A device and method for adjusting and verifying a machining position of a workpiece

Abstract

The application provides a device and method for adjusting and verifying the machining position of a workpiece, and belongs to the technical field of machining, and comprises a workpiece clamping module, a three-dimensional scanning module, a film pasting module, a laser marking module, an industrial camera module, a laser ranging module, a calculation solving module and a communication module; the calculation solving module is connected with the scanning module, the industrial camera module and the laser ranging module, and the calculation solving module and a numerical control system of a machine tool are connected in communication through the communication module; the advantage is that the precise adaptive adjustment of the position of the workpiece and the verification of the machining path are realized, and the reliability of precision machining is improved.

Description

Technical Field

[0001] This invention belongs to the field of processing technology, and in particular relates to a device and method for adjusting and verifying the processing posture of a workpiece. Background Technology

[0002] As high-end equipment such as aero-engines and gas turbines iterate and upgrade towards higher thrust-to-weight ratios and lower fuel consumption, the precision manufacturing of film cooling holes on complex blade components such as turbine blades and turbine blades has become a key bottleneck restricting industrial development. These complex blade components generally have strong three-dimensional curved surface features, typically such as a twisted leading edge, a thinned trailing edge, and a free-form blade profile. When laser-processing microstructures such as film cooling holes and cooling channels, traditional pose adjustment methods have significant technical limitations.

[0003] Patent CN115890537A discloses a turbine blade attitude adjustment method based on six-point positioning. This patented technical solution involves selecting a turbine blade to be adjusted, setting its position using a six-point positioning method, and installing six position sensing modules at the bottom, upper high-pressure side, and lower high-pressure side of the turbine blade. A calibration module is used to adjust the turbine blade's position in the working state, and the sensing modules acquire the turbine blade's position during operation. The data calculated by the calibration modules is then analyzed to adjust the blade to a suitable position. This method belongs to the traditional six-point positioning scheme, offering a short measurement time but generally low accuracy. It also lacks a process for verifying the positional accuracy of the holes to be machined after attitude adjustment. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a high-precision and high-efficiency machining pose adjustment and verification device and method.

[0005] The objective of this invention can be achieved through the following technical solution: a device for adjusting and verifying the machining posture of a workpiece, comprising:

[0006] The workpiece clamping module is used to clamp the blade workpiece onto the machine tool;

[0007] The 3D scanning module is used to scan multiple reference surfaces of the blade workpiece and obtain the real point cloud model of the reference surfaces.

[0008] A film-applying module is used to apply films to blade workpieces.

[0009] The laser marking module is used to mark the film on the blade workpiece and to process the positions on the blade workpiece that need to be processed.

[0010] The industrial camera module is used to observe selected feature points on the reference surface and the marked positions on the film, as well as to verify the accuracy of the blade workpiece pose adjustment.

[0011] A laser ranging module is used to measure the distance to selected feature points;

[0012] The calculation and solution module is used to solve for the center of motion axes of the machine tool and to perform coordinate transformation calculations;

[0013] The communication module is used to communicate with the CNC system of the machine tool and output coordinate positions or coordinate library files to the CNC system of the machine tool.

[0014] The calculation and solution module is connected to the 3D scanning module, industrial camera module, and laser ranging module, and the calculation and solution module communicates with the CNC system of the machine tool through a communication module.

[0015] The aforementioned device for adjusting and verifying the machining posture of a workpiece further includes a clamping adjustment module, which includes an adjustment structure having at least one rotational degree of freedom. The adjustment structure is used to adjust the posture of the blade workpiece on the machine tool.

[0016] The aforementioned device for adjusting and verifying the machining posture of a workpiece also includes a CNC module. The CNC module is connected to the CNC system of the machine tool and is used to control the clamping and adjustment module to adjust the posture of the blade workpiece in real time.

[0017] In the aforementioned device for adjusting and verifying the machining posture of a workpiece, the communication module communicates with the CNC system of the machine tool using one or more of the following protocols: EtherNet, Modbus, CANOpen, EtherCAT, and ProfiNet.

[0018] A method for adjusting and verifying the machining posture of a workpiece, applied to the aforementioned apparatus for adjusting and verifying the machining posture of a workpiece, includes the following steps:

[0019] S1. Select multiple reference surfaces on the blade workpiece and select multiple reference points on the reference surfaces. Clamp the blade workpiece to the workpiece clamping module through the reference points and install the module on the machine tool motion axis.

[0020] S2. Obtain the real point cloud model of the blade workpiece reference surface through the 3D scanning module;

[0021] S3. Compare the actual point cloud model in step S2 with the theoretical model of the blade workpiece to obtain a deviation value database.

[0022] S4. Select feature points on the reference surface of the blade workpiece and obtain the actual point cloud model of the feature points. Based on the deviation database, perform digital correction on the coordinates of the point cloud module of the feature points to obtain the coordinate values ​​(x, y, z, a, c) of the feature points in the coordinate system of the blade workpiece. tool The machine tool coordinates (x, y, z, a, c) of the feature points are obtained by measuring and fine-tuning the position and pose of the feature points in the machine tool coordinate system using an industrial camera and laser ranging module. machine ;

[0023] S5. Obtain the machine tool motion axis center calibration data, and update the coordinates (x,y,z,a,c) based on the machine tool. machine The blade workpiece coordinates (x, y, z, a, c) of the feature points. tool Based on the machine tool motion axis center calibration data, calculate the coordinates (x, y, z, a, c) of all machining points in the machine tool coordinate system. axis ;

[0024] S6. Calculate the coordinates (x, y, z, a, c) of the machining point in the machine tool coordinate system. axis The CNC system transmits data to the machine tool.

[0025] In the above-mentioned method for adjusting and verifying the machining pose of a workpiece, after step S6, pose verification is also required, which specifically includes the following steps:

[0026] S71. The calculation and solution module calculates the coordinates (x, y, z, a, c) of several feature points in the machine tool coordinate system under the industrial camera module. machine The coordinates (x, y, z, a, c) of several feature points in the blade workpiece coordinate system. tool Using the calibration data of the machine tool motion axis center, and calling the coordinate transformation algorithm, the coordinates (x, y, z, a, c) of all machining points on the blade workpiece in the industrial camera module of the machine tool coordinate system are calculated when the blade workpiece coordinate system of the real point cloud model is completely coincident with the machine tool coordinate system. axis The coordinate data is transmitted to the CNC system of the machine tool;

[0027] S72. Based on the fixed coordinate deviations (x, y, z, a, c) of the laser marking module and the industrial camera module in the machine tool coordinate system. Δ1 The CNC system of the machine tool controls the movement of each motion axis, and the laser marking module marks all the points that need to be processed on the blade workpiece.

[0028] S73. Based on the coordinates (x, y, z, a, c) of several feature points in the industrial camera module of the machine tool coordinate system. machine The coordinates (x, y, z, a, c) of several feature points in the blade workpiece coordinate system. toolThe machine tool motion axis center calibration data is used by the calculation and solution module to call the coordinate transformation algorithm to calculate the coordinates (X, Y, Z, A, C) of all machining points on the blade workpiece in the machine tool coordinate system under the industrial camera module. CCD The coordinate library is transmitted to the CNC system of the machine tool via a communication module;

[0029] S74. Based on the positions of all machining points on the blade workpiece, use the coordinate library (X, Y, Z, A, C) in the industrial camera module of the machine tool coordinate system. CCD The CNC system of the machine tool controls the movement of each motion axis and switches to the evaluation mark error marked in step S72 under the industrial camera module. When the error is less than the required threshold, the CNC system of the machine tool controls the movement of each motion axis and switches to the processing position of the laser marking module to prepare for processing; if the error is greater than the required threshold, it returns to step S4.

[0030] In the above-mentioned method for adjusting and verifying the machining posture of a workpiece, the threshold is 10-150 micrometers.

[0031] In the above-mentioned method for adjusting and verifying the machining posture of a workpiece, before the laser marking module marks all the locations of the points to be machined on the blade workpiece in step S71, a temporary film needs to be applied to the parts of the blade workpiece that need to be machined. After applying the film, at least 3 points are marked to solve and calibrate the center of the machine tool motion axis, thereby obtaining the calibration data of the center of the machine tool motion axis, so as to compensate for the error caused by the non-orthogonality of the X, Y, and Z axes of the machine tool. After the posture verification is completed, the temporary film is removed.

[0032] In the above-mentioned method for adjusting and verifying the machining pose of a workpiece, step S4 specifically involves: using an industrial camera module to find several feature points on multiple reference surfaces, and obtaining the coordinate values ​​(x, y, z, a, c) of these feature points in the machine tool coordinate system under the industrial camera module. ccd Based on the fixed coordinate deviations (x, y, z, a, c) of the laser ranging module and the industrial camera module in the machine tool coordinate system. Δ1 Several feature points are placed at the measurement positions of the laser ranging module, and the distance deviation of the feature points is measured. The motion axes of the machine tool and the clamping adjustment module are precisely controlled so that when several feature points on the same reference plane of the blade workpiece are on a plane parallel to the XOY plane of the machine tool, the updated coordinates (x, y, z, a, c) of each feature point in the industrial camera module in the machine tool coordinate system are obtained. machine .

[0033] In the above-mentioned method for adjusting and verifying the machining posture of a workpiece, the number of reference points is at least 6; the number of reference surfaces is at least 3.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows: The complete process of "clamping-scanning-comparison-correction-calibration-solution-verification" deeply integrates multi-sensor information with machine tool motion control, realizes precise adaptive adjustment of the pose of complex blade workpieces and verification of the machining path, and improves the reliability of precision machining. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the processing equipment;

[0036] Figure 2 It is a measured image of feature points on the reference surface observed by the industrial camera module;

[0037] Figure 3 This is a diagram showing the high-precision positioning and machining effect of the air film hole.

[0038] In the figure, the components are: workpiece clamping module 1, 3D scanning module 2, film application module 3, laser marking module 4, industrial camera module 5, laser ranging module 6, calculation and solving module 7, central processing unit 701, graphics processor 702, neural processing unit 703, memory 704, hard disk 705, power supply 706, communication module 8, clamping and adjustment module 9, CNC module 10, and the CNC system of the machine tool 11. Detailed Implementation

[0039] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0040] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0041] like Figure 1 As shown, a device for adjusting and verifying the machining posture of a workpiece includes:

[0042] Workpiece clamping module 1: Using a specialized fixture, complex blade workpieces (such as gas turbine blades) are precisely clamped onto a machine tool via at least six reference points distributed across multiple reference surfaces on the blade workpiece. (Taking a turbine rotor blade as an example, the blade includes the blade body (the blade machining area), the blade crown, and the tenon. In this invention, the reference surfaces and reference points used for positioning, measurement, and coordinate system establishment are all located on the blade crown and / or the tenon, which are non-blade machining areas; the blade crown and tenon are the mounting and mating functional surfaces of the blade, and they themselves are not changed during the aerodynamic performance machining of the blade (such as the blade body profile and film cantilever). This ensures that the references remain unchanged throughout the entire process from clamping, measurement, tool setting to machining completion, guaranteeing consistency throughout the entire process.

[0043] 3D Scanning Module 2: Employs a high-precision 3D scanner, mounted on one side of the machine tool's worktable. It is used for non-contact scanning of at least three reference surfaces of the blade workpiece to acquire high-density measured point cloud data.

[0044] Film application module 3: A manual or automatic film application mechanism for applying a layer of easily peelable temporary marking film to the surface area of ​​the blade workpiece.

[0045] Laser marking module 4: Employs a fiber laser, which can switch between low-power (for marking) and high-power (for processing) modes via parameter switching. It is used to mark points on the marking film and to perform final shaping processing on the blade workpiece after verification.

[0046] Industrial Camera Module 5: Employs a high-resolution CCD camera, along with a light source, fixedly mounted on the machine tool spindle or turret. It is used to identify and locate feature points on the blade workpiece and to accurately identify and measure the position of laser-marked symbols.

[0047] Laser ranging module 6: It adopts a high-precision laser displacement sensor to accurately measure the distance to feature points, providing key data for fine-tuning the attitude of the blade workpiece.

[0048] The computational solution module 7 is a high-performance industrial computer, comprising a central processing unit (CPU) 701, a neural processing unit (NPU) 703, large-capacity memory 704, a hard disk 705, a power supply 706, and a graphics processing unit (GPU) 702 for accelerated computation. This module has built-in dedicated software responsible for running all core algorithms such as point cloud registration, coordinate transformation, spatial geometry fitting (e.g., solving for the center of rotation axis using the least squares method), and deviation calculation.

[0049] Communication module 8: Supports EtherCAT and ProfiNet industrial Ethernet protocols, used for high-speed, real-time, bidirectional data communication with the CNC system 11 of the machine tool, transmitting coordinate commands and status information.

[0050] Clamping and Adjustment Module 9 (Optional): This module is added to the device when the machine tool itself has fewer than three rotary axes, which cannot meet the needs of complex position adjustment. This module is an adjustment structure with at least one degree of freedom. It is installed between the workpiece clamping module 1 and the machine tool table and can precisely adjust the pitch and roll angles of the blade workpiece through CNC commands.

[0051] CNC module 10 (optional, used in conjunction with clamping and adjustment module 9): This module receives fine-tuning commands and controls the adjustment structure of clamping and adjustment module 9 to perform micro-motion. It shares information with the machine tool CNC system via communication module 8 to achieve coordinated motion control.

[0052] The entire process of adjusting and verifying the position and orientation of a blade workpiece (taking an integral bladed disk of an aero-engine as an example) using the above-mentioned device includes the following specific steps:

[0053] S1: Precision clamping, initial machine tool positioning

[0054] At least three reference surfaces are selected on the non-blade machining areas of the blade crown and / or tenon. At least six specific reference points are selected on these reference surfaces and clamped onto a special fixture (workpiece clamping module 1). Subsequently, the entire fixture is mounted onto the motion axes (rotary axes) of the machine tool. The CNC system 11 of the machine tool controls the X, Y, and Z linear axes and the A and C rotary axes to move and adjust the blade workpiece to a preset initial position that facilitates omnidirectional scanning by the 3D scanning module 2.

[0055] S2: 3D Scanning and Digital Reconstruction

[0056] Activate 3D scanning module 2 to scan the reference surface and obtain its high-resolution real surface 3D point cloud model. S3: Virtual-Reality Comparison and Coordinate System Pre-Alignment

[0057] The calculation and solution module 7 calls the theoretical model and compares the real point cloud model obtained in step S2 with the theoretical model, generating a database of deviation values. S4: Visual coarse localization of feature points and preparation of digital coordinates.

[0058] Select at least several feature points with obvious characteristics on multiple reference planes (such as...) Figure 2 As shown in the figure, the coordinates of the feature points in the point cloud module are digitally corrected based on the deviation database to obtain the coordinate values ​​(x, y, z, a, c) of the feature points in the blade workpiece coordinate system. tool Subsequently, the industrial camera module 5 sequentially locates and identifies these feature points. Based on its high-resolution image sensor and advanced pixel processing algorithms, the industrial camera can determine the projection positions (i.e., X and Y coordinates) of the feature points in the machine tool's XOY plane with extremely high precision, thereby obtaining their preliminary coordinates (x, y, z, a, c) in the machine tool coordinate system.CCD Based on the known fixed coordinate deviations (x, y, z, a, c) between the industrial camera module 5 and the laser ranging module 6 in the machine tool coordinate system. Δ1 The CNC system controls the machine tool's movement, using an industrial camera to precisely locate the X and Y coordinates of feature points, moving them one by one directly below the laser focus of the laser ranging module 6. The laser ranging module 6, with its high axial (Z-direction) measurement accuracy, precisely measures the Z-direction height of the point, obtaining its distance deviation value.

[0059] The calculation and solution module 7 integrates the visual XY coordinates of all feature points with the distance deviation in the Z direction of the laser beam to calculate the spatial angle between the blade workpiece reference plane and the machine tool XOY plane. Then, the communication module 8 sends instructions to the machine tool CNC system to finely control the machine tool's A / C rotary axis and clamping adjustment module 9 to fine-tune the posture of the blade workpiece.

[0060] When the blade workpiece is adjusted to the target posture (e.g., the blade end face is parallel to the XOY plane of the machine tool), the system uses the industrial camera module 5 again to perform the final measurement, obtaining high-precision machine tool coordinates (x, y, z, a, c) after fine-tuning these feature points and combining the advantages of the two-round measurement. machine .

[0061] This step aims to achieve precise adjustment of the spatial pose of the blade workpiece by integrating the advantages of both vision and laser measurement. Its core principle lies in using the high-resolution imaging advantage of an industrial camera in the X and Y planes for accurate positioning, while simultaneously utilizing the ultra-high precision of a laser rangefinder in the Z-axis direction for distance measurement, thereby collaboratively obtaining complete and accurate multi-degree-of-freedom spatial coordinates of the feature points.

[0062] S5: Machining Coordinate Theoretical Solution

[0063] The calculation and solution module 7 calculates and solves based on the obtained high-precision machine tool coordinates (x, y, z, a, c) of the feature points. machine Theoretical coordinates (x, y, z, a, c) for feature point correction tool In addition to the machine tool motion axis center calibration data, a spatial coordinate transformation algorithm is called to solve for the theoretical motion coordinates (x, y, z, a, c) of all the holes to be machined on the blade disk in the machine tool coordinate system when the blade workpiece coordinate system coincides with the machine tool coordinate system. axis .

[0064] S6: Data transmission after pose adjustment

[0065] The theoretical motion coordinates are (x, y, z, a, c). axis The data is transmitted to the CNC system 11 of the machine tool via the communication module 8.

[0066] After adjusting the blade workpiece's pose, the above steps require verification, which specifically includes the following steps:

[0067] S71: Theoretical Coordinate Transfer of Machining Path

[0068] A film is applied to the areas of the complex blade workpiece that require machining. After applying the film, at least three points are marked to calculate and calibrate the center of the machine tool's motion axis, obtaining calibration data for the machine tool's motion axis center. This data is used to compensate for errors caused by the non-orthogonality of the machine tool's X, Y, and Z axes. The calculation and solution module 7 fine-tunes the coordinates (x, y, z, a, c) based on the obtained feature points. machine Feature point theory: blade workpiece coordinates (x, y, z, a, c) tool In addition to the machine tool motion axis center calibration data, a spatial coordinate transformation algorithm is called to accurately solve for the theoretical motion coordinates (x, y, z, a, c) of all the positions to be machined on the blade in the machine tool coordinate system when the blade workpiece coordinate system coincides with the machine tool coordinate system. axis The coordinate library is transmitted in real time to the CNC system 11 of the machine tool via the communication module 8, serving as the core instruction set for subsequent actions.

[0069] S72: Pre-marking of machining position

[0070] The machine tool CNC system uses the fixed coordinate deviations (x, y, z, a, c) pre-calibrated in the machine tool coordinate system by the laser marking module 4 and the industrial camera module 5. Δ1 For the received theoretical coordinates (x, y, z, a, c) axis The conversion is then performed. Subsequently, the motion axes are controlled to perform five-axis linkage, driving the laser marking module 4 (switched to low-power marking mode) to move to each theoretical processing point position, precisely marking a tiny "+" shaped mark on the blade surface as a marker point. This process is a physical simulation of the entire processing path without material removal, aiming to transform digital coordinates into visual and detectable physical imprints.

[0071] S73: Verify coordinate calculation

[0072] To perform high-precision detection of the physical markers, the calculation module 7 again invokes the coordinate transformation algorithm. This calculation uses the industrial camera module 5 as the primary observation subject, based on the same feature point coordinates (x, y, z, a, c). machine (x,y,z,a,c) tool The machine tool motion axis center calibration data is used to specifically calculate the coordinates of all marked points in the observation coordinate system of industrial camera module 5, forming a verification coordinate library (X,Y,Z,A,C). CCD(It contains data information on point coordinates and direction vectors). This coordinate library is sent to the machine tool CNC system via communication module 8 to guide the industrial camera to observe each point.

[0073] S74: Error Detection and Closed-Loop Decision

[0074] The machine tool's CNC system controls the motion axes, moving the industrial camera module 5 sequentially to each verification coordinate (X, Y, Z, A, C). CCD The industrial camera acquires high-resolution images at each designated location. Through image processing algorithms, it accurately identifies and calculates the center position of the actual "+" marker on the membrane. The calculation module 7 compares the actual visual coordinates of each marker with its theoretical coordinates to calculate its positional deviation. The system presets a tolerance threshold (e.g., 20 micrometers). If the deviation of all detection points is less than this threshold, the entire coordinate calculation and system calibration are deemed accurate, verification is passed, and the process proceeds to the final processing step. If the deviation of any detection point exceeds the threshold, an unacceptable error is considered, and verification fails. The system will automatically terminate the process and return to step S4 (feature point selection and digital coordinate correction) or step S5 (physical pose fine-tuning) to re-calibrate the feature points and adjust the pose, forming a self-correcting intelligent closed loop.

[0075] After verification, the operator removes the marking film from the blade surface.

[0076] For each point that needs to be machined, the machine tool CNC system uses the verification coordinates (X, Y, Z, A, C) obtained in step S64 above. CCD And the pre-calibrated fixed coordinate deviation (x,y,z,a,c) between the laser marking module 4 and the industrial camera module 5. Δ1 Through coordinate transformation, the precise processing position required for laser marking module 4 (which has now switched to high-power processing mode) is calculated in real time. The system controls the linkage of each motion axis, driving the laser processing module to sequentially position itself to each calculated processing position, such as... Figure 3 As shown, the blade workpiece undergoes final laser precision machining (such as drilling air film holes).

[0077] like Figure 3 As shown, this invention integrates multi-sensor information with machine tool motion control through a complete process of "clamping-scanning-comparison-correction-calibration-calculation-verification", which enables precise adaptive adjustment of the pose of complex blade workpieces and verification of the machining path, thereby improving the reliability of precision machining.

[0078] It is worth mentioning that the method for solving and calibrating the center of the motion axis in the above steps is to calculate the center coordinates and axis vector direction of the rotation axis through three non-collinear points:

[0079] Translate the coordinate system to the reference point and construct a local coordinate system;

[0080] The axial direction is determined by the cross product of the plane normal vector formed by the three points.

[0081] The coordinates of the center of the circle are calculated by solving a system of linear equations, based on the premise that the distances from the points to the center of the circle are equal.

[0082] The direction vector is normalized and its sign is adjusted to ensure that it is consistent with the direction of machine tool movement.

[0083] In the above steps, the coordinate transformation algorithm uses the Rodriguez rotation formula to perform a single-axis rotation coordinate transformation to achieve the coordinate transformation of a point rotating around an oblique axis: M = A1 + cosθ(I−A1) + sinθA2, where M is the final rotation matrix, I is the identity matrix, A1 is the projection matrix of the axis vector direction, θ is the rotation angle, and A2 is the cross product matrix. Matrix multiplication is used to achieve the rotation of the point from the workpiece's local coordinate system to the machine tool's global coordinate system. The coordinate transformation algorithm uses dual-axis linkage inverse kinematics to solve for the linkage angles of two rotation axes (e.g., A-axis around the X-axis, B-axis around the Y-axis) to bring the target point to the target position. A combined transformation of the two rotation matrices is constructed (first around the A-axis, then around the B-axis). Valid solutions are screened through numerical solutions of a nonlinear equation system, and solutions that conform to the machine tool's motion range are filtered out. The coordinate transformation algorithm uses multiple sets of actual points (xm...) i ym i zm i ) and theoretical point (xc) i yc i ,zc i To determine the deviation, solve for the coordinate transformation matrix and use the fsolve function to solve for the nine transformation matrix parameters (t1-t9).

Claims

1. A method for adjusting and verifying the machining posture of a workpiece, characterized in that, include: The workpiece clamping module is used to clamp the blade workpiece onto the machine tool; The 3D scanning module is used to scan multiple reference surfaces of the blade workpiece and obtain the real point cloud model of the reference surfaces. The film application module is used to apply film to the blade workpiece; the laser marking module is used to mark the film application points on the blade workpiece and to process the positions on the blade workpiece that need to be processed; the industrial camera module is used to observe the selected feature points on the reference surface and the marked positions on the film, and to verify the accuracy of the blade workpiece's pose adjustment. A laser ranging module is used to measure the distance to selected feature points; The calculation and solution module is used to solve for the center of the machine tool's motion axes and to perform coordinate transformation calculations; the communication module is used to communicate with the machine tool's CNC system and output coordinate positions or coordinate library files to the machine tool's CNC system; the calculation and solution module is connected to the 3D scanning module, industrial camera module, and laser ranging module, and the calculation and solution module and the machine tool's CNC system communicate with each other through the communication module; And it includes the following specific steps: S1. Select multiple reference surfaces on the blade workpiece and select multiple reference points on the reference surfaces. Clamp the blade workpiece to the workpiece clamping module through the reference points and install the module on the machine tool motion axis. S2. Obtain the real point cloud model of the blade workpiece reference surface through the 3D scanning module; S3. Compare the actual point cloud model in step S2 with the theoretical model of the blade workpiece to obtain a deviation value database. S4. Select feature points on the reference surface of the blade workpiece and obtain the actual point cloud model of the feature points. Based on the deviation database, perform digital correction on the coordinates of the point cloud module of the feature points to obtain the coordinate values ​​(x, y, z, a, c) of the feature points in the coordinate system of the blade workpiece. tool The machine tool coordinates (x, y, z, a, c) of the feature points are obtained by measuring and fine-tuning the position and pose of the feature points in the machine tool coordinate system using an industrial camera and laser ranging module. machine ; S5. Obtain the machine tool motion axis center calibration data, and update the coordinates (x,y,z,a,c) based on the machine tool. machine The blade workpiece coordinates (x, y, z, a, c) of the feature points. tool Based on the machine tool motion axis center calibration data, calculate the coordinates (x, y, z, a, c) of all machining points in the machine tool coordinate system. axis ; S6. Calculate the coordinates (x, y, z, a, c) of the machining point in the machine tool coordinate system. axis The CNC system transmits data to the machine tool; S71. The calculation and solution module calculates the coordinates (x, y, z, a, c) of several feature points in the machine tool coordinate system under the industrial camera module. machine The coordinates (x, y, z, a, c) of several feature points in the blade workpiece coordinate system. tool Using the calibration data of the machine tool motion axis center, and calling the coordinate transformation algorithm, the coordinates (x, y, z, a, c) of all machining points on the blade workpiece in the industrial camera module of the machine tool coordinate system are calculated when the blade workpiece coordinate system of the real point cloud model is completely coincident with the machine tool coordinate system. axis The coordinate data is transmitted to the CNC system of the machine tool; S72. Based on the fixed coordinate deviations (x, y, z, a, c) of the laser marking module and the industrial camera module in the machine tool coordinate system. Δ1 The CNC system of the machine tool controls the movement of each motion axis, and the laser marking module marks all the points that need to be processed on the blade workpiece. S73. Based on the coordinates (x, y, z, a, c) of several feature points in the industrial camera module of the machine tool coordinate system. machine The coordinates (x, y, z, a, c) of several feature points in the blade workpiece coordinate system. tool The machine tool motion axis center calibration data is used by the calculation and solution module to call the coordinate transformation algorithm to calculate the coordinates (X, Y, Z, A, C) of all machining points on the blade workpiece in the machine tool coordinate system under the industrial camera module. CCD The coordinate library is transmitted to the CNC system of the machine tool via a communication module; S74. Based on the positions of all machining points on the blade workpiece, use the coordinate library (X, Y, Z, A, C) in the industrial camera module of the machine tool coordinate system. CCD The CNC system of the machine tool controls the movement of each motion axis and switches to the evaluation mark error marked in step S72 under the industrial camera module. When the error is less than the required threshold, the CNC system of the machine tool controls the movement of each motion axis and switches to the processing position of the laser marking module to prepare for processing; if the error is greater than the required threshold, it returns to step S4.

2. The method for adjusting and verifying the machining posture of a workpiece according to claim 1, characterized in that, The threshold is 10-150 micrometers.

3. The method for adjusting and verifying the machining posture of a workpiece according to claim 1, characterized in that, Before the laser marking module marks all the points that need to be processed on the blade workpiece in step S71, a temporary film needs to be applied to the parts of the blade workpiece that need to be processed. After applying the film, at least 3 points are marked to solve and calibrate the center of the machine tool motion axis, and obtain the calibration data of the center of the machine tool motion axis to compensate for the error caused by the non-orthogonality of the X, Y and Z axes of the machine tool. After the pose verification is completed, the temporary film is removed.

4. The method for adjusting and verifying the machining posture of a workpiece according to claim 1, characterized in that, Step S4 specifically involves using an industrial camera module to find several feature points on multiple reference surfaces, and obtaining the coordinate values ​​(x, y, z, a, c) of these feature points in the machine tool coordinate system under the industrial camera module. ccd Based on the fixed coordinate deviations (x, y, z, a, c) of the laser ranging module and the industrial camera module in the machine tool coordinate system. Δ1 Several feature points are placed at the measurement positions of the laser ranging module, and the distance deviation of the feature points is measured. The motion axes of the machine tool and the clamping adjustment module are precisely controlled so that when several feature points on the same reference plane of the blade workpiece are on a plane parallel to the XOY plane of the machine tool, the updated coordinates (x, y, z, a, c) of each feature point in the industrial camera module in the machine tool coordinate system are obtained. machine .

5. The method for adjusting and verifying the machining posture of a workpiece according to claim 1, characterized in that, The number of reference points must be at least 6; the number of reference surfaces must be at least 3.

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