Method for determining clamping posture in five-axis detection of blade disc, medium and equipment

Abstract

The invention relates to the technical field of precision measurement, in particular to a method for determining a clamping posture in five-axis detection of a blade disc, a medium and equipment. Comprising the following steps: firstly, acquiring a yaw angle omega and a pitch angle phi of a probe direction required for planning a measurement path of a to-be-measured blade of a blade disc and a measurement boundary direction in a spherical coordinate system, and mapping the yaw angle omega and the pitch angle phi to pixel points corresponding to a global accessibility map (GAM); and according to the inclusion condition of each to-be-measured blade pixel group and the angle constraint curve in the measurement boundary direction in the image, adjusting the blade disc clamping yaw angle and / or pitch angle, and setting the blade disc inclination attitude as the optimal clamping attitude when the angle constraint curve contains the most pixel groups. According to the method, based on a GAM image data structure, clamping optimization is converted into an image processing problem, the constraint relation between the probe direction and the moving boundary can be visually presented, the optimal clamping posture can be automatically planned, the minimum clamping times can be accurately determined, and compared with existing commercial software, the method has more advantages.

Description

Technical Field

[0001] This invention relates to the field of precision measurement technology, and in particular to a method, medium, and equipment for determining the clamping posture in five-axis inspection of a bladed disk. Background Technology

[0002] The geometry of integral bladed disks (IBDs) directly affects their aerodynamic performance, making surface dimension inspection of IBDs particularly important in aero-engine manufacturing. Compared to non-contact optical measurement methods, contact-based inspection methods, such as coordinate measuring machines (CMMs), offer higher measurement accuracy, better robustness to highly reflective surfaces, and are suitable for IBD structures with significant obstructions. A five-axis scanning measurement system, consisting of a dual-rotation-axis continuous scanning probe mounted on a CMM, enables high-speed scanning measurement of complex curved surfaces. This system is faster than traditional three-axis scanning measurement, offers better obstacle avoidance capabilities for structurally complex parts, and eliminates the need for manual probe orientation changes during measurement.

[0003] Due to the limitations of the measuring machine's mechanical structure, the probe can only reach a limited area within space. For complex curved surface parts like integral bladed disks, when the part is fixed on the measuring machine's worktable in a certain posture, the probe can only scan and measure a portion of the blade area without interference. To achieve complete measurement of the blade surface, the operator needs to change posture after measuring in one posture and measure again, repeating the above process until all blade surfaces of the integral bladed disk have been completely measured. In actual inspection, the posture of the bladed disk for each clamping is usually determined by the operator based on the spatial structure of the blade through experience. While this experience-based clamping method is effective for simple workpieces, it is often difficult to achieve the minimum number of clamping times for complex structural parts like impellers. Because each clamping re-establishes the relationship between the workpiece coordinate system and the measuring machine coordinate system, measurement errors accumulate, and the more clamping times, the more significant the accumulated error.

[0004] Currently, no commercial software can automatically optimize the workpiece clamping posture. It relies entirely on operator experience to determine the clamping posture. While this method is feasible for simple parts, it results in low measurement efficiency and significant errors. Therefore, there is an urgent need for a method that can automatically determine the minimum number of clamping operations to solve the problems caused by relying on experience for workpiece clamping in existing technologies. Summary of the Invention

[0005] To address one of the aforementioned technical problems, the present invention adopts the following technical solution: According to one aspect of the present invention, a method for determining the clamping posture in five-axis inspection of a bladed disk is provided, the method comprising the following steps: Obtain the probe directions and probe boundary directions required for the planned measurement path of all blades to be measured in the blade disk, and their corresponding yaw angle coordinates ω and pitch angle coordinates φ in the same spherical coordinate system.

[0006] Based on ω and φ corresponding to each probe direction and measurement boundary direction, respectively, each probe direction and measurement boundary direction are mapped to the corresponding pixel in the global reachability map. The global reachability map includes orthogonal pixel U-axis and pixel V-axis. The angle range corresponding to the pixel U-axis is... The angle range corresponding to the V-axis of a pixel is [-π, π].

[0007] Each pair of ω and φ corresponds to the pixel coordinates of the pixel point in the global reachability map [u GAM v GAM ], satisfying the following relationship: .

[0008] Where △φ is the distance between any two adjacent pixels in the global reachability map.

[0009] Based on the inclusion relationship between the pixel group corresponding to each blade to be measured and the angle constraint curve corresponding to the measurement boundary direction in the global reachability map, adjust the yaw angle and / or pitch angle of the blade disk clamping, and take the blade disk tilt attitude corresponding to the angle constraint curve containing the most pixel groups as the optimal blade disk clamping attitude.

[0010] Furthermore, the blades to be measured in the bladed disk have a centrally symmetrical structure.

[0011] Furthermore, the inclusion relationship between the pixel group corresponding to each blade to be measured and the angle constraint curve corresponding to the measurement boundary direction is analyzed. The yaw angle and / or pitch angle of the bladed disk clamping are adjusted, and the bladed disk tilt attitude corresponding to the angle constraint curve containing the maximum number of pixel groups is taken as the optimal bladed disk clamping attitude, including: After each adjustment of the yaw angle and / or pitch angle of the blade disk clamping, the new probe direction required for the planned measurement path of each blade to be measured is re-determined.

[0012] Based on the new probe orientation, a new pixel group corresponding to each blade to be measured is generated in the global reachability map.

[0013] Based on the inclusion relationship between the new pixel group and the angle constraint curve corresponding to the measurement boundary direction, determine the number of new pixel groups that will be included in the angle constraint curve after adjusting the bladed disk clamping angle.

[0014] The optimal bladed disk clamping posture is determined based on the number of new pixel groups contained in the angle constraint curve after each bladed disk clamping angle adjustment.

[0015] Furthermore, the original angular constraint curve corresponding to the measured boundary direction is φ=φ lim The straight line, φ lim This is the measurement boundary in the direction of the probe's pitch angle.

[0016] Based on the global reachability map, the inclusion between the pixel group corresponding to each blade to be measured and the angle constraint curve corresponding to the measurement boundary direction is determined. The yaw angle and / or pitch angle of the bladed disk are adjusted, and the bladed disk tilt attitude corresponding to the angle constraint curve containing the maximum number of pixel groups is taken as the optimal bladed disk clamping attitude, including: After each adjustment of the bladed disk clamping pitch angle, the new angle constraint curve corresponding to the measurement boundary direction in the global reachability map is redefined based on the adjusted pitch angle θ. The new angle constraint curve φ'(ω) satisfies the following condition: .

[0017] The optimal bladed disk clamping posture is determined by the number of pixel groups contained in the new angle constraint curve after each bladed disk clamping angle adjustment.

[0018] Furthermore, the methods also include: Based on the number n of pixel groups contained within the angle constraint curve when the bladed disk is tilted at the optimal attitude. x and the total number n of the blades to be measured included in the bladed disk. b Generate the number of times the impeller disk is clamped, P, in a complete five-axis inspection. P satisfies the following condition: P = roundup(n b / n x ).

[0019] Furthermore, the method also includes: determining the optimal bladed disk clamping posture based on the number of pixel groups contained in the new angle constraint curve after each bladed disk clamping angle adjustment, including: Using binary search, adjust the initial angle range [θ] within the pitch range. low θ high Perform iterative search; θ low With a pitch angle of 0°, θ high This is the maximum pitch angle of the impeller clamp.

[0020] In each iteration, the number of pixel groups contained in the angle constraint curve and the distance of the contained pixel groups from the angle constraint curve are used as the corresponding angle evaluation value.

[0021] Furthermore, obtain the probe directions and probe measurement boundary directions required for the planned measurement path for all blades to be measured in the bladed disk, and their corresponding yaw angle coordinates ω and pitch angle coordinates φ in the same spherical coordinate system, including: The probe directions and measurement boundary directions required for the planned measurement paths of all blades to be measured are mapped to the same spherical coordinate system. The origin of the spherical coordinate system is located at the joint center of the probe, and the X, Y, and Z axes of the spherical coordinate system are consistent with the XYZ axes in the MCS of the five-axis scanning measurement system. The spherical coordinate system includes two orthogonal axes: yaw and pitch. The unit direction vector V corresponding to any probe direction or measurement boundary direction in the MCS is... M In a spherical coordinate system, the corresponding yaw angle coordinates ω and pitch angle coordinates φ satisfy the following conditions: .

[0022] Among them, V M x V M y and V M z V M Projected lengths in the X, Y, and Z axis directions.

[0023] Furthermore, before mapping the probe directions and probe measurement boundary directions required for the planned measurement paths corresponding to all the blades to be measured to the same spherical coordinate system, the method also includes: In the part coordinate system, obtain the first unit direction vector V corresponding to the probe direction required for the planned measurement path of all blades to be measured. P .

[0024] V P Transformed into the MCS of a five-axis scanning measurement system to form V P The corresponding second unit direction vector V M The following conditions must be met: .

[0025] Among them, R M P This is the rotation transformation matrix from the part coordinate system to the MCS.

[0026] According to a second aspect of the present invention, a non-transitory computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the above-described method for determining the clamping posture in a five-axis impeller detection.

[0027] According to a third aspect of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method for determining the clamping posture in five-axis impeller detection.

[0028] This invention has at least one of the following beneficial effects: This invention proposes an image-based data structure called Global Reachability Mapping (GAM). By mapping the probe direction and probe measurement boundary direction required for the planned measurement path of the blade to be measured to the same image region, i.e., GAM, the relationship between the probe direction required for part measurement and the probe motion boundary constraints can be intuitively represented. Furthermore, the clamping optimization problem can be formulated as an image processing problem. Based on the number of pixel groups contained within the angle constraint curve under different clamping postures in the image, the optimal blade disk clamping posture can be determined, thereby enabling the measurement of as many blades as possible in a single operation under this optimal clamping posture, thus accurately solving for the minimum number of clamping operations. Compared with existing commercial software, this method can automatically plan the optimal clamping posture and more accurately determine the minimum number of clamping operations. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A flowchart illustrating a method for determining the clamping posture in five-axis inspection of a bladed disk, provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the spherical coordinate system provided in an embodiment of the present invention; Figure 3 The following are schematic diagrams of GAM under different conditions provided in the embodiments of the present invention: (a) is the original GAM, (b) is the GAM when the workpiece is tilted 45 degrees around the y-axis, and (c) is the GAM when the probe is tilted -45 degrees. Figure 4 This is a schematic diagram showing the result after the direction is adjusted during the process of finding the optimal clamping posture of the impeller provided in an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] As one possible embodiment of the present invention, such as Figure 1 As shown, a method for determining the clamping posture in five-axis inspection of a bladed disk is provided. The method includes the following steps: S100: Obtain the probe direction and probe measurement boundary direction required for the planned measurement path of all blades to be measured in the blade disk, and the corresponding yaw angle coordinates ω and pitch angle coordinates φ in the same spherical coordinate system.

[0033] In this embodiment, the five-axis scanning measurement system can be a five-axis coordinate measuring machine or a five-axis machine tool. Specifically, the five axes of the scanning measurement system include three linear axes (X, Y, and Z) plus two rotary axes for the probe's pitch and yaw. The probe is mounted on the probe head, and through the adjustment driven by the five axes, it acquires surface shape information of different positions on the blade to be measured. The bladed disk is clamped on a corresponding bladed disk fixture, which can drive the bladed disk to rotate around its own central axis (around...). Figure 4 The rotation of the Z-axis (to adjust the yaw angle) can also drive the bladed disk to pitch (around the Z-axis). Figure 4 Rotate along the Y-axis to adjust the pitch angle.

[0034] In addition, this embodiment involves three coordinate systems for ease of representation of the direction vector: the machine coordinate system (MCS) of the five-axis scanning measurement system, the part (impeller) coordinate system (PCS), and a spherical coordinate system, such as... Figure 2 As shown, the origin of the spherical coordinate system is located at the joint center of the probe, and the X, Y, and Z axes of the spherical coordinate system are aligned with the XYZ axes in the MCS. The spherical coordinate system includes two orthogonal axes, yaw and pitch, which together represent the direction vector in space through the yaw and pitch angles.

[0035] Specifically, S100 includes: S101: In the part coordinate system (PCS), obtain the first unit direction vector V corresponding to the probe direction required for the planned measurement path of all blades to be measured. P .

[0036] In this step, to facilitate planning and calculation, a five-axis linkage oscillating sweep path planning method can be used to plan the measurement paths corresponding to all blades to be measured in the PCS. This allows us to obtain the probe direction required for planning the measurement path in the PCS, and thus obtain V. P .

[0037] S102: V P Transformed into the MCS of a five-axis scanning measurement system to form V P The corresponding second unit direction vector V M The following conditions must be met: .

[0038] Among them, R M P This is the rotation transformation matrix from the part coordinate system to the MCS.

[0039] Since the probe is controlled and moved within the MCS, it is necessary to control the V... P Transformed into MCS, forming V P The corresponding second unit direction vector V M Because, V P and V M Both are unit direction vectors; therefore, only through R M P The conversion can then be completed.

[0040] S103: Map the probe directions and probe boundary directions required for the planned measurement paths of all blades to be measured to the same spherical coordinate system.

[0041] The unit direction vector V in the MCS corresponding to any probe direction or measurement boundary direction M In a spherical coordinate system, the corresponding yaw angle coordinates ω and pitch angle coordinates φ satisfy the following conditions: .

[0042] Among them, V M x V M y and V M z V M Projected lengths in the X, Y, and Z axis directions.

[0043] In S103, the probe direction and the probe boundary direction required for planning the measurement path are mapped to the same spherical coordinate system and represented by ω and φ respectively, laying the foundation for the subsequent transformation of these direction vectors into the same graphical domain for representation.

[0044] S200: Based on ω and φ corresponding to each probe direction and measurement boundary direction, respectively, map each probe direction and measurement boundary direction to the corresponding pixel in the global reachability map. The global reachability map includes orthogonal pixel U-axis and pixel V-axis. The angle range corresponding to the pixel U-axis is... The angle range corresponding to the V-axis of a pixel is [-π, π].

[0045] Each pair of ω and φ corresponds to the pixel coordinates of the pixel point in the global reachability map [u GAM v GAM ], satisfying the following relationship: .

[0046] Where △φ is the distance between any two adjacent pixels in the global reachability map.

[0047] The method for constructing a GAM is to map the orientation of the entire region into a rectangular image domain (GAM), and then further discretize it into n ω ×n φ n pixels, that is, a resolution of n ω ×n φ The specific resolution can be controlled based on the required discretization precision (i.e., Δφ) and computational cost. The rectangular image domain includes orthogonal pixel U-axis and pixel V-axis. The pixel U-axis represents the pitch angle, with an angle range of... The V-axis of a pixel represents the yaw angle, which ranges from -π to π. Each probe direction corresponding to the probe path can be represented as a pixel in the GAM, and the probe's measurement boundary direction can be represented as a boundary range in the GAM.

[0048] Typically, since the probe can rotate 360° in the yaw direction, the limitation of the yaw direction can be disregarded when considering the measurement boundary.

[0049] Furthermore, in the pitch direction, the probe's rotation range is generally not 180 degrees. Typically, the probe can reach an angle of -π / 2 in the pitch direction, but the elevation angle will vary. Since -π / 2 is the lower limit of the GAM domain, pixels will not exceed this lower limit, so a lower limit for the pitch direction is generally unnecessary. For example, if the probe's rotation angle on the pitch axis is 120°, its corresponding pitch angle range is [-90°, 30°]. Because the probe is in a singular position at φ=-90°, the φ angle cannot decrease further; regardless of the direction the probe rotates, the corresponding φ angle increases. Therefore, the probe constraint only constrains the upper limit and not the lower limit. That is, an object that can be measured at φ=-90° can be measured regardless of its rotation, as long as the corresponding φ angle does not exceed 30°, because the φ angle will not decrease further to less than -90°. Therefore, in GAM, when mapping the measurement boundary direction, only the curve corresponding to the upper limit of the probe's pitch angle needs to be considered. The curve corresponding to the upper limit measurement boundary direction, along with the left, right, and lower boundaries in the GAM, forms the synthesized region, which is the reachable region of the probe. This means that any measurement direction corresponding to a pixel within this region is feasible. Figure 3 As shown in (b) and (c), the pixel groups are all within the range defined by the angle constraint curve; otherwise, it is not feasible, as... Figure 3 As shown in (a), all pixel groups intersect the range defined by the angle constraint curve.

[0050] S300: Based on the inclusion relationship between the pixel group corresponding to each blade to be measured and the angle constraint curve corresponding to the measurement boundary direction in the global reachability map, adjust the yaw angle and / or pitch angle of the blade disk clamping, and take the blade disk tilt attitude corresponding to the angle constraint curve containing the most pixel groups as the optimal blade disk clamping attitude.

[0051] By continuously adjusting the clamping posture of the bladed disk, more pixel groups in the GAM can be brought into the boundary range to determine the maximum number of blades that can be measured in a single measurement. In this embodiment, the pixel group is the set of all pixels corresponding to the probe directions required to measure a complete blade. Because blade parameter evaluation is usually performed with a complete blade as the smallest unit, if the measurement results of the same blade are obtained using two different clamping angles, positioning errors will be introduced, making the parameter evaluation inaccurate.

[0052] Therefore, in the S300, when determining the optimal bladed disk clamping posture, it is necessary to include the entire pixel group within the angle constraint curve to avoid the pixel group intersecting with the angle constraint curve. By determining multiple optimal bladed disk clamping postures, the probe directions of all blades to be tested are included, thus enabling the measurement of all blades to be tested.

[0053] Typically, the blades to be measured in a bladed disk have a centrally symmetrical structure. Special attention needs to be paid to the original angle constraint curve corresponding to the measurement boundary direction of the upper limit of pitch, which is φ=φ. lim The straight line, φ lim This defines the measurement boundary in the pitch direction of the probe. For example, if the probe's pitch axis rotates at an angle of 120°, then the angle constraint curve to be drawn in GAM is φ=φ lim A horizontal straight line at a angle of 30°, such as Figure 3 As shown in (a) in the figure. The horizontal straight line with φ=30°, together with the left, right and lower boundaries of GAM, forms the reachable area of ​​the probe.

[0054] According to the formation principle of GAM, this GAM has two basic characteristics: I. The rotation of the workpiece around the Z-axis can be represented by the horizontal movement of pixels along the V-axis. Furthermore, the first column (ω=-π) and the last column (ω=π) of the GAM are in the same position in actual space; therefore, a cyclic shift operation is required during horizontal movement. The attitude adjustment of the workpiece (bladed disk) in the yaw angle direction conforms to attribute I.

[0055] II. The tilt of the workpiece around the Y-axis can be represented in GAM as the result of the combined movement of pixels along the U-axis and V-axis. The attitude adjustment of the workpiece (impeller) in the pitch direction conforms to attribute II.

[0056] For example, when the workpiece is tilted 45 degrees around the Y-axis, according to attribute II, the pixel group will... Figure 3 (a) in the middle is converted to Figure 3 The location shown in (b) is shown in the image. In this case, all colored pixels are below the red line, meaning the entire scan path is fully accessible.

[0057] Therefore, after each adjustment of the bladed disk's clamping posture, the optimal bladed disk clamping posture can be determined by the positional relationship between the newly obtained pixel group and the original angle constraint curve.

[0058] In this case, S300 includes: S301: After each adjustment of the yaw angle and / or pitch angle of the blade disk clamping, the new probe direction required for the planned measurement path of each blade to be measured is re-determined.

[0059] S302: Based on the new probe direction, generate a new pixel group corresponding to each blade to be measured in the global reachability map.

[0060] S303: Based on the inclusion relationship between the new pixel group and the angle constraint curve corresponding to the measurement boundary direction, determine the number of new pixel groups that will be included in the angle constraint curve after adjusting the bladed disk clamping angle.

[0061] S304: Determine the optimal bladed disk clamping posture based on the number of new pixel groups contained in the angle constraint curve after each bladed disk clamping angle adjustment.

[0062] In this embodiment, the position of the pixel group is recalculated after each posture adjustment to determine whether the current clamping posture is optimal.

[0063] In the above embodiments, although the positional relationship between the adjusted pixel group and the angle constraint curve can be determined, the computational load is large. The following embodiments provide an S300 implementation step with a smaller computational load: S310: Based on the inclusion relationship between the pixel group corresponding to each blade to be measured and the angle constraint curve corresponding to the measurement boundary direction in the global reachability map, adjust the yaw angle and / or pitch angle of the bladed disk clamping, and take the bladed disk tilt attitude corresponding to the angle constraint curve containing the maximum number of pixel groups as the optimal bladed disk clamping attitude, including: S320: After each adjustment of the bladed disk clamping pitch angle, the new angle constraint curve corresponding to the measurement boundary direction in the global reachability map is redefined based on the adjusted pitch angle θ. The new angle constraint curve φ'(ω) satisfies the following condition: .

[0064] Specifically, the angle constraint curve is φ=φlim The direction vector K of the probe on the angle constraint curve can be expressed as: ; When the workpiece tilts around the y-axis by an angle θ, the original direction vector K is converted to K'. ; because From the above formula, we can see that Correspondingly, the new angle constraint curve .

[0065] S330: Determine the optimal bladed disk clamping posture based on the number of pixel groups contained in the new angle constraint curve after each bladed disk clamping angle adjustment.

[0066] Considering the relativity of the movement between the workpiece and the probe, that is, tilting the part by φ s The degree is equivalent to tilting the probe by -φ s Therefore, it is only necessary to transform the pixels of the angle constraint curve to the new position, such as... Figure 3 As shown in (c), the positional relationship between the adjusted pixel group and the angle constraint curve can be determined. Figure 3 (b) and Figure 3 The reachability shown in (c) is exactly the same. Therefore, by transforming the angle constraint lines instead of all direction-dependent pixels, the computational cost will be significantly reduced.

[0067] The S330 includes: S331: Use binary search to adjust the initial angle range [θ] in pitch adjustment. low θ high Perform an iterative search. θ low With a pitch angle of 0°, θ high This is the maximum pitch angle of the bladed disk clamp. Typically, the upper limit is θ. high Determined based on the working range of the selected fixture, generally θ high =60°.

[0068] In each iteration, the number of pixel groups contained in the angle constraint curve and the distance of the contained pixel groups from the angle constraint curve are used as the corresponding angle evaluation value.

[0069] The amplitude of the angle constraint curve on the GAM can be changed by adjusting the workpiece's tilt angle around the Y-axis. The larger the absolute value of the tilt angle, the more prominent the angle constraint curve is in the middle and the more it dips at both ends. A significant bulge in the middle of the curve helps to include more pixel groups and move them away from the curve, while the dip at the ends has the opposite effect. Therefore, there must be a clamping angle corresponding to the angle constraint curve containing the most pixel groups. Pixel groups below the curve are called qualified pixel groups because these pixels can be accessed through a specified machine configuration. If multiple clamping angles contain the same number of pixel groups, the clamping angle with the largest distance between its qualified pixel groups and the angle constraint curve is selected. The angle obtained in this way is called the optimal tilt angle.

[0070] Specifically, based on the above analysis of obtaining the optimal tilt angle, it is clear that binary search is suitable for this situation to narrow the search range. Therefore, as shown in S331, in each iteration, the search interval for the angle is divided into two parts, with the lower limit denoted as β. low The upper limit is denoted as β high The midpoint is denoted as β mid Then, calculate the number of pixel groups that meet the conditions, i.e., N. L N h N m And the distance from the qualifying pixel group to the curve, i.e., D. L D h D m , corresponding to the tilt angle β low ,β high ,β mid By analyzing N L N h N m By comparing the sizes, we can identify the following three scenarios: N L >N m The optimal angle can be found in [β]. low ,β mid Found inside.

[0071] N m <N h The optimal angle can be found in [β]. mid ,β high Found inside.

[0072] N m ≥N L and N m ≥N h : in [β low ,β mid ] and [β mid ,β high Search for the best angle within the range and compare the results of the two intervals.

[0073] This iterative search process can be implemented recursively. It continues until β. low With β high Adjacent, i.e., when β low =β high When the value is -1, the optimal angle within the interval can be directly determined by comparing N and D. It should be noted that the workpiece is allowed to rotate around the Z-axis. Therefore, in each iteration, the optimal movement of the pixel group along the V-axis in the GAM can also be determined based on the minimum distance between the pixel group and the angle constraint curve.

[0074] Furthermore, the method also includes: S400: The number n of pixel groups contained within the angle constraint curve when the bladed disk is tilted at the optimal orientation. x and the total number n of the blades to be measured included in the bladed disk. b Generate the number of times the impeller disk is clamped, P, in a complete five-axis inspection. P satisfies the following condition: P = roundup(n b / n x ).

[0075] In actual testing, considering that the impeller is a centrosymmetric component, a scanning path for each blade can be generated and mapped onto the Gaussian Image Processing (GAM) as a series of pixels. The scanning path for each blade is generated at the leading edge, trailing edge, suction surface, and pressure surface, respectively. Therefore, the pixels corresponding to the probe direction of the scanning path in a single blade typically consist of four parts. The four pixel regions corresponding to a single blade are represented by the same color in the GAM and named pixel groups, such as... Figure 4 As shown.

[0076] Minimizing the number of clamping posture settings for the impeller is equivalent to adjusting the workpiece's tilt angle around the Y-axis to include as many pixel groups as possible. Then, inaccessible blades at that tilt angle are measured by rotating the workpiece around the Z-axis. The entire process is as follows: Figure 4 As shown. Assume that a single tilt angle adjustment can involve n... x n pixel groups, that is, the corresponding n-th disk x If each blade is reachable, then a total of P measurements are needed to fully measure the entire impeller.

[0077] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0078] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0079] In an exemplary embodiment of this disclosure, an electronic device capable of implementing the above-described method is also provided.

[0080] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, collectively referred to herein as “circuit,” “module,” or “system.”

[0081] An electronic device according to this embodiment of the invention. The electronic device is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the invention.

[0082] Electronic devices are manifested in the form of general-purpose computing devices. Components of an electronic device may include, but are not limited to: at least one processor, at least one memory, and buses connecting different system components (including memory and processor).

[0083] The memory stores program code that can be executed by a processor, causing the processor to perform the steps described in the "Exemplary Methods" section above, according to various exemplary embodiments of the present invention.

[0084] The storage may include readable media in the form of volatile storage, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0085] The storage may also include programs / utilities having a set (at least one) of program modules, including but not limited to: an operating system, one or more applications, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0086] A bus can represent one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus that uses any of the various bus architectures.

[0087] The electronic device can also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication can be performed via input / output (I / O) interfaces. Furthermore, the electronic device can communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter. The network adapter communicates with other modules of the electronic device via a bus. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0088] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0089] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention may also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0090] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0091] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0092] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0093] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0094] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0095] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0096] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for determining the clamping posture in five-axis inspection of a bladed disk, characterized in that, The method includes the following steps: Obtain the probe direction and probe measurement boundary direction required for the planned measurement path of all blades to be measured in the blade disk, and their corresponding yaw angle coordinates ω and pitch angle coordinates φ in the same spherical coordinate system; Based on ω and φ corresponding to each probe direction and measurement boundary direction, respectively, each probe direction and measurement boundary direction are mapped to the corresponding pixel in the global reachability map; wherein, the global reachability map includes orthogonal pixel U-axis and pixel V-axis; the angle range corresponding to the pixel U-axis is [missing information]. The angle range corresponding to the V-axis of the pixel is [-π, π]. Each pair of ω and φ corresponds to the pixel coordinates [u] of the pixel point in the global reachability map. GAM v GAM ], satisfying the following relationship: ； Wherein, △φ is the distance between any two adjacent pixels in the global reachability map; Based on the inclusion relationship between the pixel group corresponding to each blade to be measured and the angle constraint curve corresponding to the measurement boundary direction in the global reachability map, adjust the yaw angle and / or pitch angle of the blade disk clamping, and take the blade disk tilt attitude corresponding to the angle constraint curve containing the most pixel groups as the optimal blade disk clamping attitude.

2. The method according to claim 1, characterized in that, The blades to be measured in the bladed disk have a centrally symmetrical structure.

3. The method according to claim 2, characterized in that, Based on the inclusion relationship between the pixel group corresponding to each blade to be measured and the angle constraint curve corresponding to the measurement boundary direction in the global reachability map, adjust the yaw angle and / or pitch angle of the bladed disk clamping, and take the bladed disk tilt attitude corresponding to the angle constraint curve containing the maximum number of pixel groups as the optimal bladed disk clamping attitude, including: After each adjustment of the yaw angle and / or pitch angle of the blade disk clamping, the new probe direction required for the planned measurement path of each blade to be measured is re-determined; Based on the new probe orientation, a new pixel group corresponding to each blade to be measured is generated in the global reachability map; Based on the inclusion relationship between the new pixel group and the angle constraint curve corresponding to the measurement boundary direction, determine the number of new pixel groups that will be included in the angle constraint curve after adjusting the bladed disk clamping angle. The optimal bladed disk clamping posture is determined based on the number of new pixel groups contained in the angle constraint curve after each bladed disk clamping angle adjustment.

4. The method according to claim 2, characterized in that, The original angular constraint curve corresponding to the measured boundary direction is φ=φ lim The straight line, φ lim The measurement boundary is defined by the elevation angle of the probe. Based on the inclusion relationship between the pixel group corresponding to each blade to be measured and the angle constraint curve corresponding to the measurement boundary direction in the global reachability map, adjust the yaw angle and / or pitch angle of the bladed disk clamping, and take the bladed disk tilt attitude corresponding to the angle constraint curve containing the maximum number of pixel groups as the optimal bladed disk clamping attitude, including: After each adjustment of the pitch angle of the bladed disk clamping, the new angle constraint curve corresponding to the measurement boundary direction in the global reachability map is redefined based on the adjusted pitch angle θ; the new angle constraint curve φ'(ω) satisfies the following condition: ； The optimal bladed disk clamping posture is determined by the number of pixel groups contained in the new angle constraint curve after each bladed disk clamping angle adjustment.

5. The method according to claim 3 or 4, characterized in that, The method further includes: Based on the number n of pixel groups contained within the angle constraint curve when the bladed disk is tilted at the optimal attitude. x and the total number n of the blades to be measured included in the bladed disk. b Generate the number of times the impeller disk is clamped in a complete five-axis inspection, P; P satisfies the following condition: P = roundup(n b / n x ).

6. The method according to claim 4, characterized in that, The method further includes: determining the optimal bladed disk clamping posture based on the number of pixel groups contained in the new angle constraint curve after each bladed disk clamping angle adjustment, including: Using binary search, adjust the initial angle range [θ] within the pitch range. low θ high Perform iterative search; θ low With a pitch angle of 0°, θ high This is the maximum pitch angle of the bladed disk clamp; In each iteration, the number of pixel groups contained in the angle constraint curve and the distance of the contained pixel groups from the angle constraint curve are used as the corresponding angle evaluation value.

7. The method according to claim 4, characterized in that, Obtain the probe directions and probe boundary directions required for the planned measurement path for all blades to be measured in the bladed disk, and their corresponding yaw angle coordinates ω and pitch angle coordinates φ in the same spherical coordinate system, including: The probe directions and measurement boundary directions required for the planned measurement paths of all blades to be measured are mapped to the same spherical coordinate system. The origin of the spherical coordinate system is located at the joint center of the probe, and the X, Y, and Z axes of the spherical coordinate system are consistent with the XYZ three-axis directions in the MCS of the five-axis scanning measurement system. The spherical coordinate system includes two orthogonal axes: yaw and pitch. The unit direction vector V corresponding to any probe direction or measurement boundary direction in the MCS is... M In a spherical coordinate system, the corresponding yaw angle coordinates ω and pitch angle coordinates φ satisfy the following conditions: ； Among them, V M x V M y and V M z V M Projected lengths in the X, Y, and Z axis directions.

8. The method according to claim 7, characterized in that, Before mapping the probe directions and probe boundary directions required for the planned measurement paths corresponding to all the blades to be measured to the same spherical coordinate system, the method further includes: In the part coordinate system, obtain the first unit direction vector V corresponding to the probe direction required for the planned measurement path of all blades to be measured. P ; V P Transformed into the MCS of a five-axis scanning measurement system to form V P The corresponding second unit direction vector V M The following conditions must be met: ； Among them, R M P Let be the rotational transformation matrix from the part coordinate system to the MCS.

9. A non-transitory computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the clamping posture in five-axis detection of a bladed disk as described in any one of claims 1 to 8.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for determining the clamping posture in five-axis detection of a bladed disk as described in any one of claims 1 to 8.

Images