade entity point cloud Q and the theoretical model point cloud model X, the turbine guide blade entity point cloud Q at each machining position is convex to the theoretical model point cloud model X, and the machining allowance is sufficient.

[0135] The machining allowance is a positive deviation value when the actual point cloud Q is greater than the theoretical model point cloud X, and a negative deviation value when the actual point cloud Q is greater than the theoretical model point cloud X. It is necessary to determine whether the difference between the machining position and the actual posture in space meets the upper limit value of the deviation model. If not, the actual posture in space needs to be adjusted in subsequent steps.

[0136] Find the positions of the six positioning reference points G, E1, E2, K1, and K2 in the deviation model, and obtain the deviation values ​​T of the six positioning reference points G 、T E 、T E2 、T K1 、T K2 、T JB .

[0137] In the CNC program of the five-axis milling machine in step S204, the six positioning points are adjusted according to the deviation value T G 、T E 、T E2 、T K1 、T K2 、T JB , compensation is performed according to the positioning point compensation formula, wherein the positioning point compensation formula is as follows:

[0138]

[0139] Then according to the compensated six-point positioning coordinates (x i ,y i , z i ), i = 1, 2, ... 6, iteratively establish the coordinate system, and adjust the spatial posture of the turbine blade to make it basically consistent with the optimized spatial posture.

[0140] Among them, a xi is the horizontal coordinate value of the direction cosine of the i-th vector, a yi is the ordinate value of the direction cosine of the i-th vector, a zi is the vertical axis coordinate value of the i-th vector direction cosine. According to the spatial optimized posture obtained by the integration, the deviation value between the actual feature point position and the theoretical feature point position is recorded as T.

[0141] S206: Design machining tooling and perform machining.

[0142] In this step, the design of machining tooling includes:

[0143] First, rough datum processing such as milling and grinding must be carried out, rough datum processing tooling must be designed, and finally the subsequent grinding process must be completed.

[0144] Among them, when processing the rough datum, it is necessary to follow the principles of ensuring the mutual position requirements, ensuring the reasonable distribution of machining allowances on the machining surface, facilitating workpiece clamping, and the principle that the rough datum generally cannot be reused.

[0145] Based on the above content, it can be seen that the design of processing tooling through non-contact detection and on-machine contact detection solves the problems of blade shape position difference and step difference in the mechanical processing process caused by blade blank size errors in the traditional blade processing process, thereby improving the compliance of blade design and manufacturing.

[0146] See also Figure 3 , this figure is a schematic diagram of the structure of a device for turbine blade processing and detection provided in an embodiment of the present application, and the device includes: a posture acquisition module 301, an integration module 302, a deviation model calculation module 303, a theoretical feature point acquisition module 304, an actual point acquisition module 305, a posture adjustment module 306, and a design module 307.

[0147] The posture acquisition module 301 is specifically used to scan the blade entity to obtain the actual size and actual spatial posture of the blade.

[0148] The integration module 302 is specifically used to integrate the actual size of the blade with the theoretical model to obtain the spatial optimized position and posture of the blade.

[0149] The deviation model calculation module 303 is specifically used to calculate and obtain the blade deviation model according to the spatially optimized posture.

[0150] The theoretical feature point acquisition module 304 is specifically used to calculate and acquire the theoretical feature points of the blade according to the spatially optimized posture.

[0151] The actual point acquisition module 305 is specifically used to collect the actual feature point of the blade at the actual position of the blade according to the blade deviation model.

[0152] The posture adjustment module 306 is specifically used to adjust the actual position of the blade until the theoretical feature point coincides with the actual feature point, so as to adjust the actual posture in space.

[0153] The design module 307 is specifically used to select a machining reference plane according to the actual spatial position, so as to design a machining tool and perform machining.

[0154] In one achievable manner, the integration module 302 includes:

[0155] The actual point cloud generating unit is used to generate an actual point cloud according to the actual size of the blade.

[0156] The theoretical model point cloud acquisition unit is used to obtain the theoretical model point cloud according to the theoretical model design.

[0157] The adjustment unit is used to initially align the actual point cloud with the theoretical model point cloud, and adjust the coordinate system of the actual point cloud and the coordinate system of the theoretical model point cloud to coincide with each other.

[0158] The theoretical model point cloud set acquisition unit is used to select a feature point cloud data set from the theoretical model point cloud according to the local features of the blade that need to be protected.

[0159] The spatial optimized posture acquisition unit is used to align the actual point cloud according to the feature point cloud data set, and obtain the target point cloud that coincides with the feature point cloud data set, and the target point cloud is the spatial optimized posture of the blade obtained after integration.

[0160] In one achievable manner, the deviation model calculation module 303 includes:

[0161] The first calculation unit is used to calculate the difference between the actual point cloud and all points of the theoretical model point cloud according to the spatial optimized posture of the blade, and integrate the differences to obtain a blade deviation model.

[0162] Among them, when the actual point cloud is larger than the theoretical model point cloud, it is a positive deviation value, and when the actual point cloud is larger than the theoretical model point cloud, it is a negative deviation value.

[0163] In a possible implementation manner, the device further includes:

[0164] The second adjustment unit is used to determine whether the difference between the machining position and the actual spatial posture meets the upper limit value of the deviation model according to the spatial optimized posture, and adjust the actual spatial posture if it does not meet the upper limit value.

[0165] In a possible implementation, the posture adjustment module 306 includes:

[0166] The second calculation unit is used to mark the coordinates of the actual feature point as (x i ,y i , z i), i = 1, 2, ... 6 and its vector direction cosine is recorded as (a xi , a yi , a zi ), i = 1, 2, ... 6, where xi is the horizontal coordinate value of the i-th feature point, y i is the ordinate value of the i-th feature point, z i is the vertical axis coordinate value of the i-th feature point; a xi is the horizontal coordinate value of the direction cosine of the i-th vector, a yi is the ordinate value of the direction cosine of the i-th vector, a zi is the vertical axis coordinate value of the i-th vector direction cosine.

[0167] The third calculation unit is used to record the deviation value between the actual feature point and the theoretical feature point as b according to the spatial optimized posture obtained by the integration.

[0168] The fourth calculation unit is used to calculate the theoretical point compensation value according to the theoretical feature point compensation formula, and the theoretical feature point compensation formula is:

[0169]

[0170] Among them, x' is the horizontal coordinate value of the compensation value, y' is the vertical coordinate value of the compensation value, z' is the vertical coordinate value, and (x', y', z') is the value obtained after compensation.

[0171] The fifth calculation unit is used to input the compensated value into the five-axis machine tool numerical control program, and adjust the actual spatial posture so that the actual feature point coincides with the theoretical feature point.

[0172] In a possible implementation, the design module 307 includes:

[0173] Design a machining unit to select a machining plane that ensures that the positioning error of subsequent repeated machining is within a preset range according to the actual spatial posture, and then select a machining surface relative to the machining reference surface to ensure the subsequent machining of the machining reference surface for machining.

[0174] See also Figure 4 , which is a schematic diagram of the corresponding device and computer storage medium provided in the embodiment of the present application, including:

[0175] The device includes a memory 401 and a processor 402, the memory 401 is used to store instructions or codes, and the processor 402 is used to execute the instructions or codes so that the device executes the method for turbine blade processing and detection described in any embodiment of the present application.

[0176] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

[0177] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0178] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0179] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0180] The above description is merely an exemplary embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A method for machining and testing turbine blades, characterized in that: The method comprises: Scan the blade entity to obtain the actual size and actual spatial position of the blade; Integrate the actual size of the blade with the theoretical model to obtain the spatially optimized position of the blade; According to the spatially optimized posture, a blade deviation model is calculated; According to the spatially optimized posture, the theoretical characteristic points of the blade are calculated and obtained; According to the blade deviation model, collecting actual feature points of the blade at the actual position of the blade; Adjusting the actual position of the blade until the theoretical feature point coincides with the actual feature point, so as to adjust the actual spatial position; According to the adjusted actual spatial posture, a machining reference surface is selected, thereby designing a machining tool and performing machining; including: designing a machining positioning tool based on the back wedge surface and the intake edge plate as references, using the basin side wedge surface and the exhaust edge plate as references, using a three-coordinate machine to detect the position of the cavity and the inner edge plate, confirming the manufacturing conformity of the turbine guide blade entity with the cavity and the inner edge plate in the simulated optimized posture state, thereby designing a machining tool and performing machining; The step of integrating the actual size of the blade with the theoretical model to obtain the spatially optimized position of the blade includes: generating an actual point cloud according to the actual size of the blade; According to the theoretical model design, a theoretical model point cloud is obtained; Performing an initial registration of the actual point cloud and the theoretical model point cloud, and adjusting the coordinate system of the actual point cloud and the coordinate system of the theoretical model point cloud to coincide with each other; According to the local features of the blade that need to be protected, a feature point cloud data set is selected from the theoretical model point cloud; the feature point cloud corresponds to the cavity and the inner edge plate of the blade; According to the feature point cloud data set, the actual point cloud is registered to obtain a target point cloud that coincides with the feature point cloud data set, and the target point cloud is the spatial optimized posture of the blade obtained after integration.

2. The method according to claim 1, characterized in that The step of calculating and obtaining a blade deviation model according to the spatially optimized posture comprises: According to the spatial optimized posture of the blade, the difference between the actual point cloud and all points of the theoretical model point cloud is calculated, and the difference is integrated to obtain a blade deviation model; When the actual point cloud is larger than the theoretical model point cloud, it is a positive deviation value; and when the actual point cloud is smaller than the theoretical model point cloud, it is a negative deviation value.

3. The method according to claim 1, characterized in that The method further comprises: According to the spatial optimized posture, it is determined whether the difference between the machining position and the actual spatial posture meets the upper limit value of the deviation model, and if not, the actual spatial posture is adjusted.

4. The method according to claim 3, characterized in that: The adjusting the actual spatial posture includes: According to the actual feature point, the coordinates of the actual feature point are marked as (x i ,y i , z i ), i = 1, 2, ... 6 and its vector direction cosine is recorded as (a xi , a yi , a zi ), i = 1, 2, ... 6, where x i is the horizontal coordinate value of the i-th feature point, y i is the ordinate value of the i-th feature point, z i is the vertical axis coordinate value of the i-th feature point; a xi is the horizontal coordinate value of the direction cosine of the i-th vector, a yi is the ordinate value of the direction cosine of the i-th vector, a zi is the vertical axis coordinate value of the i-th vector direction cosine; According to the spatial optimized posture obtained by the integration, the deviation value between the actual feature point and the theoretical feature point is recorded as b; The theoretical point compensation value is calculated according to the theoretical characteristic point compensation formula, and the theoretical characteristic point compensation formula is: Wherein, x' is the abscissa value of the compensation value, y' is the ordinate value of the compensation value, z' is the vertical coordinate value of the compensation value, and (x', y', z') is the value obtained after compensation; The compensated value is input into the numerical control program of the five-axis machine tool, and the actual position and posture in the space are adjusted so that the actual feature points coincide with the theoretical feature points.

5. The method according to claim 1, characterized in that The step of selecting a machining reference surface according to the actual spatial position, thereby designing a machining tool and performing machining, includes: According to the actual spatial posture, a machining plane is selected to ensure that the subsequent repeated machining positioning error is within a preset range, and then a machining surface relative to the machining reference surface is selected to ensure the subsequent machining of the machining reference surface for machining.

6. A device for processing and testing turbine blades, characterized in that: The device comprises: A posture acquisition module is used to scan the blade entity to obtain the actual size and actual spatial posture of the blade; An integration module, used for integrating the actual size of the blade with the theoretical model to obtain the spatially optimized position of the blade; A deviation model calculation module, used to calculate and obtain a blade deviation model according to the spatially optimized posture; A theoretical feature point acquisition module is used to calculate and acquire the theoretical feature points of the blade according to the spatially optimized posture; An actual point acquisition module, used for collecting the actual characteristic point of the blade at the actual position of the blade according to the blade deviation model; A posture adjustment module is used to adjust the actual position of the blade until the theoretical feature point coincides with the actual feature point, so as to adjust the actual posture in space; The design module selects the machining reference surface according to the actual spatial posture, thereby designing the machining tooling and performing machining; including: designing the machining positioning tooling based on the back wedge surface and the intake edge plate as the reference, using the basin side wedge surface and the exhaust edge plate as the reference, using a three-coordinate machine to detect the position of the cavity and the inner edge plate, confirming the manufacturing conformity of the turbine guide blade entity with the cavity and the inner edge plate in the simulated optimized posture state, thereby designing the machining tooling and performing machining; The integration module includes: An actual point cloud generating unit, used for generating an actual point cloud according to the actual size of the blade; A theoretical model point cloud acquisition unit, used for obtaining a theoretical model point cloud according to a theoretical model design; An adjustment unit, used for initially registering the actual point cloud with the theoretical model point cloud, and adjusting the coordinate system of the actual point cloud to coincide with the coordinate system of the theoretical model point cloud; A theoretical model point cloud set acquisition unit is used to select a feature point cloud data set in the theoretical model point cloud according to the local features of the blade that need to be protected; the feature point cloud corresponds to the cavity and the inner edge plate of the blade; The spatial optimized posture acquisition unit is used to align the actual point cloud according to the feature point cloud data set, and obtain the target point cloud that coincides with the feature point cloud data set, and the target point cloud is the spatial optimized posture of the blade obtained after integration.

7. The device according to claim 6, characterized in that The deviation model calculation module is specifically used for: According to the spatial optimized posture of the blade, the difference between the actual point cloud and all points of the theoretical model point cloud is calculated, and the difference is integrated to obtain a blade deviation model; When the actual point cloud is larger than the theoretical model point cloud, it is a positive deviation value; and when the actual point cloud is smaller than the theoretical model point cloud, it is a negative deviation value.

8. A turbine blade processing and testing device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for processing and detecting turbine blades as described in any one of claims 1 to 5 is implemented.

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