Blade machining posture adjustment compensation method and system

Abstract

The present invention relates to the field of blade processing technology, and in particular to a blade processing posture compensation method and system. The blade processing posture compensation method comprises: fixing a blade by a processing fixture with a base surface of the processing fixture as a reference; measuring blade profile data of each section of the blade, and transforming the blade profile data by point cloud processing to establish a three-dimensional coordinate system of the blade; calculating a transformation matrix between the reference coordinate system and the three-dimensional coordinate system of the blade; obtaining translation parameters Δx, Δy and Δz of the blade in the reference coordinate system and corresponding torsion parameters ΔA, ΔB and ΔC required for blade processing through the transformation matrix; and inputting the translation parameters and torsion parameters into a control program of a processing device respectively, so as to compensate for the processing accuracy error caused by the blade clamping posture when different processing devices process the same blade.

Description

Technical Field

[0001] The present invention relates to the technical field of blade processing, and in particular to a blade processing posture adjustment compensation method and system. Background Art

[0002] Traditional blade processing is basically: manually clamp the blade on the processing tool, manually set the machine tool parameters, and use the machine tool for processing. At the same time, during the processing process, workers need to adjust the tool processing parameters, processing compensation, blade coordinate system and other machine tool parameters required by the machine tool according to experience, under the premise of setting the blade clamping posture as close to the processing posture as possible according to the process requirements. The existing blade processing method has the following problems: 1. The processing process depends on the worker's experience or manual measurement methods. The deviation between the actual blade coordinate system after the blade is clamped and the theoretical blade coordinate system required by the process cannot be separated from other processing parameters in production, and it is difficult to set parameters. The parameter measurement and calculation are difficult, the practical operation is difficult, and the processing efficiency is low. 2. Due to the inconsistency of the tooling and the instability of the operator during the clamping process, it is easy to cause a large deviation in the processing posture of the blade after the clamping is completed. The clamping error will be transmitted to multiple equipment and multiple links such as processing and measurement, resulting in error accumulation and amplification. The existing method cannot effectively eliminate or reduce the error caused by manual clamping error and fixture wear, resulting in poor controllability of the processing process and low error control accuracy, which leads to low processing yield. 3. The key technical links of the production line using traditional methods rely on manual operation, and it is impossible to achieve full process automation of the blade processing. Summary of the invention

[0003] In view of this, the main purpose of the present invention is to provide a blade processing posture adjustment compensation method and system, specifically, by measuring the actual posture of the blade to be processed mounted on the fixture and the theoretical processing posture of the blade after entering a certain processing equipment, and calculating and comparing the translation parameters and corresponding torsion parameters of the two postures in three-dimensional space to adjust the blade processing posture, thereby obtaining the processing compensation amount required for the blade to be processed on the equipment.

[0004] The technical solution adopted by the present invention is as follows:

[0005] The blade processing posture adjustment compensation method is characterized by comprising the following steps:

[0006] The blade is fixed by the processing fixture using the base surface of the processing fixture as a reference;

[0007] Establishing a reference coordinate system of the processing fixture through a digital model based on the base surface;

[0008] Measuring blade profile data of each section of the blade, and transforming the blade profile data through point cloud processing to establish a three-dimensional coordinate system of the blade;

[0009] The local three-dimensional point cloud of the blade formed after measuring the blade profile data of each section of the blade is compared with the point cloud data of the blade CAD digital model or the standard blade in the reference coordinate system. Under the fitting error of the custom control, the cumulative torsion value of the point cloud data at the optimal nested combination is calculated, and the transformation matrix between the reference coordinate system and the blade three-dimensional coordinate system is calculated by the cumulative torsion value;

[0010] The translation parameters Δx, Δy and Δz and the torsion parameters ΔA, ΔB and ΔC of the blade required by the machining machine in the reference coordinate system are obtained through the transformation matrix;

[0011] Coordinate system transformation is performed based on the translation parameters Δx, Δy and Δz and the torsion parameters ΔA, ΔB and ΔC in the reference coordinate system to obtain the attitude compensation data required by each processing equipment, and the attitude compensation data is input into the control program of the processing equipment to compensate for the processing accuracy error caused by the clamping posture of the blade when the processing equipment processes the blade.

[0012] Furthermore, a reference coordinate system of the processing fixture is established by using a digital model based on the base surface, including:

[0013] The base of the machining fixture on the base surface and any vertical base surface of the machining fixture form a reference coordinate system of the machining fixture;

[0014] Or, using the base surface as the reference of the plane coordinates;

[0015] The reference coordinate system of the machining fixture is formed by the edge line of the machining fixture base on the base surface and any vertical edge line of the vertical base surface which is perpendicular to the edge line of the machining fixture base.

[0016] Furthermore, when establishing the three-dimensional coordinate system of the blade, fitting adjustment is performed through multiple degrees of freedom coordinate systems;

[0017] The fitting adjustment includes:

[0018] When translating along at least one direction of the X-axis, Y-axis and Z-axis in three-dimensional space, the blade freedom fitting is set to be unconstrained;

[0019] Furthermore, when rotating along at least one direction of the X-axis, the Y-axis and the Z-axis in the three-dimensional space, the blade degree of freedom fitting is set to be unconstrained.

[0020] Furthermore, the blade measurement method includes scanning measurement and dot matrix contact measurement.

[0021] The present invention also provides a blade processing posture adjustment compensation system, which is characterized by comprising:

[0022] A reference coordinate system establishment module, which uses the base surface of the processing fixture as a reference to fix the blade through the processing fixture, and uses the base surface as a reference to establish a reference coordinate system of the processing fixture;

[0023] A three-dimensional coordinate system establishment module is used to obtain the blade profile data of each section of the blade by measuring, and to establish a three-dimensional coordinate system of the blade based on the blade profile data of each section of the blade;

[0024] The transformation matrix module compares the local three-dimensional point cloud of the blade formed after measuring the blade profile data of each section with the point cloud data of the blade CAD digital model or the standard blade in the reference coordinate system, calculates the cumulative torsion value of the point cloud data when the optimal nested combination is under the fitting error controlled by the user, and calculates the transformation matrix between the reference coordinate system and the blade three-dimensional coordinate system through the cumulative torsion value;

[0025] The attitude compensation module obtains the translation parameters Δx, Δy and Δz of the blade required by the machining machine in three-dimensional space and the torsion parameters ΔA, ΔB and ΔC corresponding to the translation parameters Δx, Δy and Δz respectively through the transformation matrix; and obtains attitude compensation data based on the translation parameters Δx, Δy and Δz and the torsion parameters ΔA, ΔB and ΔC corresponding to the translation parameters Δx, Δy and Δz;

[0026] The synchronization module synchronizes the posture adjustment compensation data to the control program of the processing equipment, so as to compensate for the error of processing accuracy caused by the clamping posture of the blade when the processing equipment processes the blade.

[0027] Furthermore, the three-dimensional coordinate system establishment module includes:

[0028] A data synchronization unit, used for synchronizing the blade profile data of each section of the blade obtained by the measuring device through measurement;

[0029] A three-dimensional coordinate system establishing unit, used for establishing a three-dimensional coordinate system of the blade based on the blade profile data of each section of the blade;

[0030] The analysis unit obtains the fixing method of the blade on the processing fixture and the coordinate data corresponding to the fixing part according to the established three-dimensional coordinate system of the blade, and records the corresponding coordinate data;

[0031] A configuration unit is used to configure the fitting adjustment of multiple degree-of-freedom coordinate systems according to the coordinate data.

[0032] Furthermore, the corresponding configuration of the fitting adjustment of the multiple degrees of freedom coordinate system includes:

[0033] The constraint mode for fitting the blade degrees of freedom when moving along at least one direction of the X-axis, the Y-axis and the Z-axis in the three-dimensional space is determined according to the coordinate data.

[0034] Furthermore, the constraint method is a limited constraint.

[0035] Further, the movement includes: displacement along the X-axis, Y-axis and Z-axis directions;

[0036] Or, any stacked axis offset formed in three-dimensional space.

[0037] The present application constructs a reference coordinate system of a processing fixture so that the processing fixture coordinate system has singleness and uniqueness, and establishes a three-dimensional coordinate system for the blade based on the blade profile data of each section of the blade, wherein each section includes a root section and a top section, and compares the local three-dimensional point cloud of the blade formed after measuring the blade profile data of each section of the blade with the point cloud data of the blade CAD digital model or the standard blade in the reference coordinate system, and calculates the cumulative torsion value of the point cloud data at the optimal nested combination under the fitting error controlled by the user, and calculates the transformation matrix between the reference coordinate system and the blade three-dimensional coordinate system through the cumulative torsion value, and obtains the added The translation parameters Δx, Δy and Δz of the blade required by the machine tool in three-dimensional space and the torsion parameters ΔA, ΔB and ΔC corresponding to the translation parameters Δx, Δy and Δz respectively; the attitude adjustment compensation data are obtained based on the translation parameters Δx, Δy and Δz and their corresponding torsion parameters ΔA, ΔB and ΔC. In this way, when processing the blade, the machine tool is adjusted and compensated by the translation parameters Δx, Δy and Δz and the corresponding torsion parameters ΔA, ΔB and ΔC, so that the machine tool can process the blade in place at one time, reducing or eliminating the clamping error and processing difference of the blade, and improving the consistency of the blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The following drawings are only used to illustrate and explain the present invention, and are not used to limit the scope of the present invention, wherein:

[0039] Figure 1 is a flow chart of the method of the present invention;

[0040] Figure 2 is a schematic diagram of a processing fixture in the present invention;

[0041] Figure 3 Schematic diagram of the root section and top section of the blade scanned in the present invention;

[0042] In the figure: 1-processing fixture; 2-base surface; 3-fixture base; 4-vertical base surface. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution, design method and advantages of the present invention clearer, the present invention is further described in detail by specific embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] Reference Figures 1 to 3 The present invention provides a blade processing posture adjustment compensation method, comprising the following steps:

[0045] The blade is fixed by the processing fixture using the base surface of the processing fixture as a reference;

[0046] Establishing a reference coordinate system of the processing fixture through a digital model based on the base surface;

[0047] Measuring blade profile data of each section of the blade, and transforming the blade profile data through point cloud processing to establish a three-dimensional coordinate system of the blade;

[0048] The local three-dimensional point cloud of the blade formed after measuring the blade profile data of each section of the blade is compared with the point cloud data of the blade CAD digital model or the standard blade in the reference coordinate system. Under the fitting error of the custom control, the cumulative torsion value of the point cloud data at the optimal nested combination is calculated, and the transformation matrix between the reference coordinate system and the blade three-dimensional coordinate system is calculated by the cumulative torsion value;

[0049] The translation parameters Δx, Δy and Δz and the torsion parameters ΔA, ΔB and ΔC of the blade required by the machining machine in the reference coordinate system are obtained through the transformation matrix;

[0050] Coordinate system transformation is performed based on the translation parameters Δx, Δy and Δz and the torsion parameters ΔA, ΔB and ΔC in the reference coordinate system to obtain the attitude compensation data required by each processing equipment, and the attitude compensation data is input into the control program of the processing equipment to compensate for the processing accuracy error caused by the clamping posture of the blade when the processing equipment processes the blade.

[0051] Specifically, the blade is fixed by the processing fixture 1 with the base surface 2 of the processing fixture 1 as a reference; the base surface 2 is used as a reference to establish a reference coordinate system of the processing fixture in the processing fixture and the digital model of the part; the blade profile data of the root section and the top section of the blade are measured, and the blade three-dimensional coordinate system is established based on the blade profile data of the root section and the top section of the blade; the local three-dimensional point cloud of the blade formed after measuring the blade profile data of each section of the blade is compared with the point cloud data of the blade CAD digital model or the standard blade in the reference coordinate system, and the accumulation of point cloud data when the optimal nested combination is calculated under the fitting error controlled by the user. Torsion values ​​are calculated by accumulating the torsion values, and a transformation matrix between a reference coordinate system and a three-dimensional coordinate system of a blade is calculated; translation parameters Δx, Δy and Δz of the blade in three-dimensional space required by a processing machine tool and torsion parameters ΔA, ΔB and ΔC corresponding to the translation parameters Δx, Δy and Δz are obtained through the transformation matrix; attitude compensation data are obtained based on the translation parameters Δx, Δy and Δz and their corresponding torsion parameters ΔA, ΔB and ΔC, and the attitude compensation data is input into a control program of a processing equipment to realize attitude compensation of the processing equipment when the processing equipment processes the blade.

[0052] In some embodiments, the translation parameters Δx, Δy and Δz in the three-dimensional space respectively represent the translation parameters along the X-axis, Y-axis and Z-axis in the three-dimensional space, wherein the translation parameters include the translation along the X-axis, Y-axis and Z-axis in the three-dimensional space, or the offset of the stacking axis Z formed by the X-axis, Y-axis and Z'axis, or the offset of the stacking axis X formed by the X'axis, Y-axis and Z-axis, or the offset of the stacking axis Y formed by the X'axis, Y'axis and Z-axis; the torsion parameters ΔA, ΔB and ΔC are similar to the above, including the torsion parameter ΔA along the X-axis, the torsion parameter ΔB along the Y-axis and the torsion parameter ΔC along the Z-axis, and of course also include the stacking axis torsion parameters A', stacking axis torsion parameters B' and stacking axis torsion parameters C' corresponding to the stacking axis X, stacking axis Y and stacking axis Z.

[0053] The reference coordinate system of the processing fixture is established by using the digital model based on the base surface, including:

[0054] The base of the machining fixture on the base surface and any vertical base surface of the machining fixture form a reference coordinate system of the machining fixture;

[0055] Or, using the base surface as the reference of the plane coordinates;

[0056] The reference coordinate system of the machining fixture is formed by the edge line of the machining fixture base on the base surface and any vertical edge line of the vertical base surface which is perpendicular to the edge line of the machining fixture base.

[0057] Reference Figure 2 In some embodiments, a reference coordinate system of a processing fixture is established according to the following method: the base surface 2 is used as a reference for plane coordinates; the fixture base 3 on the base surface 2 and any vertical base surface 4 of the fixture vertically constitute the reference coordinate system of the processing fixture, such as coordinate system M; or, the base surface 2 is used as a reference for plane coordinates; the edge line of the fixture base 3 on the base surface 2 and any vertical edge line of the vertical base surface 4 perpendicular to the edge line of the fixture base constitute the reference coordinate system of the processing fixture, such as coordinate system N.

[0058] When establishing the blade three-dimensional coordinate system, fitting and adjustment are performed through multiple degrees of freedom coordinate systems;

[0059] The fitting adjustment includes:

[0060] When translating along at least one direction of the X-axis, Y-axis and Z-axis in three-dimensional space, the blade freedom fitting is set to be unconstrained;

[0061] Furthermore, when rotating along at least one direction of the X-axis, the Y-axis and the Z-axis in the three-dimensional space, the blade degree of freedom fitting is set to be unconstrained.

[0062] In the above, when establishing the blade three-dimensional coordinate system based on the blade profile data of the blade root section and the top section, the best fitting method is used to create it, and at least includes the fitting adjustment of multiple degrees of freedom coordinate systems. Further, the fitting adjustment of multiple degrees of freedom coordinate systems includes: when translating along at least one direction of the X-axis, Y-axis and Z-axis in the three-dimensional space, the blade degree of freedom fitting is set to be unconstrained; when rotating along any one or more directions of the X-axis, Y-axis and Z-axis in the three-dimensional space, the blade degree of freedom fitting is set to be unconstrained.

[0063] Refer to the following table: The following table is the best fit of the blade - degree of freedom fitting description:

[0064]

[0065] In the above, TX, TY and TZ represent translations along the X-axis, Y-axis and Z-axis in three-dimensional space, or the corresponding offsets of the stacking axes; RX, RY and RZ represent rotations along the X-axis, Y-axis and Z-axis, or the corresponding torsion of the stacking axes.

[0066] It should also be noted that, in the present application, the coordinate transformation can be calculated using a set program, and specifically, the matrix transformation between two coordinates can be performed using SVD decomposition (singular value decomposition).

[0067] In the above, the methods of measuring the blade profile data of the root section and the top section of the blade include: scanning measurement and dot matrix contact measurement;

[0068] For example, the blade profile data of the root section S1 and the top section S2 of the blade body are scanned by continuous contact. The blade profile data of S1 and S2 are as follows: Figure 3 As shown, the number of cross-section detections can be increased according to actual conditions.

[0069] The present invention also provides a blade processing posture compensation system, including: a reference coordinate system establishment module, which uses the base surface of the processing fixture as a reference to fix the blade through the processing fixture, and uses the base surface as a reference to establish the reference coordinate system of the processing fixture; a three-dimensional coordinate system establishment module, which obtains the blade profile data of each section of the blade by measuring, and establishes the blade three-dimensional coordinate system based on the blade profile data of each section of the blade; a transformation matrix module, which compares the local three-dimensional point cloud of the blade formed after measuring the blade profile data of each section of the blade with the point cloud data of the blade CAD digital model or the standard blade in the reference coordinate system, and calculates the accumulation of point cloud data when the optimal nested combination is under the fitting error controlled by the user. Torsion values ​​are calculated by accumulating torsion values ​​to calculate the transformation matrix between the reference coordinate system and the three-dimensional coordinate system of the blade; an attitude compensation module is used to obtain the translation parameters Δx, Δy and Δz of the blade in the three-dimensional space required by the processing machine tool and the torsion parameters ΔA, ΔB and ΔC corresponding to the translation parameters Δx, Δy and Δz respectively through the transformation matrix; attitude compensation data are obtained based on the translation parameters Δx, Δy and Δz and their corresponding torsion parameters ΔA, ΔB and ΔC; a synchronization module is used to synchronize the attitude compensation data to the control program of the processing equipment to compensate for the processing accuracy error caused by the clamping posture of the blade when the processing equipment processes the blade.

[0070] Furthermore, the three-dimensional coordinate system establishment module includes: a data synchronization unit, used to synchronize the blade profile data of each section of the blade obtained by measuring the measuring device; a three-dimensional coordinate system establishment unit, used to establish a three-dimensional coordinate system of the blade based on the blade profile data of each section of the blade; an analysis unit, which obtains the fixing method of the blade on the processing fixture and the coordinate data corresponding to the fixed part according to the established three-dimensional coordinate system of the blade, and records the corresponding coordinate data; a configuration unit, which is used to configure the fitting adjustment of multiple degrees of freedom coordinate systems according to the coordinate data.

[0071] Further, the corresponding configuration of the fitting adjustment of the multiple degrees of freedom coordinate system includes: determining, according to the coordinate data, a constraint mode for fitting the blade degrees of freedom when translating along at least one direction of the X-axis, the Y-axis and the Z-axis in the three-dimensional space;

[0072] Furthermore, the constraint mode is a limited constraint.

[0073] Furthermore, the movement includes displacement along the X-axis, Y-axis and Z-axis directions, and also includes any stacking axis displacement formed in three-dimensional space.

[0074] Specifically, the fitting adjustment includes:

[0075] When translating along at least one direction of the X-axis, Y-axis and Z-axis in three-dimensional space, the blade freedom fitting is set to be unconstrained;

[0076] Furthermore, when rotating along at least one direction of the X-axis, the Y-axis and the Z-axis in the three-dimensional space, the blade degree of freedom fitting is set to be unconstrained.

[0077] Refer to the following table: The following table is the best fit of the blade - degree of freedom fitting description:

[0078]

[0079] The present application obtains the translation parameters Δx, Δy and Δz of the blade required by the processing machine tool in three-dimensional space and the torsion parameters ΔA, ΔB and ΔC corresponding to the translation parameters Δx, Δy and Δz respectively; and obtains attitude adjustment compensation data based on the translation parameters Δx, Δy and Δz and their corresponding torsion parameters ΔA, ΔB and ΔC. In this way, when processing the blade, the machine tool is adjusted and compensated by the translation parameters Δx, Δy and Δz and the corresponding torsion parameters ΔA, ΔB and ΔC, so that the machine tool can process the blade in place at one time.

[0080] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A blade processing posture adjustment compensation method, characterized in that: The steps include: The blade is fixed by the processing fixture using the base surface of the processing fixture as a reference; Using the base surface as a reference, a reference coordinate system of the processing fixture is established through a digital model; Measuring blade profile data of each section of the blade, and transforming the blade profile data through point cloud processing to establish a three-dimensional coordinate system of the blade; The local three-dimensional point cloud of the blade formed after measuring the blade profile data of each section of the blade is compared with the point cloud data of the blade CAD digital model or the standard blade in the reference coordinate system. Under the fitting error of the custom control, the cumulative torsion value of the point cloud data at the optimal nested combination is calculated, and the transformation matrix between the reference coordinate system and the blade three-dimensional coordinate system is calculated by the cumulative torsion value; The translation parameters Δx, Δy and Δz and the torsion parameters ΔA, ΔB and ΔC of the blade in the reference coordinate system required by the machining machine are obtained through the transformation matrix; Coordinate system transformation is performed based on the translation parameters Δx, Δy and Δz and the torsion parameters ΔA, ΔB and ΔC in the reference coordinate system to obtain the attitude compensation data required by each processing equipment, and the attitude compensation data is input into the control program of the processing equipment to compensate for the processing accuracy error caused by the clamping posture of the blade when the processing equipment processes the blade.

2. The blade processing posture adjustment compensation method according to claim 1 is characterized in that: The reference coordinate system of the processing fixture is established by using the digital model based on the base surface, including: The base of the machining fixture on the base surface and any vertical base surface of the machining fixture form a reference coordinate system of the machining fixture; Or, using the base surface as the reference of the plane coordinates; The reference coordinate system of the machining fixture is formed by the edge line of the machining fixture base on the base surface and any vertical edge line of the vertical base surface which is perpendicular to the edge line of the machining fixture base.

3. The blade processing posture adjustment compensation method according to claim 1 is characterized in that: When establishing the blade three-dimensional coordinate system, fitting and adjustment are performed through multiple degrees of freedom coordinate systems; The fitting adjustment includes: When translating along at least one direction of the X-axis, Y-axis and Z-axis in three-dimensional space, the blade freedom fitting is set to be unconstrained; Furthermore, when rotating along at least one direction of the X-axis, the Y-axis and the Z-axis in the three-dimensional space, the blade degree of freedom fitting is set to be unconstrained.

4. The blade processing posture adjustment compensation method according to claim 1 is characterized in that: The blade measurement method includes scanning measurement and dot matrix contact measurement.

5. Blade processing posture compensation system, characterized in that: include: A reference coordinate system establishment module, which uses the base surface of the processing fixture as a reference to fix the blade through the processing fixture, and uses the base surface as a reference to establish a reference coordinate system of the processing fixture; A three-dimensional coordinate system establishment module is used to obtain the blade profile data of each section of the blade by measuring, and to establish a three-dimensional coordinate system of the blade based on the blade profile data of each section of the blade; The transformation matrix module compares the local three-dimensional point cloud of the blade formed after measuring the blade profile data of each section with the point cloud data of the blade CAD digital model or the standard blade in the reference coordinate system, calculates the cumulative torsion value of the point cloud data when the optimal nested combination is under the fitting error controlled by the user, and calculates the transformation matrix between the reference coordinate system and the blade three-dimensional coordinate system through the cumulative torsion value; The attitude compensation module obtains the translation parameters Δx, Δy and Δz of the blade required by the machining machine in three-dimensional space and the torsion parameters ΔA, ΔB and ΔC corresponding to the translation parameters Δx, Δy and Δz respectively through the transformation matrix; and obtains attitude compensation data based on the translation parameters Δx, Δy and Δz and the torsion parameters ΔA, ΔB and ΔC corresponding to the translation parameters Δx, Δy and Δz; The synchronization module synchronizes the posture adjustment compensation data to the control program of the processing equipment, so as to compensate for the error of processing accuracy caused by the clamping posture of the blade when the processing equipment processes the blade.

6. The blade processing posture adjustment compensation system according to claim 5 is characterized in that: The three-dimensional coordinate system establishment module includes: A data synchronization unit, used for synchronizing the blade profile data of each section of the blade obtained by the measuring device through measurement; A three-dimensional coordinate system establishing unit, used for establishing a three-dimensional coordinate system of the blade based on the blade profile data of each section of the blade; The analysis unit obtains the fixing method of the blade on the processing fixture and the coordinate data corresponding to the fixing part according to the established three-dimensional coordinate system of the blade, and records the corresponding coordinate data; A configuration unit is used to configure the fitting adjustment of multiple degree-of-freedom coordinate systems according to the coordinate data.

7. The blade processing posture adjustment compensation system according to claim 6 is characterized in that: The corresponding configuration of the fitting adjustment of multiple degrees of freedom coordinate systems includes: The constraint mode for fitting the blade degrees of freedom when moving along at least one direction of the X-axis, the Y-axis and the Z-axis in the three-dimensional space is determined according to the coordinate data.

8. The blade processing attitude compensation system according to claim 7 is characterized in that: The constraint mode is a limiting constraint.

9. The blade processing posture adjustment compensation system according to claim 7, characterized in that: The movement includes: displacement along the X-axis, Y-axis and Z-axis directions; Or, any stacked axis offset formed in three-dimensional space.

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