Method and device for automatically establishing overall impeller measurement coordinate system, and electronic equipment

Abstract

The application discloses a whole impeller measurement coordinate system automatic establishment method and device, and electronic equipment. The whole impeller measurement coordinate system automatic establishment method of the application realizes quick clamping of the whole centrifugal impeller by setting a high-precision positioning clamp, clamps the whole centrifugal impeller to a five-axis measuring machine in the shortest possible time, removes the step of manually establishing a coordinate system from the measurement process, eliminates the uncertainty caused by manual operation, has good consistency, and greatly improves the measurement efficiency. The application supports clamping at different positions of different measuring machines and adjusting the coordinate conversion of the measurement program accordingly, which is convenient and fast. The technical scheme designed by the application has universal applicability and can be popularized and applied to the measurement of other parts of an aero-engine, even to the detection of mechanical parts in other fields such as automobiles, and has a wide market application prospect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of three-coordinate measurement of integral impellers, in particular, to a method and device for automatically establishing a measurement coordinate system of an integral impeller, and an electronic device. BACKGROUND

[0002] In a conventional process for three-coordinate measurement of an impeller, the impeller needs to be manually clamped on a worktable of a measuring machine. The clamping is often slightly higher than the worktable of the measuring machine to facilitate the placement of a measuring needle at a suitable angle for measurement. Because the working profile of the impeller is complex and the circumferential positioning reference is often on the bottom end surface of the hub, it is difficult to measure in the measurement coordinate system, and thus the circumferential positioning is not possible. Even in the last few processes of machining a centrifugal impeller, the circumferential positioning reference is removed. Therefore, the conventional method is that a measurement engineer manually coarsely establishes a coordinate system by using a six-point positioning method, and then iteratively establishes an accurate coordinate system, after which a blade profile measurement program is run.

[0003] The existing coordinate system establishment method has the following technical problems:

[0004] (1) Manual clamping and manual coarse establishment of the coordinate system must be completed on a five-axis measuring machine, which occupies valuable measuring machine time, and the measuring machine does not perform effective measurement during this period, thus causing a long time for measuring the impeller and low utilization rate of the five-axis measuring machine.

[0005] (2) The method of manual coarse establishment of the coordinate system has poor consistency and depends on the experience and skill level of the measurement engineer. Moreover, the accuracy of the coarse establishment of the coordinate system is often low, which leads to failure of the iterative establishment of the accurate coordinate system, further reducing the measurement efficiency. SUMMARY

[0006] The preferred embodiment of the present application provides a method for automatically establishing a measurement coordinate system of an integral impeller, to solve the technical problems of low measurement efficiency, poor consistency, and low automation degree of the existing three-coordinate measurement of an impeller.

[0007] The technical solution adopted by the present application is as follows:

[0008] A method for automatically establishing a measurement coordinate system of an integral impeller includes the following steps:

[0009] S1, measuring and calculating the coordinates of each mounting hole on the machine tool platform in the machine tool coordinate system;

[0010] S2, the positioning fixture installed with the centrifugal impeller is bolted on the corresponding mounting hole on the measuring machine tool platform, wherein the positioning fixture comprises a bottom plate, an angular slot positioning rod and a support frame arranged on the bottom plate, two bolt holes located on the left and right sides of the bottom plate, and a left side, a front side and a top of the bottom plate are respectively provided with a finish surface: a left side, a front side and an upper surface, the support frame is provided with a support frame upper end face matched with the bottom end face of the centrifugal impeller and a support frame side column face matched with the center hole of the centrifugal impeller, and the machining size and relative position relationship of the bottom plate, the two bolt holes, the angular slot positioning rod and the support frame, the support frame upper end face and the support frame side column face are known and controlled by machining accuracy;

[0011] S3, a reference coordinate system is established according to the machining surface of the bottom plate, the origin of the reference coordinate system is located at the intersection of the extension surfaces of the upper surface, the left side and the front side of the bottom plate, and the position of the reference coordinate system in the machine tool coordinate system is determined according to the coordinates of the mounting hole connected with the bolt hole of the bottom plate on the measuring machine tool platform in the machine tool coordinate system;

[0012] S4, an assembly coordinate system is established according to the support frame upper end face, the support frame side column face on the support frame and the positioning surface on the angular slot positioning rod;

[0013] S5, the position of the assembly coordinate system in the reference coordinate system is determined according to the machining size and relative position relationship of the support frame and the bottom plate;

[0014] S6, the position of the assembly coordinate system in the machine tool coordinate system is determined according to the position of the assembly coordinate system in the reference coordinate system and the position of the reference coordinate system in the machine tool coordinate system;

[0015] S7, the position of the workpiece coordinate system in the machine tool coordinate system is obtained according to the relative distance from the centrifugal impeller bottom end face to the XOY plane of the workpiece coordinate system;

[0016] S8, the automatic rough establishment of the overall impeller measurement coordinate system is realized according to the positions of the machine tool coordinate system and the workpiece coordinate system in the machine tool coordinate system.

[0017] Further, the step S1 specifically comprises the steps of:

[0018] S11, the coordinates of four points on the circumference of one mounting hole are obtained by actual measurement;

[0019] S12, the least square method is used to realize the fitting of the circle according to the coordinates of the four points on the circumference of the mounting hole, and the center coordinates of the mounting hole are calculated;

[0020] S13, the coordinates of each mounting hole in the machine tool coordinate system are calculated by using the arrangement rule between each mounting hole.

[0021] Further, the arrangement rule includes the number of rows and columns of each mounting hole, and the interval distance in the X-axis and Y-axis directions.

[0022] Further, in step S12, the least square method is used to realize the fitting of the circle according to the coordinates of the four points on the circumference of the mounting hole, and when the coordinates of the center of the mounting hole are calculated, the coordinates of the four points on the circumference are projected on the XOY plane of the machine tool coordinate system.

[0023] Further, the step S3 specifically includes the steps of:

[0024] S31, taking the finish surface of the base plate as the feature for establishing the reference coordinate system, using the six-point positioning method, determining the Z-axis direction and the "0" point of the Z-axis according to the upper surface of the base plate; determining the direction of the X-axis and the "0" point of the X-axis according to the left side surface of the base plate; determining the direction of the Y-axis and the "0" point of the Y-axis according to the front side surface of the base plate, completing the creation of the reference coordinate system, and the origin of the reference coordinate system is located at the intersection of the upper surface, the left side surface and the front side surface;

[0025] S32, determining the position of the reference coordinate system in the machine tool coordinate system according to the coordinates of the mounting hole connected with the bolt hole of the base plate on the platform of the measuring machine tool.

[0026] Further, the step S4 specifically includes the steps of:

[0027] S41, collecting points on the upper end surface of the support frame to determine the XOY plane of the assembly coordinate system;

[0028] S42, collecting a plurality of points at the same height along the side column surface of the support frame to determine the position of the origin;

[0029] S43, collecting one point on each of the front and rear symmetrical positioning surfaces on the angular slot positioning rod, and the midpoint of the line connecting the two collected points coincides with the projection of the line connecting the origin on the XOY plane and the X-axis, that is, the assembly coordinate system is completed.

[0030] Further, the step S8 specifically includes the steps of:

[0031] S81, calling the machine tool coordinate system by the measuring machine tool platform;

[0032] S82, moving the origin of the machine tool coordinate system to the coordinate position of the workpiece coordinate origin in the machine tool coordinate system, ensuring that the direction of the coordinate system is consistent with the direction of the machine tool coordinate system, thereby realizing the automatic rough establishment of the overall impeller measurement coordinate system.

[0033] Another preferred embodiment of the application further provides an overall impeller measurement coordinate system automatic establishment device, comprising:

[0034] The mounting hole coordinate determination module is used to measure and calculate the coordinates of each mounting hole 11 on the measuring machine tool platform in the machine tool coordinate system.

[0035] The positioning and mounting module is used to install a positioning fixture with a centrifugal impeller on the corresponding mounting holes on the measuring machine tool platform by bolts. The positioning fixture includes a base plate, a angular groove positioning rod and a support frame set on the base plate, and two bolt holes located on the left and right sides of the base plate. The left side, front side and top of the base plate are respectively provided with precision-machined surfaces: the left side surface, the front side surface and the top surface. The support frame is provided with a precision-machined upper end surface that mates with the bottom end surface of the centrifugal impeller and a support frame side column surface that mates with the center hole of the centrifugal impeller. The machining dimensions and relative positional relationships of the base plate, the two bolt holes, the angular groove positioning rod and the support frame, the upper end surface of the support frame and the support frame side column surface are all known and controlled by machining accuracy.

[0036] The reference coordinate system establishment module is used to establish a reference coordinate system based on the machining surface of the base plate. The origin of the reference coordinate system is located at the intersection of the extension surfaces of the upper surface, left side surface and front side surface of the base plate. At the same time, the position of the reference coordinate system in the machine tool coordinate system is determined based on the coordinates of the mounting holes connected to the bolt holes of the base plate on the measuring machine tool platform in the machine tool coordinate system.

[0037] The assembly coordinate system establishment module is used to establish an assembly coordinate system based on the upper end face of the support frame, the side cylindrical surface of the support frame, and the positioning surface on the angular groove positioning rod.

[0038] The first displacement calculation module is used to determine the position of the assembly coordinate system in the reference coordinate system based on the processing dimensions and relative positional relationship of the support frame and the base plate;

[0039] The second position conversion module determines the position of the assembly coordinate system in the machine tool coordinate system based on the position of the assembly coordinate system in the reference coordinate system and the position of the reference coordinate system in the machine tool coordinate system.

[0040] The third position conversion module is used to obtain the position of the workpiece coordinate system in the machine tool coordinate system based on the relative distance between the bottom end face of the centrifugal impeller and the XOY plane of the workpiece coordinate system.

[0041] The measurement coordinate system coarse establishment module is used to automatically and coarsely establish the overall impeller measurement coordinate system based on the positions of the machine tool coordinate system and the workpiece coordinate system in the machine tool coordinate system.

[0042] Another preferred embodiment of this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the automated establishment method for the overall impeller measurement coordinate system.

[0043] Another preferred embodiment of the present application also provides a storage medium comprising a stored program which, when executed, controls a device in which the storage medium is located to perform the steps of the whole impeller measurement coordinate system automatic establishment method.

[0044] Compared with the prior art, the present application has the following beneficial effects:

[0045] The present application provides a whole impeller measurement coordinate system automatic establishment method, device and electronic equipment. The present application realizes fast clamping of a whole centrifugal impeller by setting a high-precision positioning clamp, clamps the whole centrifugal impeller to a five-axis measuring machine in the shortest possible time, removes the step of manually establishing a coordinate system from the measurement process, eliminates the uncertainty caused by manual operation and improves the consistency, and greatly improves the measurement efficiency. The present application supports clamping at different positions of different measuring machines and adjusting the measurement program coordinate conversion accordingly, which is convenient and fast. The technical solution designed by the present application has universal applicability and can be applied to the measurement of other parts of an aero-engine, even to the detection of mechanical parts in the automobile field and other fields, and has a wide market application prospect.

[0046] The present application has other purposes, features and advantages in addition to those described above. The present application will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0047] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, illustrate the preferred embodiments of the application and the explanations of the application, and do not constitute an improper limitation of the application. In the drawings:

[0048] Figure 1 is a flowchart of the whole impeller measurement coordinate system automatic establishment method of the preferred embodiment of the present application.

[0049] Figure 2 is a schematic diagram of the distribution of each mounting hole on the measuring machine bed platform of the preferred embodiment of the present application.

[0050] Figure 3 is a schematic diagram of the assembly effect of the positioning clamp of the preferred embodiment of the present application on the measuring machine bed working platform.

[0051] Figure 4 is a schematic diagram of the positioning clamp structure of the preferred embodiment of the present application.

[0052] Figure 5 is a schematic diagram of the establishment of the reference coordinate system by the positioning clamp in the preferred embodiment of the present application.

[0053] Figure 6is a schematic diagram of establishing an assembly coordinate system by a positioning fixture in the preferred embodiment of the present application.

[0054] Figure 7 is a schematic diagram of the automatic establishment device module of the overall impeller measurement coordinate system in the preferred embodiment of the present application.

[0055] Figure 8 is a schematic block diagram of an electronic device entity in the preferred embodiment of the present application.

[0056] Figure 9 is an internal structure diagram of a computer device in the preferred embodiment of the present application.

[0057] As shown in the figure: 1, a measurement machine tool platform; 11, a mounting hole; 2, a positioning fixture; 20, a bottom plate; 21, a left side; 22, a first bolt hole; 23, an angular slot positioning rod; 24, a support frame; 25, a support frame upper end face; 26, a support frame side column face; 27, an upper surface; 26, a second bolt hole; 29, a front side. DETAILED DESCRIPTION

[0058] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0059] As shown in the figure, Figure 1 the preferred embodiment of the present application provides a kind of overall impeller measurement coordinate system automatic establishment method, comprising the following steps:

[0060] S1, measurement and calculation are obtained The coordinates of each mounting hole 11 on the measurement machine tool platform 1 under the machine tool coordinate system (see Figure 2 );

[0061] S2, the positioning fixture 2 installed with centrifugal impeller is installed on the corresponding mounting hole 11 on the measurement machine tool platform 1 by bolt (see Figure 3 ), wherein the positioning fixture 2 includes bottom plate 20, angular slot positioning rod 23 and support frame 24 arranged on the bottom plate 20, first bolt hole 22 and second bolt hole 26 located on the left and right sides of bottom plate 20, the left side, front side and top of the bottom plate 20 are respectively provided with finish face: left side 21, front side 29 and upper surface 27, the support frame 24 is provided with support frame upper end face 25 matched with the bottom end face of centrifugal impeller and support frame side column face 26 matched with the center hole of centrifugal impeller, the machining size and relative position relationship of the bottom plate 20, two bolt holes, angular slot positioning rod 23 and support frame 24, support frame upper end face 25, support frame side column face 26 are known and controlled by machining precision (see Figure 4 ;

[0062] S3, establishing a reference coordinate system according to the processing surface of the bottom plate 20, the origin of the reference coordinate system is located at the intersection of the upper surface 27, the left side surface 21 and the extension surface of the front side surface 29 of the bottom plate 20, and the position of the reference coordinate system in the machine tool coordinate system is determined according to the coordinates of the mounting hole 11 on the machine tool platform 1 connected with the bolt hole of the bottom plate 20 in the machine tool coordinate system;

[0063] S4, establishing an assembly coordinate system according to the support frame upper end surface 25 on the support frame 24, the support frame side column surface 26 and the positioning surface on the angular slot positioning rod 23;

[0064] S5, determining the position of the assembly coordinate system in the reference coordinate system according to the processing size and relative position relationship of the support frame 24 and the bottom plate 20;

[0065] S6, determining the position of the assembly coordinate system in the machine tool coordinate system according to the position of the assembly coordinate system in the reference coordinate system and the position of the reference coordinate system in the machine tool coordinate system;

[0066] S7, obtaining the position of the workpiece coordinate system in the machine tool coordinate system according to the relative distance from the bottom end surface of the centrifugal impeller to the XOY plane of the workpiece coordinate system;

[0067] S8, realizing the automatic rough establishment of the overall impeller measurement coordinate system according to the positions of the machine tool coordinate system and the workpiece coordinate system in the machine tool coordinate system.

[0068] It is assumed that the bolt holes on the bottom plate 20 of the positioning clamp 2 are coaxial with the mounting holes 11 on the machine tool, and the position of the first bolt hole 22 on the bottom plate 20 close to the angular slot positioning rod 23 does not exist processing deviation. The coordinates of the second bolt hole 28 (away from the angular slot positioning rod 23) are (813.7939747, 481.857609, -250.4); the coordinates of the second bolt hole 28 in the reference coordinate system are (424.996, 145.076, 0), the height of the bottom plate 20 is 29.6mm, and the position of the reference coordinate system in the machine tool coordinate system is (388.7979747, 336.781609, -220.8).

[0069] The embodiment provides a kind of integral impeller measurement coordinate system automatic establishment method, this method is realized by setting high-precision positioning fixture 2, the quick clamping of centrifugal impeller whole, in the shortest time, the whole centrifugal impeller is clamped to five-axis measuring machine, the link of artificial establishment coordinate system is removed from measurement process, on the one hand, the uncertainty brought by artificial is eliminated, on the other hand, measurement efficiency is greatly improved.This method supports clamping in different measuring machines and different positions on the measuring machine, and adjusts the coordinate conversion of measurement program correspondingly, which is convenient and fast.The technical scheme designed by the method has universal applicability and can be applied to the measurement of other parts of aero-engine, and even can be applied to the detection of mechanical parts in other fields such as automobile, with wide market application prospect.

[0070] Preferably, the step S1 specifically comprises the steps of:

[0071] S11, obtain the coordinates of four points on the circumference of the mounting hole 11 by actual measurement;

[0072] S12, the fitting of the circle is realized using the least square method according to the coordinates of the four points on the circumference of the mounting hole 11, and the center coordinates of the mounting hole 11 are calculated, wherein when the fitting of the circle is realized using the least square method according to the coordinates of the four points on the circumference of the mounting hole 11, the center coordinates of the mounting hole 11 are calculated, the coordinates of the four points on the circumference are projected on the XOY plane of the machine tool coordinate system to calculate, so as to reduce the calculation amount and improve the calculation efficiency;

[0073] S13, the arrangement rule between each mounting hole 11 is used to cyclically solve the coordinates of each mounting hole 11 in the machine tool coordinate system, and the arrangement rule includes the number of rows, the number of columns, the interval distance in the X-axis and Y-axis directions of each mounting hole 11.

[0074] In the embodiment, the measuring machine platform has a total of 20 mounting holes that can be used for mounting the fixture, and the distribution of the mounting holes is as shown in Figure 2 The mounting holes are distributed in 5 rows and 4 columns, and the interval of each mounting hole in the X-axis and Y-axis directions is 400mm. The 20 points are numbered 1-20, and the mounting holes 11 with the serial numbers 14 and 15 in the figure are the holes used for mounting the positioning fixture 2.

[0075] The center coordinates of the mounting holes 11 are regarded as the coordinates of the mounting holes 11, and now the coordinates of the 20 mounting holes 11 are known, so that we can calculate the coordinates of the positioning fixture 2 in the machine tool coordinate system after installation, and facilitate the establishment of the workpiece coordinate system in the later stage.

[0076] Through actual measurement, the coordinates of the four points on the circumference of the mounting hole 11 are known, which are respectively:

[0077] p1(813.950989, 1286.18671, -256.802229).

[0078] p2 (817.9667, 1282.980388, -256.8028);

[0079] p3 (809.510773, 1282.423353, -256.794051);

[0080] p4 (812.696359, 1277.6689, -256.785161);

[0081] According to the four points p1, p2, p3, and p4, a circle is fitted, and the center coordinates are obtained, which are the coordinates of the mounting hole 11. Because we only need the X and Y axis coordinates of the 20 mounting holes 11, the points p1, p2, p3, and p4 are projected on the XOY plane of the machine tool coordinate system for calculation.

[0082] Finally, the algorithm program is written, the least square method is used to realize the fitting of the circle, and the center coordinates are solved. After the center coordinates are solved, the arrangement rule (5 rows × 4 columns, the interval of X and Y axes is 400 mm) between the mounting holes 11 is used to cyclically solve the coordinates of the 20 mounting holes 11. The specific code is as follows:

[0083]

[0084] The x and y coordinates corresponding to the 20 mounting holes are finally obtained as shown in Table 1:

[0085] Table 1

[0086]

[0087]

[0088] Preferably, the step S3 specifically comprises the steps of:

[0089] S31, taking the finish surface of the bottom plate 20 as the feature for establishing the reference coordinate system, adopting the six-point positioning method, determining the Z-axis direction and the “0” point of the Z-axis according to the upper surface 27 of the bottom plate 20; determining the direction of the X-axis and the “0” point of the X-axis according to the left side surface 21 of the bottom plate 20; determining the direction of the Y-axis and the “0” point of the Y-axis according to the front side surface 29 of the bottom plate 20, completing the creation of the reference coordinate system, and the origin of the reference coordinate system is located at the intersection of the upper surface, the left side surface, and the front side surface (see Figure 5 );

[0090] S32, determining the position of the reference coordinate system in the machine tool coordinate system according to the coordinates of the mounting hole 11 connected with the bolt hole of the bottom plate 20 on the machine tool platform 1 in the machine tool coordinate system.

[0091] Preferably, asFigure 6 As shown, the step S4 specifically includes steps of:

[0092] S41, points are collected on the upper end surface 25 of the support frame to determine the XOY plane of the assembly coordinate system;

[0093] S42, a plurality of points are collected on the same height along the side cylindrical surface 26 of the support frame to determine the position of the origin;

[0094] S43, one point is collected on each of the front and rear symmetrical positioning surfaces on the positioning rod 23 in the angular groove, the midpoint of the line connecting the two collected points is coincident with the projection of the line connecting the two points on the XOY plane and the X axis, that is, the assembly coordinate system is created.

[0095] Through calculation, the position of the assembly coordinate system under the reference coordinate system is (224.872, 145.078, 84.51), and the position of the assembly coordinate system under the machine tool coordinate system is (613.6699747, 481.859609, -136.29). The bottom end surface of the centrifugal impeller is in close contact with the upper end surface 25 of the support frame of the positioning fixture 2, and the distance from the bottom end surface of the centrifugal impeller to the XOY plane of the workpiece coordinate system is 105.8670 mm. The position of the workpiece coordinate system under the machine tool coordinate system is (613.6699747, 481.859609, -30.423).

[0096] In summary, the coordinates of the workpiece coordinate origin under the machine tool coordinate system are (613.6699747, 481.859609, -30.423).

[0097] Preferably, the step S8 specifically includes steps of:

[0098] S81, the machine tool coordinate system is called by the measuring machine platform 1;

[0099] S82, the machine tool coordinate system origin is translated to the coordinate position of the workpiece coordinate origin under the machine tool coordinate system, to ensure that the direction of the coordinate system is consistent with the direction of the machine tool coordinate system, thereby realizing the automatic coarse establishment of the overall impeller measurement coordinate system.

[0100] In the implementation of the automatic coarse establishment of the overall impeller measurement coordinate system, the embodiment relies on the MODUS measurement software of the RENISHAW REVO five-axis machine tool to realize secondary development, and the related code is as follows:

[0101] ## Call the machine tool coordinate system

[0102] RECALL / D(0)

[0103] ## Coordinate origin translation to the position of the workpiece coordinate origin under the machine tool coordinate system

[0104] D(Fixture_Datum)=TRANS / XORIG,613.67,YORIG,481.86,ZORIG,-30.423

[0105] ##Complete the automated coarse establishment of the overall impeller measurement coordinate system

[0106] D(Rough_Datum)=ROTATE / ZAXIS,0

[0107] like Figure 7 As shown, another preferred embodiment of this application also provides an automated device for establishing an overall impeller measurement coordinate system, comprising:

[0108] The mounting hole coordinate determination module is used to measure and calculate the coordinates of each mounting hole 11 on the measuring machine tool platform 1 in the machine tool coordinate system;

[0109] The positioning and installation module is used to install the positioning fixture 2, on which the centrifugal impeller is mounted, onto the corresponding mounting holes 11 on the measuring machine tool platform 1 by bolts. The positioning fixture 2 includes a base plate 20, an angular groove positioning rod 23 and a support frame 24 provided on the base plate 20, and two bolt holes located on the left and right sides of the base plate 20. The left side, front side and top of the base plate 20 are respectively provided with precision-machined surfaces: left side surface 21, front side surface 29 and top surface 27. The support frame 24 is provided with a precision-machined upper end surface 25 that mates with the bottom end surface of the centrifugal impeller and a support frame side column surface 26 that mates with the center hole of the centrifugal impeller. The machining dimensions and relative positional relationships of the base plate 20, the two bolt holes, the angular groove positioning rod 23 and the support frame 24, the upper end surface 25 of the support frame and the support frame side column surface 26 are all known and controlled by machining accuracy.

[0110] The reference coordinate system establishment module is used to establish a reference coordinate system based on the machining surface of the base plate 20. The origin of the reference coordinate system is located at the intersection of the extension surfaces of the upper surface 27, the left side surface 21 and the front side surface 29 of the base plate 20. At the same time, the position of the reference coordinate system in the machine tool coordinate system is determined based on the coordinates of the mounting holes 11 on the measuring machine tool platform 1 that are connected to the bolt holes of the base plate 20 in the machine tool coordinate system.

[0111] The assembly coordinate system establishment module is used to establish an assembly coordinate system based on the upper end face 25 of the support frame 24, the side cylindrical surface 26 of the support frame, and the positioning surface on the angular groove positioning rod 23.

[0112] The first displacement calculation module is used to determine the position of the assembly coordinate system in the reference coordinate system based on the processing dimensions and relative positional relationship of the support frame 24 and the base plate 20.

[0113] The second position conversion module is configured to determine the position of the assembly coordinate system in the machine tool coordinate system according to the position of the assembly coordinate system in the reference coordinate system and the position of the reference coordinate system in the machine tool coordinate system.

[0114] The third position conversion module is configured to obtain the position of the workpiece coordinate system in the machine tool coordinate system according to the relative distance from the bottom end surface of the centrifugal impeller to the XOY plane of the workpiece coordinate system.

[0115] The measurement coordinate system rough establishment module is configured to automatically establish the measurement coordinate system of the whole impeller according to the positions of the machine tool coordinate system and the workpiece coordinate system in the machine tool coordinate system.

[0116] As shown in Figure 8 The preferred embodiments of the present application further provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the whole impeller measurement coordinate system automatic establishment method in the above embodiments when executing the program.

[0117] As shown in Figure 9 The preferred embodiments of the present application further provide a computer device, which can be a terminal or a living body detection server, and its internal structure diagram can be as shown in Figure 9 The computer device includes a processor, a memory, and a network interface connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the computer device is configured to communicate with other computer devices outside through a network connection. The computer program is executed by the processor to implement the steps of the whole impeller measurement coordinate system automatic establishment method.

[0118] Those skilled in the art can understand, Figure 9 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0119] The preferred embodiments of the present application further provide 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 steps of the whole impeller measurement coordinate system automatic establishment method in the above embodiments.

[0120] It is to be understood that the steps illustrated in the flowchart of the drawings can be performed in a computer system such as a set of computer readable instructions executed by a computer system and while logic associated with the steps is being executed, processes can inadvertently be performed in an order other than that described herein. However, it is the results that are important for the aspects of this description, not the order.

[0121] If the functions described in the method of the embodiments are implemented in software, and the software is sold or used as an independent product, the software can be stored in one or more computer-readable storage media. Based on such an understanding, the part of the prior art or the part of the technical solutions of the embodiments of the present application that make contributions to the prior art can be embodied in the form of a software product, which is stored in a storage medium, and includes a number of instructions for causing one or more computers to perform all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and various media that can store program codes.

[0122] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present application can be implemented in various computer languages, such as object-oriented programming language C++ and interpreted scripting language python.

[0123] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The device that implements the functions specified in one flow or multiple flows and / or blocks.

[0124] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0125] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that are executed on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0126] Although preferred embodiments of the application have been described herein, substitutions and alterations are possible in view of the disclosure of this application without departing from the spirit and scope of the present application. Therefore, it is intended that the appended claims be interpreted as including all such alternatives and modifications as fall within the true spirit and scope of the present application.

[0127] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A method for automated establishment of a measurement coordinate system for an integrated impeller, characterized in that The method comprises the steps of: S1, measuring and calculating the coordinates of each mounting hole (11) on the machine tool platform (1) in the machine tool coordinate system; S2, the positioning fixture (2) installed with the centrifugal impeller is bolted on the corresponding mounting hole (11) on the measuring machine tool platform (1), wherein the positioning fixture (2) comprises a bottom plate (20), an angular slot positioning rod (23) and a support frame (24) arranged on the bottom plate (20), two bolt holes located on the left and right sides of the bottom plate (20), and a left side (21), a front side (29) and an upper surface (27) arranged on the left side, front side and top of the bottom plate (20) respectively, and a support frame upper end face (25) matched with the bottom end face of the centrifugal impeller and a support frame side cylindrical surface (26) matched with the center hole of the centrifugal impeller are arranged on the support frame (24), and the machining sizes and relative positional relationships of the bottom plate (20), the two bolt holes, the angular slot positioning rod (23) and the support frame (24), the support frame upper end face (25) and the support frame side cylindrical surface (26) are known and controlled by machining accuracy; S3, establishing a reference coordinate system according to the finish machining surface of the bottom plate (20), the origin of the reference coordinate system is located at the intersection of the extensions of the upper surface (27), the left side (21) and the front side (29) of the bottom plate (20), and the position of the reference coordinate system in the machine tool coordinate system is determined according to the coordinates of the mounting hole (11) on the measuring machine tool platform (1) connected with the bolt hole of the bottom plate (20) in the machine tool coordinate system, and specifically comprising the steps of: S31, taking the finish machining surface of the bottom plate (20) as the feature for establishing the reference coordinate system, adopting six-point positioning method, determining the direction of Z axis and the "0" point of Z axis according to the upper surface (27) of the bottom plate (20), determining the direction of X axis and the "0" point of X axis according to the left side (21) of the bottom plate (20), and determining the direction of Y axis and the "0" point of Y axis according to the front side (29) of the bottom plate (20), completing the creation of the reference coordinate system, and the origin of the reference coordinate system is located at the intersection of the extensions of the upper surface, the left side and the front side; S32, determining the position of the reference coordinate system in the machine tool coordinate system according to the coordinates of the mounting hole (11) on the measuring machine tool platform (1) connected with the bolt hole of the bottom plate (20) in the machine tool coordinate system; S4, establishing an assembly coordinate system according to the support frame upper end face (25), the support frame side cylindrical surface (26) on the support frame (24) and the positioning surface on the angular slot positioning rod (23), and specifically comprising the steps of: S41, collecting points on the support frame upper end face (25) to determine the XOY plane of the assembly coordinate system; S42, collecting a plurality of points at the same height along the support frame side cylindrical surface (26) to determine the position of the origin; S43, collecting one point on each of the two symmetrical positioning surfaces on the angular slot positioning rod (23), and the projection of the midpoint of the line connecting the two collected points on the XOY plane coincides with the X axis, that is, the assembly coordinate system is created. S5, determining the position of the assembly coordinate system in the reference coordinate system according to the machining dimensions and relative position relationship of the support frame (24) and the bottom plate (20); S6, determining the position of the assembly coordinate system in the machine tool coordinate system according to the position of the assembly coordinate system in the reference coordinate system and the position of the reference coordinate system in the machine tool coordinate system; S7, obtaining the position of the workpiece coordinate system in the machine tool coordinate system according to the relative distance from the bottom end face of the centrifugal impeller to the XOY plane of the workpiece coordinate system; S8, realizing the automatic coarse establishment of the overall impeller measurement coordinate system according to the positions of the machine tool coordinate system and the workpiece coordinate system in the machine tool coordinate system.

2. The method of claim 1, wherein, The step S1 specifically comprises steps of: S11, obtaining the coordinates of four points on the circumference of one of the mounting holes (11) through actual measurement; S12, fitting a circle using the least square method according to the coordinates of the four points on the circumference of the mounting hole (11), and obtaining the center coordinates of the mounting hole (11); S13, cyclically solving the coordinates of each mounting hole (11) in the machine tool coordinate system by using the arrangement rule between each mounting hole (11).

3. The method of claim 2, wherein: The arrangement rule includes the number of rows, the number of columns, and the interval distance in the X-axis and Y-axis directions of each mounting hole (11).

4. The method of claim 2, wherein, In step S12, when fitting a circle using the least square method according to the coordinates of the four points on the circumference of the mounting hole (11) to obtain the center coordinates of the mounting hole (11), the coordinates of the four points on the circumference can be projected on the XOY plane of the machine tool coordinate system for calculation.

5. The integrated impeller measurement coordinate system automated establishment method of claim 1, wherein, Step S8 specifically comprises steps of: S81, calling the machine tool coordinate system by using the measuring machine tool platform (1); S82, moving the origin of the machine tool coordinate system to the coordinate position of the workpiece coordinate origin in the machine tool coordinate system, and ensuring that the direction of the coordinate system is consistent with the direction of the machine tool coordinate system, thereby realizing the automatic coarse establishment of the overall impeller measurement coordinate system.

6. An overall impeller measurement coordinate system automatic establishment device, characterized in that, a mounting hole coordinate determination module for measuring and calculating the coordinates of each mounting hole (11) in the machine tool coordinate system on the measuring machine tool platform (1); a positioning and mounting module for mounting the positioning clamp (2) with the centrifugal impeller on the corresponding mounting hole (11) on the measuring machine tool platform (1) through bolts, wherein the positioning clamp (2) comprises a bottom plate (20), an angular slot positioning rod (23) and a support frame (24) arranged on the bottom plate (20), and two bolt holes on the left and right sides of the bottom plate (20), and the left side, front side and top of the bottom plate (20) are respectively provided with finish machining surfaces: left side (21), front side (29) and upper surface (27), and the support frame (24) is provided with a support frame upper end face (25) matched with the bottom end face of the centrifugal impeller and a support frame side cylindrical surface (26) matched with the center hole of the centrifugal impeller, and the machining dimensions and relative position relationship of the bottom plate (20), the two bolt holes, the angular slot positioning rod (23) and the support frame (24), the support frame upper end face (25) and the support frame side cylindrical surface (26) are known and controlled through machining precision. The reference coordinate system establishing module is configured to establish a reference coordinate system according to the finish surface of the bottom plate (20), and the origin of the reference coordinate system is located at the intersection of the extension surfaces of the upper surface (27), the left side surface (21) and the front side surface (29) of the bottom plate (20), and the position of the reference coordinate system in the machine tool coordinate system is determined according to the coordinates of the mounting hole (11) on the machine tool platform (1) connected with the bolt hole of the bottom plate (20) in the machine tool coordinate system, and specifically configured to: take the finish surface of the bottom plate (20) as the feature for establishing the reference coordinate system, adopt the six-point positioning method, determine the direction of the Z-axis and the "0" point of the Z-axis according to the upper surface (27) of the bottom plate (20), determine the direction of the X-axis and the "0" point of the X-axis according to the left side surface (21) of the bottom plate (20), and determine the direction of the Y-axis and the "0" point of the Y-axis according to the front side surface (29) of the bottom plate (20), so as to complete the creation of the reference coordinate system, and the origin of the reference coordinate system is located at the intersection of the extension surfaces of the upper surface, the left side surface and the front side surface; and determine the position of the reference coordinate system in the machine tool coordinate system according to the coordinates of the mounting hole (11) on the machine tool platform (1) connected with the bolt hole of the bottom plate (20) in the machine tool coordinate system; The assembly coordinate system establishing module is configured to establish an assembly coordinate system according to the support frame upper end surface (25), the support frame side column surface (26) on the support frame (24) and the positioning surface on the angular slot positioning rod (23), and specifically configured to: collect points on the support frame upper end surface (25) to determine the XOY plane of the assembly coordinate system; collect a plurality of points at the same height along the support frame side column surface (26) to determine the position of the origin; collect one point on each of the two symmetrical positioning surfaces on the angular slot positioning rod (23), and the projection of the midpoint of the line connecting the two collected points on the XOY plane and the X-axis is coincident with the X-axis, so as to complete the creation of the assembly coordinate system; The first position conversion module is configured to determine the position of the assembly coordinate system in the reference coordinate system according to the machining dimensions and relative position relationship of the support frame (24) and the bottom plate (20); The second position conversion module is configured to determine the position of the assembly coordinate system in the machine tool coordinate system according to the position of the assembly coordinate system in the reference coordinate system, the position of the reference coordinate system in the machine tool coordinate system and the position of the workpiece coordinate system in the machine tool coordinate system; The third position conversion module is configured to obtain the position of the workpiece coordinate system in the machine tool coordinate system according to the relative distance from the bottom end surface of the centrifugal impeller to the XOY plane of the workpiece coordinate system. The measurement coordinate system rough establishing module is configured to realize the automatic rough establishment of the whole impeller measurement coordinate system according to the positions of the machine tool coordinate system and the workpiece coordinate system in the machine tool coordinate system. 7.An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the whole impeller measurement coordinate system automatic establishment method according to any one of claims 1 to 5 when executing the program.

8. A storage medium comprising a stored program which, when executed, controls a device in which the storage medium is located to perform the steps of the overall impeller measurement coordinate system automated establishment method of any one of claims 1 to 5.

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