Robot 3D Measurement And Data Processing Of Aero Blade

Blade is the core part of aero engine.Under the bad working conditions of high temperature,high pressure and strong load,it has the characteristics of bending,distortion,thin wall and easy deformation.The surface detection and quality control are very important.The existing contact three coordinate detection methods are inefficient,manual data processing time consuming and complex operation process.Aiming at this problem,the 3D optical measurement and data processing method of Aeronautical cast turbine blade robot is studied in this paper.The main contents include:(1)By using the D-H method,the kinematics equations of the robot base coordinate system,the terminal coordinate system and the array scanner coordinate system are established.The hand eye parameter calibration method with the space standard ball as the reference material is derived.The parameters of the spatial and pose transformation are solved by the least square linear solution,and the parameters of the joint and the terminal posture of the robot are pushed and guided.The position error relation is proposed to improve the calibration accuracy based on the robot joint parameter compensation method,and the position and attitude relationship between the workpiece point cloud and the design model is matched to the following modeling between the workpiece coordinate system and the base line of the robot.(2)The surface array measurement of the blade robot system is studied.Based on the optimization of visual cone and point vector,the optimal measurement angle is selected.Combining the characteristics of blade,leaf,back and front and back curvature,the position of the scanner is determined by the angle constraint.The continuous non interfering scanning path is planned in the RobotStudio,and the artificial scanning point cloud is measured.The standard deviation of relative three coordinate measurement point cloud is 0.1641 mm,and the standard deviation of position and position planning measurement point cloud is 0.1063 mm.(3)Based on iCloud3 D 3D testing software,a function module for data processing and surface detection of turbine blades is developed,including Ribbon operation interface design,noise point deletion,point model automatic matching,contour error calculation and chromatographic display,local posture adjustment,automatic batch processing and report generating,etc.The calculation methods of lateral displacement / longitudinal migration,bending distortion and vertical degree of stacked shaft are studied,and the data storage format(including file data,cross section error and batch data etc.)is defined for blade measurement data and error report generation.(4)4 models of turbine blade are used to measure the robot.The automatic measurement of position and attitude is realized.The steps of point cloud preprocessing,matching and error calculation,error chromatography,post processing adjustment and generating detection report are completed.The single piece detection time of the blade is controlled in 2min,compared with the existing artificial detection efficiency by more than 70%.