基于视觉和力觉反馈的叶片自适应定位修复技术研究

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中图分类号：TG456.7；TG409 文献标志码：A doi：10.3969/j.issn.1006-0316.2025.08.006

文章编号：1006-0316（2025） 08-0034-08

Study on Blade Adaptive Positioning and Repair Technology Based on VisionandForceFeedback

CHEN Sheng1，2，CAI Guoshuang³， ZHUANG Bin1，JIANG Lanxin1，MA Zhaodandan4，LI Qingyu4， QI Huan1.2.3

（1.School of Mechanical Engineering， Sichuan University， Chengdu 61oo65， China;

2.Additive Manufacturing Technology Center， Sichuan University， Chengdu 61o065， China;

1. Nanjing Huirui Photoelectric Technology Co.， Ltd.， Nanjing 211121， China; 4. National KeyLaboratory of Nuclear Reactor Technology，Nuclear Power Institute of China， Chengdu 61oooo， China）

Abstract ∵ The gas turbine blades operating in high-temperature and high-pressure environments are prone to damage，which leads toperformance degradation.Asaneffective repair method，lasercladding is highly dependenton the precise positioningof the blades foroptimal repairresults.To thisend，a blade adaptive positioning and repair method that integrates vision and force feedback is proposed.The template matching method is employed to achieve non-contact positioning of the workpiece ona two-dimensional horizontal plane， and a force positioning system is designed to complete contact positioning in the vertical direction through constant force pushing.The model position registrationmethod basedon imageprojectionis introduced， combined with the contour adaptive path filing strategy，to realize the adaptive positioning and repair of the blade under under-positioning conditions.Experimental results show that the positioning error is lessthan 0.04 mm，the repair accuracy is less than 0.23mm ，and thebladesizeiseffectivelyrestored.Thismethod simplifies the workpiece positioning steps，improves repair accuracy and eficiency，and provides a practical solution for the laser cladding repair of curved surface parts.

Key words ∵ gas turbine blade ; template matching ; force feedback ; adaptive positioning ；workpiece repair

燃气轮机叶片在高温高压环境下运行时，易产生热疲劳、腐蚀和冲刷等多种损伤，导致性能下降和故障发生[1]，而生产全新的部件需要昂贵的工程材料，且制造工艺复杂[2]，因此对叶片进行及时有效的修复至关重要。（剩余8167字）