JP2011128113A - Arithmetic unit of processing data for balance correction - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To calculate an actual processing depth even during the second and thereafter removal processing by using reference data prepared based on the shape of a portion to be removed. <P>SOLUTION: The arithmetic unit 20 of processing data for balance correction calculates actual processing depths of the first azimuth and second azimuth in view of the rotational center in the second and thereafter removal processing. The first azimuth and second azimuth sandwich a measurement azimuth of remaining unbalance. In each removal processing implemented heretofore, the data composed of the unbalance amount removed by the removal processing and the azimuth of the unbalance amount is taken as removed unbalance data and the data obtained by composing the removed unbalance data of each removal processing implemented heretofore is taken as composed removed unbalance data. Based on the composed removed unbalance data, actual processing depths of the first azimuth and the second azimuth are calculated to eliminate the unbalance indicated by measurement remaining unbalance data. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  In the present invention, when removing an unbalance of a rotating body by removing the removal target portion of the rotating body a plurality of times, the first orientation and the second orientation viewed from the center of rotation in the second and subsequent removal processing. The present invention relates to a balance correction processing data calculation device for calculating a removal processing depth.

  The rotating body is provided in a rotating machine and rotates about its axis. A rotating machine that is an object of the present invention is a fluid machine in which rotating blades that exert force on a fluid are provided on a rotating body. This rotating machine includes a prime mover and a driven machine. The prime mover converts the energy of the fluid into rotational kinetic energy by rotationally driving the rotating body by the pressure that the fluid acts on the rotor blades. As a prime mover, for example, there is a gas turbine (axial turbine, radial turbine). The driven machine applies rotational kinetic energy to the fluid by rotating the rotor blades that are rotationally driven to apply pressure to the fluid. Examples of the driven machine include a compressor (an axial flow compressor, a mixed flow compressor, a cross flow compressor, and a pump provided in a centrifugal compressor, an aircraft engine, or the like). Moreover, the rotary machine which is the object of the present invention includes a supercharger having both functions of a prime mover and a driven machine.

  The balance of the rotating body of the rotating machine is corrected by measuring the unbalance of the rotating body and removing the removal target portion of the rotating body according to the measured unbalance data. Hereinafter, in this example, it is assumed that the removal process is cutting. The measurement unbalance data includes the weight moment (that is, the unbalanced mass and the center of gravity of the unbalanced mass from the center of rotation to the unbalanced amount) in any orientation (ie, the orientation viewed from the center of rotation, and so on). This is data indicating whether or not there is a product of the distance and the same. By cutting an amount corresponding to the weight moment indicated by the measurement unbalance data in the direction indicated by the measurement unbalance data, the unbalance of the rotating body is removed. In the present application, the rotation center of the rotating body is also simply referred to as the rotation center.

In the removal target portion of the rotating body, when the distance from the center of rotation to the radially outer end varies depending on the orientation, the balance cannot be corrected accurately. That is, FIG. 1 shows the removal target portion 13a (in this example, a hexagon nut) viewed from the axial direction of the rotating body. The hatched portion in FIG. 1 is a cutting tool 11a (in this example, an end mill). In FIG. 1, the cutting tool 11 a rotates and enters the removal target portion 11 a in the axial direction while a part of the cutting tool 11 a is overlapped with the outer peripheral portion of the removal target portion 13 a when viewed from the axial direction of the rotating body. Move and cut. In this case, even if the removal target portion 13a is cut by the same depth in the axial direction at the same radial position at the azimuth _Dα and the azimuth _Dβ , the distance from the rotation center C to the radially outer end differs depending on the azimuth. , the amount of cutting between the orientation D _alpha and azimuth D _beta becomes different.
Therefore, conventionally, the direction and amount of cutting are corrected (for example, Patent Document 1 below).

JP 2009-19948 A

  By the way, in the case of the removal target part where the distance from the center of rotation to the outer edge in the radial direction varies depending on the direction, based on the shape of the removal target part, how much amount is cut in which direction and how much unbalanced amount in which direction It is conceivable to prepare reference data such as an approximate expression or a table indicating whether or not to be removed in advance. By applying the measurement unbalance data to such reference data, the actual machining orientation (actual cutting orientation) and the actual machining depth (actual cutting depth) can be obtained.

  However, the above-described reference data cannot be used when performing a plurality of times of cutting. In some cases, the unbalance cannot be completely removed by only cutting the portion to be removed of the rotating body once. In this case, it is necessary to perform cutting several times. In the second and subsequent cuts, the shape of the removal target portion is changed by the first cut, and thus the above-described reference data cannot be used.

Therefore, an object of the present invention is to remove the unbalance of the rotating body by removing the removal target portion of the rotating body a plurality of times (for example, cutting), even in the second and subsequent removing processes. The object is to be able to calculate the actual machining depth with high accuracy.
Another object of the present invention is to use the above-described reference data for the next removal processing when the actual machining depth is obtained using the above-described reference data. The object is to be able to calculate the actual machining depth with high accuracy.

In order to achieve the above object, according to the present invention, when removing the unbalance of the rotating body by removing the removal target portion of the rotating body a plurality of times, the second and subsequent removing processes are viewed from the center of rotation. An arithmetic device for balance correction machining data for calculating actual machining depths in one and second directions,
When viewed from the rotation axis direction of the rotating body, a virtual half line extending in the first direction from the rotation center is defined as a first half line, and a virtual half line extending in the second direction from the rotation center is defined as a second half line. The virtual half-line extending from the rotation center in the measurement direction of the unbalance remaining in the rotating body after the previous removal processing is defined as the third half-line, and the first half-line and the second half-line are included in the region between the first half-line and the second half-line. The first direction and the second direction are determined so that the angle of the vertex of the region at the center of rotation is smaller than 180 degrees, including three half lines.
For each removal process performed so far, the data including the unbalance amount removed by the removal process and the direction of the unbalance amount is defined as the previously removed unbalance data, and the previous removal of each removal process performed so far The data obtained by synthesizing the unbalanced data is used as the synthesized already removed unbalanced data,
Data consisting of the measurement value of the unbalance amount remaining in the rotating body after the previous removal processing and the measurement orientation in which the unbalance amount exists is measured residual unbalance data,
Processing data for balance correction characterized by calculating actual machining depths of the first orientation and the second orientation for eliminating the unbalance indicated by the measured residual unbalance data based on the combined already removed unbalance data. Is provided.

According to a preferred embodiment of the present invention, comprising a storage unit, a data specifying unit, and a processing data calculation unit,
The storage unit stores reference data, and the reference data includes a temporary machining direction, a temporary machining depth, and an unbalance amount that is removed when the removal target part is temporarily removed according to the temporary machining direction and the temporary machining depth. And the temporary removal unbalance data consisting of the azimuths of the unbalance amount, and a set of which is associated with each other, and a plurality of sets of temporary machining orientations, temporary machining depths, and temporary removal unbalance data,
Combining data of one temporary removal unbalance data including the temporary machining orientation closest to the first orientation and one temporary removal unbalance data including the temporary machining orientation closest to the second orientation is defined as the synthetic temporary removal unbalance data.
The data specifying unit generates a data difference between the combined temporary removal unbalanced data and the combined already removed unbalanced data as corrected removed unbalanced data, and the corrected removed unbalanced data is closest to the measured residual unbalanced data. Specifying the combined temporary removal unbalanced data and one or more combined temporary removed unbalanced data around the combined temporary removed unbalanced data;
The machining data calculation unit calculates the actual machining depths of the first orientation and the second orientation using the plurality of identified combined temporary removal imbalance data and reference data.

Preferably, the machining data calculation unit
A plurality of post-correction removal unbalance data respectively generated from a plurality of identified combined temporary removal unbalance data is converted into a plurality of pairs of temporary removal unbalance data respectively constituting the plurality of combined temporary removal unbalance data. Generate a mapping function,
By applying the measured residual unbalance data to the mapping function, a pair of reference removal unbalance data is calculated,
The data identification part
For each calculated reference removal unbalance data, temporary removal unbalance data closest to the reference removal unbalance data, and one or more temporary removal unbalance data around the temporary removal unbalance data, From the reference data,
The machining data calculation unit
For one reference removal unbalance data, an actual machining depth in the first orientation is calculated based on a plurality of temporary machining depths corresponding to the extracted plurality of temporary removal imbalance data,
For the other reference removal imbalance data, the actual machining depth in the second orientation is calculated based on the plurality of temporary machining depths corresponding to the extracted plurality of temporary removal imbalance data.

More preferably, the machining data calculation unit
For one reference removal unbalance data, generate a mapping function that converts the extracted plurality of temporary removal unbalance data into a plurality of temporary machining orientations and temporary machining depths corresponding to the temporary removal unbalance data,
The temporary machining depth obtained by applying one reference removal unbalance data to the mapping function is the actual machining depth in the first direction,
For the other reference removal unbalance data, generate a mapping function that converts the extracted plurality of temporary removal unbalance data into a plurality of temporary machining orientations and temporary machining depths corresponding to the temporary removal unbalance data,
The provisional machining depth obtained by applying the other reference removal imbalance data to the mapping function is set as the actual machining depth in the second direction.

  According to the present invention described above, in the second and subsequent removal processing, the first and second orientations sandwiching the unbalanced measurement orientation remaining in the rotating body after the previous removal processing are set as the next processing orientation, and thus far The data obtained by synthesizing the already removed unbalanced data of each removal processing performed in step 1 is used as synthesized already removed unbalanced data, and based on the synthesized removed unbalanced data, a first for eliminating the unbalance indicated by the measured remaining unbalanced data. The actual machining depth of the azimuth and the second azimuth is calculated. In this way, by using the composite already removed unbalanced data reflecting each removal processing performed so far, even in the second and subsequent removal processing, the actual processing depth to be removed next can be highly accurate. It can be calculated. Specifically, it is as follows.

  Composite data of one temporary removal unbalance data including the temporary machining direction closest to the first direction and one temporary removal unbalance data including the temporary processing direction closest to the second direction is defined as the combined temporary removal unbalance data. The data specifying unit generates the data difference between the combined temporary removal unbalanced data and the combined already removed unbalanced data as corrected removal unbalanced data. This is data obtained by removing the influence of the already removed unbalanced data of the processing from the reference data with high accuracy. After that, the data specifying unit includes the combined temporary removal unbalanced data in which the corrected removal unbalanced data is closest to the measurement residual unbalanced data, and one or two or more combined data around the combined temporary removed unbalanced data. The temporary removal unbalance data is specified, and the machining data calculation unit calculates the actual machining depths of the first direction and the second direction based on the plurality of the combined temporary removal unbalance data and the reference data thus specified. Therefore, the actual machining depths of the first orientation and the second orientation to be removed next can be calculated with high accuracy by using the reference data also in the second and subsequent removal machining. Other effects obtained by the embodiment of the present invention will be described later.

It is a figure which shows the difference in the removal process amount by the direction in a removal object part. 1 shows a balance correction device for a rotating machine and a calculation device for balance correction machining data according to an embodiment of the present invention. It is the III-III arrow line view of FIG. (A) shows a first data table used by the arithmetic unit of FIG. 2, and (B) shows a p (= β) th data table. A two-dimensional plane in which the horizontal axis is the weight moment M and the vertical axis is the orientation φ. It is another two-dimensional plane in which the horizontal axis is the weight moment M and the vertical axis is the orientation φ. It is explanatory drawing of a process azimuth | direction and a process depth. The case where the balance of the rotary body of a supercharger is corrected based on the data which the arithmetic unit of FIG. 2 calculated is shown.

  A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  The balance correction machining data calculation apparatus according to the present invention calculates machining data used in a balance correction apparatus for a rotating machine.

[Balancing device]
Based on FIG. 2 and FIG. 3, the balance correction apparatus 10 of a rotary machine is demonstrated. 3 is a view taken in the direction of arrows III-III in FIG. The balance correction device 10 includes a support 3, an acceleration sensor 5, an angle sensor 7, a calculator 9, and a processing device 11.

  The support 3 supports the rotating body 13 of the rotating machine. The rotating body 13 is rotatable about the axis C of the rotating body 13 while being supported by the support body 3. In addition, a part of the support body 3 may be comprised by the stationary side member of a rotary machine.

  The acceleration sensor 5 is attached to the support 3. The acceleration sensor 5 detects the acceleration (that is, vibration) of the support 3 while the rotating body 13 is rotating, and outputs the detected acceleration to the calculator 9. The acceleration sensor 5 may be a magnetic sensor, for example.

  The angle sensor 7 detects the rotation angle of the rotating body 13 and outputs the detected rotation angle to the calculator 9. The rotation angle changes from zero degrees to 360 degrees when the rotating body 13 rotates once. That is, the rotation angle indicates an angle at which the rotator 13 is rotated from the rotation phase (start point rotation angle) of the rotator 13 as a predetermined start point.

  The computing unit 9 generates vibration data representing the relationship between the acceleration detected by the acceleration sensor 5 and the rotation angle detected by the angle sensor 7, and from this vibration data, the influence of the rotating body 13 is calculated using an influence coefficient. Measurement unbalance data described later is calculated. The influence coefficient is acquired in advance. The influence coefficient is calculated on the basis of a change in vibration data (vibration data similar to the above) due to a change in the balance, for example, by attaching a trial weight to the rotary body 13 and the like.

The processing device 11 removes and removes the removal target portion 13a at one end portion of the rotating body 13 in accordance with an actual machining depth A, an actual machining orientation θ, and a radial position R, which will be described later, output from the arithmetic device 20 of the present invention. In the present embodiment, the processing apparatus 11 has a processing part 11a (a cutting tool such as an end mill) for removing (cutting) the removal target part 13a of the rotating body 13 and the processing part 11a in three dimensions (for example, FIG. 2). Drive mechanism 11b that moves in the X axis direction, the Y axis direction, and the Z axis direction orthogonal to each other, and a position control unit 11c that controls the position of the processing unit 11a by controlling the operation of the drive mechanism 11b. . The position control unit 11c is configured so that the machining unit 11a (for example, the end mill 11a that is rotationally driven) is positioned at the actual machining direction θ and the radial position R, and the actual machining depth A from the reference axial direction position. The drive mechanism 11b is controlled so as to move only in the axial direction (a direction parallel to the axis C of the rotating body 13; the same applies hereinafter). The reference axial direction position is a position where the processing part 11a contacts the axial end surface of the removal target part 13a in the axial direction when the removal target part 13a has not been removed once. For example, when removing the first azimuth, the position control unit 11c has only the actual machining depth A from the reference axis direction position in a state where the machining unit 11a is positioned at the first azimuth and the radial position R. The drive mechanism 11b is controlled to move in the axial direction. In this case, when this removal processing is the second removal processing in the first orientation, the processing portion 11a substantially removes the removal target portion 13a until the first processing depth is reached. Therefore, the depth of the substantial removal processing is a depth obtained by subtracting the first processing depth from the actual processing depth A.
In the removal target portion 13a, the distance from the center of rotation to the radially outer end differs depending on the direction. In FIG. 3, the removal target portion 13a is a hexagon nut whose shape viewed from the direction of the axis C is a hexagon (preferably a regular hexagon).

  As shown in FIG. 2, a rotation mechanism 14 may be provided. The rotating mechanism 14 holds the other end of the rotating body 13 and rotates the rotating body 13, thereby adjusting the rotational direction position of the rotating body 13. Although not shown, the rotation mechanism 14 is, for example, a gripping mechanism (for example, a collet chuck) that grips the other end of the rotating body 13 and a rotational drive that rotates the gripping mechanism around the rotation axis C of the rotating body 13. And a control unit that controls the rotational drive mechanism to adjust the rotational direction position of the rotating body 13.

[Calculation device for balance correction machining data]
Here, based on FIG. 7A described later, the first orientation and the second orientation will be described. FIG. 7A is a view of the removal target portion 13a as viewed from the direction of the rotation axis of the rotating body 13. As shown in FIG. 7A, when viewed from the rotation axis direction of the rotating body 13, a virtual half-line L ₁ extending from the rotation center C to the first direction Da and from the rotation center C to the second direction. The virtual half line L ₂ that extends and the rotation center C extend to the unbalance measurement direction Dc that remains in the rotating body after the previous removal processing (that is, the direction in which the center of gravity of the remaining unbalance mass exists). The virtual half line L ₃ is a first half line, a second half line, and a third half line, respectively, and is an area between the first half line L ₁ and the second half line L ₂ and is at the center of rotation C. the smaller within that region than the angle X is 180 degrees of vertices, the first orientation Da and the second direction Db is defined to include the third half line L _3.
The first azimuth Da and the second azimuth Db may be selected and determined by the arithmetic unit 20 from a plurality of preset three or more setting azimuths (for example, six setting azimuths that are different in phase by 60 degrees). . For example, the arithmetic device 20 may select the azimuth closest to the measurement azimuth Dc among the plurality of set azimuths as the first azimuth Da. When the processing unit 11a removes the removal target portion 13a in all of these setting orientations, the plurality of setting orientations are mutually connected so that the regions of the setting orientations removed in the removal target portion 13a do not overlap each other. It is separated. In addition, the removal processing is not performed in directions other than the set directions. In the example of FIG. 7, the first orientation Da and the second orientation Db are half straight directions extending from the rotation center C to the vertex of the hexagon nut 13a, but from the rotation center C to the vertex of the hexagon nut 13a. The direction of a half straight line extending to a point other than may be used.
For each removal process performed so far, the data including the unbalance amount removed by the removal process and the direction of the unbalance amount is defined as the previously removed unbalance data, and the previous removal of each removal process performed so far Data obtained by synthesizing unbalanced data is defined as synthesized already removed unbalanced data. Further, data including the measured value of the unbalance amount remaining on the rotating body 13 after the removal processing so far and the measurement orientation in which the unbalance amount exists is referred to as measurement residual unbalance data.
The computing device 20 calculates the actual machining depths in the first and second orientations for eliminating the unbalance indicated by the measured residual unbalance data, based on the combined removed unbalance data. Note that the arithmetic unit 20 may be able to calculate the actual machining direction (actual cutting direction) and the actual machining depth when the removal target portion 13a is first removed.
The arithmetic unit 20 stores a program for performing “calculation of the first actual machining direction and actual machining depth” and “calculation of the second and subsequent actual machining directions and actual machining depth” in the procedure described later. ing. Moreover, the arithmetic unit 20 has a function of executing the program.

  In the present application, the azimuth means a position around the rotation center, and the radial position means a position in the radial direction with respect to the rotation center. Preferably, the radial position at which the processing portion 11a removes the removal target portion 13a is constant regardless of the orientation. Further, as shown in FIG. 1, when the machining part is positioned in a radial direction where only a part of the machining part overlaps with the outer peripheral part of the removal target part 13 a when viewed from the axial direction of the rotating body 13, the machining part 11 a The present invention is particularly advantageous when it is moved into the removal target portion 13a in the axial direction while rotating and removed.

  The storage unit 21 stores reference data. The reference data is removed when the removal target portion 13a is temporarily removed according to the temporary machining direction (temporary cutting direction), the temporary machining depth (temporary cutting depth), and the temporary machining direction and the temporary machining depth. One set of the unbalanced amount and the temporary removal unbalanced data composed of the azimuth of the unbalanced amount is associated with each other, and a plurality of sets of temporary machining orientations, temporary machining depths, and temporary removal unbalanced data are included.

  The data specifying unit 23 generates a data difference between the above-described combined already removed unbalanced data and the following combined temporary removed unbalanced data as corrected removed unbalanced data. The combined temporary removal imbalance data is a combination of one temporary removal unbalance data including the temporary machining orientation closest to the first orientation and one temporary removal unbalance data including the temporary machining orientation closest to the second orientation. It is. The data specifying unit 23 is further in the vicinity of the combined temporary removal unbalanced data whose post-correction removal unbalanced data is closest to the measured residual unbalanced data and the combined temporary removed unbalanced data (that is, the combined temporary removed data). Identify one or more combined temporary removal unbalanced data (close to unbalanced data).

  The machining data calculation unit 25 calculates the actual machining depths in the first direction and the second direction using the plurality of identified combined temporary removal imbalance data and reference data.

Preferably, the following calculation is performed. The processed data calculation unit 25 converts a plurality of corrected removal unbalance data generated from the plurality of identified combined temporary removal imbalance data into a plurality of pairs of temporary removal unbalance data respectively constituting the plurality of combined temporary removal unbalance data. A mapping function to be converted into removal unbalance data is generated, and the measurement residual unbalance data is applied to the mapping function, thereby calculating a pair of reference removal unbalance data.
For each calculated reference removal imbalance data, the data specifying unit 23 is in the vicinity of the temporary removal unbalance data closest to the reference removal unbalance data and the temporary removal unbalance data (that is, the temporary removal unbalance data). One or more temporary removal imbalance data (close to the balance data) is extracted from the reference data.
The machining data calculation unit 25, for one reference removal unbalance data corresponding to the first orientation, based on a plurality of temporary machining depths corresponding to the plurality of temporary removal unbalance data extracted, An actual machining depth is calculated, and the second reference removal unbalance data corresponding to the second orientation is determined based on the plurality of temporary machining depths corresponding to the extracted plurality of temporary removal unbalance data. The actual machining depth is calculated.

More preferably, the following calculation is performed. The machining data calculation unit 25 converts a plurality of temporary removal unbalance data extracted with respect to one reference removal unbalance data into a plurality of temporary machining orientations and provisional machining depths corresponding to the temporary removal unbalance data. A temporary machining depth obtained by generating a mapping function and applying one reference removal unbalanced data to the mapping function is set as an actual machining depth in the first direction.
Further, the machining data calculation unit 25 converts the extracted plurality of temporary removal imbalance data into the plurality of temporary machining orientations and temporary machining depths corresponding to the temporary removal unbalance data for the other reference removal unbalance data. A mapping function to be converted is generated, and the provisional machining depth obtained by applying the other reference removal imbalance data to the mapping function is set as the actual machining depth in the second direction.

  Hereinafter, first, the case where the first actual machining direction and the actual machining depth are calculated by the above-described arithmetic unit 20 will be described, and then the second and subsequent actual machining directions and the actual machining depth are calculated. Will be described in more detail.

[Calculation of first actual machining direction and actual machining depth]
(About measurement imbalance data)
The measurement imbalance data V _UB is expressed as a complex number by the following equation (1).

V _UB = M _UB (cos φ _UB + isin φ _UB ) (1)

Here, i is an imaginary unit, M _UB is a measurement unbalance amount present in the rotating body 13 at present, and φ _UB is an orientation of the measurement unbalance amount (that is, an orientation in which an unbalance exists). And the orientation of the center of gravity of the unbalanced mass). This azimuth is an angle of 0 to 360 degrees indicating a position around the rotation center.
The dimension of the measurement unbalance amount M _UB is obtained by multiplying the unbalanced mass in the rotating body 13 by the distance between the center of gravity of the mass and the rotation center.

(About reference data)
FIG. 4A is a data table (that is, reference data) representing processing data and temporary removal imbalance data stored in the storage unit 21. The data table in FIG. 4A is composed of n rows of data. The machining data (temporary machining direction, temporary machining depth, and radial position R) and temporary removal imbalance data are associated with each other as described above. In FIG. 4A, the same data number m is used. The values in the rows are associated with each other.

  In the following description, m means a subscript attached to the temporary machining orientation θ, radial position R, temporary removal unbalance data V, temporary removal unbalance amount M, and temporary removal unbalance amount azimuth φ. The subscript m indicates the data number in FIG. 4A and is an integer between 1 and n (that is, m = 1, 2,..., Α-1, α, α + 1,...). n).

The temporary machining direction θ _m is an angle (a value of 0 to 360 degrees) around the rotation center in the removal target portion 13a. The radial position R is a radial position with respect to the center of rotation in the removal target portion 13a, and is constant regardless of the value of the data number m. In FIG. 4A, the provisional machining direction θ ₁ is 0 degree or an angle near 0 degrees, the value of θ _m increases as the value of data number m increases, and θ _n is 360 degrees or 360 degrees. The angle is close to degrees. Preferably, the value of m is incremented by 1, the value of theta _m increases in size between 0.1 ° and 1 °.

Temporary working depth A ₁ corresponds to the mass to be removed by removing machining the removal target part 13a. The temporary machining depth A ₁ is removed from the reference axial direction position while rotating while the machining part 11a (end mill) is positioned at the radial position R and the temporary machining direction in FIG. This is the distance to move in the axial direction (left side in FIG. 2) until the end. In this case, the temporary removal unbalance data V _m (that is, the temporary removal unbalance amount M _m and the direction φ _m thereof) is the temporary machining depth in the same row as the temporary removal unbalance data V _m in FIG. Based on the _height A ₁ , the provisional machining direction θ _m and the radial position R, the size and shape data (for example, CAD data) of the removal target portion 13a, the density of the removal target portion 13a, and the size and shape of the machining portion 11a. Is calculated in advance. In FIG. 4 (A), the temporary processing depth A ₁ is a constant value irrespective of the data number m.

The temporary removal imbalance data V _m includes a temporary removal imbalance amount (temporary removal weight moment) M _m and a direction φ _{m of the} temporary removal imbalance amount M _m . The temporary removal unbalance amount _Mm is the amount of unbalance removed when the removal target portion 13a is applied in accordance with the processing data corresponding to this in FIG. Dimensions of the temporary removal unbalance amount M _m is the mass of the imbalance to be removed in the rotary member 13 is obtained by multiplying the distance between the rotation center and the mass center of gravity. The direction φ _m is the direction of the center of gravity of the unbalanced mass that is removed when the removal target portion 13a is applied according to the processing data corresponding to this in FIG. Further, the azimuth φ _m is an angle (a value of 0 to 360 degrees) around the rotation center in the removal target portion 13a.

A data table (reference data) similar to that shown in FIG. 4A is provided for each temporary machining depth. A data table similar to that shown in FIG. 4A is stored in the storage unit 21 for each k temporary machining depths. These k temporary machining depths are respectively A ₁ (that is, the temporary machining depth in FIG. 4A), A ₂ , A ₃ ,..., A _k . In the following, p is a subscript of the temporary machining depth A, and the temporary machining depth A is distinguished by p. Each temporary machining depth A _p: data table _(p integer from 1 to k) is the constant provisional processing depth A _p, similarly to FIG. 4 (A), n rows associated with each other The temporary processing depth A _p , the temporary processing direction θ, the radial position R, the temporary removal unbalance amount M, and the direction φ are included. Further, among these k data tables, the provisional machining direction θ _m and the radial position R are the same at the same data number m. In each of these k data tables, the temporary removal imbalance data V _m (that is, the temporary removal imbalance amount M _m and the direction φ _m ) is determined in advance by the same method as described above, and the radial position R is the data number m. Regardless of whether it is constant. Note that the value of k is determined to be sufficiently large so that V _UB can be surrounded by four temporary removal imbalance data, as described later, within the range that measurement unbalance data V _UB can take.

  Hereinafter, in each symbol, the data number in each data table is indicated by the above-mentioned suffix m, and the data table (that is, the temporary machining depth A) is indicated by the above-mentioned suffix p. FIG. 4B shows the p (= β) th data table among the k data tables. That is, p is a table number, and p = 1, 2,..., Β-1, β, β + 1,.

(About data extraction)
The temporary removal imbalance data V _{m, p} is represented by a complex number by the following equation (2).

V _{m, p} = M _{m, p} (cos φ _{m, p} + isin φ _{m, p} ) (2)

Here, i is an imaginary unit.
Data specifying unit 23 next _{| V} m, p _{-V UB |} smallest _{V m is, p} and, said _{V m,} one Surrounding _p or more _{V m,} and a _p storage unit 21 is extracted from the reference data in 21. V _UB is measurement unbalance data of the above equation (1).

| V _{m, p} -V _UB |

= | M _{m, p} (cos φ _{m, p} + isin φ _{m, p} )
-M _UB (cosφ _UB + isinφ _UB ) |

= | M _{m, p} cosφ _{m, p} −M _UB cosφ _UB
+ I (M _{m, p} sinφ _{m, p} −M _UB sinφ _UB ) |

= {(M _{m, p} cos φ _{m, p} −M _UB cos φ _UB ) ²
+ (M _{m, p} sinφ _{m, p} −M _UB sinφ _UB ) ² } ^1/2

In this example, the data specifying unit 23 _obtains V _{m, p} closest to V _UB and three V _{m, p} around the V _{m, p} from the data in the storage unit 21 by a two-stage process. Identify and extract. Preferably, in the two-dimensional plane of FIG. _5, Kakomeru the position of the _{V UB,} extracted identify _{V UB} as close as possible to the four _{V m,} the _p from data in the storage unit 21.

First Step Processing First, the data specifying unit 23 specifies the data number m and the table number p in which | V _{m, p} −V _UB | is the smallest among the k data tables. Here, assuming that m = α and p = β, and | V _{m, p} −V _UB | is the smallest, the data specifying unit 23 sets the temporary removal imbalance data V of the data number α in the β-th data table. _{α and β} are extracted as being closest to V _UB .
Next, the data specifying unit 23 fixes β and extracts data adjacent to V _{α, β} with respect to _α . That is, the data specifying unit 23 selects, from the β-th data table, the temporary removal unbalance data V _{α−1, β} with the data number α−1 and the temporary removal unbalance data V _{α + 1, β} with the data number α + 1. To extract.
Similarly, the data specifying unit 23 fixes _α and extracts data adjacent to V _{α, β} with respect to β. That is, the data specifying unit 23 extracts the data V _{α, β-1} of the data number α in the _β− 1th data table and the data V _{α, β + 1} of the data number α in the β + 1th data table.
As described above, the data specifying unit 23 extracts the five temporary removal imbalance data V _{α, β} , V _{α-1, β} , V _{α + 1, β} , V _{α, β-1} , V _{α, β + 1} .

Second-stage processing Consider a two-dimensional plane in which the horizontal axis is the unbalance amount M and the vertical axis is the azimuth φ. This two-dimensional plane is shown in FIG. In FIG. 5, the positions of the five quantities V _{α, β} , V _{α-1, β} , V _{α + 1, β} , V _{α, β-1} , V _{α, β + 1,} and V _UB extracted by the first stage processing are shown. Show. In the two-dimensional plane of FIG. 5, four V _{m, p} surrounding V _UB are specified as follows.
First, as shown in FIG. 5, from the position of V _{α, β} extracted as being closest to V _UB by the first-stage process, the other four V _{α-1,-extracted} by the first-stage process _. Four vectors extending to the positions of _β , V _{α, β + 1} , V _{α + 1, β} , V _{α, β-1} are defined as divided vectors D (D ₁ , D ₂ , D ₃ , D ₄ ). Thereafter, four half lines HL (HL ₁ , HL ₂ , HL ₃ , HL ₄ ) that extend with the positions of V _{α and β} as one end and respectively include four divided vectors D are considered. The data specifying unit 23 specifies two adjacent half lines HL sandwiching the region including the position of V _UB from these four half lines HL. In the example of FIG. 5, a region sandwiched between two specified adjacent half lines HL ₃ and HL ₄ is indicated by hatching. When the data specifying unit 23 specifies two adjacent half lines, the data specifying unit 23 is in a region sandwiched between these two half lines, and V _{α, β} and α are different by one and β is one. A new V _{m, p} that is different from the k data tables is extracted. In the example of FIG. 5, the new V _{m, p} is V _{α + 1, β-1} .
Next, the data specifying unit 23 sets V _{α, β} , V _{α, β−1} , V _{α + 1, β} , V _{α + 1, β−} as four V _{m, p} surrounding V _UB on the two-dimensional plane of FIG. ₁ is specified. That is, V _{α, β} and two data V _{m, p} indicated by the divided vectors D included in two adjacent half lines specified as described above (in the example of FIG. 5, V _{α, β-1} V _{α + 1, β} ) and the new V _{m, p} extracted as described above (V _{α + 1, β-1 in} the example of FIG. 5), V _m indicating four positions surrounding the position indicated by V _{UB. , P.} The four V _{m, p} surrounding these V _UBs are extracted by the data specifying unit 23 as V _{m, p} closest to V _UB and three V _{m, p} around V _{m, p.} A plurality of temporary removal imbalance data.

(About mapping functions)
Processing data calculating unit 25 is an example of the data closest _{V m} to _{V UB} certain unit 23 _{extracts, p,} and the _{V m,} one Surrounding _p or more _{V m, p} (Fig. 5 Then, a mapping function for converting V _{α, β} , V _{α, β-1} , V _{α + 1, β} , V _{α + 1, β-1} ) into corresponding processing data is calculated. In this example, the mapping function is the point (M _{m, p} , φ _{m, p} ) on the two-dimensional plane in FIG. 5, the horizontal axis is the temporary machining depth _Ap , and the vertical axis is the temporary machining direction θ _m . It is a linear mapping transferred to a point (A _p , θ _m ) on a certain two-dimensional plane (however, according to the present invention, the mapping function is not limited to a linear mapping and may be other than a linear mapping) . This linear mapping is expressed by the following equations (3) and (4).

A _p = a ₁₁ M _{m, p} + a ₁₂ φ _{m, p} + b ₁ (3)

θ _m = a ₂₁ M _{m, p} + a ₂₂ φ _{m, p} + b ₂ (4)

_{Here, a 11, a 12, a} 21, a 22, b 1, b 2 are constants. Further, in the equations (3) and (4), M _{m, p} , φ _{m, p} are provisional removal imbalance data V _{m, p} closest to V _UB extracted by the data specifying unit 23 as described above, or , One or more temporary removal imbalance data V _{m, p} around the temporary removal imbalance data V _{m, p} , and A _p , θ _m are the plurality of temporary removal imbalance data. It is the temporary processing depth and the temporary processing direction in the associated reference data.
The machining data calculation unit 25 calculates the constants a ₁₁ , a ₁₂ , a ₂₁ , a ₂₂ , b ₁ , b ₂ of the above formulas (3) and (4) as follows. In the example of FIG. 5, when V _{α, β} = (M _{α, β} , φ _{α, β} ) is applied to the above equations (3) and (4), it is converted into (A _β , θ _α ), and V _{α, When β−1} = (M _{α, β−1} , φ _{α, β−1} ) is applied to the above equations (3) and (4), it is converted into (A _β−1 , θ _α ), and V _{α + 1, β} = (M _{α + 1, β} , φ _{α + 1, β} ) is applied to the above equations (3) and (4), it is converted to (A _β , θ _{α + 1} ), and V _{α + 1, β−1} = (M _{α + 1, β− 1} , φ _{α + 1, β-1} ) applied to the above equations (3), (4), a ₁₁ , a ₁₂ , a ₂₁ , a ₂₂ , b ₁ converted to (A _β-1 , θ _{α + 1} ) , B ₂ are obtained by the method of least squares. Specifically, a ₁₁ , a ₁₂ , a ₂₁ , a ₂₂ , b ₁ , and b ₂ that minimize the next value S are calculated.

S = {A _β − (a ₁₁ M _{α, β} + a ₁₂ φ _{α, β} + b ₁ )} ²
+ {Θ _α − (a ₂₁ M _{α, β} + a ₂₂ φ _{α, β} + b ₂ )} ²
+ {A _β-1 − (a ₁₁ M _{α, β-1} + a ₁₂ φα _{, β-1} + b ₁ )} ²
+ {Θ _α − (a ₂₁ M _{α, β-1} + a ₂₂ φα _{, β-1} + b ₂ )} ²
+ {A _β − (a ₁₁ M _{α + 1, β} + a ₁₂ φ _{α + 1, β} + b ₁ )} ²
+ {Θ _{α + 1} − (a ₂₁ M _{α + 1, β} + a ₂₂ φα _{+ 1, β} + b ₂ )} ²
+ {A _β-1 − (a ₁₁ M _{α + 1, β-1} + a ₁₂ φα _{+ 1, β-1} + b ₁ )} ²
+ {Θ _{α + 1} − (a ₂₁ M _{α + 1, β−1} + a ₂₂ φα _{+ 1, β−1} + b ₂ )} ²

The machining data calculation unit 25 calculates the actual machining depth A and the actual machining direction θ by applying M _UB and φ _UB to the mapping function thus calculated. Specifically, the actual machining depth A and the machining direction θ are calculated by the following equations (5) and (6).

A = a ₁₁ M _UB + a ₁₂ φ _UB + b ₁ (5)

θ = a ₂₁ M _UB + a ₂₂ φ _UB + b ₂ (6)

[Calculation of actual machining orientation and actual machining depth for the second and subsequent times]
(About each data)
The post-correction removal unbalance data, the combined temporary removal unbalance data, the measurement residual unbalance data, and the combined already removed unbalance data are expressed as follows.

Corrected unbalance _{data: V m, p + V m} ', p' -V R
Synthetic temporary removal imbalance data: V _{m, p} + V _{m ′, p ′}
Measurement residual unbalance data: ν _UB
Synthesis already removed unbalance data: V _R

Each symbol described above is expressed by the following equations (7) to (10).

ν _UB = M _UB (cos φ _UB + isin φ _UB ) (7)

V _{m, p} = M _{m, p} (cos φ _{m, p} + isin φ _{m, p} ) (8)

V _{m ′, p ′} = M _{m ′, p ′} (cos φ _{m ′, p ′} + isin φ _{m ′, p ′} ) (9)

V _R = Σm _j (cos φ _j + isin φ _j ) (10)

ν _UB is composed of the unbalance amount M _UB (measured value) remaining in the rotating body 13 at this time and the direction φ _UB of the unbalance amount M _UB , where φ _{m, p} is closest to the first direction. (Closest) is the temporary machining direction, and φ _{m ′, p ′} is the closest (closest) temporary machining direction to the second direction. φ _{m ', p'} are _{= φ m, p + φ c} , by phi _c (e.g. 60 _{degrees), φ m, p <φ} UB <φ m ', p' becomes. That is, the orientation of ν _UB is sandwiched between the orientations of V _{m, p} , V _{m ′, p ′} . The first azimuth and the second azimuth are predetermined azimuths. Note that the difference φ _c between the temporary machining direction φ _{m, p} and the temporary machining direction φ _{m ′, p ′} does not change every time the actual machining direction and the actual machining depth are calculated, and is constant (for example, 60 degrees). The reference data may be created and an algorithm may be assembled, or each time the difference φ _c between the temporary machining direction φ _{m, p} and the temporary machining direction φ _{m ′, p ′} calculates the actual machining direction and the actual machining depth, Reference data may be created and an algorithm may be assembled so that it can change.
For example, the data number m of φ _{m, p is} the data number m of the temporary machining direction θ _m in the reference data closest to the actual machining direction θ that has been subjected to the first removal machining. Here, it is assumed that m = α and m ′ = α ′. Hereinafter, description will be made assuming that m = α and m ′ = α ′.
The subscripts _{m and p of} V _{m, p} , V _{m ′, p ′} are as described above, but “′” added to _{m, p} is V _{m, p} and V _{m ′, p ′} . Is merely for identification.
In formula V _R, sigma is the sum of j. j indicates the number of removal processes. For example, when the removal target portion 13a has been removed only once, V _R = m ₁ (cosφ ₁ + isinφ ₁ ), and when the removal target portion 13a has been removed only twice. V _R = m ₁ (cosφ ₁ + isinφ ₁ ) + m ₂ (cosφ ₂ + isinφ ₂ ). Thus, in the formula V _R, j is used for identifying the respective removal processing was made so far from each other, sigma manner, by combining the previously removed imbalance data for each removal process has been made so far, the combined data is V _R.

Synthesis already removed unbalance data V _R may be calculated from past processed data. For example, in the case where the removal target portion 13a has been removed only once, the actual machining depth A and the actual machining orientation of the first time are the actual machining depth A calculated by the above equations (5) and (6). In the case of the actual machining direction θ (assumed to be the first direction), two temporary machining depths A _p and A _{p + 1} (near the actual machining depth A) with the actual machining depth A interposed therebetween. in this example, _{a p} is increased by increasing by p. in other _{words, a p ≦ a ≦ a p} + 1) and two temporary removal unbalance data V _alpha each having the same table _{number, p,} V _α, a _{p + 1} The two temporary removal imbalance data V _{α, p} , V _{α, p + 1} whose data number m = α is closest to the first orientation is extracted from the reference data. V _{α, p} , V _{α, p + 1} are expressed by the following equations (11) and (12).

V _{α, p} = M _{α, p} (cos φ _{α, p} + isin φ _{α, p} ) (11)

V _{α, p + 1} = M _{α, p + 1} (cos φ _{α, p + 1} + isin φ _{α, p + 1} ) (12)

In this case, the _{V R} expressed by the following equation (13), linear interpolation equation as follows (14) is calculated by (15).

V _R = m ₁ (cos φ ₁ + isin φ ₁ ) (13)

m ₁ = (M _{α, p + 1} −M _{α, p} ) × (A−A _{α, p} ) ÷ (A _{α, p + 1} −A _{α, p} ) + M _{α, p}
(14)

φ ₁ = (φ _{α, p + 1} −φ _{α, p} ) × (A−A _{α, p} ) ÷ (A _{α, p + 1} −A _{α, p} ) + φ _{α, p}
... (15)

Even if you have already removed processed more than once, _{m 2,} phi _{2, m 3} constituting the _{V R,} phi ₃ also above equation (14), is calculated in the same linear interpolation equation (15) Good. However, the substantially removed depth is applied to the linear interpolation formula as the actual machining depth of the second or subsequent round. That is, when the removal process of the second or subsequent round is a removal process of the actual machining direction that has already been removed, the depth already removed at the time of the removal is determined by A value obtained by subtracting the actual machining depth from the reference axial direction position is applied to the linear interpolation formula.

(About data extraction)
Data specifying unit 23 Corrected unbalance data _{V α, p + V α '} , p' -V R residual unbalance data [nu _UB comes closest pair of temporary removal unbalance data V in _{alpha measurement,} p, V _{α ′, p ′} and one pair or two or more pairs of temporary removal unbalance data V _{α, P} that are data around the pair of temporary removal imbalance data V _{α, p} , V _{α ′, p ′ . p} , V _{α ′, and p ′} are extracted from the reference data.
That is, the data specifying unit 23 extracts a plurality of pairs of temporary removal imbalance data V _{α, p} , V _{α ′, p ′} that minimize W in the following equation (16) from the reference data.

W = | ν _UB − (V _{α, p} + V _{α ′,} p′−V _R ) | (16)

Here, with respect to the above equation (16), V _{α, p} + V _{α ′,} p′−V _R = ν _{(p, p ′)} .
Minimizing W in the above equation (16) is the same as the post-correction removal unbalance data ν _{(p, p ′)} being closest to ν _UB .
In this example, the data specifying unit 23 has ν _{(p, p ′)} closest to the position indicated by ν _UB on the two-dimensional plane of FIG. 6 and one or more around ν _{(p, p ′)} or two or more ν _{(p, p ')} as, [nu _UB can the Kakomeru, and [nu four [nu _{(p, p} as close as possible to the _UB') in order to identify these four [nu _{(p, p} P and p ′ specifying _“)” are extracted from the reference data. For example, the data specifying unit 23 sets ν _{(t, u)} , ν _{(t + 1, u)} , ν _{(t, u + 1)} , ν _{(t + 1, u + 1 )} as these four ν _{(p, p ′)} surrounding ν _{UB. )} Is specified and extracted. Note that ν _{(t, u)} is data generated by a combination that is closest to ν _UB among all combinations of p and p ′ that can be extracted from the reference data.
FIG. 6 shows a two-dimensional plane in which the unit of the horizontal coordinate is weight moment (mass × radius), and the unit of the vertical coordinate is azimuth φ.

(About actual machining direction and actual machining depth)
Each of four ν _{(p, p ′)} is a pair of temporary removal unbalance data V _{α, p} , V _{α ′, p ′} (that is, temporary removal unbalance moments M _{α, p} , M _{α ′ )} in the reference data. _{, P ′} and the azimuth φ _{α, p} , φ _{α ′, p ′} ) of the temporary removal imbalance moment are generated as in the following equations (17) to (20).

M _{α, p} = a ₁₁ ν _x + a ₁₂ ν _y + b ₁ (17)

φ _{α, p} = a ₂₁ ν _x + a ₂₂ ν _y + b ₂ (18)

M _{α ′, p ′} = a ₃₁ ν _x + a ₃₂ ν _y + b ₃ (19)

φ _{α ′, p ′} = a ₄₁ ν _x + a ₄₂ ν _y + b ₄ (20)

Here, ν _x and ν _y are the horizontal coordinate and the vertical coordinate of each of the four ν _{(p, p ′)} identified and extracted by the data identifying unit 23.
The constants a ₁₁ , a ₂₁ , a ₃₁ , a ₄₁ , a ₁₂ , a ₂₂ , a ₃₂ , a ₄₂ , b ₁ , b ₂ , b ₃ , b ₄ in the above formulas (17) to (20) are as follows: To calculate. In the example of FIG. 6, when ν _{t, u} is applied to the above equations (17) to (20), it is converted into a pair of temporary removal imbalance data V _{α, t} , V _{α ′, u} and ν _{t + 1, u} Is applied to the above equations (17) to (20), it is converted into a pair of temporary removal imbalance data V _{α, t + 1} , V _{α ′, u} , and ν _{t, u + 1} is converted to the above equations (17) to (20). Is applied to a pair of temporary removal unbalance data V _{α, t} , V _{α ′, u + 1} , and ν _{t + 1, u + 1} is applied to the above equations (17) to (20), a pair of temporary removal unbalance data A ₁₁ , a ₂₁ , a ₃₁ , a ₄₁ , a ₁₂ , a ₂₂ , a ₃₂ , a ₄₂ , b ₁ , b ₂ , b ₃ , b converted to balance data V _{α, t + 1} , V _{α ′, u + 1 4 is obtained} by the method of least squares in the same manner as in the above formulas (3) and (4).

The processed data calculation unit 25 applies ν _UB = M _UB (cos φ _UB + isin φ _UB ) to the mapping function calculated in this way, so that a pair of reference removal imbalance data (that is, a pair of unbalance amounts M). , M ′ and its orientations φ, φ ′). Specifically, a pair of unbalance amounts M and M ′ and their orientations φ and φ ′ are calculated by the following equations (21) to (24).

M = a ₁₁ M _UB + a ₁₂ φ _UB + b ₁ (21)

φ = a ₂₁ M _UB + a ₂₂ φ _UB + b ₂ (22)

M ′ = a ₃₁ M _UB + a ₃₂ φ _UB + b ₃ (23)

φ ′ = a ₄₁ M _UB + a ₄₂ φ _UB + b ₄ (24)

Here, M _UB and φ _UB are the horizontal and vertical axis coordinates of ν _UB in FIG. 6.

M and φ and M ′ and φ ′ are two-direction machining data to be removed next time as follows.
The data specifying unit _assumes that M calculated by the above formula (21) is M _UB of the above formula (1), and φ calculated by the above formula (22) is φ _UB of the above formula (1). 23 produces a measured unbalance data _V UB ₌ M UB of the above equation _{(1) (cosφ UB + isinφ} UB). Next, the arithmetic unit 20 _assumes that the V _UB generated in this way is the measurement unbalance data of the above equation (1), and uses the same method as [Calculation of actual machining direction and actual machining depth for the first time] extracting nearest temporary removal unbalance data V _m in _{UB, p,} and the temporary removal unbalance data V _m, one surrounding _p or more temporary removal unbalance data V _m, the _p from reference data Then, similarly to the above formulas (3) and (4), a mapping function for converting the plurality of temporary removal unbalanced data into the corresponding processed data is calculated, and V _UB = M _UB ( cosφ _UB + isinφ _UB ) to calculate the actual machining depth A and the actual machining direction θ. Here, only the actual machining depth A out of the actual machining depth A and the actual machining orientation θ is used. That is, the actual machining depth A is set as the actual machining depth in the first orientation.
Similarly, M ′ calculated by the above equation (23) is M _UB of the above equation (1), and φ ′ calculated by the above equation (24) is φ _UB of the above equation (1). as a data specifying unit 23 generates a measured unbalance data _V UB ₌ M UB of the above equation _{(1) (cosφ UB + isinφ} UB). Next, the arithmetic unit 20 _assumes that the V _UB generated in this way is the measurement unbalance data of the above equation (1), and uses the same method as [Calculation of actual machining direction and actual machining depth for the first time] extracting nearest temporary removal unbalance data V _m in _{UB, p,} and the temporary removal unbalance data V _m, one surrounding _p or more temporary removal unbalance data V _m, the _p from reference data Then, similarly to the above formulas (3) and (4), a mapping function for converting the plurality of temporary removal unbalanced data into the corresponding processed data is calculated, and V _UB = M _UB ( cosφ _UB + isinφ _UB ) to calculate the actual machining depth A and the actual machining direction θ. Here, only the actual machining depth A out of the actual machining depth A and the actual machining orientation θ is used. That is, the actual machining depth A is set as the actual machining depth in the second orientation.

(Effect of this embodiment)
In the balance correction processing data computing device 20 according to the above-described embodiment of the present invention, in the second and subsequent removal processing, the first unbalance measurement direction remaining on the rotating body 13 after the previous removal processing is sandwiched. The direction and second direction are the next machining direction, and the data obtained by combining the previously removed unbalanced data of each removal process that has been performed so far is the synthesized already removed unbalanced data, and measured based on the combined already removed unbalanced data. The actual machining depths of the first direction and the second direction for eliminating the unbalance indicated by the remaining unbalance data are calculated. In this way, by using the composite already removed unbalanced data reflecting each removal processing performed so far, even in the second and subsequent removal processing, the actual processing depth to be removed next can be highly accurate. It can be calculated.

Composite data of one temporary removal unbalance data including the temporary machining direction closest to the first direction and one temporary removal unbalance data including the temporary processing direction closest to the second direction is defined as the combined temporary removal unbalance data. The data specifying unit 23 generates the data difference between the combined temporary removal unbalanced data and the combined already removed unbalanced data as the corrected removed unbalanced data. This is data obtained by removing the influence of the already removed unbalanced data of the removal processing from the reference data with high accuracy. In a preferred example, [nu position of _UB can quote, and the [nu _UB into four as close as possible Corrected unbalance data ν _{(p, p ')} corresponding to the these ν _{(p, p')} provisionally Based on the removal unbalance data, a local approximate expression in the vicinity of ν _UB (for example, the above equations (17) to (20)) is used, so that the reference removal unbalance between the first direction and the second direction is obtained. The data is acquired, and further, temporary removal unbalance data V _{m, p} closest to each reference removal unbalance data, and one or more temporary removals around the temporary removal unbalance data V _{m, p} By extracting the unbalance data V _{m, p} and using a local approximate expression (for example, the above expressions (3) and (4)) in the vicinity of each reference removal unbalance data V _UB , Of actual machining depth in the second direction Calculation accuracy can be improved.

[Removal processing]
(First removal processing)
The computing device 20 outputs the calculated actual machining depth A and actual machining direction θ in the above-described equations (5) and (6) to the position control unit 11c of the machining device 11. Based on the input actual machining depth A and actual machining direction θ, the position control unit 11c is in the above-described reference axis direction in a state where the machining unit 11a is positioned at the actual machining direction θ and the radial position R. The drive mechanism 11b is controlled so as to move in the axial direction by the actual machining depth A from the position. As a result, in the actual machining direction θ, the removal target portion 13a is removed by the actual machining depth A in the axial direction.

(The second and subsequent removal processing)
The computing device 20 outputs the actual machining depth in the first orientation and the actual machining depth in the second orientation calculated as described above to the position control unit 11c of the machining device 11. Based on the input actual machining depth in the first azimuth, the position control unit 11c has the machining unit 11a positioned at the first azimuth and the radial position R, from the above-mentioned reference axial direction position. The drive mechanism 11b is controlled to move in the axial direction by the machining depth. As a result, in the first orientation, the removal target portion 13a is removed by the actual machining depth in the axial direction. Thereafter, the position control unit 11c starts from the reference axial direction position in a state where the processing unit 11a is positioned at the second direction and the radial position R based on the input actual processing depth in the second direction. The drive mechanism 11b is controlled to move in the axial direction by the actual machining depth. As a result, in the second orientation, the removal target portion 13a is removed by the actual machining depth in the axial direction.

(Direction adjustment)
In the above-mentioned “first removal process” and “second and subsequent removal processes”, the actual machining direction θ in the removal target part 13a calculated and output by the arithmetic unit 20 is matched with the direction of the machining part 11a. May be performed by either of the following first and second methods.
In the first method, when the position of the processing unit 11a is constant in the Y-axis direction and the Z-axis direction in FIG. 2, the rotation mechanism 14 is removed based on the actual processing direction θ output from the arithmetic unit 20. The rotating body 13 is rotated as described above so that the actual machining direction θ in the target part 13a matches the known direction of the machining part 11a. Thereafter, the rotation mechanism 14 keeps the rotational direction position of the rotating body 13 constant so that the rotating body 13 does not rotate during the removal processing by the processing unit 11a, so that the actual processing direction θ and the direction of the processing unit 11a are determined. Maintain a consistent state.
In the second method, based on the actual machining direction θ output from the arithmetic unit 20, the position control unit 11c performs machining so that the direction of the machining unit 11 matches the actual machining direction θ in the removal target unit 13a. Control for moving the portion 11a is performed on the drive mechanism 11b. The rotating mechanism 14 holds the other end of the rotating body 13 so that the rotating body 13 does not rotate from the time of such positioning control until the removal processing by the processing unit 11a is completed. Maintain a constant rotational position.

(Processing direction and processing depth)
FIG. 7A shows the removal target portion 13a after the first removal processing. The left side of FIG. 7 (A) is a partially enlarged view of FIG. 3 and shows the removal target portion 13a, and the right side of FIG. 7 (A) is a left side XX view of FIG. 7 (A). Specifically, FIG. 7A shows the actual machining depth from the axial reference position S (reference surface S) in the first orientation Da of the removal target portion 13a by the machining device 11 in the first removal machining. The case where only d1 is removed is shown. In FIG. 7A, reference numeral 42 indicates a portion removed by the first removal process.
On the other hand, FIG. 7B shows the removal target portion 13a after performing the second removal processing from the state of FIG. 7A. The left side of FIG. 7 (B) corresponds to FIG. 7 (A), and the right side of FIG. 7 (B) is a left side XX view of FIG. 7 (B). In this example, as shown in FIG. 7B, in the second removal process, the machining apparatus 11 performs actual machining from the axial reference position S (reference plane S) in the first direction Da of the removal target portion 13a. Only the depth d2 is removed. Further, as shown in FIG. 7B, the actual machining depth from the axial reference position S (reference surface S) in the second orientation Db of the removal target portion 13a by the processing device 11 in the second removal processing. Only d3 is removed. In FIG. 7B, reference numeral 43 denotes a portion removed by the second removal process.
In the example of FIG. 7, the first orientation Da and the second orientation Db each coincide with the apex of the hexagon nut, but may not coincide with each other. In the example of FIG. 7, the deviation angle between the first orientation Da and the second orientation Db is 60 degrees, but may be other angles.

[Example of application to turbochargers]
The case where a rotary machine is a supercharger is demonstrated using FIG. In FIG. 8, as shown in FIG. 8, the rotor 13 of the turbocharger is rotated by the exhaust gas of the engine and rotates integrally with the turbine blade 31 to supply compressed air to the engine. And a rotating shaft 35 having a turbine blade 31 coupled to one end thereof and a compressor blade 33 coupled to the other end thereof. The supercharger has a stationary side member 37 that rotatably supports the rotating body 13. In the example of FIG. 8, the stationary side member 37 is a bearing housing in which bearings 37 a and 37 b that rotatably support the rotating body 13 (rotating shaft 35) are incorporated. The supercharger includes a turbine housing 41 that houses the turbine blades 31 therein, and a compressor housing (removed in FIG. 8) that houses the compressor blades 33 inside. The turbine housing 41 is formed with a flow path (scroll) through which a fluid for rotationally driving the turbine blades 31 flows. The turbine housing 41 is attached to the inside of the support body 3. The support 3 is configured so that the fluid that drives the turbine blades 31 can be supplied to the flow path of the turbine housing 41 and the fluid that has driven the turbine blades 31 can be discharged to the outside of the support 3.

  Further, the support 3 supports the bearing housing 37 via the turbine housing 41 or directly. In FIG. 8, the removal target portion 13a of the rotator 13 is located at the end on the compressor blade 33 side, and in this example is a hexagonal nut. In FIG. 8, both the angle sensor 7 and the processing device 11 are provided on the compressor blade 33 side. However, when the angle sensor 7 is used, the processing portion 11 a of the processing device 11 is retracted to a position where it does not interfere with the angle sensor 7. However, when using the processing apparatus 11, the angle sensor 7 is retracted to a position where it does not interfere with the processing apparatus 11.

  As described above, the position controller 11c determines the machining device 11 according to the actual machining depth A, the actual machining orientation θ, and the radial position R calculated by the machining data calculation unit 25 of the arithmetic device 20 as described above. By controlling, it becomes possible to correct the imbalance with high accuracy. In other words, the position control unit 11c is a drive mechanism that moves the machining unit 11a in the axial direction by the actual machining depth A from the reference axial direction position in a state where the machining unit 11a is positioned at the actual machining direction θ and the radial position R. 11b is controlled. In particular, for the second and subsequent times, the position control unit 11c determines that the actual machining depth A in the first direction from the reference axis direction position described above in a state where the processing unit 11a is positioned in the first direction θ and the radial direction position R. And the machining part 11a moves in the axial direction by the actual machining depth A in the second direction from the above-mentioned reference axial direction position while being positioned at the second orientation θ and the radial position R. Thus, the drive mechanism 11b is controlled.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention. For example, the following changes may be employed alone or in combination.

For the first removal processing, the actual processing direction and the actual processing depth may be obtained by a method other than the above-described embodiment. For example, the above-described reference data may be used to calculate the first actual machining direction and the actual machining depth, but the temporary removal imbalance data closest to V _UB is simply the corresponding temporary data in the reference data. The machining direction and the temporary machining depth may be the first actual machining direction and the actual machining depth.

  In addition, according to the present invention, the removal target portion 13a is not limited to a hexagon nut, and may have another shape having rotational symmetry about the rotation axis C. For example: The removal target portion 13a may be a 12-corner nut, a proximal end portion 33a (see FIG. 8) of the compressor blade 33 of the compressor impeller, or another portion.

Further, in the above-described example, the data specifying unit 23 calculates the temporary removal unbalance data V _{m, p} closest to V _UB and the temporary removal unbalance in [Calculation of first actual machining direction and actual machining depth]. Although the three temporary removal unbalance data V _{m, p} around the balance data V _{m, p} are specified and extracted from the reference data, according to the present invention, the data specifying unit 23 uses the temporary removal closest to V _UB. unbalance data V _{m, p,} and the temporary removal unbalance data V _m, one surrounding _p, 2 two, or four or more temporary removal unbalance data V _m, to identify the _p from reference data It may be extracted. In this case, other processes and configurations may be the same as those in the above-described embodiment. In addition, in the above example, the data specifying unit 23 performs the post-correction temporary removal unbalance data ν _{(p, p ′)} closest to ν _UB in [calculation of actual machining direction and actual machining depth after the second time]. , And three corrected temporary removal imbalance data ν _{(p, p ′)} around the corrected temporary removal imbalance data ν _{(p, p ′)} are identified from the reference data. According to the present invention, data identifying unit 23, one in the neighborhood of the nearest corrected temporary removal unbalance data _{ν UB ν (p, p '} ), and the amended provisional removed unbalance data _{ν (p, p'),} 2 One or four or more corrected temporary removal imbalance data ν _{(p, p ′)} may be specified from the reference data. In this case, other processes and configurations may be the same as those in the above-described embodiment.

In the above-described embodiment, the removal target portion 13a has a different distance from the rotation center to the radially outer end depending on the direction, but the removal target whose distance from the rotation center to the radial outer end is constant regardless of the direction. The present invention can also be applied to a portion (that is, a cylindrical removal target portion). In this case, reference data is created in advance for the cylindrical portion to be removed.
Even if the removal target portion 13a is a non-polygonal portion or an asymmetric portion that does not have rotational symmetry about the rotation axis C, if there is CAD data of the removal target portion 13a, reference data for 360 degrees is stored in advance. By making it, the present invention can be implemented.

  Moreover, in the above-mentioned embodiment, although the process part 11a removed the removal object part 13a to the axial direction, this invention is applicable also when the process part 11a removes the removal object part 13a to a radial direction. . In this case, on the assumption that the processing unit 11a removes the removal target portion 13a in the radial direction, the above-described reference data is created, the above-described reference axial direction position is changed to the reference radial direction position, and the like. This point is appropriately changed according to the cutting in the radial direction, but the point that does not need to be changed may be the same as in the above-described embodiment.

  In the present invention, in order to remove the unbalance of the rotating body, a part of the removal target portion 13a is removed by removal processing. However, the removal processing may be processing other than cutting (for example, laser processing). .

3 support body, 5 acceleration sensor, 7 angle sensor,
9 arithmetic unit, 10 balance correction device, 11 processing device,
11a processing part, 11b drive mechanism, 11c position control part,
13 rotating body, 13a part to be removed, 14 rotating mechanism,
20 Processing device for processing data for balance correction,
21 storage unit, 23 data specifying unit, 25 machining data calculating unit

Claims (4)

When removing the unbalance of the rotating body by removing the removal target portion of the rotating body a plurality of times, the actual machining depths of the first direction and the second direction viewed from the center of rotation in the second and subsequent removing processes are determined. An arithmetic unit for processing data for balance correction to be calculated,
When viewed from the rotation axis direction of the rotating body, a virtual half line extending in the first direction from the rotation center is defined as a first half line, and a virtual half line extending in the second direction from the rotation center is defined as a second half line. The virtual half-line extending from the rotation center in the measurement direction of the unbalance remaining in the rotating body after the previous removal processing is defined as the third half-line, and the first half-line and the second half-line are included in the region between the first and second half-lines. The first direction and the second direction are determined so that the angle of the vertex of the region at the center of rotation is smaller than 180 degrees, including three half lines.
For each removal process performed so far, the data including the unbalance amount removed by the removal process and the direction of the unbalance amount is defined as the previously removed unbalance data, and the previous removal of each removal process performed so far The data obtained by synthesizing the unbalanced data is used as the synthesized already removed unbalanced data,
Data consisting of the measurement value of the unbalance amount remaining in the rotating body after the previous removal processing and the measurement orientation in which the unbalance amount exists is measured residual unbalance data,
Processing data for balance correction characterized by calculating actual machining depths of the first orientation and the second orientation for eliminating the unbalance indicated by the measured residual unbalance data based on the combined already removed unbalance data. Arithmetic unit. A storage unit, a data specifying unit, and a machining data calculation unit;
The storage unit stores reference data, and the reference data includes a temporary machining direction, a temporary machining depth, and an unbalance amount that is removed when the removal target part is temporarily removed according to the temporary machining direction and the temporary machining depth. And the temporary removal unbalance data consisting of the azimuths of the unbalance amount, and a set of which is associated with each other, and a plurality of sets of temporary machining orientations, temporary machining depths, and temporary removal unbalance data,
Combining data of one temporary removal unbalance data including the temporary machining orientation closest to the first orientation and one temporary removal unbalance data including the temporary machining orientation closest to the second orientation is defined as the synthetic temporary removal unbalance data.
The data specifying unit generates a data difference between the combined temporary removal unbalanced data and the combined already removed unbalanced data as corrected removed unbalanced data, and the corrected removed unbalanced data is closest to the measured residual unbalanced data. Specifying the combined temporary removal unbalanced data and one or more combined temporary removed unbalanced data around the combined temporary removed unbalanced data;
The machining data calculation unit calculates the actual machining depth of the first orientation and the second orientation using the plurality of identified combined temporary removal imbalance data and reference data. A processing device for processing data for balance correction as described. The machining data calculation unit
A plurality of post-correction removal unbalance data respectively generated from a plurality of identified combined temporary removal unbalance data is converted into a plurality of pairs of temporary removal unbalance data respectively constituting the plurality of combined temporary removal unbalance data. Generate a mapping function,
By applying the measured residual unbalance data to the mapping function, a pair of reference removal unbalance data is calculated,
The data identification part
For each calculated reference removal unbalance data, temporary removal unbalance data closest to the reference removal unbalance data, and one or more temporary removal unbalance data around the temporary removal unbalance data, From the reference data,
The machining data calculation unit
For one reference removal unbalance data, an actual machining depth in the first orientation is calculated based on a plurality of temporary machining depths corresponding to the extracted plurality of temporary removal imbalance data,
For the other reference removal imbalance data, an actual machining depth in the second direction is calculated based on a plurality of temporary machining depths corresponding to the extracted plurality of temporary removal imbalance data. The processing device for balance correction machining data according to claim 2. The machining data calculation unit
For one reference removal unbalance data, generate a mapping function that converts the extracted plurality of temporary removal unbalance data into a plurality of temporary machining orientations and temporary machining depths corresponding to the temporary removal unbalance data,
The temporary machining depth obtained by applying one reference removal unbalance data to the mapping function is the actual machining depth in the first direction,
For the other reference removal unbalance data, generate a mapping function that converts the extracted plurality of temporary removal unbalance data into a plurality of temporary machining orientations and temporary machining depths corresponding to the temporary removal unbalance data,
4. The balance correction processing data according to claim 3, wherein the temporary processing depth obtained by applying the other reference removal unbalance data to the mapping function is an actual processing depth in the second orientation. 5. Arithmetic unit.