CN108151668B - A method and device for measuring and splicing blade profile full data - Google Patents

Abstract

The invention discloses a method and device for measuring and splicing full data of blade profile. First, the blade is clamped on a rotary table, and according to the profile characteristics of the blade, different sensor clamping methods are used to clamp the sensor to scan the blade to complete the blade scan. Complete data acquisition of the profile; then, with the help of the standard sphere set on the rotary table, according to the spherical center coordinates of the standard sphere, the coordinates after translation of the standard sphere center and the center of the rotary table, the converted coordinates are obtained to complete the blade profile data in different coordinate systems. Finally, the complete 3D point cloud data of the blade is obtained. The invention has the advantages of simple operation, fast collection speed, high efficiency, simple algorithm and easy implementation, which not only provides a new reference for blade profile detection, but also has important guiding significance for realizing the measurement of other complex profile objects.

Description

A method and device for measuring and splicing blade profile full data

technical field

The invention belongs to the technical field of blade profile detection, and in particular relates to a method and a device for measuring and splicing blade profile full data.

Background technique

Blade is a key part of aero-engine, which undertakes the important task of converting thermal energy into mechanical energy. The quality of the blade is the guarantee of the quality of the whole machine, and the shape error of the blade directly affects the energy conversion efficiency of the whole machine. The blade profile is generally a variable-section torsion surface with large scale span, strong force and large bearing capacity. The leading and trailing edges of the blade are the key parameters of the blade design. Usually, the leading and trailing edges are designed as arcs, and the machining accuracy directly determines the aerodynamic performance of the blade.

The blade profile is a variable-section torsion surface, the front and rear edges of which are small in radius and thin, and the curvature changes greatly. Due to the limitations of these characteristics, the rapid acquisition of full blade profile data and the acquisition of blade leading and trailing edge data have always been difficult problems. There are many commonly used methods for measuring blade profile, but there are some problems, such as standard template method, three-coordinate machine measurement method, machine vision method, CT scanning method, laser point measurement method, etc. The standard template method has low measurement accuracy, poor accuracy, and cannot be quantitatively analyzed. The cross-sectional shape of different blades is different, so multiple templates are required, and the cost is high. For the measurement of the front and rear edges, effective measurement data cannot be obtained. It is a contact measurement, using a point-by-point scanning method, which has high cost. The radius of the ball and the curvature of the front and rear edges cause jumping points, overlapping points and sharp edge points, which cause contour distortion or contour deviation; machine vision method and CT scanning method, measurement The accuracy is low, and the error is too large for measuring the tiny geometric dimensions of the front and rear edges; the laser point measurement method of the four-coordinate measuring machine is a non-contact measurement. Using the principle of laser triangulation, the blade is scanned by point scanning, but the measurement There are too few data detected in the extraction, which will have a great impact on the accuracy of the extracted characteristic curve.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a method and device for measuring and splicing blade profile full data in view of the above-mentioned deficiencies in the prior art, which can be used for subsequent processing such as blade three-dimensional surface model reconstruction, blade profile parameter extraction, and quality evaluation. Lay the foundation.

The present invention adopts following technical scheme:

A method of measuring and splicing blade profile full data. First, the blade is clamped on a rotary table, and according to the profile characteristics of the blade, different sensor clamping methods are used to clamp the sensor to scan the blade, and complete the full data collection of the blade profile; Then, with the help of the standard sphere set on the rotary table, according to the coordinates of the center of the standard sphere, the coordinates after translation of the center of the standard sphere, and the center of the rotary table, the converted coordinates are obtained, and the splicing of the blade profile data in different coordinate systems is completed, and finally the complete 3D point cloud data of leaves.

Specifically, it includes the following steps:

S1. Place the clamped blade on the turntable, place a standard ball on the turntable, and clamp the sensor so that the direction of the sensor beam is perpendicular to the plane where the blade cross-section contour line is located, and use the sensor to scan the standard ball to obtain the current coordinate system Download the coordinates of the points closest to the sensor on the standard sphere at different positions, and obtain the data information of the leaf basin and the leaf back;

S2. Change the clamping method of the sensor so that the beam direction of the sensor is parallel to the plane of the blade cross-section contour line. Use the sensor to scan the standard sphere to obtain the coordinates of the points closest to the sensor on the standard sphere at different positions in the current coordinate system, and obtain the data of the front and rear edges of the blade. information;

S3, by knowing the coordinates of the closest point of the standard ball, calculate the center coordinates of the standard ball under different clamping methods of the sensors in step S1 and step S2 respectively, and obtain the center coordinates of the turntable under different coordinate systems;

S4. Obtain the translation amount by overlapping the coordinates of the rotary table, translate the data obtained in step S2 into the same coordinate system, and then use the standard sphere center coordinates obtained in step S1 obtained in step S3 and the standard sphere obtained in step S2 respectively. After the spherical center is translated, the coordinates and the center of the rotary table are obtained, the rotation angle θ, and all the data after the rotation and translation are obtained, and the blade profile data splicing is completed to obtain the three-dimensional point cloud data of the blade.

Specifically, in step S1, the sensor scans the standard sphere along the X-axis and Z-axis to obtain the point closest to the sensor in the Y-direction of the standard sphere, denoted as P ₁ (x ₁ , y ₁ , z ₁ ), and then along the X-axis direction Scan the leaf pot of the leaf, record and save the first measurement data;

After the scanning is completed, rotate the rotary table by 180°, scan the standard sphere, and obtain the point that is closest to the sensor in the Y direction of the standard sphere, denoted as P ₂ (x ₂ , y ₂ , z ₂ ), and then scan the blade along the X-axis direction. The back of the leaf, record and save the second measurement data;

After the scanning is completed, rotate the rotary table to any known angle, scan the standard sphere, and obtain the point closest to the sensor in the Y direction of the standard sphere, denoted as P ₃ (x ₃ , y ₃ , z ₃ ).

Further, according to the closest point on the standard sphere is the point on the section passing through the center of the standard sphere, r is the radius of the standard sphere, and the coordinates of the center of the standard sphere at different angles P′ ₁ (x ₁ , y ₁ +r, z ₁ ), P′ ₂ (x ₂ , y ₂ +r, z ₂ ) and P′ ₃ (x ₃ , y ₃ +r, z ₃ ) are brought into the plane circle equation to obtain the coordinates of the rotation center of the turntable with a height of z ₀ O(x ₀ , y ₀ , z ₀ ) and the rotation radius R, z ₁ =z ₂ =z ₃ =z ₀ , the blade profile data obtained under the second measurement is taken as the rotation center coordinate of the turntable O(x ₀ , y ₀ , z ₀ ) is the rotation center, which is rotated 180° around the Z axis, and the two measurement data are converted into the same coordinate system.

Further, the rotation center coordinates (x ₀ , y ₀ ) and the rotation radius R of the turntable with a height of z ₀ are as follows:

where r is the standard sphere radius.

Specifically, in step S2, the sensor scans the standard sphere along the X-axis and Z-axis respectively, and obtains the point closest to the sensor in the Y-direction of the standard sphere, which is denoted as Q ₁ (x ₄ , y ₄ , z ₄ ), and then along the Z-axis Scan the front and rear edges of the blade in the direction, record and save the first measurement data after changing the clamping method;

After the scanning is completed, the rotary table rotates 180°, scans the standard sphere, and obtains the closest point of the standard sphere to the sensor in the Y direction, which is recorded as Q ₂ (x ₅ , y ₅ , z ₅ ), and finally scans the front and rear of the blade along the Z-axis direction. edge, record and save the second measurement data after changing the clamping method;

After the scanning is completed, rotate the turntable to any known angle, scan the standard sphere, and obtain the point closest to the sensor in the Y direction of the standard sphere, which is denoted as Q ₃ (x ₆ , y ₆ , z ₆ ).

Further, according to the closest point on the standard sphere is the point on the cross section of the center of the standard sphere, r is the radius of the standard sphere, and the coordinates of the center of the standard sphere obtained by scanning after changing the clamping method Q' ₁ (x ₄ , y ₄ +r, z ₄ ), Q' ₂ (x ₅ , y ₅ +r, z ₅ ), Q' ₃ (x ₆ , y ₆ +r, z ₆ ) are brought into the plane circle equation, and the height in this coordinate system is z ₄ = z ₅ = z ₆ = z' ₀ , the rotation center coordinates O' (x ₀ ', y ₀ ', z ₀ ') and the rotation radius R', the blade profile obtained under the second measurement The data takes the rotation center coordinate O'(x ₀ ', y ₀ ', z ₀ ') of the rotary table as the rotation center, and rotates 180° around the Z axis, and converts the two measurement data into the same coordinate system.

Specifically, step S4 includes the following steps:

S401. The two rotation center coordinates of the turntable are overlapped by translation, and the translation amount Δ(Δx, Δy, Δz) is obtained, where Δx=x ₀ -x' ₀ , Δy=y ₀ -y' ₀ , Δz= z ₀ -z'₀;

S402. According to the translation amount in step S401, the spherical center coordinates P' ₄ (x ₄ -Δx, y ₄ +r-Δy, z ₄ -Δz) of the standard sphere after translation are obtained, P' ₅ (x ₅ -Δx, y ₅ + r-Δy, z ₅ -Δz), P' ₆ (x ₆ -Δx, y ₆ +r-Δy, z ₆ -Δz), through the standard spherical center coordinates P' ₁ (x ₁ , y ₁ +r, z ₁ ), the rotation center coordinates O(x ₀ , y ₀ , z ₀ ) of the turntable and the coordinates P′ ₄ (x ₄ -Δx, y ₄ +r-Δy, z ₄ -Δz) of the standard sphere center after translation are calculated The rotation angle θ is obtained as follows:

in,

S403. Translate the measurement data [x, y, z] after changing the clamping method of the sensor by Δ to obtain the translated measurement data [x', y', z'], and then translate the translated measurement data [x', y ',z'] rotate θ around the central axis of the rotary table to obtain the rotated data [x", y", z"], and complete the data splicing of the entire blade.

Further, the rotated data [x", y", z"] is specifically:

A blade profile full data measurement device, comprising a base, a rotary table capable of 360° rotation and a Y-axis slide seat capable of moving along a Y-axis are respectively arranged on the base, a first fixture and a standard ball are arranged on the rotary table, and a first clamp and a standard ball are arranged on the rotary table. a clamp for clamping the blade;

A Z-axis column is arranged on the Y-axis sliding seat, an X-axis cross arm is arranged on the side of the Z-axis column close to the rotary table, and a second clamp for clamping the sensor is arranged on the X-axis transverse arm;

The base is also provided with a motor cabinet for controlling the movement of the Y-axis sliding seat, the Z-axis column and the X-axis cross arm, and the motor cabinet is connected with the computer through a data cable.

Compared with the prior art, the present invention at least has the following beneficial effects:

The present invention is a method for measuring and splicing the full data of the blade profile. By analyzing the characteristics of the blade and using the advantages of the line scanning sensor, for the detection of the blade back and the front and rear edges of the blade basin, different clamping methods and scanning methods are adopted for the sensor. Since the back of the leaf basin is a variable-section torsion surface, the sensor needs to scan in the direction of the cross-sectional contour line, so the sensor beam needs to be perpendicular to the plane where the cross-sectional contour line is located, so as to realize the fast and accurate data of all the data of the leaf back of the leaf basin. Accurate acquisition, due to the small and thin radius of the front and rear edges, and the large curvature change, the phenomenon of jumping points or missing measurement is easy to occur during the measurement process. To improve this phenomenon, more light spots need to be incident on the front and rear edges of the blade, so the direction of the sensor beam is parallel to the plane where the cross-section contour line is located, and the data of the front and rear edges of the blade can be obtained. Finally, with the help of the standard sphere, different coordinate systems can be obtained. under the center of the turntable. By making it coincide, the translation amount is obtained, and through translation, all data are converted to the same coordinate system. Then calculate the rotation angle, rotate the translated data, and complete the complete data splicing of the blade profile, and obtain the complete 3D point cloud data of the blade.

Further, setting P ₁ , P ₂ , and P ₃ is used to obtain the coordinates O(x ₀ , y ₀ , z ₀ ) of the rotation center of the turntable 3 with a height of z ₀ , which can quickly complete the splicing of the two measurement data and calculate Simple and efficient.

Further, setting Q ₁ , Q ₂ , and Q ₃ is used to obtain the coordinates O'(x ₀ ', y ₀ ', z ₀ ') of the rotation center of the turntable with a height of z' ₀ , which can quickly complete two measurement data The splicing, the calculation is simple and the efficiency is high.

Further, by translating the two center coordinates of the rotary table to coincide, the translation amount and rotation angle can be obtained. Through the translation and rotation measurement data, the blade data stitching is completed, and the complete blade 3D data is obtained, which is the subsequent 3D model reconstruction. , leaf profile parameter extraction, quality evaluation and other subsequent processing to lay the foundation.

The invention also discloses a blade profile full data measuring device. The blade is clamped by a rotary table that can rotate 360 degrees, and a Y-axis sliding seat that can move along the Y-axis is provided, and a Z-axis column is arranged on the Y-axis sliding seat. The X-axis cross arm is set on the Z-axis column, and the position of the sensor is adjusted by the second fixture and the sensor is connected to the computer through the motor cabinet to realize automatic control and data processing, and obtain the complete blade back and front and rear of the blade. By setting a standard ball on the rotating table, the transformation coordinates are obtained, and after splicing, the three-dimensional point cloud data of the blade profile is finally obtained. The structure is simple, the operation is simple, the measurement error is reduced, and a lot of manpower and material resources are saved. This device can The sensor clamping method is adjusted according to the measurement requirements, and the operation is simple and convenient. Then through the coordinated movement of X, Y, Z motion axes and the rotary table, the full data measurement of the blade profile can be quickly realized. It can not only ensure the measurement accuracy of the blade, but also improve the measurement efficiency.

To sum up, the invention has simple operation, fast collection speed, high efficiency, simple algorithm and easy implementation, which not only provides a new reference for blade profile detection, but also has important guiding significance for realizing the measurement of other complex profile objects.

The technical solutions of the present invention will be further described in detail below through the accompanying drawings and embodiments.

Description of drawings

Fig. 1 is the structural schematic diagram of the measuring device of the present invention;

Fig. 2 is the first sensor measurement blade diagram of the present invention;

Fig. 3 is the measuring standard ball of the present invention and the path diagram of the leaf back of the leaf basin;

4 is a diagram of the measuring blade after the sensor clamping method is changed according to the present invention;

Fig. 5 is a measuring standard ball and a path diagram of the leading and trailing edges of the present invention.

Among them: 1. Blade; 2. First fixture; 3. Rotary table; 4. Standard ball; 5. Sensor; 6. Second fixture; 7. X-axis cross arm; 8. Y-axis slide; Column; 10. Base; 11. Electric cabinet; 12. Data cable; 13. Computer.

Detailed ways

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "side" The orientation or positional relationship indicated by , "one end", "one side", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must be It has a specific orientation, is constructed and operates in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Referring to FIG. 1 , the present invention provides a complete data measurement device for blade profile, including a base 10 , a rotary table 3 , a Y-axis slide 8 , a Z-axis column 9 , an X-axis cross arm 7 , a sensor 5 , and a motor cabinet 11 and computer 13.

The rotary table 3 and the Y-axis slide 8 are respectively arranged on the base 10, the rotary table 3 is provided with a first fixture 2 and a standard ball 4, the first fixture 2 is used for clamping the blade 1, and the rotary table 3 can rotate 360°;

The Z-axis column 9 is arranged on the Y-axis slide 8, the X-axis cross arm 7 is arranged on the side of the Z-axis column 9 close to the turntable 3, the sensor 5 is clamped on the second fixture 6, and the X axis is connected to the X-axis through the second fixture 6. The shaft cross arm 7 is connected, and the second clamp 6 is used to drive the sensor 5 to rotate around the Y axis.

The specific installation method is as follows:

Taking X, Y, and Z as the machine coordinate system of the measuring device, install the blade 1 on the special first fixture 2 for the blade, place it on the turntable 3 together with the standard ball 4 after installation, and install the turntable 3 on the base 10 superior;

Install the sensor 5 on the X-axis cross arm 7 through the special second fixture 6 and move along the X-axis direction, and the X-axis cross-arm 7 can follow the Y-axis slide 8 to move along the Y-axis, and can follow the Z-axis column 9 along the Z axis axis movement;

The electrical cabinet 11 and the computer 13 are connected through a data line 12 , the movement of each axis is controlled by the computer 13 , and the measurement data is transmitted to the computer 13 for data storage and processing.

The electrical cabinet 11 includes a control system and a data acquisition system, etc., which are used to control the movement of the Y-axis slide 8, the Z-axis column 9 and the X-axis cross arm 7, and send the results to the computer.

The present invention is a method for measuring and splicing the full data of the blade profile. First, according to the characteristics of the blade profile, different sensor clamping methods are used to complete the collection of the full data of the blade profile; then, with the help of a standard sphere, the conversion coordinates are obtained to complete the different coordinates. The splicing of the blade profile data is performed, and finally the complete 3D point cloud data of the blade is obtained; the specific steps are as follows:

S1. First, clamp the blade and place it on a horizontal rotary table, then place the standard sphere, and then clamp the sensor so that the direction of the sensor beam is perpendicular to the plane where the blade cross-section contour line is located, that is, parallel to the Z axis, using the sensor Scan the standard sphere to obtain the coordinates of the points closest to the sensor on the standard sphere at different positions in the current coordinate system, and obtain the data information of the leaf basin and the leaf back;

The sensor collects at least three point coordinates of the standard sphere;

S2. Change the clamping method of the sensor, so that the direction of the sensor beam is parallel to the plane of the blade section contour line, that is, parallel to the X-axis. Use the sensor to scan the standard sphere to obtain the coordinates of the point closest to the sensor on the standard sphere at different positions in the current coordinate system. And obtain the data information of the leading and trailing edges of the blade;

The sensor collects at least three point coordinates of the standard sphere;

S3. Calculate the center coordinates of the standard sphere under different clamping methods of the sensor by knowing the coordinates of the closest point of the standard sphere; bring the center coordinates of the sphere into the plane circle equation to obtain the center coordinates of the turntable in different coordinate systems;

S4. The translation amount is obtained by overlapping the coordinates of the rotary table, and all the data in step S2 are translated, so that all data are converted to the same coordinate system, and then the standard sphere center coordinates obtained for the first time and the first obtained in step S2 are used. The coordinates of the standard ball center after translation and the center of the rotary table are obtained, the rotation angle and all the data after rotation and translation are obtained, the blade profile data is spliced, and the 3D point cloud data of the blade is obtained.

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Determine the blade and sensor clamping method

S101, clamping the blade 1 to be tested on the first fixture 2, placing it vertically on the rotary table 3, and placing the standard ball 4;

S102, clamp the line scanning laser sensor 5 on the second fixture 6, the beam direction of the sensor 5 is perpendicular to the plane where the profile line of the blade 1 is located (ie, parallel to the Z axis), and adjust the sensor 5 to the range of use, such as As shown in Figure 2;

Calculate the coordinates of the center of the turntable and splicing the data of leaf basin and leaf back

S103 , the sensor 5 scans the standard sphere 4 along the X axis and the Z axis, and obtains the point closest to the sensor 5 in the Y direction of the standard sphere 4 , which is denoted as P ₁ (x ₁ , y ₁ , z ₁ ).

Next, scan the blade 1 leaf basin along the X-axis direction, record and save the data;

After the scanning is completed, the rotary table 3 is rotated by 180°. Similarly, the standard sphere 4 is scanned first to obtain the point closest to the sensor 5 in the Y direction of the standard sphere 4, which is denoted as P ₂ (x ₂ , y ₂ , z ₂ );

Then scan the back of blade 1 along the X-axis direction, record and save the data;

After the scanning is completed, rotate the rotary table 3 by any known angle, scan the standard sphere 4, and obtain the point that is closest to the sensor 5 in the Y direction of the standard sphere 4, denoted as P ₃ (x ₃ , y ₃ , z ₃ ), as shown in the figure 3 shown.

S301. Since the closest point on the known standard sphere 4 is a point on the section passing through the center of the sphere, the coordinates of the center of the standard sphere at different angles are P′ ₁ (x ₁ , y ₁ +r, z ₁ ), P ′ ₂ (x ₂ , y ₂ +r, z ₂ ), P′ ₃ (x ₃ , y ₃ +r, z ₃ ), r is the known radius of the standard sphere 4 .

Let the coordinates of the center of the circle be O(x ₀ , y ₀ , z ₀ ), where z ₁ =z ₂ =z ₃ =z ₀ , and bring the three points P′ ₁ , P′ ₂ , and P′ ₃ into the plane circle equation:

(xx ₀ ) ² +(yy ₀ ) ² =R ² (1)

Find the coordinates of the center of the circle (that is, the coordinates of the center of rotation of the turntable 3 with a height of z ₀ ) and the radius R:

S302. Take the profile data of blade 1 obtained under the second measurement, take the coordinates of the center of the circle O(x ₀ , y ₀ , z ₀ ) as the rotation center, and rotate 180° around the Z axis, so that the two measurement data can be converted into the same in the coordinate system.

S201. Change the sensor clamping method

The line scanning laser sensor 5 is clamped on the second fixture 6, and the beam direction is parallel to the plane of the blade cross-sectional contour line (that is, parallel to the X-axis), and the sensor 5 is adjusted to the range of use, as shown in Figure 4;

S202. Calculate the center of the turntable and the data splicing of the front and rear edges

The sensor 5 scans the standard sphere 4 along the X axis and the Z axis, and obtains the point closest to the standard sphere 4 to the sensor 5 in the Y direction, which is denoted as Q ₁ (x ₄ , y ₄ , z ₄ );

Next, the front and rear edges of the blade 1 are scanned in the Z-axis direction, and data is recorded and saved.

After the scanning is completed, the rotary table 3 rotates by 180°. Similarly, the standard sphere 4 is scanned first to obtain the closest point of the standard sphere 4 to the sensor 5 in the Y direction, which is denoted as Q ₂ (x ₅ , y ₅ , z ₅ ).

Next, scan the front and rear edges of the blade 1 along the Z-axis direction, and record and save the data.

After the scanning is completed, rotate the rotary table 3 by any known angle, scan the standard sphere 4, and obtain the point that is closest to the sensor 5 in the Y direction of the standard sphere 4, denoted as Q ₃ (x ₆ , y ₆ , z ₆ ), as shown in the figure 5 shown;

S301. Calculate the coordinates of the center of the standard sphere 4

Q' ₁ (x ₄ , y ₄ +r, z ₄ ), Q' ₂ (x ₅ , y ₅ +r, z ₅ ), Q' ₃ (x ₆ , y ₆ +r, z ₆ );

Bring the coordinates of the center of the sphere into the plane circle equation (1), and obtain the coordinates of the center of the circle O'(x ₀ ',y ₀ ',z ₀ ') in this coordinate system, that is, the height is z ₄ =z ₅ =z ₆ =z ' ₀ 's rotation center coordinates and radius R' of turntable 3;

S302, the profile data of blade 1 obtained under the second measurement after the clamping method of the sensor 5 is changed, take the coordinates of the center of the circle O' (x ₀ ', y ₀ ', z ₀ ') as the rotation center, and rotate around the Z axis 180°, and convert the two measurement data to the same coordinate system.

S4, blade full data stitching

S401 , in order to realize the splicing of the measurement data of the sensor 5 in different clamping modes, the measurement data should be unified through coordinate transformation. For the entire measurement system, the position of the central axis of the rotary table 3 does not change.

By translating, the two center coordinates (the center of the rotary table) are coincident, and the translation amount Δ(Δx, Δy, Δz) is obtained,

Wherein, Δx=x ₀ -x' ₀ , Δy=y ₀ -y' ₀ , Δz=z ₀ -z'₀;

S402. After the translation, the coordinates of the center of the standard sphere 4 become: P' ₄ (x ₄ -Δx, y ₄ +r-Δy, z ₄ -Δz), P' ₅ (x ₅ -Δx, y ₅ +r- Δy, z ₅ −Δz), P′ ₆ (x ₆ −Δx, y ₆ +r−Δy, z ₆ −Δz),

Wherein, z ₄ -Δz=z ₅ -Δz=z ₆ -Δz.

Then through the known three points P' ₁ , O, P' ₄ , the rotation angle θ can be obtained as follows:

S403 , translate all the measurement data [x, y, z] by Δ after changing the clamping method of the sensor, so that all the data are converted to the same coordinate system.

Then rotate the translated measurement data [x', y', z'] around the central axis of the turntable 3 by θ to obtain the rotated data [x", y", z"], and complete the data splicing of the entire blade, that is :

[x',y',z']＝[x,y,z]+Δ(7)

The above content is only to illustrate the technical idea of the present invention, and cannot limit the protection scope of the present invention. Any changes made on the basis of the technical solution according to the technical idea proposed by the present invention all fall within the scope of the claims of the present invention. within the scope of protection.

Claims (7)

1. A method for measuring and splicing blade profile full data, characterized in that, firstly, the blade is clamped on a rotary table, and according to the profile characteristics of the blade, different sensor clamping methods are used to clamp the sensor to scan the blade, and the blade is completed. Complete data acquisition of the profile; then, with the help of the standard sphere set on the rotary table, according to the spherical center coordinates of the standard sphere, the coordinates after translation of the standard sphere center and the center of the rotary table, the converted coordinates are obtained to complete the blade profile data in different coordinate systems. splicing, and finally obtain the complete 3D point cloud data of the blade, including the following steps: S1. Place the clamped blade on the turntable, place a standard ball on the turntable, and clamp the sensor so that the direction of the sensor beam is perpendicular to the plane where the blade cross-section contour line is located, and use the sensor to scan the standard ball to obtain the current coordinate system The coordinates of the points closest to the sensor on the standard sphere at different positions are obtained, and the data information of the leaf basin and the back of the leaf is obtained, specifically: The sensor scans the standard sphere along the X-axis and Z-axis, and obtains the point closest to the sensor in the Y-direction of the standard sphere, denoted as P ₁ (x ₁ , y ₁ , z ₁ ), and then scans the vane of the blade along the X-axis direction, recording And save the first measurement data; After the scanning is completed, rotate the rotary table by 180°, scan the standard sphere, and obtain the point that is closest to the sensor in the Y direction of the standard sphere, denoted as P ₂ (x ₂ , y ₂ , z ₂ ), and then scan the blade along the X-axis direction. The back of the leaf, record and save the second measurement data; After the scanning is completed, rotate the turntable to any known angle, scan the standard sphere, and obtain the point closest to the sensor in the Y direction of the standard sphere, which is recorded as P ₃ (x ₃ , y ₃ , z ₃ ); According to the nearest point on the standard sphere is the point on the section passing through the center of the standard sphere, r is the radius of the standard sphere, and the coordinates of the center of the standard sphere at different angles are P ₁ '(x ₁ , y ₁ +r, z ₁ ), P ₂ '(x ₂ , y ₂ +r, z ₂ ) and P ₃ '(x ₃ , y ₃ +r, z ₃ ) are brought into the plane circle equation to obtain the coordinate O(x of the rotation center of the turntable with a height of z _{0 0} , y ₀ , z ₀ ) and the radius of rotation R, z ₁ =z ₂ =z ₃ =z ₀ , take the blade profile data obtained under the second measurement as the coordinates of the rotation center of the turntable O(x ₀ ,y ₀ , z ₀ ) is the rotation center, which is rotated 180° around the Z axis, and the two measurement data are converted into the same coordinate system; S2. Change the clamping method of the sensor so that the beam direction of the sensor is parallel to the plane of the blade cross-section contour line. Use the sensor to scan the standard sphere to obtain the coordinates of the points closest to the sensor on the standard sphere at different positions in the current coordinate system, and obtain the data of the front and rear edges of the blade. information; S3, by knowing the coordinates of the closest point of the standard ball, calculate the center coordinates of the standard ball under different clamping methods of the sensors in step S1 and step S2 respectively, and obtain the center coordinates of the turntable under different coordinate systems; S4. Obtain the translation amount by overlapping the coordinates of the rotary table, translate the data obtained in step S2 into the same coordinate system, and then use the standard sphere center coordinates obtained in step S1 obtained in step S3 and the standard sphere obtained in step S2 respectively. After the spherical center is translated, the coordinates and the center of the rotary table are obtained, the rotation angle θ, and all the data after the rotation and translation are obtained, and the blade profile data splicing is completed to obtain the three-dimensional point cloud data of the blade. 2. a kind of blade profile full data measurement and splicing method according to claim 1, is characterized in that, the height is that the rotary table rotation center coordinate (x ₀ , y ₀ ) of z ₀ and the rotation radius R are as follows:

where r is the standard sphere radius. 3. A method for measuring and splicing blade profile full data according to claim 1, wherein in step S2, the sensor scans the standard sphere along the X-axis and the Z-axis respectively, and obtains the closest value of the standard sphere to the sensor in the Y direction. point, denoted as Q ₁ (x ₄ , y ₄ , z ₄ ), then scan the front and rear edges of the blade along the Z-axis direction, record and save the first measurement data after changing the clamping method; After the scanning is completed, the rotary table rotates 180°, scans the standard sphere, and obtains the closest point of the standard sphere to the sensor in the Y direction, which is recorded as Q ₂ (x ₅ , y ₅ , z ₅ ), and finally scans the front and rear of the blade along the Z-axis direction. edge, record and save the second measurement data after changing the clamping method; After the scanning is completed, rotate the turntable to any known angle, scan the standard sphere, and obtain the point closest to the sensor in the Y direction of the standard sphere, which is denoted as Q ₃ (x ₆ , y ₆ , z ₆ ). 4. a kind of blade profile full data measurement and splicing method according to claim 3, is characterized in that, according to the nearest point on the standard sphere is the point on the cross-section through the center of the standard sphere, r is the standard sphere radius, will change The standard sphere center coordinates Q' ₁ (x ₄ , y ₄ +r, z ₄ ), Q' ₂ (x ₅ , y ₅ +r, z ₅ ), Q' ₃ (x ₆ , y ₆ +r, z ₆ ) is brought into the plane circle equation to obtain the coordinates of the rotation center of the turntable with a height of z ₄ =z ₅ =z ₆ =z' ₀ in this coordinate system O'(x ₀ ',y ₀ ', z ₀ ') and rotation radius R', the blade profile data obtained under the second measurement takes the rotation center coordinate O' (x ₀ ', y ₀ ', z ₀ ') of the rotary table as the rotation center, around the Z axis Rotate 180° to convert the two measurement data in the same coordinate system. 5. a kind of blade profile full data measurement and splicing method according to claim 1, is characterized in that, step S4 comprises the following steps: S401. The two rotation center coordinates of the rotary table are overlapped by translation, and the translation amount △(△x, △y, △z) is obtained, wherein, △x=x ₀ -x' ₀ , △y=y ₀ -y ' ₀ , Δz=z ₀ -z'₀; S402. According to the translation amount in step S401, the spherical center coordinates P' ₄ (x ₄ -△x, y ₄ +r-△y, z ₄ -△z) of the standard sphere after translation are obtained, P' ₅ (x ₅ -△x) , y ₅ +r-△y, z ₅ -△z), P′ ₆ (x ₆ -△x, y ₆ +r-△y, z ₆ -△z), through the standard sphere center coordinate P′ ₁ (x ₁ , y ₁ +r, z ₁ ), the coordinates of the rotation center of the turntable O(x ₀ , y ₀ , z ₀ ) and the coordinates of the center of the standard sphere after translation P′ ₄ (x ₄ -△x, y ₄ + r-△y, z ₄ -△z) calculate the rotation angle θ as follows:

in,

S403. Translate the measurement data [x, y, z] after changing the clamping method of the sensor △ to obtain the translated measurement data [x', y', z'], and then translate the translated measurement data [x', y ',z'] rotate θ around the central axis of the rotary table to obtain the rotated data [x", y", z"], and complete the data splicing of the entire blade. 6. a kind of blade profile full data measurement and splicing method according to claim 5, is characterized in that, data [x", y", z"] after rotation is specifically:

7. A blade profile full data measuring device utilizing the method for measuring and splicing described in any one of claims 1 to 6, characterized in that it comprises a base (10), and the base (10) is respectively provided with a 360° rotatable device The rotary table (3) and the Y-axis slide (8) that can move along the Y-axis are provided with a first fixture (2) and a standard ball (4) on the rotary table (3), and the first fixture (2) is used for Clamping blade (1); A Z-axis column (9) is arranged on the Y-axis sliding seat (8), an X-axis transverse arm (7) is arranged on the side of the Z-axis column (9) close to the rotary table (3), and the X-axis transverse arm (7) a second clamp (6) for clamping the sensor (5) is provided; The base (10) is also provided with a motor cabinet (11) for controlling the movement of the Y-axis slide (8), the Z-axis column (9) and the X-axis cross arm (7). ) to connect to the computer.

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