JP2012224934A - Method for correcting adhesion position for spraying device, thermal spraying method, method for manufacturing turbine blade, and method for machining the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a means for correcting the adhesion position of a sprayed material for a spraying device spraying a material to be sprayed to a target member, promptly and accurately despite the competence of workers or the difference in programs for operating the spraying device.SOLUTION: The method for correcting an adhesion position for the spraying device includes: a step of moving one of a target plate and a thermal spraying gun 12 relative to the other to face each other; a step of spraying the material to be sprayed from the thermal spraying gun 12 toward a target position 22; a step of measuring an amount of spray center deflection between a sprayed material adhesion position 23 and the target position 22; a step of calculating, based on the spray center deflection amount and a separation distance, an angular correction amount θ for the thermal spraying gun 12 so that the material to be sprayed can be sprayed perpendicularly to the target plate; and a step of changing a relative position between the spraying gun 12 and the target plate by the amount of angular correction amount θ and the spray center deflection amount.

Description

  The present invention relates to an injection device for spraying an injection material to a target member, a method for correcting the deviation of the adhesion position, a thermal spray method using a thermal spray gun using the correction method, a method for manufacturing a turbine blade using the thermal spray method, And a processing method.

  Blade bodies such as turbine rotor blades and turbine stationary blades constituting steam turbines and gas turbines are exposed to high-temperature working fluid. Therefore, when manufacturing the wing body, a metal or ceramic film is formed on the surface in order to ensure heat insulation and corrosion resistance. Here, as a means for forming this film, a method called thermal spraying is widely used. This thermal spraying is a technique for forming a coating on the surface of a wing body by spraying a metal or ceramic powder called a propellant on a high-temperature and high-speed gas stream. And when performing this thermal spraying, a thermal spray gun that sprays the spray material on the gas flow is attached to the arm tip of the industrial robot, and the industrial robot is operated according to a predetermined program, so that Spray the spray material from the spray gun toward the target position.

  Here, assuming that the position of the wing body surface where the propellant is originally sprayed is called the “target position” and the position of the wing body surface where the propellant is actually sprayed is called the “attachment position”, the attachment position is located from the target position. There may be a gap. Assuming that the position of the wing body surface on which the spray gun is geometrically oriented is called the “directed position”, this misalignment can be broadly divided into that the directed position deviates from the target position, and the attachment position deviates from the directed position. Caused by The misalignment of the directivity position with respect to the target position is caused by the attachment / detachment of the spray gun itself and its constituent parts, electrodes, and the insufficient alignment of the industrial robot. On the other hand, the positional deviation of the adhesion position with respect to the pointing position is caused by the characteristics of the spray gun. More specifically, in the spray gun, since the injection material is injected from the outside with respect to the high-speed gas flow injected from the injection port, the injection material has a velocity component in a direction crossing the gas flow direction. have. Therefore, the position where the spray material is sprayed onto the wing body is a position slightly separated from the position where the gas flow is sprayed onto the wing body. Thereby, the position shift of the adhesion position with respect to a target position arises.

  Therefore, in order to spray the spray material accurately on the target position on the wing body, it is necessary to correct the displacement of the adhesion position. And this correction | amendment operation | work has been conventionally performed in the following procedures. That is, the operator, for example, when the work of detaching the spray gun from the industrial robot is completed, by spraying the spray material against the inspection object from the spray gun with the industrial robot in a predetermined posture, A small pile of spray material called a core is formed on the surface of the object. Next, the operator attaches a laser pointer to the tip of the spray gun so as to point to the center of the gun core. Then, the operator sets a teaching wing displaying a plurality of teaching points in place of the object, and operates the industrial robot according to a predetermined program while the position indicated by the laser pointer matches the teaching point. Correct industrial robots to Then, by repeating this operation for all teaching points, the displacement of the attachment position is corrected. Such a teaching method for an industrial robot is not limited to the correction of the adhesion position of the spray gun, but is also used in the correction of the adhesion position of the coating gun in a painting operation (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 10-015863

  However, according to the conventional method of correcting the adhesion position of an injection device such as a spray gun or a coating gun, it is necessary for the operator to manually repeat the operation of correcting the displacement of the adhesion position for all teaching points. For this reason, there is a problem that the working time and the accuracy of correction vary depending on the ability of the worker and the program for operating the industrial robot. Moreover, in order to reduce the waste of the injection material due to the injection of the injection material at a position off the wing body, it is necessary to provide the teaching blade with many teaching points and operate the industrial robot in detail. There is. However, when the number of teaching points is increased in this way, there is a problem that the time required for correcting the adhesion position becomes longer.

  The present invention has been made in consideration of such circumstances, and the purpose thereof is based on the difference in the ability of the operator and the program for operating the injection device for the injection device that sprays the injection material onto the target member. The object is to provide means for correcting the adhesion position in a short time and with high accuracy.

  In order to achieve the above object, the present invention employs the following means. That is, the method for correcting the attachment position of an injection device according to the present invention is a movement in which one of a target member on which a coating of the injection material is to be formed and an injection device that sprays the injection material toward the target member is moved relative to the other A step of directing the injection device to a target position on the target member by operating a mechanism; a step of spraying an injection material from the injection device toward the target position; and an injection material sprayed on the target member Measuring the amount of deviation from the adhesion position, which is the center position of the nozzle, to the target position, the amount of deviation, and the distance from the injector to the target position, and the directing direction of the injector, and the injection Calculating the angle formed by the straight line connecting the device and the attachment position, and the relative positional relationship between the injection device and the target member, A step of changing by the amount of the serial angle, characterized in that it comprises a.

  According to such a method, the work to be performed by the operator in order to correct the attachment position of the injection device is the operation of measuring the amount of deviation from the attachment position to the target position, and the relative relationship between the injection device and the target member. Only the operation of operating the moving mechanism so that the correct positional relationship changes. Therefore, the adhesion position can be corrected in a short time and with high accuracy compared to the case where the operator repeats the manual correction operation for correcting the positional deviation of the adhesion position for all the teaching points of the teaching blade.

  Also, in the method for correcting the attachment position of the injection device according to the present invention, the injection device is provided in the vicinity of the gun main body portion for injecting the gas flow from the injection port, and the gas flow from the outside. It is a thermal spray gun provided with the injection material injection | throwing-in part which inputs an injection material.

  According to such a method, since the propellant injected into the gas flow has a velocity component in a direction crossing the gas flow direction, the position at which the propellant is sprayed onto the target member is The position is slightly separated from the position where the spray is sprayed. Here, the spray gun has a different separation distance for each use depending on the individual and electrode state. Therefore, if the correction of the adhesion position is applied to a spray gun in which the position of the adhesion position is likely to be shifted from the target position, the time required for the correction work can be more effectively reduced.

  Also, in the adhesion position correction method for an ejection device according to the present invention, the moving mechanism is a robot that holds the ejection device or the target member.

  According to such a method, the relative positional relationship between the robot ejection device and the target member can be changed with a simple operation and with high accuracy.

  Also, in the method for correcting the attachment position of the injection device according to the present invention, the step of changing the relative positional relationship between the injection device and the target member includes the injection by the amount of the angle correction amount with the attachment position as a fulcrum. The apparatus is rotated, and the injection device is moved by an amount corresponding to the amount of deviation in parallel with a line segment connecting the attachment position and the target position.

  According to such a method, the worker can change the relative positional relationship between the injection device and the target member by a simple operation of inputting the angle correction amount and the deviation amount and operating the robot. it can.

  The method for correcting an attachment position of an injection device according to the present invention includes correcting the injection device to move to a predetermined position according to a predetermined program prior to the step of causing the injection device to face the target member. Features.

  According to such a method, since the positional deviation of the target position itself is corrected before correcting the positional deviation of the adhesion position with respect to the target position, the positional deviation of the adhesion position can be corrected more accurately.

  Also, the adhesion position correction method for an injection device according to the present invention is characterized in that the deviation amount is measured using a laser pointer.

  According to such a method, it is possible to measure the amount of deviation of the adhesion position with respect to the target position without damaging the target member.

  In addition, the thermal spraying method according to the present invention is characterized in that the spray material is sprayed onto the surface of the object using the thermal spray gun corrected by the adhesion position correction method of the spray device.

  According to such a method, since the spray material can be accurately sprayed on the target position of the target member using the spray gun, a film made of the spray material can be uniformly formed on the surface of the target member. it can.

  The turbine blade manufacturing method according to the present invention is characterized in that a spray coating is formed on the surface of a blade body constituting the turbine using a thermal spraying method.

  According to such a manufacturing method, it is possible to manufacture a wing body excellent in heat shielding and corrosion resistance by uniformly forming a coating film made of an injection material on the surface of the wing body.

  A processing method according to the present invention is a processing for processing a member to be processed based on a predetermined processing operation using an injection device corrected by the method for correcting an adhesion position of an injection device according to claim 1. The method includes the step of installing the workpiece in place of the target member in the moving mechanism, and the step of processing the workpiece by spraying an injection material onto the surface of the workpiece from the injection device It is characterized by including these.

  According to such a method, prior to actually processing the workpiece, a deviation angle between the directing direction of the injection device and the direction in which the injection material is actually ejected is calculated using the temporary target member, The workpiece can be processed while correcting based on this. That is, even if the deviation angle is changed by replacing the parts of the injection device, it is not necessary to teach a large number of teaching points for correcting the adhesion position. Therefore, it is not necessary to reduce the number of teaching points in order to shorten the work time required to teach a large number of teaching points, and it is possible to provide a large number of teaching points on the teaching wings and operate the industrial robot in detail. . Accordingly, it is possible to reduce the occurrence of waste of the injection material due to the injection of the injection material at a position off the wing body.

  The processing method according to the present invention is a processing method for processing a workpiece by spraying an injection material from an injection device based on a predetermined processing operation, and supports the workpiece and the injection device. And a step of installing a target member on a support mechanism that changes the positional relationship thereof, a step of operating the support mechanism to direct the injection device to a target position on the target member, and a step toward the target position. The center of the spray material sprayed onto the target member is an angle formed by the step of spraying the spray material from the spray device, the direction directed by the spray device, and the straight line connecting the spray device and the attachment position. A step of calculating on the basis of a first distance from the attachment position, which is a position, to the target position, and a second distance from the injection device to the target position; The step of removing the target member and attaching the workpiece, and the step of blowing the spray material from the spraying device to process the workpiece, correcting the predetermined machining operation by the held angle. And a step of processing while changing the positional relationship between the workpiece and the spraying device while supporting the workpiece and the injection device.

  According to such a method, prior to actually processing the workpiece, a deviation angle between the directing direction of the injection device and the direction in which the injection material is actually ejected is calculated using the temporary target member, The workpiece can be processed while correcting based on this. That is, even if the deviation angle is changed by replacing the parts of the injection device, it is not necessary to teach a large number of teaching points for correcting the adhesion position. Therefore, it is not necessary to reduce the number of teaching points in order to shorten the work time required to teach a large number of teaching points, and it is possible to provide a large number of teaching points on the teaching wings and operate the industrial robot in detail. . Accordingly, it is possible to reduce the occurrence of waste of the injection material due to the injection of the injection material at a position off the wing body.

  According to the adhesion position correction method for an injection device according to the present invention, the injection device that sprays the injection material onto the target member can be quickly and highly accurate regardless of the operator's ability and the program for operating the injection device. Can correct the adhesion position.

It is a schematic side view which shows the external appearance of the adhesion position correction | amendment unit which concerns on embodiment of this invention. It is a schematic sectional drawing which shows the structure of a thermal spray gun. It is a schematic sectional drawing which shows the state which attached the attachment to the front-end | tip part of a thermal spray gun. It is a schematic perspective view which shows the structure of a target stand. It is a figure which shows the procedure of the reference | standard correction | amendment of a thermal spray gun. It is a schematic perspective view which shows the structure of a teaching blade. It is a figure which shows the procedure of the core correction | amendment of a thermal spray gun. It is a figure which shows the procedure of the core correction | amendment of a thermal spray gun. It is a schematic side view explaining manufacture of the wing body using the thermal spray gun after amendment. It is a schematic side view which shows the 1st modification of a moving mechanism. It is a schematic side view which shows the 2nd modification of a moving mechanism. It is a schematic side view which shows the 3rd modification of a moving mechanism. It is a schematic side view which shows the 4th modification of a moving mechanism. It is a schematic side view which shows the 5th modification of a moving mechanism.

(First embodiment)
Embodiments of the present invention will be described below with reference to the drawings. First, the structure of the adhesion position correction unit used in the method for correcting the adhesion position of a spray gun according to an embodiment of the present invention will be described. FIG. 1 is a schematic side view showing an appearance of an adhesion position correction unit 10 according to the present embodiment. The adhesion position correction unit 10 is opposed to the 6-axis robot 11 (movement mechanism) having an arm, the spray gun 12 (injection device) held at the tip of the arm of the 6-axis robot 11, and the 6-axis robot 11. And a target table 13 arranged.

  The six-axis robot 11 plays a role of controlling the position and posture of the spray gun 12. As shown in FIG. 1, the six-axis robot 11 includes a base 111 that is fixedly installed, an arm 112 that is attached to the base 111 and is rotatable about six axes, And a gun holding portion 113 provided at the tip of the arm portion 112. Instead of the six-axis robot 11 having six degrees of freedom, a so-called articulated robot that can rotate around a predetermined number of axes may be used.

  The thermal spray gun 12 plays a role of spraying an injection material toward the target table 13. Here, FIG. 2 is a schematic sectional view showing the configuration of the thermal spray gun 12. The thermal spray gun 12 includes a gun main body part 121 provided with an injection port at the tip, a pair of electrode parts 122 provided opposite to each other inside the gun main body part 121, and a gas supply leading to the inside of the gun main body part 121. A part 123, an injection material charging part 124 provided outside the injection port, and an attachment part 125 for attaching the gun body to the gun holding part 113 of the six-axis robot 11. The spray gun 12 configured as described above is attached to the gun holding portion 113 of the six-axis robot 11 so that the spray port of the gun main body portion 121 faces the target base 13 side.

  According to the spray gun 12 configured as described above, when a DC arc is generated by applying a voltage between the pair of electrode parts 122, the working gas SG such as argon supplied from the gas supply part 123 is ionized. As a result, a plasma jet PJ is generated. Then, the injection material F made of a metal material is supplied from the injection material supply unit 124 to the plasma jet PJ injected from the injection port. Thereby, the injection material F is sprayed with respect to the target stand 13 shown in FIG. 1 in the state heated on the plasma jet PJ. At this time, the injection direction of the injection material F is substantially perpendicular to the flow direction of the plasma jet PJ. Therefore, the injection material F riding on the plasma jet PJ has a velocity component Fa in a direction crossing the flow direction of the plasma jet PJ, as shown in FIG.

  Further, the spray gun 12 can be attached with a predetermined attachment at its tip. FIG. 3 is a schematic cross-sectional view showing a state in which an attachment is attached to the tip of the thermal spray gun 12. A center tool 14 shown in FIG. 3A and a laser pointer 15 shown in FIG. 3B can be attached to the spray gun 12. The center tool 14 is used in a reference correction process described later. The center tool 14 is a long rod-shaped member made of metal or the like, and its tip is sharply formed. As shown in FIG. 3A, the center tool 14 configured in this way is attached to the tip of the thermal spray gun 12 via a fixing jig 16 so that the axis thereof is aligned with the center of the injection port. ing.

  On the other hand, the laser pointer 15 is used in a core correcting process to be described later, and emits a laser beam from its tip. As shown in FIG. 3B, the laser pointer 15 is rotatably attached to the tip of the thermal spray gun 12 via a support jig 17. As a result, the emission direction of the laser beam R can be arbitrarily adjusted by adjusting the mounting angle of the laser pointer 15 as shown by the broken line in FIG.

  The target table 13 plays a role as an object to which the spray material F is sprayed. Here, FIG. 4 is a schematic perspective view showing the configuration of the target table 13. The target base 13 includes a main body 18 in which a pair of opposing fitting grooves 181 are formed, a pair of left and right reference pins 19 projecting from the surface of the main body 18, and a fitting groove in the main body 18. And a target plate 20 that is detachably attached by being fitted to 181. Here, since the high-temperature spray material F is sprayed from the thermal spray gun 12, the target plate 20 is formed of a material having excellent heat resistance.

  Next, the procedure of the adhesion position correction method for the thermal spray gun 12 according to the embodiment of the present invention and the operation and effect thereof will be described. In addition, this adhesion position correction of the spray gun 12 is performed when the spray gun 12 is replaced, when the electrode portion 122 constituting the spray gun 12 is replaced, or when the gun holding portion of the six-axis robot 11 to which the spray gun 12 is attached. This is executed when 113 is replaced.

  An operator who wants to correct the adhesion position of the spray gun 12 first performs reference correction of the spray gun 12. This reference correction means correcting the positional deviation of the target position itself caused by the attachment / detachment of the thermal spray gun 12 or the like. Here, FIG. 5 is a diagram showing a procedure of reference correction of the spray gun 12. First, as shown in FIG. 3A, the operator attaches the center tool 14 to the tip of the spray gun 12. Then, the operator operates the 6-axis robot 11 according to a predetermined program from a state where the center tool 14 is far from the reference pin 19 of the target base 13 as shown in FIG. Is brought into contact with the tip of the reference pin 19.

  However, due to the removal of the spray gun 12, the electrode part 122, and the gun holding part 113, as shown in FIG. 5 (b), there is a slight gap between the tip of the center tool 14 and the tip of the reference pin 19. Misalignment occurs. Therefore, the operator measures a reference deviation amount d1 between the two using a measuring instrument (not shown) such as a ruler. Then, the operator moves the six-axis robot 11 by the reference deviation amount d1, thereby bringing the tip of the center tool 14 and the tip of the reference pin 19 into contact as shown in FIG. By this operation, the reference deviation amount d1 is electromagnetically held by the six-axis robot 11 to complete the reference correction of the spray gun 12. Thereafter, when the 6-axis robot 11 is instructed to point to a certain target position, the 6-axis robot 11 accurately controls the operation of the 6-axis robot 11 so as to offset the reference deviation amount d1 in a direction that cancels out. The target position can be directed. FIG. 5B shows a case where the positional deviation of the center tool 14 with respect to the reference pin 19 occurs only in the Y-axis direction, which is the vertical direction in FIG. However, misalignment between the two can also occur in the X-axis direction, which is the depth direction of the paper surface of FIG. 5, and in the Z-axis direction, which is the left-right direction of the paper surface of FIG. Further, when the 6-axis robot 11 has a function of correcting the reference only by inputting the reference deviation amount d1, the tip of the center tool 14 and the tip of the reference pin 19 do not necessarily have to be in contact with each other. It is sufficient to input the reference deviation d1 to the axis robot 11.

  Next, the operator checks whether or not the reference correction has been performed correctly. First, the operator attaches the laser pointer 15 shown in FIG. 3B to the tip of the thermal spray gun 12 in place of the center tool 14 described above. Then, the 6-axis robot 11 is moved so that the spray gun 12 is in a posture to face the target position 22 provided on the target plate 20 vertically. Thereafter, the operator irradiates the laser beam R emitted from the laser pointer 15 onto the target position 22 in the direction of the spray gun 12, that is, in the state indicated by the solid line in FIG. Fix the mounting angle.

  Next, the operator arranges the teaching blade 21 shown in FIG. 6 at a position facing the 6-axis robot 11 instead of the target table 13 shown in FIG. Then, the operator operates the 6-axis robot 11 according to a predetermined program, thereby causing a plurality of laser beams R emitted from the laser pointer 15 to be displayed on the surface of the teaching blade 21 as shown in FIG. It moves along the teaching point 211. As a result, when the laser beam R moves along the teaching point 211 as indicated by a broken line in FIG. 6, the operator determines that the reference correction is correctly performed. On the other hand, although details are not shown in FIG. 6, when the laser beam R moves from a position outside the teaching point 211, the operator determines that the reference correction is incomplete, and measures such as redoing the reference correction are performed. Take.

  Next, the operator corrects the core of the spray gun 12. This core correction means correcting the positional deviation of the adhesion position with respect to the directing position caused by the characteristics of the spray gun 12 as described above. Here, FIG. 7 and FIG. 8 are diagrams showing the procedure for correcting the core of the thermal spray gun 12. 7 and 8, the illustration of the six-axis robot 11 and the main body portion 18 of the target base 13 is omitted in consideration of easy viewing.

  First, the operator removes the laser pointer 15 attached to the tip of the spray gun 12 from the spray gun 12 as shown in FIG. Thereby, the thermal spray gun 12 will be in the state which can inject the injection material F from the front-end | tip part. Further, the operator operates the 6-axis robot 11 so that the thermal spray gun 12 is vertically opposed to the target position 22 on the target plate 20 attached to the target base 13 as shown in FIG. By this operation, the pointing position, which is the position on the target plate 20 to which the spray gun 12 is pointing, coincides with the target position 22.

  Next, the operator sprays the spray material F from the spray gun 12 toward the target position 22 of the target plate 20 as shown in FIG. At this time, as described above, the injection material F has the velocity component Fa in the direction intersecting the flow direction of the plasma jet PJ. Therefore, although the thermal spray gun 12 is correctly directed to the target position 22, the adhesion position 23, that is, the center position of the spray material F sprayed in a dome shape is slightly shifted from the target position 22. In the present embodiment, a case is shown in which the displacement of the attachment position 23 with respect to the target position 22 occurs only in the Y-axis direction, which is the vertical direction of the paper surface of FIG. Note that the displacement of the attachment position 23 with respect to the target position 22 is not limited to the Y-axis direction, but may occur in the X-axis direction, which is the depth direction of the paper surface of FIG.

  Next, the operator attaches the laser pointer 15 shown in FIG. At this time, the operator sets the laser beam R emitted from the laser pointer 15 to the attachment position 23 as shown in FIG. 7B, that is, in the state shown by the broken line in FIG. The attachment angle of the pointer 15 is fixed.

  Further, the operator replaces the target plate 20 shown in FIG. 7B with a reference plate 24 shown in FIG. That is, the operator removes the target plate 20 from the fitting groove 181 of the target base 13 and then fits and attaches the reference plate 24 to the fitting groove 181. Here, the reference plate 24 has substantially the same shape as the target plate 20, and the target position 22 is displayed at the same position as the target plate 20. Although not shown in detail in the figure, the reference plate 24 extends in the X-axis direction and the Y-axis direction through the target position 22 so that the distance from the target position 22 can be easily measured. Each line is drawn. By replacing the target plate 20 with the reference plate 24 in this way, the attachment position 23 is applied to the surface of the reference plate 24 by the laser beam R emitted from the laser pointer 15 attached to the tip of the thermal spray gun 12. Is pointed to.

  Next, the operator uses a measuring instrument (not shown) such as a ruler to measure the center misalignment amount d2 of the adhesion position 23 with respect to the target position 22 in FIG. In addition, the measurement of the amount of misalignment d2 in the present embodiment was performed by measuring the separation distance between the target position 22 and the attachment position 23 in the Y-axis direction. However, when the displacement of the attachment position 23 with respect to the target position 22 also occurs in the X-axis direction as described above, the distance between the target position 22 and the attachment position 23 can be measured along the X-axis direction. Good. In this embodiment, the laser pointer 15 is attached to the spray gun 12 and the reference plate 24 is installed in place of the target plate 20 so that the center misalignment amount d2 can be easily measured. In the state shown in FIG. 8, the center-of-center deviation d2 between the target position 22 and the attachment position 23 may be measured.

  Although not shown in detail in the figure, the operator inputs the measured center deviation d2 to the operation panel for operating the six-axis robot 11. Then, the control unit that controls the operation of the six-axis robot 11 has a geometrical relationship based on the separation distance L from the spray gun 12 to the target position 22 and the input misalignment amount d2 shown in FIG. From this, the angle correction amount θ of the thermal spray gun 12 is calculated. This angle correction amount θ means an angle formed by a line segment S1 extending from the spray gun 12 to the target position 22 and a line segment S2 extending from the spray gun 12 to the adhesion position 23, as shown in FIG. ing.

  Although not shown in detail in the figure, the operator inputs the measured center deviation d2 to the operation panel for operating the six-axis robot 11. Then, the control unit that controls the operation of the six-axis robot 11 has a geometrical relationship based on the separation distance L from the spray gun 12 to the target position 22 and the input misalignment amount d2 shown in FIG. From this, the angle correction amount θ of the thermal spray gun 12 is calculated. This angle correction amount θ means an angle formed by a line segment S1 extending from the spray gun 12 to the target position 22 and a line segment S2 extending from the spray gun 12 to the adhesion position 23, as shown in FIG. ing. Even when the 6-axis robot 11 does not have a function of calculating the angle correction amount θ, the same operation can be performed by directly calculating the angle correction amount θ using a calculator or the like.

  Then, the operator changes the relative positional relationship between the thermal spray gun 12 and the reference plate 24 based on the angle correction amount θ and the core misalignment amount d2. That is, as shown in FIG. 8A, the operator first rotates the thermal spray gun 12 counterclockwise by the angle correction amount θ with the attachment position 23 as a fulcrum. As a result, the laser beam R emitted from the laser pointer 15, that is, the movement locus K of the spray material F ejected from the thermal spray gun 12 becomes substantially perpendicular to the reference plate 24. In FIG. 8A, the position of the spray gun 12 before turning is indicated by a broken line, and the position of the spray gun 12 after turning is indicated by a solid line.

  Next, the operator translates the thermal spray gun 12 upward as shown in FIG. That is, the operator moves the thermal spray gun 12 by the amount of misalignment d2 in the direction substantially parallel to the line segment S3 connecting the target position 22 and the attachment position 23. Thereby, the laser beam R emitted from the laser pointer 15, that is, the movement trajectory K of the injection material F injected from the spray gun 12 is substantially perpendicular to the reference plate 24 and is directed to the target position 22. It becomes. By this operation, the angle correction amount θ and the core misalignment amount d2 are electromagnetically held by the six-axis robot 11 to complete the core correction of the spray gun 12. Thereafter, when the 6-axis robot 11 is instructed to perform spraying on a certain target position, the 6-axis robot 11 itself is offset so as to offset the angle correction amount θ and the center deviation d2. By controlling the operation, the injection material F can be accurately attached to the target position. In FIG. 8B, the position of the spray gun 12 before translation is indicated by a broken line, and the position of the spray gun 12 after translation is indicated by a solid line.

  As described above, when the displacement of the adhesion position 23 relative to the target position 22 occurs in the X-axis direction, the spray gun 12 may be translated in the X-axis direction. Further, when the displacement of the attachment position 23 with respect to the target position 22 occurs in both the X-axis direction and the Y-axis direction, the thermal spray gun 12 may be translated in the X-axis direction and the Y-axis direction, respectively. In this embodiment, the spray gun 12 is rotated around the attachment position 23. However, for example, the spray gun 12 may be rotated counterclockwise by an angle correction amount θ on the spot. That is, the relative positional relationship between the thermal spray gun 12 and the reference plate 24 may be changed so that the positional relationship between the thermal spray gun 12 and the reference plate 24 finally becomes the positional relationship shown in FIG.

  Finally, the operator confirms whether or not the core correction has been performed correctly. First, the operator places the teaching blade 21 shown in FIG. 6 at a position facing the 6-axis robot 11 instead of the reference plate 24 shown in FIG. Then, the operator operates the 6-axis robot 11 according to a predetermined program, thereby causing a plurality of laser beams R emitted from the laser pointer 15 to be displayed on the surface of the teaching blade 21 as shown in FIG. It moves along the teaching point 211. As a result, when the laser beam R moves along the teaching point 211 as indicated by a broken line in FIG. 6, the operator determines that the core correction has been performed correctly. On the other hand, although details are not shown in FIG. 6, when the laser beam R moves to a position deviating from the teaching point 211, the operator determines that the core correction is incomplete, and redoes the core correction. Take action.

  As described above, when both the reference correction and the core correction are completed, the correction work of the adhesion position 23 of the spray gun 12 is completed.

  Thereafter, the operator uses the thermal spray gun 12 in which the correction of the adhesion position 23 is completed to manufacture a blade body such as a turbine moving blade or a turbine stationary blade. FIG. 9 is a schematic side view illustrating the manufacture of the wing body 25 using the spray gun 12 after correction. The operator sprays the spray material F from the corrected spray gun 12 aiming at the target position 22 of the wing body 25. At this time, since the adhesion position 23 of the spray gun 12 is corrected, the movement locus K of the spray material F injected from the spray gun 12 forms an angle of an angle correction amount θ with respect to the injection direction of the plasma jet PJ. The injection material F is sprayed to the target position 22. Thus, since the spray material F can be sprayed to the target position of the wing body 25, it is excellent in heat-shielding property and heat resistance by uniformly forming the film made of the spray material F on the surface of the wing body 25. The wing body 25 can be manufactured.

  In the above-described embodiment, the spray gun 12 has been described as an example of the “injection device” according to the present invention. However, the spray device only needs to spray some spray material F onto the target member, and the spray gun 12 is sufficient. In addition, for example, the present correction method can be applied to a coating gun for spraying a coating material on a target member or a shot blast injection nozzle. When the present invention is used in a configuration in which the spray material F such as a shot blast spray nozzle does not adhere to the target member, the term “attachment position” in the present specification and claims refers to a shot blast grid. It should be understood that it is a position where it collides with a member.

  In this embodiment, the 6-axis robot 11 is used as means for moving the thermal spray gun 12, that is, the “movement mechanism” according to the present invention. However, the movement mechanism is not limited to the 6-axis robot 11 and other configurations are adopted. Is also possible. FIG.10 and FIG.11 is a schematic side view which shows the modification of a moving mechanism.

  FIG. 10 is a schematic side view showing a first modification of the moving mechanism. In this first modification, the moving mechanism for moving the spray gun 12 is configured as a posture adjusting unit 30 that can adjust the mounting posture of the spray gun 12 with respect to the gun holding unit 113 of the six-axis robot 11. In this first modification, a plurality of screws 31 for supporting the thermal spray gun 12 from below are provided, and the mounting posture of the thermal spray gun 12 is changed by turning these screws 31 to change the protruding height from the gun holding portion 113. Can be adjusted. Then, by adjusting the mounting posture of the spray gun 12 with respect to the gun holding portion 113 in this way, the relative positional relationship between the spray gun 12 and the reference plate 24 can be changed without operating the six-axis robot 11. Can do. Further, according to the present modification, the reference displacement amount d1 and the angle correction amount θ can be mechanically held in the posture adjustment unit 30 by adjusting the mounting posture of the thermal spray gun 12 with respect to the gun holding unit 113. Therefore, even if the 6-axis robot 11 does not have a function of operating by offsetting a predetermined amount of displacement or angle from a posture determined in advance by a program, the reference correction and the core correction are applied to the wings. The body 25 can be processed. Note that the configuration of the posture adjustment unit 30 is not limited to the present embodiment, and the design can be changed as appropriate.

  FIG. 11 is a schematic side view showing a second modification of the moving mechanism. In this second modification, a moving mechanism for moving the spray gun 12 includes a movable base 40 movably provided in three axial directions by a piezoelectric element (not shown), and a mounting posture of the spray gun 12 with respect to the movable base 40. And an attitude adjustment unit 41 that can adjust the rotation around three axes. According to the moving mechanism configured as described above, the spray gun 12 is moved in the XYZ axis direction by operating the movable base 40, and the spray gun 12 is moved in the direction around the XYZ axis by adjusting the posture adjusting unit 41. Can be moved.

  In the present embodiment, as a means for changing the relative positional relationship between the spray gun 12 and the reference plate 24, a moving mechanism for moving the spray gun 12 is used. However, instead of or together with this, a reference plate is used. It is also possible to employ a moving mechanism that moves 24. 12 to 14 are schematic side views showing modifications of the moving mechanism.

  FIG. 12 is a schematic side view showing a third modification of the moving mechanism. In this third modification, the moving mechanism for moving the reference plate 24 is configured as the six-axis robot 11, and the reference plate 24 faces the spray gun 12 toward the gun holding portion 113. It is fixed. On the other hand, the spray gun 12 is fixedly installed at a position facing the six-axis robot 11. According to the moving mechanism configured as described above, the relative positional relationship between the thermal spray gun 12 and the reference plate 24 can be changed by moving the reference plate 24 by operating the six-axis robot 11. In this case, after performing the reference correction and the core correction in the state shown in FIG. 12, the reference plate 24 is removed from the 6-axis robot 11 and the blade body 25 is attached, and the spray material F is directed from the spray gun 12 toward the blade body 25. Inject. Thereby, the spray material F can be sprayed on the target position of the wing body 25, and the wing body 25 is excellent in heat shield and heat resistance by uniformly forming a film made of the spray material F on the surface of the wing body 25. The body 25 can be manufactured.

  FIG. 13 is a schematic side view showing a fourth modification of the moving mechanism. In the fourth modification, the moving mechanism that moves the reference plate 24 is configured as a posture adjusting unit 50 that can adjust the mounting posture of the reference plate 24 with respect to the gun holding unit 113 of the six-axis robot 11. On the other hand, the spray gun 12 is fixedly installed at a position facing the six-axis robot 11. In the fourth modified example, a plurality of screws 51 for supporting the reference plate 24 from below are provided, and by adjusting the protruding height from the gun holding portion 113 by turning these screws 51, the mounting posture of the reference plate 24 is changed. Can be adjusted. Then, by adjusting the mounting position of the reference plate 24 with respect to the gun holding portion 113 in this way, the relative positional relationship between the reference plate 24 and the spray gun 12 can be changed without operating the six-axis robot 11. Can do. Further, according to the present modification, the reference displacement amount d1 and the angle correction amount θ can be mechanically held in the posture adjustment unit 50 by adjusting the mounting posture of the reference plate 24 with respect to the gun holding unit 113. Therefore, even if the 6-axis robot 11 does not have a function of operating by offsetting a predetermined amount of displacement or angle from a posture determined in advance by a program, the reference correction and the core correction are applied to the wings. The body 25 can be processed. The configuration of the posture adjustment unit 50 is not limited to the present embodiment, and the design can be changed as appropriate.

  FIG. 14 is a schematic side view showing a fifth modification of the moving mechanism. In the fifth modification, the moving mechanism for moving the reference plate 24 includes a movable base 60 that is movable in three axial directions by a piezoelectric element (not shown), and the mounting posture of the reference plate 24 with respect to the movable base 60. And an attitude adjustment unit 61 that can adjust the rotation around the XYZ axes. On the other hand, the spray gun 12 is fixedly installed at a position facing the movable table 60. According to the moving mechanism configured as described above, the reference plate 24 is moved in the XYZ axis direction by operating the movable base 60, and the reference plate 24 is moved in the direction around the XYZ axis by adjusting the posture adjusting unit 61. Can be moved.

  The various shapes, combinations, operation procedures, and the like of the constituent members shown in the above-described embodiments are merely examples, and various changes can be made based on design requirements and the like without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 10 Adhesion position correction unit 11 6 axis | shaft robot 12 Thermal spray gun 13 Target stand 14 Center tool 15 Laser pointer 16 Fixing jig 17 Support jig 18 Main body part 19 Reference | standard pin 20 Target plate 21 Teaching blade 22 Target position 23 Adhesion position 24 Reference plate 25 Wing body 30 Posture adjustment unit 31 Screw 40 Movable base 41 Posture adjustment unit 50 Posture adjustment unit 51 Screw 60 Movable base 61 Posture adjustment unit 111 Base 112 Arm unit 113 Gun holding unit 121 Gun main body unit 122 Electrode unit 123 Gas supply unit 124 Injecting material insertion portion 125 Mounting portion 181 Fitting groove 211 Teaching point d1 Reference deviation amount d2 Core misalignment amount F Injecting material Fa Speed component K Movement locus L Separation distance PJ Plasma jet R Laser beam S1 Line segment S2 Line segment S3 Line segment SG Working gas θ Angle correction amount

Claims (10)

Directing the injection device to a target position on the target member by operating a target member and a moving mechanism that moves one of the injection devices that spray the injection material toward the target member relative to the other; ,
Spraying an injection material from the injection device toward the target position;
Measuring the amount of deviation from the attachment position, which is the center position of the spray material sprayed onto the target member, to the target position;
Calculating an angle formed by a directivity direction of the injection device and a straight line connecting the injection device and the attachment position based on the amount of deviation and a distance from the injection device to the target position;
Changing the relative positional relationship between the injection device and the target member by the angle;
A method for correcting an adhesion position of an injection device, comprising:   The spray device includes a gun main body portion that injects a gas flow from an injection port, and an injection material injection portion that is provided in the vicinity of the injection port and injects an injection material from a direction intersecting the gas flow. The adhesion position correction method for an injection device according to claim 1, wherein:   The adhesion position correction method for an injection device according to claim 1, wherein the moving mechanism is a robot that holds the injection device or the target member.   The step of changing the relative positional relationship between the injection device and the target member rotates the injection device by the angle correction amount with the attachment position as a fulcrum, and the attachment position and the target position. The injection position correcting method for an injection device according to claim 3, wherein the injection device is moved by an amount corresponding to the amount of deviation in parallel with a line segment connecting the two.   The said injection apparatus is correct | amended so that it may move to a predetermined position according to a predetermined program prior to the process which makes the said injection apparatus face the said target member. Method for correcting the adhesion position of an injection device of   6. The method for correcting an adhesion position of an injection apparatus according to claim 1, wherein the amount of deviation is measured using a laser pointer.   A thermal spraying method characterized by spraying an injection material on the surface of an object using the thermal spray gun corrected by the adhesion position correction method of an injection device given in any 1 paragraph of Claims 2-6.   A method for manufacturing a turbine blade, comprising forming a coating of a spray material on a surface of a blade body constituting the turbine using the thermal spraying method according to claim 7. A processing method for processing a member to be processed based on a predetermined processing operation using the injection device corrected by the adhesion position correction method for an injection device according to claim 1,
Installing the workpiece in place of the target member in the moving mechanism;
A step of spraying an injection material on the surface of the workpiece from the spraying device to process the workpiece;
The processing method characterized by including. A processing method for processing a workpiece by spraying an injection material from an injection device based on a predetermined processing operation,
Installing the target member on a support mechanism that supports the workpiece and the injection device and changes the positional relationship between them;
Operating the support mechanism to direct the spray device to a target position on the target member;
Spraying an injection material from the injection device toward the target position;
An angle formed by a direction in which the injection device is directed and a straight line connecting the injection device and the attachment position is determined from the attachment position, which is the central position of the injection material sprayed on the target member, to the target position. Calculating based on one distance and a second distance from the injector to the target position;
Removing the target member from the support mechanism and attaching a workpiece;
A process of spraying an injection material from an injection device to process the workpiece, and supporting the workpiece and the injection device by a processing operation in which the predetermined processing operation is corrected by the held angle. And processing while changing their positional relationship,
A method for correcting an adhesion position of an injection device, comprising:

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