CN112446123B - Measuring head pose planning method for blisk three-coordinate measuring machine - Google Patents
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Abstract
The invention discloses a measuring head pose planning method for a blisk three-coordinate measuring machine, which is used for solving the problems of complex calculation method and low calculation efficiency in the measuring head pose determination process during the existing blisk three-coordinate measurement. The method comprises the steps of firstly obtaining the contour line of a measuring section and the normal direction of the plane where the contour line is located, and calculating the rotating angle of the measuring head according to the normal direction. And then dividing the section contour line into areas by using the sectional points, acquiring mark point information at the same section height on adjacent blades, and determining the inclination angle of the measuring head according to the mark points and the sectional points on the section curve. The method simplifies the complexity of measuring head pose calculation in the three-coordinate measuring process of the blisk, improves the efficiency of measuring head pose calculation of interference-free measurement, and effectively realizes scientific and reasonable planning of the measuring head pose of the interference-free measurement of the blisk.
Description
Technical Field
The invention belongs to the field of mechanical part measurement, and particularly belongs to a measuring head pose planning method for interference-free measurement of an integral blisk by using a three-coordinate measuring machine.
Background
With the development of the aviation industry, the requirements on the performance of the aero-engine are higher and higher. Currently, an important parameter of advanced aircraft engines is having a large thrust-to-weight ratio. Increasing the ratio of thrust to self weight means that the weight of the turbine and compressor is becoming smaller. The traditional manufacturing process of turbines and compressors is to attach the blades produced separately to the blisk in a way that the mortises and tenons lock each other. And the blisk does not need to be connected with a hub mortise and a blade tenon, so that the weight of a connecting part and a supporting part is saved, and the weight of the engine is reduced. And the contact stress between the tenon and the disk hub is eliminated, connecting pieces such as locking plates, nuts and bolts and the mounting edge of the hub are omitted, the number of parts is greatly reduced, and the blisk has the characteristics of compact structure, light weight, large thrust-weight ratio and the like. Therefore, the blisk becomes a key part of the advanced aeroengine.
The literature search of the prior art finds that at present, the measurement modes of the blisk mainly comprise two types: non-contact measurement and contact measurement.
The non-contact measurement mainly uses the measurement methods of laser, white light, grating stripes and the like. The non-contact measurement has general measurement accuracy, and because the blades are dense and are seriously shielded, complete blade profile data cannot be obtained by one-time measurement, and the measurement accuracy is further reduced because the measurement needs to be carried out for multiple times and spliced.
The contact-type measuring method using a three-coordinate measuring machine is a method mainly used at present. Because the blade has high torsion resistance and narrow gaps among the blades, the measuring head is easy to collide and interfere with the blade, and the position and the posture of the measuring head are required to be continuously adjusted to avoid collision and interference in the measuring process. The following documents relate to probe pose planning: the documents Chang H C, lin A C. Automatic infection of turbine blades using a 3-axis CMM together with a 2-axis dividing head [ J ]. International Journal of Advanced Manufacturing Technology,2005, 26 (7-8): 789-796, a dividing head with two rotating shafts is used for precisely measuring the turbine blade, a measuring head vertically extends into the space between the blades of the blade disc from the top end of each blade, and interference is avoided by adjusting the included angle between the measuring head and each blade. However, the method has limited obstacle avoidance capability, and is not suitable for measuring a long and narrow blade disc with large blade torsion, high overlapping rate and long blades. The document Chang H C, lin A C. Five-axis automatic measuring by co-recording measuring machine [ J ]. International Journal of Advanced Manufacturing Technology,2011, 55 (5-8): 657-673 projecting to XY plane, and determining whether collision occurs according to the relationship between the contour line of blade disk, the contour line of cross section, and the projection line of measuring rod. The method has the following defects: the measuring head extends into the blade gap from the top end of the blade, and whether the measuring rod interferes with the blade disc or not is judged by means of projection aiming at each measuring point, so that the calculation efficiency is low.
The patent "CN 104316016A shenyang dawn aeroengine (group) llc company, a longitudinal measurement method of blisk complex curved surface blades" provides a longitudinal measurement method of blisk complex curved surface blades, which extracts longitudinal detection lines on the front edge, the rear edge, the basin and the back of the blades respectively according to the three-dimensional digifax of the blisk, detects the real object of the blades by using a three-coordinate measuring machine according to the longitudinal detection mode, and further processes the data of the sampling points. However, for a blisk with long and narrow blades and small blade spacing, a measuring needle with the length larger than that of the blades needs to be used for measurement, otherwise, a measuring seat collides and interferes with the blades. And the longitudinal measurement mode is not consistent with the concept that the blades are designed according to section lines. The patent CN 103278118A northwest industrial university, method for determining the measuring head angle of a closed blisk three-coordinate measuring machine proposes a method for determining the measuring head angle of the closed blisk three-coordinate measuring machine. The method comprises the steps of firstly analyzing the reachable cone of all measuring points, dividing the region by combining a touch measuring region and the reachable cone, and selecting the optimal measuring head angle. The main problems of the above method are: 1) The reachable cone range of each measuring point needs to be calculated, and the direction of each direction cone needs to be classified, so that the calculation method is complex and the efficiency is low. In the patent CN 107091603A university of science and technology in china, a measuring method of a blisk, the three-dimensional visible cone angle ranges of all measuring points are calculated first, the three-dimensional visible cone ranges of the measuring points are converted into spherical mapping areas, the collision-free measuring direction of each measuring point is calculated respectively, finally, a sum matrix is obtained by adding the three-dimensional visible cone angle range matrixes one by one, and the measuring points in the same visible cone range are classified by a matrix calculation method. The method also needs to calculate the direction cone of each measuring point, and the measuring point area division mode is not suitable for data processing after actual blisk measuring point collection. Aiming at the problems that the calculation of a measuring point direction cone is complex, the planning efficiency of the measuring head pose is low and the measuring head pose planning is difficult to popularize and use in actual production in the conventional blisk three-coordinate measuring head pose planning, a novel blisk three-coordinate measuring machine measuring head pose planning method is provided.
Disclosure of Invention
The invention aims to solve the problems that the randomness of the probe obstacle avoidance angle is large, the calculation method is complex, the number of times of probe position and orientation adjustment is large in the measurement process, and the measurement efficiency is low in the three-coordinate measurement of a blisk, and provides a method for planning the position and orientation of a probe of a three-coordinate measuring machine of the blisk.
In order to achieve the purpose, the technical scheme of the invention is as follows: a measuring head pose determination method of a blisk three-coordinate measuring machine is characterized by comprising the following steps:
s1, importing blisk model data, establishing a coordinate system, and enabling an X axis to coincide with a stacking axis of a blade to be measured;
s2, layering and storing blade model data, and acquiring and storing data of a section profile curve of a blade;
s3, calculating a normal vector of a plane where the section profile curve is located, and calculating the rotation angle of the measuring head;
s4, extracting section contour data, finding out front and rear edge points and a leaf basin, wherein the point with the maximum curvature at the leaf back is divided into four areas;
further, the step S4 includes the following substeps:
s41, finding a front edge point and a rear edge point according to the curvature of the section curve, and drawing a circle by taking the front edge point Q (the rear edge point H) as the center of the circle and r as the radius to intersect the section curve at two points A and B. The length D of the cross-sectional curve in the two points and the length L of the arc between the two points are calculated respectively.
Wherein c' x (u)，c′ y (u)，c′ z (u) is the differential of Hu Chang.
L＝α·r (2)
Where α is the camber value of the angular AQB (AHB).
When the length of the section curve between two points is equal to the length of a circular arc between the two points (L = D), taking the points A and B as the segmentation points of the front (rear) edge curve and the leaf basin and leaf back curve;
s42, respectively calculating points with the maximum curvature on a cone curve, a blade back curve, a front edge curve and a rear edge curve as segmentation points, and dividing the section contour line into four parts;
s5, dividing intersecting contour lines of the adjacent blades with the same cross-sectional height to divide the front edge and the rear edge of each blade, a blade basin and a segmentation point of a blade back;
further, the step S5 includes the following substeps:
s51, intersecting the plane of the section contour line with two adjacent blades to obtain an intersecting section line;
s52, dividing segmentation points of a front-rear edge curve and a blade basin and blade back curve on the intersecting section line by using the method in the S4;
s6, offsetting the divided sectional points to the outer side of the blade along the normal direction of the intersected contour line by the distance of one measuring head diameter to obtain a mark point (such as a point HB 1);
s7, respectively connecting mark points and leaf backs which are positioned on the same side and a maximum curvature value point at a leaf basin, and calculating an acute included angle between the straight line and a Z axis of a coordinate system to be the inclination angle of the measuring head;
s8, determining the measurement pose of the measuring head in each area by a two-dimensional array combining the inclination angle and the rotation angle;
and S9, finishing the calculation.
The invention has the beneficial effects that:
1. the method for planning the position and the pose of the measuring head for measuring the three coordinates of the blisk is decomposed into the determination of the inclination angle and the rotation angle, the collision interference problem of the measuring head and the blisk can be converted into the plane problem from the three-dimensional problem, the calculation method is simple and easy to implement, and the collision interference of the measuring head and the blade can be effectively avoided;
2. a short side needle can be used, the measurement precision can be ensured, and the method is suitable for the measurement of the closed blisk;
3. the measuring section lines are divided into areas, a common measuring head direction is determined for the points to be measured in the same area, the number of times of change of the position and the posture of the measuring head is small, and the measuring time is short.
Drawings
FIG. 1 is a flow chart of a measuring head pose planning method of a blisk three-coordinate measuring machine according to the present invention;
FIG. 2 is a schematic view of the blisk and coordinate system setup of the present invention;
FIG. 3 is a schematic diagram of the profile and cross-sectional contour of the blade profile to be measured according to the present invention;
FIG. 4 is a schematic view of information of each measurement area of a cross-sectional contour line of a blade to be measured and the positions of mark points of adjacent blades;
FIG. 5 is a schematic view of the present invention for obtaining cross sectional lines of adjacent blades;
FIG. 6 is a schematic diagram of a method of determining the tilt angle of a probe according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments:
as shown in fig. 2 to 6, the method for extracting the sampling points of the three-coordinate measuring blade section provided by the invention comprises the following steps:
s1, importing a blisk digital-analog into CAD three-dimensional modeling software, establishing a measurement coordinate system, and overlapping a stacking axis of a blade to be measured with an X axis (figure 2);
s2, calculating all measuring section contour lines of the blade to be measured by a layering method (figure 3); the cross-sectional profile is represented by NURBS curve:
wherein p is i As a control point, w i Weight occupied for each control point, N i，k (u) is a k-th order B-spline basis function in the u direction
S3, respectively calculating a normal vector n of a plane where each section contour line is located, and enabling the inclination angle of the measuring head to be perpendicular to the normal vector n so as to determine the rotation angle of the measuring head;
s4, calculating segmentation points, and segmenting the section contour line;
step S4 also includes the following steps
S41 and S41, finding a front edge point and a rear edge point according to the curvature of the section curve, and drawing a circle by taking the front edge point Q (rear edge point H) as a circle center and r as a radius to intersect the section curve at two points A and B. The length D of the cross-sectional curve between the two points and the length L of the arc between the two points are calculated, respectively.
Wherein c' x (u)，c′ y (u)，c′ z (u) is the differential of Hu Chang.
L＝α·r (3)
Where α is the camber value of the angular AQB (AHB).
When the length of the section curve between two points is equal to the length of a circular arc between the two points (L = D), taking the points A and B as the segmentation points of the front (rear) edge curve and the leaf basin and leaf back curve;
s42, calculating the point (P1 at the leaf back and P2 at the leaf basin) with the maximum curvature of the leaf basin region of the cross section contour line, and dividing the cross section contour line into two parts A and B by taking the two points as the dividing points of the cross section curve. Then, solving a front edge point Q point and a rear edge point H point of the section curve to be measured and a normal direction thereof; curve a is divided into two parts A1 and A2 by point H, and curve B is divided into two parts B1 and B2 by point Q (fig. 4);
and S5, intersecting the plane where the curve of the section to be measured is located with the adjacent blade to obtain an intersecting curve (figure 5). Respectively solving transition points of the front/rear edge curves and the blade basin/back curves by using the intersecting curves, solving segmentation points (QB point and HB point) of the front/rear edge curves and the blade basin curves of the intersecting curves, and solving transition points (QP point and HP point) of the front/rear edge curves and the blade back curves of the intersecting curves;
s6, respectively offsetting four points QB, HB, QP and HP by a distance of one measuring head diameter along the normal direction of the section contour line where the QB, HB, QP and HP are located to obtain four mark points QB1, HB1, QP1 and HP1 (figure 4);
an included angle alpha between a connecting line of the HB1 point and the P1 point and the Z axis is an inclined angle of the A1 area measured by the measuring head, and an included angle beta between a connecting line of the HP1 point and the P2 point and the Z axis is an inclined angle of the A2 area measured by the measuring head; an included angle alpha 'between a connection line of the QB1 point and the P1 point and the Z axis is an inclined angle of the B1 area measured by the measuring head, and an included angle beta' between a connection line of the QB1 point and the P2 point and the Z axis is an inclined angle of the B2 area measured by the measuring head (figure 6);
and S8, the two-dimensional array of the inclination angle and the rotation angle is the measurement angle of each region measured by the measuring head.
And S9, finishing the calculation.
The invention provides a measuring head pose planning method for a blisk three-coordinate measuring machine, which is characterized in that a measuring head pose calculation method is decomposed into a rotating angle and an inclination angle for calculation respectively, and a method for determining the rotating angle and the inclination angle of a measuring head is provided. The method can convert the measuring head pose planning in the three-dimensional space into the planning in the two-dimensional plane, and greatly reduces the complexity of the measuring head pose planning. Meanwhile, the front and rear edge points, the leaf basin and the curvature maximum point at the leaf back are used for dividing the blade profile section curved surface into four regions to be measured, each region to be measured has the same measuring head pose, and the measuring head pose of each measuring point does not need to be classified. In addition, the method utilizes the characteristic of good openness at the front edge and the rear edge of the blisk, can use a shorter measuring needle, effectively improves the measuring precision, and is suitable for measuring the closed blisk.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (6)
1. A measuring head pose planning method for a blisk three-coordinate measuring machine is characterized by comprising the following steps:
s1, importing blisk model data and establishing a coordinate system;
s2, layering and storing blade model data, and acquiring and storing data of the section contour line of the blade;
s3, calculating a normal vector of a plane where the section contour line is located, and obtaining a measuring head rotation angle;
s4, extracting section contour data, calculating a front edge point and a rear edge point of a section contour line of the section contour line, and obtaining segmentation points of a front edge curve and a rear edge curve in the section contour line and a blade basin curve and a blade back curve respectively according to the positions of the front edge point and the rear edge point so as to divide the section contour line into four areas;
s5, obtaining segmentation points of a front edge curve and a rear edge curve on an intersecting contour line at the same section height position of the adjacent blade and the blade to be measured, and a blade back curve;
s6, obtaining a mark point through the offset segmentation point;
s7, calculating the inclination angle of the measuring head by connecting the mark points and the segmentation points at the leaf basin or the leaf back on the contour line of the section to be measured;
s8, determining the measuring head pose of each region according to the rotation angle in the S3 and the inclination angle in the S7;
and S9, finishing the calculation.
2. The method for planning the measuring head pose of the blisk three-coordinate measuring machine according to claim 1, wherein in the step S3, a measuring section contour line is obtained through a layered slicing method, and a normal vector of a plane where the section contour line is located is calculated; finally, the rotation angle of the stylus is determined by keeping the rotation angle of the stylus perpendicular to the normal vector.
3. The method for planning the pose of the measuring head of the blisk three-coordinate measuring machine according to claim 1, characterized in that the step S4 comprises the following substeps:
s41, finding a front edge point and a rear edge point according to the curvature of the section contour line, drawing a circle by respectively taking the front edge point Q or the rear edge point H of the blade as the center of the circle and r as the radius, intersecting the section contour line at two points A and B, and respectively calculating the length D of the section contour line between the two points and the length L of an arc between the two points:
wherein c' x (u)，c′ y (u)，c′ z (u) is the differential of the arc length,
L＝α·r (2)
where alpha is the camber value of angle AQB or AHB,
when the length of the section contour line between the two points is equal to the length of an arc between the two points, taking the A and B points as the segmentation points of the curve of the front edge or the rear edge of the blade and the curve of the blade basin and the blade back;
and S42, respectively calculating points with the maximum curvature on the cone curve, the back curve, the front edge curve and the rear edge curve as segmentation points, and dividing the section contour line into four regions.
4. The method for planning the measuring head pose of the blisk three-coordinate measuring machine according to claim 1, wherein the step S5 comprises the following substeps:
s51, intersecting the plane of the section contour line with two adjacent blades to obtain an intersecting contour line;
and S52, dividing segmentation points of the front and rear edge curves and the blade basin and blade back curves on the intersecting contour lines by using the method in the S4.
5. The method for planning the measuring head pose of the blisk three-coordinate measuring machine according to claim 1, wherein in the step S6, the sectional points are offset to the outer side of the blade along the normal direction of the intersecting contour line by a distance of a measuring head diameter to obtain mark points.
6. The method for planning the measuring head pose of the blisk three-coordinate measuring machine according to claim 1, wherein in the step S7, for four regions divided by segment points on the contour line of the cross-section to be measured, the measuring head tilt angle of each measuring point of each region is determined by the vector direction of the connecting line of the two points of the marking point nearest to the region and the segment region at the leaf basin or the leaf back in the region.
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| US20220397384A1 (en) | 2021-05-25 | 2022-12-15 | Hexagon Metrology, Inc. | Implementing Specific Hardware to Follow an Efficient Measurement Protocol |
| CN113701606B (en) * | 2021-08-31 | 2024-01-30 | 中国航发沈阳黎明航空发动机有限责任公司 | Three-coordinate curved surface compensation detection method for blisk |
| CN113899280B (en) * | 2021-11-08 | 2022-09-09 | 上海交通大学 | Blisk blade four-axis linkage scanning path planning method and system |
| CN116628786B (en) * | 2023-07-26 | 2023-10-10 | 中南大学 | Manufacturing method of special-shaped three-dimensional marking ball |
| CN116992600B (en) * | 2023-09-26 | 2023-12-15 | 南京航空航天大学 | Multi-constraint blade section line partition characteristic point acquisition method |
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