JP5799603B2 - Positioning device - Google Patents

Description

 The present invention relates to a positioning device.

  2. Description of the Related Art Conventionally, a supercharger that improves the performance of an internal combustion engine by supplying compressed air to the internal combustion engine using kinetic energy of exhaust gas guided from the internal combustion engine has been used in vehicles, ships, and the like. A turbine rotor for converting the kinetic energy of the exhaust gas into a rotational driving force is provided inside the supercharger. This turbine rotor is configured by integrally connecting an impeller that rotates by the flow of exhaust gas and a support shaft that can freely rotate the impeller.

  For example, in Patent Document 1 below, as a method of manufacturing a turbine rotor, a fitting recess is formed in an impeller, a fitting projection that can be fitted into the fitting recess is formed on a support shaft, and the fitting recess is fitted. A technique for integrally connecting the impeller and the support shaft by fitting the convex portion and welding the contact portion is disclosed. The fitting recess and the fitting projection are formed at the mechanical center position determined from the outer shape and outer peripheral surface of each of the impeller and the support shaft.

Japanese Patent No. 3293712

 By the way, a general support shaft is a shaft member formed in a substantially cylindrical shape, and is rotatably supported by a predetermined bearing provided on the outer peripheral surface side. Therefore, the rotation center of the support shaft and the center of the fitting convex portion The position is almost the same. On the other hand, since the impeller has a complicated shape with a plurality of wings arranged in the circumferential direction, the mechanical rotation center and the center of gravity of the impeller may differ due to the influence of manufacturing errors and the like. .

 When such a support shaft and the impeller are integrally connected, a deviation occurs between the rotation center of the support shaft and the center of gravity of the impeller, and the rotational characteristics of the turbine rotor may become unbalanced. Since the rotor rotates at a high speed (for example, 100,000 rpm or more), there is a possibility that vibrations may occur with the rotation of the rotor when the rotational characteristics become unbalanced.

   When vibration occurs, problems such as a reduction in efficiency of the turbocharger and breakage of the impeller are caused. Therefore, it is necessary to keep the unbalance amount within a predetermined range. Therefore, the center of gravity of the impeller is measured in advance, the position of the support shaft is fixed with a chuck while the impeller and the support shaft are integrally fitted, and the impeller is placed on the center axis of the support shaft. A method has been proposed in which the position of the impeller is adjusted by an actuator so that the center of gravity is positioned, and then the contact portion (contact portion) between the impeller and the support shaft is welded.

 However, with this method, even if the center of gravity of the impeller can be measured with high accuracy, if the reference support shaft positioning accuracy (gripping accuracy with the chuck) is low, the impeller positioning accuracy with respect to the support shaft ( There is a risk that the accuracy of positioning the center of gravity of the impeller on the center axis of the support shaft will decrease, and the unbalance amount of the turbine rotor will increase.

 The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a positioning device capable of improving the positioning accuracy between the impeller and the support shaft.

In order to achieve the above object, in the present invention, as a first solution means for a positioning device,
In a state in which a support shaft having a fitting convex portion at one end and an impeller having a cylindrical groove circle formed with a fitting concave portion into which the fitting convex portion is inserted are integrally fitted. A positioning device for positioning the support shaft such that a center axis of the support shaft is perpendicular to a reference plane, and an apparatus origin where the center axis of the support shaft is set to the reference plane A workpiece moving device that moves the gripping device so as to pass through, a shaft-side contact that contacts the support shaft along three coordinate axes that intersect at the device origin in the reference plane, and a groove circle of the impeller An actuator that moves the blade-side contactor that contacts the workpiece, and the workpiece moving device that controls the actuator after moving the gripping device so that the center axis of the support shaft coincides with the device origin. Contact with each support shaft And the contact position between the blade circle of the impeller and each blade-side contactor, and the center of gravity of the impeller is located on the center axis of the support shaft based on the measurement result. A control device for positioning the impeller as described above.

  According to the present invention, as the second solving means related to the positioning device, in the first solving means, the control device controls the actuator so that the contact position between the support shaft and each of the shaft side contactors. The radius of the support shaft is calculated based on the measurement result of the blade wheel, and the radius of the groove circle of the blade wheel is calculated based on the measurement result of the contact position between the groove circle of the blade wheel and each blade side contact. Then, based on the calculation result of each radius and the eccentric gravity center distance of the impeller measured in advance, the impeller is positioned so that the center of gravity of the impeller is positioned on the center axis of the support shaft. It is characterized by that.

Further, in the present invention, as a third solving means relating to the positioning device, in the second solving means, as the three coordinate axes, the X axis and the Y axis orthogonal to the apparatus origin, and the apparatus origin as a center. An L-axis extending in a direction rotated by 135 ° from the X-axis to the opposite side of the Y-axis side is set, and the actuator includes a shaft-side X-axis actuator that moves a shaft-side contact along the X-axis, and the Y-axis A shaft-side Y-axis actuator that moves the shaft-side contact along the axis, a shaft-side L-axis actuator that moves the shaft-side contact along the L-axis, and a blade-side contact along the X-axis A control unit comprising: a wing-side X-axis actuator; a wing-side Y-axis actuator that moves the wing-side contact along the Y-axis; and a wing-side L-axis actuator that moves the wing-side contact along the L-axis. The shaft-side X-axis actuator, the shaft-side Y-axis actuator, and the shaft-side L-axis actuator are controlled in the force control mode to move each shaft-side contact toward the support shaft, and each shaft-side contact is stationary. Measuring the position as a contact position, calculating the radius of the support shaft from the measurement result, and controlling the shaft side X-axis actuator, the shaft side Y-axis actuator and the shaft side L-axis actuator in a position control mode, Each shaft-side contact is fixed at the measured contact position, and the blade-side X-axis actuator, blade-side Y-axis actuator, and blade-side L-axis actuator are controlled in the force control mode, and each blade-side contact is opened by the blade wheel. The blade is moved toward the tip circle, the position where each blade side contactor is stationary is measured as the contact position, the radius of the groove circle of the impeller is calculated from the measurement result, and the blade side X-axis The actuator and blade side Y-axis actuator are controlled in the position control mode, and the distance between the X-axis shaft-side contact and the blade-side contact adds the radius difference to the X-axis component of the eccentric gravity center distance of the impeller . The position adjustment of the X-axis blade-side contact and the distance between the Y-axis shaft-side contact and the blade-side contact add the radius difference to the Y-axis component of the eccentric gravity center distance of the impeller After adjusting the position of the Y-axis blade-side contact so that the value becomes the same value, the blade-side L-axis actuator is controlled in the force control mode, and the L-axis blade-side contact is directed to the groove circle of the impeller. And the wing side contact is fixed at a position where the wing side contact is stationary.

  According to the present invention, the positioning of the support shaft and the impeller can be performed without being affected by the positioning accuracy of the support shaft serving as a reference (the gripping accuracy of the support shaft by the gripping device or the positioning accuracy of the support shaft with respect to the device origin by the workpiece moving device). Since the relative positional relationship is accurately obtained, the positioning accuracy of the impeller relative to the support shaft (the accuracy of positioning the center of gravity of the impeller on the center axis of the support shaft) can be improved, and as a result, the unbalance amount A turbine rotor with less can be obtained.

BRIEF DESCRIPTION OF THE DRAWINGS It is the structure schematic of the positioning device 1 which concerns on one Embodiment of this invention, (a) is a top view of the positioning device 1, (b) is a side view of the positioning device 1. It is the side view (a) of the turbine rotor by which the impeller 20 and the support shaft 30 are integrally connected (welded), and its AA arrow sectional drawing (b). FIG. 3 is a first diagram showing the positioning operation of the impeller 20 and the support shaft 30 by the positioning device 1 in time series. FIG. 6 is a second diagram showing the positioning operation of the impeller 20 and the support shaft 30 by the positioning device 1 in time series. It is a figure which shows the calculation method of radius R1 of the support shaft.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram of a positioning device 1 according to the present embodiment. The positioning device 1 is a device that positions both the impeller 20 and the support shaft 30 in a state in which the impeller 20 and the support shaft 30 are integrally fitted (pre-welding state). The work table 2, the chuck 3, and the shaft side X axis The actuator 4 includes a shaft-side Y-axis actuator 5, a shaft-side L-axis actuator 6, a blade-side X-axis actuator 7, a blade-side Y-axis actuator 8, a blade-side L-axis actuator 9, and a control device 10.
In the following, in order to facilitate understanding of the positioning device 1, the impeller 20 and the support shaft 30 that are positioning objects (workpieces) will be described first.

 2A is a side view of a turbine rotor in which the impeller 20 and the support shaft 30 are integrally connected (welded), and FIG. 2B is an AA arrow in FIG. 2A. FIG. As is well known, the turbine rotor is provided inside a supercharger (not shown) and converts the kinetic energy of exhaust gas led from the internal combustion engine into a rotational driving force.

   The impeller 20 is a rotating blade that rotates at high speed (for example, 100,000 rpm or more) by the flow of exhaust gas guided from the internal combustion engine. The impeller 20 includes a hub 21, a wing part 22, and a wing side groove circle 23. Since the impeller 20 is used in a region where high-temperature exhaust gas flows, the impeller 20 is integrally formed using a metal material (for example, Inconel) having high heat resistance and high rigidity. Precision casting or the like is used for the molding. In FIG. 2, the center of gravity of the impeller 20 is represented by the symbol G.

   The hub 21 is a member formed in a substantially conical shape and serves as a base of the wing part 22. A plurality of wing portions 22 are arranged in the circumferential direction on the outer peripheral surface of the hub 21. The wing portion 22 is for rotating the impeller 20 in response to the flow of exhaust gas. The blade-side groove circle 23 is provided at the center of the rear end surface of the hub 21 and is used for connection to the support shaft 30. The wing-side groove circle 23 is formed in a substantially cylindrical shape, and the central axis thereof is installed in a direction parallel to the front-rear direction. The rear end surface of the blade-side groove circle 23 (that is, the end surface on the support shaft 30 side) is formed in a planar shape orthogonal to the front-rear direction. A fitting recess 24 is formed in the blade side groove circle 23. The fitting recess 24 is a hole having a substantially circular shape when viewed from the back, which opens toward the support shaft 30 side.

   The support shaft 30 is a substantially round bar-shaped shaft member extending in the front-rear direction, and is integrally connected to the impeller 20 and rotatably supports the impeller 20. The support shaft 30 is rotatably supported by a bearing housing (not shown) of the supercharger. The support shaft 30 is formed using a general metal material (for example, chromium molybdenum steel) having high rigidity. For the molding, general plastic working (forging, rolling, etc.) or machining (cutting, grinding, etc.) is used. The support shaft 30 is formed with a shaft-side connecting portion 31, a fitting convex portion 32, and a male screw portion 33. In FIG. 2, the central axis of the support shaft 30 is denoted by reference symbol C.

   The shaft side connection portion 31 is provided on the front end side of the support shaft 30 and is used for connection with the impeller 20. Further, the front end surface of the shaft side connecting portion 31 (that is, the end surface on the impeller 20 side) is formed in a planar shape orthogonal to the front-rear direction. The rear end surface of the blade-side groove circle 23 is in contact with the front end surface of the shaft-side connecting portion 31, and the contact portion of both members is a welded portion W integrally connected by welding. That is, the impeller 20 and the support shaft 30 are integrally connected at the welded portion W.

   The fitting convex portion 32 is provided on the front end side of the shaft side connecting portion 31 and protrudes toward the impeller 20. The fitting convex part 32 is formed in a substantially cylindrical shape, and is inserted into the fitting concave part 24 of the impeller 20. The outer diameter of the fitting convex portion 32 is set smaller than the inner diameter of the fitting concave portion 24. That is, in a state where the fitting convex portion 32 is inserted into the fitting concave portion 24 (a state where the impeller 20 and the support shaft 30 are fitted), the impeller 20 in a direction orthogonal to the central axis C of the support shaft 30. Are allowed to move slightly. The male screw portion 33 is provided on the rear end side of the support shaft 30 and is used to connect a compressor impeller (not shown) used for compressing air.

 In FIG. 2, an ideal turbine rotor in which the center of gravity G of the impeller 20 is located on the center axis C of the support shaft 30 is illustrated, but actually, as described above, the reference support is used. When the positioning accuracy of the shaft 30 (such as gripping accuracy by the chuck) is low, the positioning accuracy of the impeller 20 with respect to the support shaft 30 (accuracy of positioning the center of gravity G of the impeller 20 on the central axis C of the support shaft 30). Therefore, there is a possibility that the misalignment between the center axis C and the center of gravity G occurs, and the unbalance amount of the turbine rotor increases.

 Hereinafter, the positioning device 1 will be described with reference to FIG. 1 on the premise of the configuration of the impeller 20 and the support shaft 30 described above. FIG. 1A is a top view of the positioning device 1, and FIG. 1B is a side view of the positioning device 1. In FIG. 1, in order to facilitate understanding of the device configuration, the size of each member is intentionally different from the actual size of the member.

 In the following, the positional relationship of each member will be described with reference to an XYZ orthogonal coordinate system shown in the drawing. Here, the XY plane is set as a reference plane parallel to the horizontal plane, and the Z axis is set as a coordinate axis that extends perpendicularly to the XY plane. Further, as shown in FIG. 1A, the intersection of the X axis and the Y axis is the device origin O, and 135 ° clockwise from the X axis (on the opposite side of the Y axis) with the device origin O as the center. The coordinate axis extending in the rotated direction is taken as the L axis.

 In the positioning apparatus 1, the work table 2 is a disk-shaped rotary table installed so as to be parallel to a reference plane (XY plane). The work table 2 is rotationally driven by a rotational drive mechanism including a motor (not shown) under the control of the control device 10. The chuck 3 is a work gripping device installed on the upper surface of the work table 2, and the impeller 20 and the support shaft 30 are integrally fitted (the fitting convex part 32 is inserted into the fitting concave part 24. In this state, the support shaft 30 is gripped so that the center axis C thereof is perpendicular to the reference plane (in other words, the center axis C is parallel to the Z axis).

 A symbol M in FIG. 1A indicates a movement locus of the central axis C of the support shaft 30 in the XY plane when the work table 2 rotates. As described above, the work table 2 and a rotation drive mechanism (not shown) function as a work moving device that moves the chuck 3 so that the center axis C of the support shaft 30 passes through the device origin O set on the reference plane. FIG. 1B shows a state in which the center axis C of the support shaft 30 is positioned at the apparatus origin O by the rotation of the work table 2.

The shaft-side X-axis actuator 4 is a linear motion actuator that moves the shaft-side contact 4 a contacting the support shaft 30 along the X-axis under the control of the control device 10.
The shaft-side Y-axis actuator 5 and the control device 10 are linear motion actuators that move the shaft-side contact 5a that contacts the support shaft 30 along the Y-axis.
The shaft-side L-axis actuator 6 is a linear actuator that moves the shaft-side contact 6 a that contacts the support shaft 30 along the L-axis under the control of the control device 10.

The wing-side X-axis actuator 7 is a direct-acting actuator that moves the wing-side contact 7 a that contacts the wing-side groove circle 23 of the impeller 20 along the X-axis under the control of the control device 10.
The wing-side Y-axis actuator 8 is a linear motion actuator that moves the wing-side contact 8 a that contacts the wing-side groove circle 23 of the impeller 20 along the Y-axis under the control of the control device 10.
The wing-side L-axis actuator 9 is a linear motion actuator that moves the wing-side contactor 9 a that contacts the wing-side groove circle 23 of the impeller 20 along the L-axis under the control of the control device 10.

The shaft-side X-axis actuator 4 and the blade-side X-axis actuator 7 are actuators having the same structure, and are arranged so as to overlap with the Z-axis direction. Similarly, the shaft-side Y-axis actuator 5 and the blade-side Y-axis actuator 8 are actuators having the same structure, and are arranged so as to overlap with each other in the Z-axis direction. Further, the shaft side L-axis actuator 6 and the blade side L-axis actuator 9 are actuators having the same structure, and are arranged so as to overlap with each other in the Z-axis direction.
These actuators 4 to 9 have shaft side contacts 4a, 5a, 6a that contact the support shaft 30 along three coordinate axes (X axis, Y axis, L axis) that intersect at the device origin O in the reference plane. It functions as an actuator that moves the blade side contacts 7a, 8a, 9a that are in contact with the blade side groove circle 23 of the impeller 20.

 The control device 10 controls the rotation of the work table 2 (specifically, a rotational drive mechanism) and moves the chuck 3 so that the center axis C of the support shaft 30 coincides with the device origin O, and then each actuator 4. 9, the contact position between the support shaft 30 and each of the shaft side contacts 4 a, 5 a, 6 a, and the contact position between the blade side groove circle 23 of the impeller 20 and each of the blade side contacts 7 a, 8 a, 9 a And the impeller 20 is positioned so that the center of gravity G of the impeller 20 is positioned on the central axis C of the support shaft 30 based on the measurement result.

Next, the positioning operation of the impeller 20 and the support shaft 30 by the positioning device 1 configured as described above will be described in detail with reference to FIGS.
First, in a state where the impeller 20 and the support shaft 30 are integrally fitted, the support shaft 30 is set so that the center axis C thereof is perpendicular to the reference plane (the center axis C is parallel to the Z coordinate axis). When the chuck 3 is gripped and then an operation panel (not shown) is operated to instruct the control device 10 to start the positioning operation, the control device 10 causes the workpiece to move as shown in FIG. The table 3 is rotated to move the chuck 3 so that the center axis C of the support shaft 30 coincides with the apparatus origin O.

  Here, due to the positioning error of the work table 2 and the gripping error (chuck error) of the support shaft 30 by the chuck 3, the center axis C of the support shaft 30 and the apparatus origin O do not completely coincide. The solid line in FIG. 3A indicates the current position of the support shaft 30 including the positioning error and chuck error of the work table 2, and the dotted line indicates the ideal position of the support shaft 30 (the center axis C matches the apparatus origin O). Position).

  Then, as shown in FIG. 3B, the control device 10 controls the shaft side X-axis actuator 4, the shaft-side Y-axis actuator 5, and the shaft-side L-axis actuator 6 in the force control mode, and makes contact with each shaft side. The child 4a, 5a, 6a is moved toward the support shaft 30 with a minimum force, and the position where each shaft side contact 4a, 5a, 6a is stationary (the tip surface of each shaft side contact 4a, 5a, 6a is the support shaft 30) are measured as shaft side contact positions TX1, TY1, TL1, and the measurement results are recorded in the internal memory.

And the control apparatus 10 calculates radius R1 of the support shaft 30 from the measurement result of each shaft side contact position TX1, TY1, TL1 recorded on the internal memory as mentioned above. Hereinafter, with reference to FIG. 5, the method of calculating the radius R1 of the support shaft 30 from the shaft side contact positions TX1, TY1, TL1. In FIG. 5 , reference numerals TX1, TY1, and TL1 indicate the above-described shaft side contact positions, and reference numerals TX0, TY0, and TL0 indicate initial positions of the tip surfaces of the respective shaft side contacts 4a, 5a, and 6a.

The symbol X0 indicates the distance in the X-axis direction from the device origin O to the initial position TX0 of the shaft-side contact 4a, and the symbol X1 indicates the distance from the device origin O to the shaft-side contact position TX1 of the shaft-side contact 4a. The distance in the X-axis direction is indicated, and the symbol Xm indicates the distance in the X-axis direction from the initial position TX0 of the shaft-side contact 4a to the shaft-side contact position TX1.
The symbol Y0 indicates the distance in the Y-axis direction from the device origin O to the initial position TY0 of the shaft-side contact 5a, and the symbol Y1 indicates the distance from the device origin O to the shaft-side contact position TY1 of the shaft-side contact 5a. The distance in the Y-axis direction is indicated, and the symbol Ym indicates the distance in the Y-axis direction from the initial position TY0 of the shaft-side contact 5a to the shaft-side contact position TY1.
The symbol L0 indicates the distance in the L-axis direction from the device origin O to the initial position TL0 of the shaft-side contact 6a, and the symbol L1 indicates the distance from the device origin O to the shaft-side contact position TL1 of the shaft-side contact 6a. The distance in the L-axis direction is indicated, and the symbol Lm indicates the distance in the L-axis direction from the initial position TL0 of the shaft-side contact 6a to the shaft-side contact position TL1.

  Here, the relational expressions X1 = X0-Xm, Y1 = Y0-Ym, L1 = L0-Lm are established, X0, Y0 and L0 are known values, and Xm, Ym and Lm are the shaft side contact position TX1. , TY1, and TL1 are values obtained from the measurement results, and as a result, X1, Y1, and L1 can be obtained by numerical calculation.

Moreover, the length of the straight line shown by the code | symbol D in FIG. 5 is represented by following (1) Formula using X1, Y1, and L1. In the following equation (1), X2 is the X-axis component (= L1 / √2) of L1, and Y2 is the Y-axis component (= L1 / √2) of L1.
D = X1 + Y1 + X2 + Y2
= X1 + Y2 + (L1 / √2) + (L1 / √2)
= X1 + Y2 + L1√2 (1)

Further, the length of the straight line indicated by the symbol E is expressed by the following formula (2) when D is used, and is expressed by the following formula (3) when the radius R1 of the support shaft 30 is used. Therefore, the radius R1 of the support shaft 30 is finally expressed by the following equation (4) from the equations (2) and (3).
E = D / √2 (2) E = √2 · R + R (3)
R1 = D / √2 + 2 = D / 3.4142 (4)
That is, the control device 10 obtains D by substituting X1, Y1, and L1 calculated from the measurement results of the shaft side contact positions TX1, TY1, and TL1 into the above equation (1), and further calculates this D in the above (4). By substituting into the equation, the radius R1 of the support shaft 30 is calculated.

  The control device 10 calculates the radius R1 of the support shaft 30 as described above and records the calculation result in the internal memory, and then the shaft-side X-axis actuator 4, the shaft-side Y-axis actuator 5, and the shaft-side L-axis actuator. 6 is controlled in the position control mode, and the respective shaft side contacts 4a, 5a, 6a are fixed at the shaft side contact positions TX1, TY1, TL1. As a result, the support shaft 30 is completely fixed at the current position.

Subsequently, as shown in FIG. 4A , the control device 10 controls the blade side X-axis actuator 7, the blade side Y-axis actuator 8, and the blade side L-axis actuator 9 in the force control mode, and each blade-side contactor 7a, 8a, 9a is moved toward the blade-side groove circle 23 of the impeller 20 with a minimum force, and the blade-side contacts 7a, 8a, 9a are stationary (the tip surfaces of the blade-side contacts 7a, 8a, 9a are on the blade side). The position of contact with the groove circle 23) is measured as the blade-side contact position, and the measurement result is recorded in the internal memory.

Then, the control device 10 calculates the radius R2 of the blade-side groove circle 23 from the measurement result of each blade-side contact position recorded in the internal memory as described above, and records the calculation result in the internal memory. Note that the calculation method of the radius R2 of the blade-side groove circle 23 is the same as the calculation method of the radius R1 of the support shaft 30, and thus detailed description thereof is omitted.
Further, as described above, in a state where the fitting convex portion 32 of the support shaft 30 is inserted into the fitting concave portion 24 of the impeller 20 (a state where the impeller 20 and the support shaft 30 are fitted), the support shaft 30. As shown in FIG. 3 (c), the impeller 20 and the support shaft 30 are located at the current position of the blade-side groove circle 23, as shown in FIG. And fitting errors are included. In other words, there is a positional deviation between the center position of the blade-side groove circle 23 and the center axis C of the support shaft 30 at this time.

 Then, the control device 10 reads the radius R2 of the blade-side groove circle 23 and the radius R1 of the support shaft 30 from the internal memory, calculates a difference (radius difference ΔR) between these radii R2 and R1, and further, calculates the internal memory. X-axis component GX and Y-axis component GY of the eccentric gravity center distance of the impeller 20 (the distance from the rotation center of the impeller 20 to the gravity center point G) are read out. Note that the X-axis component GX and the Y-axis component GY of the eccentric gravity center distance are values measured in advance for the impeller 20.

Then, as shown in FIG. 4 (b) , the control device 10 controls the blade side X-axis actuator 7 and the blade side Y-axis actuator 8 in the position control mode, so that the space between the shaft-side contact 4a and the blade-side contact 7a. Is adjusted so that the radius difference ΔR is added to the X-axis component GX of the eccentric gravity center distance, and the distance between the shaft-side contact 5a and the blade-side contact 8a is adjusted. However, the position adjustment of the blade side contactor 8a is performed so as to be a value obtained by adding the radius difference ΔR to the Y-axis component GY of the eccentric gravity center distance.

After adjusting the position of the blade side contacts 7a and 8a as described above, the control device 10 controls the blade side L-axis actuator 9 in the force control mode so that the blade side contactor 9a is moved to the blade side groove circle of the impeller 20. The blade side contactor 9a is fixed at the position where the blade side contactor 9a is stationary. Thereby, as shown in FIG. 4B , the positioning of the impeller 20 is completed so that the center of gravity G of the impeller 20 is positioned on the central axis C of the support shaft 30.

  According to this embodiment as described above, the positioning accuracy of the support shaft 30 serving as a reference (the gripping accuracy of the support shaft 30 by the chuck 3 and the positioning accuracy of the support shaft 30 with respect to the apparatus origin O by the work table 2) is not affected. In addition, since the relative positional relationship between the support shaft 30 and the impeller 20 is accurately determined, the positioning accuracy of the impeller 20 with respect to the support shaft 30 (the center of gravity G of the impeller 20 on the central axis C of the support shaft 30 is determined). (Positioning accuracy) can be improved, and as a result, a turbine rotor with a small unbalance amount can be obtained.

 DESCRIPTION OF SYMBOLS 1 ... Positioning device, 2 ... Work table, 3 ... Chuck, 4 ... Shaft side X axis actuator, 5 ... Shaft side Y axis actuator, 6 ... Shaft side L axis actuator, 7 ... Blade side X axis actuator, 8 ... Blade side Y axis Actuator, 9 ... Wing L-axis actuator, 10 ... Control device, 20 ... Impeller, 30 ... Support shaft

Claims (3)

In a state in which a support shaft having a fitting convex portion at one end and an impeller having a cylindrical groove circle formed with a fitting concave portion into which the fitting convex portion is inserted are integrally fitted. A positioning device for positioning
A gripping device for gripping the support shaft such that a center axis thereof is perpendicular to a reference plane;
A workpiece moving device that moves the gripping device so that the central axis of the support shaft passes through the device origin set on the reference plane;
An actuator that moves the shaft-side contact that contacts the support shaft and the blade-side contact that contacts the groove circle of the impeller along three coordinate axes that intersect at the device origin in the reference plane;
After the workpiece moving device is controlled to move the gripping device so that the center axis of the support shaft coincides with the device origin, the actuator is controlled to contact the support shaft with each shaft-side contactor. Measuring the position and the contact position between the blade circle of the impeller and each blade-side contact, and based on the measurement result, the center of gravity of the impeller is positioned on the center axis of the support shaft. A control device for positioning the impeller;
A positioning device comprising:  The control device controls the actuator to calculate a radius of the support shaft based on a measurement result of a contact position between the support shaft and each of the shaft side contacts. Based on the measurement result of the contact position with the blade-side contactor, calculate the radius of the groove circle of the impeller, based on the calculation result of each radius and the eccentric gravity center distance of the impeller that was measured in advance, The positioning device according to claim 1, wherein the impeller is positioned so that a center of gravity of the impeller is positioned on a center axis of the support shaft. As the three coordinate axes, an X axis and a Y axis that are orthogonal to each other at the apparatus origin, and an L axis that extends in a direction rotated by 135 ° from the X axis to the opposite side of the Y axis centering on the apparatus origin,
The actuator is
An axial X-axis actuator for moving the axial contact along the X axis;
An axis-side Y-axis actuator that moves the axis-side contact along the Y-axis;
An axial L-axis actuator that moves the axial contact along the L-axis;
A wing-side X-axis actuator that moves the wing-side contactor along the X-axis;
A wing-side Y-axis actuator that moves the wing-side contactor along the Y-axis;
A wing-side L-axis actuator that moves the wing-side contactor along the L-axis,
The controller is
The shaft-side X-axis actuator, the shaft-side Y-axis actuator, and the shaft-side L-axis actuator are controlled in the force control mode to move each shaft-side contact toward the support shaft, and each shaft-side contact is stationary. The position is measured as a contact position, the radius of the support shaft is calculated from the measurement result, and the shaft-side X-axis actuator, shaft-side Y-axis actuator, and shaft-side L-axis actuator are controlled in the position control mode, Fix the shaft side contactor at the measured contact position,
The blade side X-axis actuator, the blade-side Y-axis actuator, and the blade-side L-axis actuator are controlled in the force control mode to move each blade-side contact toward the groove circle of the impeller, and each blade-side contact is stationary. Is calculated as the contact position, and the radius of the groove circle of the impeller is calculated from the measurement result, and the blade side X-axis actuator and the blade side Y-axis actuator are controlled in the position control mode, so that the X-axis shaft side contact the distance between the child and the blade-side contactor, the position adjustment of the blade-side contact of the X-axis to a value obtained by adding the difference between the radii on the X-axis component of the mass eccentricity distance of the wheel, the axial side of the Y-axis after the distance between the contact and the blade-side contactor was performed and a position adjustment of the Y-axis of the blade-side contact to a value obtained by adding the difference between the radii on the Y-axis component of the mass eccentricity distance of the wheel, Control the wing side L-axis actuator in the force control mode, The blade-side contact of the shaft is moved toward the groove circle of the wheel, the positioning device according to claim 2, characterized in that for fixing the wing-side contact at a position where the blade-side contact is stationary.

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