Impeller Machining Method, System, Equipment and Medium Based on Real-Time Compensation

Abstract

The present invention belongs to the technical field of impeller processing, and provides an impeller processing method, system, device and medium based on real-time compensation. The impeller processing method includes: firstly, constructing a standard impeller model according to the specifications of the standard impeller; scanning the semi-finished impeller to form a semi-finished impeller model; secondly, obtaining the total processing amount based on the standard impeller model and the semi-finished impeller model, and determining n processing cycles according to the total processing amount and constructing an impeller prediction model corresponding to each processing cycle, where n≥3; then executing n processing cycles, and obtaining a finished impeller after all n processing cycles are executed; finally, performing quality inspection on the finished impeller. The method of the present invention adopts the strategy of online monitoring the deviation of the current processing cycle and adjusting the processing amount of the next cycle in real time to compensate for the deviation. The impeller processed by this method is closest to the standard impeller model, improving the accuracy and consistency of the impeller.

Description

Technical Field

[0001] The present invention belongs to the technical field of impeller processing, and particularly relates to an impeller processing method, system, device and medium based on real-time compensation. Background Art

[0002] The impeller is the core component of equipment such as centrifugal pumps and centrifugal fans. It is the heart of centrifugal equipment, the key part to realize the performance of the equipment, and also the source of vibration. Whether the profile accuracy meets the requirements of the drawing is the key to impeller manufacturing. The impellers of centrifugal pumps are traditionally formed by casting processes, and there is a large difference between the impeller blade profile and the drawing. In recent years, with the popularization of machining centers, in order to narrow the gap between the impeller profile and the drawing, machining centers are used to machine impeller blades. However, even when using a precision machining center to machine the blades, problems such as deformation will occur, such as changes in ambient temperature, tool wear, and stress deformation.

[0003] Therefore, during the machining process, due to the influence of cutting temperature and cutting force, the blades will undergo thermal deformation and stress deformation, resulting in a difference between the machining result and the design, and unable to meet the equipment requirements with high precision requirements for impeller blades. Especially for large impellers, equipment with high rotational speeds or high requirements for vibration and noise, the quality of the impeller blades is directly related to the realization of impeller performance, equipment vibration and noise indicators, and service life. Summary of the Invention

[0004] To solve the problems in the background art, the present invention proposes an impeller processing method, system, device and medium based on real-time compensation.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An impeller processing method based on real-time compensation, comprising the following steps:

[0007] Construct a standard impeller model according to the specifications of the standard impeller;

[0008] Scan the semi-finished impeller to form a semi-finished impeller model;

[0009] Obtain the total machining amount based on the standard impeller model and the semi-finished impeller model, and determine the n machining cycles according to the total machining amount and construct an impeller prediction model corresponding to each machining cycle, where n≥3;

[0010] Execute the n machining cycles, and each machining cycle includes a machining step and an adjustment step:

[0011] Machining step: Machine the semi-finished impeller;

[0012] Adjustment steps: Compare the processed semi-finished impeller with the impeller prediction model to determine whether there is a deviation in the actual processing volume of this processing cycle; if there is no deviation, enter the next processing cycle, otherwise, compensate the processing volume of the next processing in real time and then enter the next processing cycle;

[0013] After all n processing cycles are executed, a finished impeller is obtained;

[0014] Inspect the finished impeller.

[0015] Preferably, obtain the total processing volume based on the standard impeller model and the semi-finished impeller model, and determine the n processing cycles according to the total processing volume and construct the impeller prediction model corresponding to each processing cycle, including the following steps:

[0016] Set the number of times n of the processing cycle required from the semi-finished impeller to the finished impeller according to the total processing volume;

[0017] Determine the target processing volume for each processing cycle;

[0018] Construct the corresponding impeller prediction model according to the target processing volume.

[0019] Preferably, compare the processed semi-finished impeller with the impeller prediction model to determine whether there is a deviation in the actual processing volume of this processing cycle, including the following steps:

[0020] Compare the processed semi-finished impeller with the impeller prediction model, and observe whether a positive deviation area and / or a negative deviation area are displayed on the impeller prediction model. The positive deviation area is the area where the material is excessive, and the negative deviation area is the area where the material is insufficient;

[0021] If a positive deviation area and / or a negative deviation area are displayed, the actual processing volume of this processing cycle has a deviation, otherwise there is no deviation.

[0022] Preferably, compensate the processing volume of the next processing in real time and then enter the next processing cycle, including the following steps:

[0023] Increase the feed rate of the positive deviation area;

[0024] Reduce the feed rate of the negative deviation area;

[0025] Enter the next processing cycle.

[0026] Preferably, inspect the finished impeller, including the following steps:

[0027] Scan the finished impeller to obtain a finished impeller model;

[0028] Compare the finished impeller model with the standard impeller model to determine whether the error meets the requirements. If the requirements are met, the finished impeller is qualified; otherwise, the finished impeller is unqualified.

[0029] Preferably, before entering the construction of the semi-finished impeller model, the following steps are further included:

[0030] Rough-turn the raw material of the semi-finished impeller to obtain the semi-finished impeller;

[0031] Clamp the semi-finished impeller.

[0032] An impeller processing system based on real-time compensation includes:

[0033] A first construction unit for constructing a standard impeller model according to the specifications of the standard impeller;

[0034] A second construction unit for scanning the semi-finished impeller and constructing a semi-finished impeller model;

[0035] A third construction unit for obtaining the total processing amount based on the standard impeller model and the semi-finished impeller model, and determining the number of n processing cycles according to the total processing amount and constructing an impeller prediction model corresponding to each processing cycle;

[0036] An execution unit for executing n processing cycles, including a processing module and an adjustment module:

[0037] The processing module is used to process the semi-finished impeller;

[0038] The adjustment module is used to compare the processed semi-finished impeller with the impeller prediction model to determine whether there is a deviation in the actual processing amount of this processing cycle; if there is no deviation, enter the next processing cycle, otherwise, after compensating the processing amount of the next processing in real time, enter the next processing cycle;

[0039] A picking unit for obtaining the finished impeller after all n processing cycles are executed;

[0040] A quality inspection unit for inspecting the finished impeller.

[0041] Preferably, the third construction unit includes:

[0042] An analysis module for setting the number of times n of the processing cycle required from the semi-finished impeller to the finished impeller according to the total processing amount;

[0043] A construction module for determining the target processing amount of each processing cycle.

[0044] Preferably, the adjustment module includes:

[0045] A comparison sub-module, configured to compare the semi-finished impeller after processing with an impeller prediction model, and observe whether a positive deviation region and / or a negative deviation region are displayed on the impeller prediction model, where the positive deviation region is the region with excessive material, and the negative deviation region is the region with insufficient material;

[0046] A judgment sub-module, if a positive deviation region and / or a negative deviation region are displayed, it indicates that there is a deviation in the actual processing amount of this processing cycle, otherwise there is no deviation;

[0047] An adjustment sub-module, configured to increase the feed rate of the positive deviation region and decrease the feed rate of the negative deviation region.

[0048] Preferably, the quality inspection unit includes:

[0049] A first quality inspection module, configured to scan the finished impeller to obtain a finished impeller model;

[0050] A second quality inspection module, configured to compare the finished impeller model with a standard impeller model to determine whether the error meets the requirements. If the requirements are met, the finished impeller is qualified, otherwise the finished impeller is unqualified.

[0051] A device, comprising:

[0052] A memory, configured to store a computer program;

[0053] A processor, when executing the computer program stored on the memory, implements the above-mentioned impeller processing method based on real-time compensation.

[0054] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned impeller processing method based on real-time compensation is implemented.

[0055] A computer program product, comprising computer programs / instructions, and when the computer programs / instructions are executed by a processor, the above-mentioned impeller processing method based on real-time compensation is implemented.

[0056] The beneficial effects of the present invention:

[0057] The method of the present invention adopts the strategy of online monitoring the deviation of this processing cycle and real-time adjusting the processing amount of the next cycle to compensate for the deviation. It performs three-dimensional measurement on the workpiece to form a measurement three-dimensional map, and compares it with the three-dimensional map of the processing step. If there is a deviation, the processing amount of the next step is automatically adjusted, so as to minimize the deviation between the physical object and the impeller prediction model as much as possible. The physical object processed by this method is real and closest to the standard impeller model. This method can effectively improve the accuracy and consistency of the impeller, and meet the requirements of large impellers, high rotational speeds or equipment with high requirements for vibration and noise.

[0058] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. The objectives and other advantages of the present invention may be realized and attained by the structure particularly pointed out in the specification and the drawings. Description of the Drawings

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following briefly introduces the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings may be obtained based on these drawings.

[0060] Figure 1 The flowchart of an impeller machining method based on real-time compensation according to the present invention is shown;

[0061] Figure 2 The flowcharts of rough machining, semi-finishing machining and finishing machining according to the present invention are shown;

[0062] Figure 3 The structural schematic diagram of an impeller machining device based on real-time compensation according to the present invention is shown;

[0063] Figure 4 The framework diagram of an impeller machining system based on real-time compensation according to the present invention is shown.

[0064] In the figure: 1, workbench; 2, clamping device; 3, machining tool; 4, real-time measuring device; 5, controller; 6, program module; 7, impeller workpiece. Detailed Embodiment

[0065] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0066] As Figure 1 shown, an impeller machining method based on real-time compensation includes the following steps:

[0067] S1: Construct a standard impeller model according to the specifications of the standard impeller.

[0068] S2: Scan the semi-finished impeller to form a semi-finished impeller model.

[0069] S3: Obtain the total processing amount based on the standard impeller model and the semi-finished impeller model, determine the n processing cycles according to the total processing amount, and construct an impeller prediction model corresponding to each processing cycle, where n ≥ 3.

[0070] S4: Execute the n processing cycles, and each processing cycle includes the following steps:

[0071] S401: Machine the semi-finished impeller.

[0072] S402: Compare the machined semi-finished impeller with the impeller prediction model to determine whether there is a deviation in the actual processing amount of this processing cycle; if there is no deviation, proceed to the next processing cycle, otherwise, compensate the processing amount of the next machining in real-time and then proceed to the next processing cycle;

[0073] S5: Obtain the finished impeller after all n processing cycles are executed;

[0074] S6: Conduct quality inspection on the finished impeller.

[0075] It should be noted that the above method combines the construction of a standard model with real-time scanning to establish a digital machining benchmark; adopts a phased machining and closed-loop control (machining - inspection - real-time dynamic compensation) mechanism to effectively disperse machining stress and correct deviations in real-time, combined with dual guarantees of process monitoring and terminal quality inspection, optimizing resource efficiency while ensuring machining accuracy, and is applicable to the machining and manufacturing of high-precision impellers.

[0076] As an optimal solution, before entering the construction of the semi-finished impeller model, it is also necessary to rough-turn the raw material of the semi-finished impeller to obtain the semi-finished impeller, and then clamp the semi-finished impeller.

[0077] Specifically, in S1, according to the impeller design specifications, use professional software to perform precise three-dimensional modeling. This process needs to consider every detail of the impeller, including the shape of the blades, the size of the flow channels, and the contour of the hub, etc., to ensure that the model can accurately reflect the geometric characteristics of the impeller.

[0078] Specifically, in S2, a three-dimensional scanning stereoscopic camera system can be used to precisely scan the semi-finished impeller to construct the corresponding semi-finished impeller model.

[0079] Specifically, in S3, the machining cycle of the impeller can be accurately divided into at least three stages corresponding to rough machining, semi-finishing machining, and finishing machining. The corresponding process parameters are planned respectively, and the corresponding impeller prediction models are established. These impeller prediction models will be used for subsequent on-line measurement and comparative analysis to ensure that each step in the machining process can be accurately carried out according to the predetermined path. The above modeling process must accurately reproduce the geometric features of the impeller, including complex curved surface structures such as the shape of the blades, the scale of the flow channels, and the shape of the hub. The accurate reproduction of these features is crucial for ensuring the performance and quality of the impeller.

[0080] Specifically, S3 includes the following steps:

[0081] S301: Set the number of machining cycle times n required from the semi-finished impeller to the finished impeller according to the total machining volume. S302: Determine the target machining volume for each machining cycle. S303: Construct the corresponding impeller prediction model according to the target machining volume.

[0082] It should be noted that during the machining process from the semi-finished impeller to the finished impeller in S3, multiple cutting operations (corresponding to multiple machining cycles) are required. After each cutting operation, the system will generate the corresponding impeller prediction model. Then, based on the impeller prediction models planned for rough machining, semi-finishing machining, and finishing machining of the impeller, combined with the characteristics of the milling machining center, a detailed machining process flow is formulated. This process needs to consider the performance of the machine tool, the type and model of the cutting tool, the setting of cutting parameters, as well as the planning of tool paths and machining step sequences, etc. Then, professional software is used for programming, including selecting the type and model of the cutting tool, setting cutting parameters, and planning tool paths and machining step sequences, etc. After programming, simulation inspection is carried out and errors are corrected to ensure the correctness of the program and the efficiency of machining.

[0083] Specifically, in S402, it includes the following steps:

[0084] S4021: Compare the machined semi-finished impeller with the impeller prediction model to observe whether there are positive deviation regions and / or negative deviation regions shown on the impeller prediction model. The positive deviation region is the region with excessive material, and the negative deviation region is the region with insufficient material. S4022: If positive deviation regions and / or negative deviation regions are shown, then there is a deviation in the actual machining volume of this machining cycle; otherwise, there is no deviation. S4023: If there is no deviation in the actual machining volume of this machining cycle, then enter the next machining cycle; otherwise, the feed rate in the positive deviation region can be increased and the feed rate in the negative deviation region can be decreased, and finally enter the next machining cycle.

[0085] For example, S4021: In the finish machining of the impeller of a certain numerical control machine tool, after the first round of machining is completed, the operator obtains the three-dimensional topography data of the semi-finished impeller through a high-precision optical scanner and compares it with the impeller prediction model (the ideal geometric model generated based on process simulation). The model shows the deviation through a color difference map: positive deviation area (red mark, +0.12 mm): local material accumulation on the working surface of the blade, indicating excessive material; negative deviation area (blue mark, -0.08 mm): the root fillet of the blade does not reach the designed thickness, indicating insufficient material.

[0086] Step S4022, there is a deviation: since both positive and negative deviation areas appear simultaneously, it is determined that the actual machining volume in this machining cycle deviates from the expectation; no deviation: if the deviation value of the entire area shown by the model is within ±0.02 mm (green mark), it is determined that the machining volume meets the requirements.

[0087] Step S4023: Increase the feed rate in the positive deviation area (excessive material): increase the radial depth of cut of the ball-end mill from 0.15 mm to 0.18 mm, and increase the feed rate (f) from 120 mm / min to 150 mm / min to efficiently remove the excess material; optimize the tool path: adopt a helical interpolation strategy to reduce the material residue caused by cutting vibration. Decrease the feed rate in the negative deviation area (insufficient material): reduce the axial depth of cut from 0.30 mm to 0.25 mm to avoid further material shortage caused by overcutting; enable the compensation mechanism: generate a reverse offset tool path in the CAM software, and reserve a 0.05 mm allowance for subsequent repair welding or polishing.

[0088] If no deviation is detected in a certain cycle (such as the entire area is green after the third cycle), the system directly enters the fourth machining cycle, continues machining using the current parameters, and records the stable parameter combination for batch production of similar impellers.

[0089] Specifically, S6 includes the following steps:

[0090] S601: Scan the finished impeller to obtain the finished impeller model;

[0091] S602: Compare the finished impeller model with the standard impeller model to determine whether the error meets the requirements. If it meets the requirements, the finished impeller is qualified; otherwise, the finished impeller is unqualified.

[0092] It should be noted that in S6, an on-line three-dimensional scanner stereo camera system can be used to perform on-line measurement on the workpiece, and a finished impeller model is formed from the measurement data in the controller. At this time, the finished impeller model should be basically the same as the standard impeller model. This process ensures the quality of the final product and verifies the accuracy and reliability of the entire machining process.

[0093] Such as Figure 2As shown, when n = 3, the three processing cycles are rough machining, semi-finishing machining, and finishing machining, and their specific processes are as follows:

[0094] First, rough turning is performed on the raw material to obtain a semi-finished impeller. Then, the semi-finished impeller is clamped and aligned on the machining center. Next, rough machining is carried out (the machining program is obtained through programming). After that, the semi-finished impeller after rough machining is compared with the three-dimensional standard model of the machining step (impeller prediction model). If the semi-finished impeller is the same as the three-dimensional standard model of the machining step, it enters the semi-finishing machining step. If not, the deviation repair program is started for deviation compensation, and then it enters the semi-finishing machining step. The semi-finished impeller is processed through semi-finishing machining and then compared with the three-dimensional standard model of the machining step (impeller prediction model). If the semi-finished impeller is the same as the three-dimensional standard model of the machining step, it enters the finishing machining step. If not, the deviation repair program is started for deviation compensation, and then it enters the finishing machining step. After the finishing machining step is completed, the final inspection is carried out.

[0095] As Figure 3 shown, it is a schematic diagram of an impeller processing device based on real-time compensation, which includes a workbench 1, a clamping device 2, a machining tool 3, a real-time measurement device 4, a controller 5, and a program module 6. Among them, the workbench 1 is located at the bottom, and the clamping device 2 is installed on the surface of the workbench 1. The clamping device 2 can clamp the impeller workpiece 7 (such as the raw material of the impeller, semi-finished impeller, and finished impeller). Both the real-time measurement device 4 and the program module 6 are connected to the controller 5. The controller 5 can send instructions to the real-time measurement device 4 to let the real-time measurement device 4 collect the image of the impeller workpiece 7. Then, after receiving the image, the controller 5 can construct a real-time model of the impeller workpiece 7. The program module 6 can be built into the controller 5, and the controller 5 can modify the program in the program module 6 in real time according to the processing situation of the impeller workpiece 7, so as to ensure the quality of the final product.

[0096] As Figure 4 shown, it is an impeller processing system based on real-time compensation, which includes a first construction unit, a second construction unit, a third construction unit, an execution unit, a workpiece taking unit, and a quality inspection unit. Among them, the first construction unit is used to construct a standard impeller model according to the specifications of the standard impeller; the second construction unit is used to scan the semi-finished impeller and construct a semi-finished impeller model; the third construction unit is used to obtain the total processing amount based on the standard impeller model and the semi-finished impeller model, and determine the n processing cycles according to the total processing amount and construct an impeller prediction model corresponding to each processing cycle;

[0097] The execution unit is used to execute n processing cycles, including a processing module and an adjustment module. The processing module is used to process the semi-finished impeller. The adjustment module is used to compare the processed semi-finished impeller with the impeller prediction model to determine whether there is a deviation in the actual processing amount of the current processing cycle; if there is no deviation, it enters the next processing cycle, otherwise, it compensates the processing amount of the next processing in real time and then enters the next processing cycle.

[0098] The picking unit is used to obtain the finished impeller after all n processing cycles are executed. The quality inspection unit is used to perform quality inspection on the finished impeller.

[0099] Specifically, the third construction unit includes an analysis module and a construction module. The analysis module is used to set the number of processing cycles n required from the semi-finished impeller to the finished impeller according to the total processing amount; the construction module is used to determine the target processing amount of each processing cycle.

[0100] Specifically, the adjustment module includes a comparison sub-module, a judgment sub-module, and an adjustment sub-module. The comparison sub-module is used to compare the processed semi-finished impeller with the impeller prediction model to observe whether there is a positive deviation area and / or a negative deviation area shown on the impeller prediction model. A positive deviation indicates an excess of impeller material, and a negative deviation indicates a shortage of impeller material. The judgment sub-module is used to judge that there is a deviation in the actual processing amount of the current processing cycle when there is a positive deviation area and / or a negative deviation area shown, otherwise, there is no deviation. The adjustment sub-module is used to increase the feed rate in the positive deviation area and decrease the feed rate in the negative deviation area.

[0101] Specifically, the quality inspection unit includes a first quality inspection module and a second quality inspection module. The first quality inspection module is used to scan the finished impeller to obtain the finished impeller model. The second quality inspection module is used to compare the finished impeller model with the standard impeller model to judge whether the error meets the requirements. If it meets the requirements, the finished impeller is qualified, otherwise, the finished impeller is unqualified.

[0102] It should be noted that for the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. Each unit and module of the impeller processing system based on real-time compensation is only divided according to the functional logic, but is not limited to the above division as long as the corresponding functions can be realized; in addition, the specific names of each unit are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0103] A device, comprising:

[0104] A memory for storing a computer program;

[0105] A processor, when executing the program stored on the memory, realizes Figure 1A method for impeller machining based on real-time compensation.

[0106] It should be noted that the memory may include a random access memory (Random Access Memory, abbreviated as RAM), or may also include a non-volatile memory, such as at least one disk memory.

[0107] The above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; it may also be a digital signal processor (Digital Signal Processing, abbreviated as DSP), an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), a field-programmable gate array (Field-Programmable Gate Array, abbreviated as FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0108] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it realizes Figure 1 A method for impeller machining based on real-time compensation.

[0109] It should be noted that the computer-readable storage medium may be included in the device / apparatus described in the above embodiments; it may also exist alone without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the test method for photovoltaic module induced attenuation according to the embodiments of the present invention is realized.

[0110] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, device, or device.

[0111] A computer program product, including a computer program / instructions, and when the computer program / instructions are executed by a processor, it realizes Figure 1An impeller machining method based on real-time compensation.

[0112] Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An impeller machining method based on real-time compensation, characterized in that: The following steps are involved: According to the specifications of the standard impeller, a standard impeller model is constructed; Scanning the semi-finished impeller using a stereo camera system of a three-dimensional scanner to form a semi-finished impeller model; The total processing volume is obtained based on the standard impeller model and the semi-finished impeller model, and n processing cycles are determined according to the total processing volume, and the impeller prediction model corresponding to each processing cycle is constructed, n≥3, including: The number of processing cycles n required from the semi-finished impeller to the finished impeller is set according to the total processing volume; Determine the target processing volume for each processing cycle; Construct a corresponding impeller prediction model according to the target processing volume; Execute n processing cycles, each of which includes processing steps and adjustment steps: Processing steps: Processing the semi-finished impeller; Adjustment steps: Compare the processed semi-finished impeller with the impeller prediction model to determine whether the actual processing volume of this processing cycle has deviations; if there is no deviation, enter the next processing cycle; otherwise, compensate the processing volume of the next processing in real time before entering the next processing cycle; After all n processing cycles are executed, the finished impeller is obtained; Conduct quality inspection on finished impellers.

2. The impeller machining method based on real-time compensation according to claim 1, characterized in that: Comparing the processed semi-finished impeller with the impeller prediction model to determine whether the actual processing volume of this processing cycle deviates includes the following steps: Compare the processed semi-finished impeller with the impeller prediction model to observe whether a positive deviation area and / or a negative deviation area is displayed on the impeller prediction model, wherein the positive deviation area is an area with excess material, and the negative deviation area is an area with insufficient material; If the positive deviation area and / or negative deviation area is displayed, the actual processing volume of this processing cycle has deviations, otherwise there are no deviations.

3. The impeller machining method based on real-time compensation according to claim 1, characterized in that: After real-time compensation of the processing volume of the next processing, the next processing cycle is entered, including the following steps: Increase the feed rate in the positive deviation area; Reduce the feed rate in the negative deviation area; Enter the next processing cycle.

4. The impeller machining method based on real-time compensation according to claim 1, characterized in that: The quality inspection of the finished impeller includes the following steps: Scan the finished impeller to obtain the finished impeller model; The finished impeller model is compared with the standard impeller model to determine whether the error meets the requirements. If so, the finished impeller is qualified, otherwise, the finished impeller is unqualified.

5. The impeller machining method based on real-time compensation according to claim 1, characterized in that: Before entering the construction of the semi-finished impeller model, the following steps are also included: Rough turning the raw material of the semi-finished impeller to obtain the semi-finished impeller; Clamp the semi-finished impeller.

6. An impeller processing system based on real-time compensation, characterized in that: include: A first construction unit is used to construct a standard impeller model according to the specifications of the standard impeller; A second construction unit is used to scan the semi-finished impeller using a stereo camera system of a three-dimensional scanner to construct a semi-finished impeller model; The third construction unit is used to obtain the total processing amount based on the standard impeller model and the semi-finished impeller model, and determine n processing cycles according to the total processing amount and construct an impeller prediction model corresponding to each processing cycle. The third construction unit includes: An analysis module, used to set the number n of processing cycles required from a semi-finished impeller to a finished impeller according to the total processing volume; A building block for determining the target processing volume for each processing cycle; The execution unit is used to execute n processing cycles, including the processing module and the adjustment module: The processing module is used to process the semi-finished impeller; The adjustment module is used to compare the processed semi-finished impeller with the impeller prediction model to determine whether the actual processing volume of this processing cycle has deviations; if there is no deviation, enter the next processing cycle; otherwise, the processing volume of the next processing is compensated in real time before entering the next processing cycle; A picking unit is used to obtain the finished impeller after n processing cycles are all executed; Quality inspection unit, used to inspect the quality of finished impellers.

7. The impeller processing system based on real-time compensation according to claim 6, characterized in that: The adjustment module comprises: A comparison submodule is used to compare the semi-finished impeller after processing with the impeller prediction model to observe whether a positive deviation area and / or a negative deviation area is displayed on the impeller prediction model, wherein the positive deviation area is an area with excess material and the negative deviation area is an area with insufficient material; The judgment submodule, if the positive deviation and / or negative deviation area is displayed, then the actual processing volume of this processing cycle has a deviation, otherwise there is no deviation; The adjustment submodule is used to increase the feed rate in the positive deviation area and reduce the feed rate in the negative deviation area.

8. The impeller machining system based on real-time compensation according to claim 6, characterized in that: The quality inspection unit comprises: The first quality inspection module is used to scan the finished impeller to obtain a finished impeller model; The second quality inspection module is used to compare the finished impeller model with the standard impeller model to determine whether the error meets the requirements. If the requirements are met, the finished impeller is qualified, otherwise the finished impeller is unqualified.

9. A device, characterized in that: include: Memory, used to store computer programs; The processor is used to implement the impeller processing method based on real-time compensation as described in any one of claims 1 to 5 when executing the computer program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the impeller processing method based on real-time compensation as described in any one of claims 1 to 5 is implemented.

11. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, an impeller processing method based on real-time compensation as described in any one of claims 1 to 5 is implemented.

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