Design And Realization Of Robot Measurement System For Blade

As a symbol of national manufacturing level,blade with complex surface has been widely used in industry.With the rapid progress of industrial manufacturing technology,the industry brings forward higher requests for blade measurement technology.In order to bring improvement to traditional blade measurement technology which is of low automation,poor universality and complex operation,this thesis combines robot technologies with blade measurement technology to develop a robot measurement system for blade.During the development process of the system,this thesis studies viewpoint planning,pre-position for turbine blade,automatic analysis for point clouds and other technologies.This thesis also completes the integration of the above functional modules and the visual control software of the system.In this thesis,an automatic viewpoint planning method for blades of different sizes is studied.In order to ensure that the scanning area can completely cover the blade surface,this thesis proposes an iterative viewpoint planning method based on virtual simulation of scanning area and improved grid method.By identifying the unscanned area of the blade surface,the elimination of the unscanned area by iterative viewpoint planning is achieved.In addition,this thesis also developed the manual viewpoint planning module as a powerful supplement to the automatic viewpoint planning method.In order to determine the position and orientation of the blade relative to the robot base coordinate system before the viewpoint planning,this thesis studies the pre-position of turbine blade without fixture.In this thesis,a point cloud registration algorithm based on SAC-IA and FPFH is developed.Combined with the pre-scanning of the markers which is on the blade,the pre-position of the measured turbine blade is realized.In order to verify the effectiveness of the robot measurement system for blade,this thesis designs a precision test for the whole system.The results of the accuracy test show that the system can meet the accuracy requirements of die-forging blade.In addition,taking the measurement of a turbine blade as an example,this thesis presents the complete functional demonstration of the robot measurement system for blade.