JP6214593B2 - Blade processing method, blade processing apparatus, processing sequence control program for the processing apparatus - Google Patents

Description

  The present invention relates to a blade processing method having a wing portion that is long in one direction and a mounting portion provided at one end of the wing portion, a processing device for the blade, and a processing sequence control program for the processing device. .

  A moving blade such as a compressor has a wing portion extending in one direction and a mounting portion provided at one end of the wing portion.

  As a method of processing such a blade, for example, there is a processing method described in Patent Document 1 below. In this processing method, in the process of processing the wing from the material, the fixing portion is formed at the end of the attachment portion and on the end opposite to the wing portion. And in the state which supported this fixing | fixed part with the holder etc., the attachment formation part used as the wing | blade formation part used as a wing | blade part and an attachment part in a raw material is processed. Thereafter, in this processing method, the fixing portion is separated from the attachment portion.

Special table 2010-530043 gazette

  In the technique described in Patent Document 1, it is necessary to form a fixing portion that does not constitute a blade in the process of processing the blade from a material, and there is a problem that the manufacturing lead time of the blade is increased.

  Therefore, an object of the present invention is to provide a technique capable of shortening the manufacturing lead time.

The method of processing a wing as one aspect according to the invention for solving the above problems is as follows:
In a wing processing method having a wing portion that is long in one direction and a mounting portion that is provided at one end of the wing portion, a base, a plurality of workpiece gripping machines that grip a wing-forming product , One or more gripping movement mechanisms provided on the base for each of a plurality of workpiece gripping machines, and mounted with a gripping moving mechanism for changing the orientation and position of the workpiece gripping machine, and a processing tool for processing the blade forming product , and driving the processing tool A processing apparatus comprising: a tool driving mechanism; and a tool moving mechanism that is provided on the base for each of the one or more tool driving mechanisms and changes a direction and a position of at least a portion on which the processing tool is mounted by the tool driving mechanism. A first gripping step of causing the first workpiece gripper of the plurality of workpiece grippers to grip the other end in the one direction that is a part of the blade forming portion that becomes the blade portion in the blade forming product. And the one or more works Of the drive mechanism, the drives the tool moving mechanism for one of the tool driving mechanism and the tool drive mechanism, the mounting formation to be said mounting portion in said blade formation article in which is gripped by the first workpiece holding device An attachment portion machining step for machining the portion to form the attachment portion, and a second grip for causing the second workpiece gripper of the plurality of workpiece grippers to grip the attachment portion after the attachment portion machining step. Of the one or more tool drive mechanisms after the first grip releasing step and the first grip releasing step after the first gripping step and the first gripping step And driving the tool moving mechanism with respect to any of the tool driving mechanism and the tool driving mechanism to process the blade forming portion including the other end in the blade forming product gripped by the second workpiece gripping machine. Let Executes, and the wing portion processing step to form the wings.

  In the processing method, in a state where the blade forming part in the material is gripped by the first work gripping machine, the attachment forming part in the material is processed to form the mounting part, and then the mounting part is moved by the second work gripping machine. In the gripped state, the wing forming part is processed to form the wing part. For this reason, in the processing method, it is not necessary to separately form a fixing portion or the like that does not constitute the blade in the process of processing the blade from the material. Moreover, in the processing method, the blades can be processed consistently with a single processing device by transferring the material from the first work gripper to the second work gripper. For this reason, in the said processing method, it is not necessary to transfer a raw material to a several processing apparatus in the process of forming a wing | blade from a raw material.

  Therefore, in this processing method, the manufacturing lead time of the wing can be shortened. In addition, in this processing method, the blades can be processed consistently with a single processing device, so the load of quality control of the processed blades can be reduced.

Here, in the blade processing method, in the state in which the one direction of the blade forming product in which the attachment portion is gripped by the second workpiece gripping machine is oriented in a direction including a horizontal component, the blade portion The blade forming part is supported from the lower side of the blade forming part in the blade forming product in which the attachment part is gripped by the second workpiece gripping machine during execution of the blade part machining step. You may perform the support process supported by.

  In the processing method, in the blade processing step, the attachment portion in the material is gripped by the second workpiece gripping machine, and the blade forming portion of the material is supported from below by the support tool, and the blade forming portion is processed. For this reason, in the said processing method, since the wing | blade formation part is processed in the state which is supporting stably the raw material which is long in one direction, the chatter vibration of the process part in process can be suppressed. As a result, in the processing method, it is possible to suppress the rough surface roughness of the processed surface, damage to the processing tool, and the like due to chatter vibration.

An apparatus for processing a wing as one aspect according to the invention for solving the above problems is as follows.
In a wing processing apparatus having a wing portion that is long in one direction and a mounting portion provided at one end of the wing portion, a base, a plurality of work gripping machines that grip a wing forming product , One or more gripping movement mechanisms provided on the base for each of a plurality of workpiece gripping machines, and mounted with a gripping moving mechanism for changing the orientation and position of the workpiece gripping machine, and a processing tool for processing the blade forming product , and driving the processing tool A tool driving mechanism, a tool moving mechanism that is provided on the base for each of the one or more tool driving mechanisms, and that changes the direction and position of at least a portion on which the processing tool is mounted by the tool driving mechanism; A gripper moving mechanism for each of the plurality of workpiece gripping machines, the one or more tool driving mechanisms, and a controller for controlling the operation of the tool moving mechanism for each of the one or more tool driving mechanisms, System Vessel, in a state where the first workpiece gripper is gripping the said one direction of the other end that is part of the blade forming portions in the wing formed article in the said wings of said plurality of workpiece grippers , Among the one or more tool driving mechanisms, drive any one of the tool driving mechanisms and the tool moving mechanism relative to the tool driving mechanism, in the blade forming product gripped by the first workpiece gripping machine An attachment portion machining step for forming an attachment portion by processing an attachment formation portion to be an attachment portion; and after the attachment portion machining step, the attachment portion is connected to a second workpiece gripper among the plurality of workpiece grippers. A second gripping step for gripping the blade, a first grip releasing step for releasing the grip of the blade forming portion by the first workpiece gripper after the second gripping step, and the one or more after the first grip releasing step. Any of the tool drive mechanisms Immediately drive mechanism and the drives the tool moving mechanism for said tool driving mechanism, by processing the said wings forming portion including the other end with a second workpiece gripper with gripping has been that the blade forming products in the And a wing part machining step for forming the wing part.

Here, in the wing processing apparatus, comprising a support that supports the wing forming product from below,
The control execution unit is configured so that the one direction of the blade forming product in which the attachment part is gripped by the second work gripping machine includes a horizontal direction component by the gripping movement mechanism with respect to the second work gripping machine. by the state that suited to perform the wings machining step in the state, during the execution of the wings machining step, it said in the wing formed article wherein the attachment portion is gripped by the second workpiece holding device You may perform the support process which supports the said wing | blade formation part with the said support tool from the lower side of a wing | blade formation part.

In the processing apparatus of the wing with the support, wherein the support includes a plurality of cylinders for supporting the blade formed article from the lower side of the blade forming products, a cylinder block having a plurality of cylinders are attached, a The cylinder includes a pin, a casing that covers the base end portion of the pin so as to be displaceable in a pin extending direction in which the pin extends, and a surface of the wing forming product that is disposed on a tip side of the pin. A follow-up mechanism for causing the position of the pin in the pin extending direction to follow the position of the surface of the blade forming product in the pin extending direction so that the tip of the pin contacts, and the pin extension of the pin with respect to the casing A pin restraining mechanism for restraining a relative position in the present direction, and each casing of the plurality of cylinders may be fixed to the cylinder base.

A machining sequence control program for a blade machining apparatus as one aspect according to the invention for solving the above problems is as follows.
In a machining sequence control program for a wing machining apparatus having a wing section that is long in one direction and a mounting portion provided at one end of the wing section, the machining apparatus includes a base and a wing forming product . A plurality of workpiece gripping machines to be gripped, a gripping movement mechanism that is provided on the base for each of the plurality of workpiece gripping machines and changes the orientation and position of the workpiece gripping machine, and a processing tool for processing the blade forming product are mounted. One or more tool driving mechanisms for driving the machining tool, and the base is provided for each of the one or more tool driving mechanisms, and the direction and position of at least a portion on which the machining tool is mounted is changed by the tool driving mechanism. Tool moving mechanism, the plurality of work gripping machines, the gripping moving mechanism for each of the plurality of work gripping machines, the one or more tool driving mechanisms, and the tool moving mechanism for each of the one or more tool driving mechanisms A controller for controlling the operation, and wherein the the controller, said plurality of workpiece grippers first workpiece gripper is part of the wing forming portion serving as the wings in the wing formation product of The tool moving mechanism with respect to the tool driving mechanism is driven among the one or more tool driving mechanisms while the other end in the one direction is gripped. A first machining instruction step for instructing execution of an attachment portion machining program for forming the attachment portion by machining an attachment formation portion serving as the attachment portion in the blade forming product held by a workpiece grasping machine; A second gripping instruction step for instructing execution of a second gripping program for causing the second workpiece gripper of the plurality of workpiece grippers to grip the mounting portion after the mounting portion is formed; A gripper grips the mounting part. A first grip release instructing step for instructing execution of a first grip program for releasing the grip of the blade forming portion by the first workpiece gripper, and the first workpiece gripper releases the grip of the blade forming portion. After driving the tool moving mechanism with respect to the tool driving mechanism and the tool driving mechanism among the one or more tool driving mechanisms, the blade forming product is gripped by the second workpiece gripping machine. And a second machining instruction step for instructing execution of a wing part machining program for machining the wing forming part including the other end to form the wing part.

A storage medium as one aspect according to the invention for solving the above problems is
A non-transitory computer-readable storage medium storing the processing sequence control program.

  In one aspect of the present invention, the manufacturing lead time of the wing can be shortened.

It is explanatory drawing which shows the structure of the processing apparatus in one Embodiment which concerns on this invention. It is sectional drawing of the support tool in one Embodiment which concerns on this invention. FIG. 3 is a view taken in the direction of arrow III in FIG. 2. It is explanatory drawing which shows the structure of the controller in one Embodiment which concerns on this invention. It is a flowchart which shows the process sequence of the wing | blade in one Embodiment which concerns on this invention. It is explanatory drawing which shows the state of the processing apparatus and blade material in the 1st holding | grip process in one Embodiment which concerns on this invention. It is explanatory drawing which shows the state of the processing apparatus and blade material | blade in the attachment part manufacturing process in one Embodiment which concerns on this invention. It is explanatory drawing which shows the state of the processing apparatus and wing | blade material in the 2nd holding | grip process and 1st holding | release release process (S23) in one Embodiment which concerns on this invention. It is explanatory drawing (the 1) which shows the state of the processing apparatus and wing | blade raw material in the wing | blade part processing process in one Embodiment which concerns on this invention. It is explanatory drawing (the 2) which shows the state of the processing apparatus and wing | blade raw material in the wing | blade part processing process in one Embodiment which concerns on this invention. It is a perspective view of the wing in one embodiment concerning the present invention.

  Hereinafter, an embodiment according to the present invention will be described in detail with reference to the drawings.

  In the present embodiment, as shown in FIG. 11, the blade material 1 a is processed to form the blade 1. The wing 1 includes a wing portion 2 that is long in the longitudinal direction Dw, which is one direction, and a mounting portion 3 that is provided at an end of the wing portion 2 in the longitudinal direction Dw. The surface of the wing part 2 forms a three-dimensional curved surface. The attachment part 3 is a part attached to the rotor shaft of a rotary machine, for example. The wing material 1 a has a rectangular parallelepiped shape whose outer shape is larger than that of the wing 1. The wing material 1 a includes a wing forming portion 2 a that becomes the wing portion 2 and an attachment forming portion 3 a that becomes the attachment portion 3. Hereinafter, the blade material 1a, the intermediate material in the process of forming the blade 1 from the blade material 1a, and the blade 1 are collectively referred to as a blade-formed product 1d. The longitudinal direction Dw of the blade 1 is also the longitudinal direction of the blade material 1a and the intermediate material.

  A processing device M that processes the blade material 1a into the blade 1 is an NC (Numerical Control) processing device. As shown in FIG. 1, the processing apparatus M includes a base 51, a first work gripping machine 52 a that grips one end in the longitudinal direction Dw of the blade forming product 1 d, and a first work gripping with respect to the base 51. A first gripping and moving mechanism 53a that relatively moves the machine 52a, a second workpiece gripping machine 52b that grips the other end of the blade forming product 1d in the longitudinal direction Dw, and a second workpiece gripping machine 52b with respect to the base 51. A second gripping and moving mechanism 53b for relative movement, a tool driving mechanism 54 for driving a processing tool T for processing the blade material 1a and the intermediate material, and a portion where at least the processing tool T is mounted on the tool driving mechanism 54 is based on the base 51. A tool moving mechanism 55 that moves relative to the tool, a tool station 56 on which a plurality of processing tools T are placed, a support 10 that supports the blade forming product 1d, and a support that supports the base 51. 0 relative movement is to support moving mechanism 57 includes a fluid supply 40 for supplying a fluid for driving the supporting member 10, and a controller 100 for controlling these operations, the.

  Here, the vertical direction is the Z direction, the direction perpendicular to the Z direction is the Y direction, and the direction perpendicular to the Z direction and the Y direction is the X direction.

  The first gripping movement mechanism 53a moves the first work gripping machine 52a relative to the base 51 in the X direction, the Y direction, the Z direction, and the circumferential direction with reference to the gripping axis Ag of the first work gripping machine 52a. Move at least relative. Similarly to the first gripping movement mechanism 53a, the second gripping movement mechanism 53b is configured so that the second workpiece gripping machine 52b is moved in the X direction, the Y direction, the Z direction, and the gripping shaft of the second workpiece gripping machine 52b with respect to the base 51. At least relative movement is performed in the circumferential direction based on Ag. The tool driving mechanism 54 includes a spindle 54s on which the processing tool T is mounted, and a spindle rotating mechanism 54d that rotates the spindle 54s. The tool moving mechanism 55 relatively moves at least the spindle 54s in the tool driving mechanism 54 in the X direction, the Y direction, and the Z direction, and around the axis extending in the X direction, the axis extending in the Y direction, and the axis extending in the Z direction. Rotate around. The support tool moving mechanism 57 moves the support tool 10 relative to the base 51 at least in the X direction, the Y direction, and the Z direction.

  The fluid supplier 40 is provided in the fluid line 42, a fluid discharge source 41 that discharges a fluid having a pressure equal to or higher than a certain pressure, a fluid line 42 that guides the fluid from the fluid discharge source 41 to the support 10, and the fluid line 42. A fluid regulating valve 43. The fluid discharged from the fluid discharge source 41 may be a gas such as air or a liquid such as oil.

  As shown in FIGS. 2 and 3, the support 10 has a plurality of support cylinders 20 and a cylinder base 11 to which the plurality of support cylinders 20 are attached. In this example, four support cylinders 20 are attached to the cylinder base 11.

  The support cylinder 20 includes a pin 21, a casing 25 that covers the base end portion of the pin 21 so as to be displaceable in the pin extending direction Dp in which the pin 21 extends, and the surface position of the blade forming product 1 d in the pin extending direction Dp. A follow-up mechanism 31 that follows the movement of the pin 21 in the pin extending direction Dp and a pin restraining mechanism 35 that restrains the relative position of the pin 21 in the pin extending direction Dp with respect to the casing 25 are provided. Here, one side of the pin extending direction Dp is a distal end side, and the opposite side is a proximal end side.

  The casing 25 is provided with a pin base end portion that is a portion on the base end side of the pin 21, a follow-up mechanism 31, and a pin restraining mechanism 35, and a cylinder chamber 26 into which fluid from the fluid supplier 40 flows. Is formed. Further, the casing 25 has a pin hole 27 through which the pin 21 is inserted from the cylinder chamber 26 in the pin extending direction Dp, and an inlet 28 that receives the fluid from the fluid supplier 40 in the cylinder chamber 26. And are formed.

  The pin 21 includes a pin body 22 that is cylindrical with an axis extending in the pin extending direction Dp as a center, and a contact seat 24 that contacts the wing forming product 1d. The pin main body 22 is formed with a cylindrical hole 23 that is recessed from the proximal end side toward the distal end side. The contact seat 24 is fixed to the tip side of the pin body 22 in the pin extending direction Dp. The contact seat 24 closes the opening on the distal end side in the pin extending direction Dp. Therefore, this contact seat 24 forms the tip of the pin 21.

  The follow-up mechanism 31 includes a guide rod 32 that guides the movement of the pin 21 in the pin extending direction Dp, and a spring 33 as an elastic member that biases the pin 21 toward the side that protrudes from the casing 25 in the pin extending direction Dp. And having. The guide rod 32 has a cylindrical shape and extends in the pin extending direction Dp in the cylinder chamber 26 from the bottom forming the base end side of the casing 25. The distal end side portion of the guide rod 32 is inserted into the hole 23 of the pin body 22. The spring 33 is disposed in the hole 23 of the pin body 22 and between the guide rod 32 and the contact seat 24. The spring 33 is in contact with the contact seat 24 and the guide rod 32 even when the pin 21 is located at the maximum projecting position. The spring 33 contracts when a load is applied to the pin 21 located at the maximum projecting position toward the proximal end in the pin extending direction Dp, and generates a biasing force on the distal end in the pin extending direction Dp.

  The outer periphery of the base end portion of the pin 21 is covered with a cylindrical collet 36. The collet 36 is formed to be elastically deformable from the outer peripheral side toward the inner peripheral side. A fluid chamber 29 into which the fluid from the fluid supplier 40 flows is formed between the outer peripheral side of the collet 36 and the inner peripheral surface of the casing 25. The fluid chamber 29 is a part of the cylinder chamber 26. The pin restraining mechanism 35 includes a collet 36, a fluid chamber 29 in the casing 25, and an inflow port 28 formed in the casing 25. When a fluid with a constant pressure is supplied from the inlet 28 of the casing 25 to the fluid chamber 29, the collet 36 is elastically deformed toward the inner peripheral side by the pressure of the fluid and grips the proximal end portion of the pin 21. . By holding the pin 21 by the collet 36, the pin 21 is restrained so as not to move in the pin extending direction Dp. That is, the collet 36 constitutes a pin gripping member.

  In the cylinder base 11, the casings 25 of the plurality of support cylinders 20 are embedded and fixed. The pin extending directions Dp of the pins 21 of the plurality of support cylinders 20 are aligned with each other when the casing 25 is fixed to the cylinder base 11. That is, the pin extending direction Dp in each pin 21 is the same direction. In addition, the pin extending direction Dp in each pin 21 may not be the same direction. Further, the positions of the pins 21 of the plurality of support cylinders 20 in the pin extending direction Dp are the same as each other in a state where the pins 21 are located at the maximum projecting positions.

  The cylinder base 11 is formed with a flow path 12 that receives the fluid from the fluid line 42 of the fluid supplier 40 and guides the fluid to the inlet 28 of each casing 25 in the plurality of support cylinders 20. The flow path 12 is connected to a fluid line 42 of the fluid supplier 40, and a main flow path 13 that receives fluid from the fluid line 42, and a branch from the main flow path 13 to each of the plurality of support cylinders 20. And a branch flow path 14 connected to the inflow port 28. For this reason, it is not necessary to provide the fluid line 42 connected to the cylinder base 11 for each of the plurality of support cylinders 20, and the fluid line 42 can be integrated.

  The controller 100 is a computer. As shown in FIG. 4, the controller 100 includes a CPU (Central Processing Unit) 101 that performs various calculations, a memory 102 that serves as a work area of the CPU 101, an auxiliary storage device 110 such as a hard disk drive, a keyboard, and the like. The device interface 105 for transmitting and receiving various signals between the manual input device 103, the display device 104, and each mechanism described above of the processing device M, and the disk-type storage medium D And a storage / reproduction device 106 that performs data storage processing and reproduction processing.

  The auxiliary storage device 110 stores an OS (Operating System) program 111, a machining order control program 112, and programs 113 to 117 executed in individual processes in blade processing.

  As the programs 113 to 117 executed in the individual steps in blade processing, the first gripping program 113 for executing the gripping and releasing of the blade forming product 1d by the first workpiece gripper 52a and the second workpiece gripper 52b. A second gripping program 114 for executing gripping and releasing of the blade forming product 1d, a mounting portion processing program 115 executed when processing the mounting forming portion 3a in the blade material 1a, and a blade forming portion in the blade material 1a There are a blade processing program 116 executed when processing 2a, and a support program 117 for executing support of the blade forming product 1d by the support tool 10. Among these programs 113 to 117, at least the attachment part machining program 115 and the blade part machining program 116 are based on various data input from the manual input device 103 by the operator of the machining apparatus M before blade machining. Program set in the auxiliary storage device 110. Each of the attachment part machining program 115 and the blade part machining program 116 is a collection of data obtained by quantifying the position of the machining tool T or the like. Note that the attachment portion machining program 115 and the wing portion machining program 116 may be ones in which various data are taken from the disk-type storage medium D by the storage / reproduction device 106.

  The machining order control program 112 is a program for instructing execution of the programs 113 to 117 executed in individual steps in blade machining. The processing sequence control program 112 and the OS program 111 are taken into the auxiliary storage device 110 from the disk type storage medium D via the storage / reproduction device 106, for example. Note that all of the programs 111 to 117 may be taken into the auxiliary storage device 110 from an external computer via a communication network.

  All of the programs 111 to 117 are expanded on the memory 102 and executed by the CPU 101. Therefore, the control execution unit of the controller includes the memory 102 in which the programs 111 to 117 are expanded, and the CPU 101 that executes the programs 111 to 117 expanded on the memory 102.

  Next, a processing procedure for processing the blade material 1a into the blade 1 using the processing apparatus M described above will be described according to the flowchart shown in FIG. In the drawing, each step in the region surrounded by the alternate long and short dash line is a step performed by executing the processing sequence control program 112.

First, as shown in FIG. 6, when the operator gives an instruction with the manual input device 103 of the controller 100, the end of the blade material 1a is gripped by the first workpiece gripping machine 52a (S10: first gripping step). At this time, the CPU 101 of the controller 100 receives an input from the manual input device 103 under the execution of the first gripping program 113, and transmits a control signal to the first workpiece gripper 52a and the first gripping moving mechanism 53a. To make them work. As a result, the first workpiece gripping machine 52a grips the end portion in the longitudinal direction Dw of the blade material 1a. The end of the blade material 1a gripped by the first workpiece gripping machine 52a is a part of the blade forming portion 2a of the blade material 1a. In addition, you may fully automate this 1st holding | grip process (S10). That is, the end of the blade material 1a may be gripped by the first workpiece gripper 52a only by an instruction from the controller 100 without giving an instruction by the manual input device 103.

  When the end of the blade material 1a in the longitudinal direction Dw is gripped by the first workpiece gripping machine 52a, the CPU 101 of the controller 100 executes the mounting portion processing program 115 on the CPU 101 itself under the processing sequence control program 112. (S11: first processing instruction step).

  Upon receiving this instruction, the CPU 101 activates the attachment part machining program 115 and executes the attachment part machining program 115. Under the execution of the attachment portion machining program 115, the CPU 101 transmits control signals to the tool driving mechanism 54 and the tool movement mechanism 55 to operate them, and attaches the attachment forming portion 3a in the blade material 1a to them. Process (S21: mounting portion processing step). In this attachment portion machining step (S21), the controller 100 drives the tool driving mechanism 54 and the tool moving mechanism 55 as shown in FIG. The tool driving mechanism 54 and the tool moving mechanism 55 are machining tools T1 for machining the attachment forming portion 3a instructed from the controller 100 among the plurality of machining tools T (T1 to T4) placed in the tool station 56. To the spindle. Subsequently, by the driving of the tool driving mechanism 54 and the tool moving mechanism 55, the processing tool T1 mounted on the tool driving mechanism 54 processes the attachment forming portion 3a in the blade material 1a to form the attaching portion 3. In the processing of the attachment forming portion 3a by the processing tool T1, the first gripping movement mechanism 53a is driven as necessary to move and / or rotate the blade material 1a gripped by the first work gripping machine 52a.

  By performing this attachment portion processing step (S21), the attachment forming portion 3a in the blade material 1a is processed into the attachment portion 3, and this blade material 1a becomes the first intermediate material 1b (see FIG. 8).

  When the attachment portion machining step (S21) is completed, the CPU 101 instructs the CPU 101 itself to execute the second gripping program 114 under the execution of the machining order control program 112 (S12: second gripping instruction step).

  In response to this instruction, the CPU 101 activates the second gripping program 114 and executes the second gripping program 114. Under the execution of the second gripping program 114, the CPU 101 transmits control signals to the second workpiece gripper 52b and the second gripping movement mechanism 53b to operate them, and as shown in FIG. The attachment part 3 in the intermediate material 1b is gripped by the second workpiece gripping machine 52b (S22: second gripping step).

  When the second gripping step (S22) is completed, the CPU 101 executes the first gripping program 113 that causes the CPU 101 itself to release the gripping of the blade forming portion 2a by the first workpiece gripping machine 52a under the execution of the machining order control program 112. Execution is instructed (S13: first grip release instruction step).

  In response to this instruction, the CPU 101 activates the first gripping program 113 and executes the first gripping program 113. Under the execution of the first gripping program 113, the CPU 101 transmits control signals to the first workpiece gripper 52a and the first gripping movement mechanism 53a to operate them, and the first workpiece gripper 52a The holding of the blade forming part 2a is released (S23: first holding releasing process).

  When the first grip releasing step (S23) is completed, the CPU 101 instructs the CPU 101 itself to execute the support program 117 under the execution of the processing order control program 112 (S24: support instruction step), and the blade processing program 116. Is instructed to execute (S25: second processing instruction step).

  Upon receiving this instruction, the CPU 101 activates the support program 117 and executes this support program 117. Under the execution of the support program 117, the CPU 101 transmits a control signal to the second gripping movement mechanism 53b, the support tool movement mechanism 57, and the fluid regulating valve 43 of the fluid supply device 40 to operate it. As shown in FIG. 9, the wing forming part 2a in the first intermediate material 1b held by the second workpiece holding machine 52b is supported by the support 10 (S24: support step). Further, the CPU 101 activates the blade processing program 116 and executes the blade processing program 116. Under the execution of the blade processing program 116, the CPU 101 transmits control signals to the second gripping movement mechanism 53b, the tool driving mechanism 54, and the tool movement mechanism 55 to operate them, and to the first intermediate movement The blade forming part 2a in the material 1b is processed (S25: blade part processing step).

  In the support step (S24), the controller 100 operates the second gripping movement mechanism 53b and the support tool moving mechanism 57 to position the blade forming portion 2a in the first intermediate material 1b directly above the support tool 10, and this Each pin 21 of the support 10 is brought into contact with the wing forming portion 2a. At this time, the longitudinal direction Dw of the first intermediate material 1b is the Y direction. That is, the longitudinal direction Dw of the first intermediate material 1 b is a horizontal direction perpendicular to the Z direction, and is a direction perpendicular to the pin extending direction Dp of each pin 21 in the support 10.

  In the process in which the first intermediate material 1b is moving relative to the support tool 10, each of the plurality of pins 21 of the support tool 10 contacts the downward surface of the blade forming portion 2a in the first intermediate material 1b. The seats 24 are in contact with each other. When the contact seat 24 of the pin 21 contacts the surface of the first intermediate material 1b, the follower mechanism 31 of the support cylinder 20 moves the position of the surface of the first intermediate material 1b in the pin extending direction Dp to the pin extending direction. The position of the pin 21 at Dp follows.

  When the first intermediate material 1b reaches a predetermined position, all the pins 21 of the support tool 10 come into contact with the blade forming portion 2a in the first intermediate material 1b, and the second gripping movement mechanism 53b and the support tool movement mechanism 57 are stopped. To do. When the second gripping moving mechanism 53b and the support moving mechanism 57 are stopped, the controller 100 causes the fluid regulating valve 43 of the fluid supply device 40 to open in this supporting step (S24). As a result, the fluid adjustment valve 43 is opened, and the fluid from the fluid discharge source 41 is supplied to the support 10 through the fluid line 42. This fluid flows into the fluid chambers 29 of the plurality of support cylinders 20 through the main flow path 13 and the branch flow path 14 of the cylinder base 11, and elastically deforms the collet 36 toward the inner peripheral side. As a result, the collet 36 holds the proximal end portion of the pin 21 and restrains the pin 21 so as not to move in the pin extending direction Dp. Due to the restraint of the pin 21, the blade forming portion 2a in the first intermediate material 1b is supported by the support 10 from below.

  In the blade processing step (S25), the controller 100 drives the tool driving mechanism 54 and the tool moving mechanism 55. The tool driving mechanism 54 and the tool moving mechanism 55 first place the processing tool T1 mounted on the spindle 54s of the tool driving mechanism 54 at the original position in the tool station 56. Subsequently, among the plurality of machining tools T (T1 to T4) placed on the tool station 56, the machining tool T3 for machining the blade forming portion 2a designated by the controller 100 is mounted on the spindle 54s. Next, with the driving of the tool driving mechanism 54 and the tool moving mechanism 55, the processing tool T3 attached to the tool driving mechanism 54 processes the upper portion of the blade forming portion 2a in the first intermediate material 1b. During processing of the blade forming portion 2a by the processing tool T3, the attachment portion 3 of the first intermediate material 1b is gripped by the second workpiece gripping machine 52b, and the blade forming portion 2a is supported by the support tool 10.

  During processing of the blade forming portion 2a by the processing tool T3, the support 10 need not be moved at all, but may be moved. For example, when the processing tool T3 and the support tool 10 do not face each other in the pin extending direction Dp during the process of moving the processing tool T3 during processing, the support tool 10 may be moved so that both face each other. At this time, the movement of the machining tool T3 is stopped, the machining is temporarily stopped, and the pin 21 restraint of the support tool 10 is released, and then the support tool 10 is moved so as to face the machining tool T3. Then, after restraining the pin 21 of the support tool 10, processing with the processing tool T3 is started again.

  When the upper portion of the blade forming portion 2a in the first intermediate material 1b is processed, the first intermediate material 1b becomes the second intermediate material 1c (see FIG. 10).

  In the blade processing step (S25), in order to process the lower part of the blade forming portion 2a in the second intermediate material 1c, the controller 100 drives the second gripping movement mechanism 53b to grip the second workpiece. Along with the machine 52b, the second intermediate material 1c gripped by the second workpiece gripping machine 52b is moved upward to separate the support 10 and the second intermediate material 1c.

  When the support tool 10 and the second intermediate material 1c are separated from each other, as part of the support process (S24), the controller 100 causes the fluid regulating valve 43 of the fluid supply device 40 to perform a closing operation to restrain the pin 21 of the support tool 10. Is released. Next, the second gripping movement mechanism 53b is further driven, and as shown in FIG. 10, the second intermediate material c gripped by the second workpiece gripping machine 52b and the second workpiece gripping machine 52b are The workpiece gripper 52b is reversed around the grip axis Ag. As a result, in the second intermediate material 1c, the lower part becomes the upper part, and the upper part becomes the lower part. Next, the controller 100 sets the second gripping movement mechanism 53b and the support tool moving mechanism 57 so that the plurality of pins 21 of the support tool 10 are in contact with the downward surface of the blade forming portion 2a in the second intermediate material 1c. At least one of them is driven. As a result, the plurality of pins 21 of the support 10 sequentially contact the downward surface of the blade forming portion 2a in the second intermediate material 1c. Even in this process, when the contact seat 24 of the pin 21 comes into contact with the surface of the second intermediate material 1c, the follower mechanism 31 of the support cylinder 20 moves the position of the surface of the second intermediate material 1c in the pin extending direction Dp. The position of the pin 21 in the pin extending direction Dp follows. Since the downward surface in the wing | blade formation part 2a in the 2nd intermediate material 1c is a surface already processed, it has comprised the three-dimensional curved surface. However, due to the follow-up operation of the plurality of pins 21, all the contact seats 24 of the plurality of pins 21 come into contact with the downward surface of the second intermediate material 1c. When all of the plurality of pins 21 of the support 10 come into contact with the downward surface of the second intermediate material 1c, the controller 100 causes the fluid regulating valve 43 of the fluid supplier 40 to open. As a result, the fluid adjustment valve 43 is opened, and the fluid from the fluid discharge source 41 is supplied to the support 10 through the fluid line 42. By supplying the fluid, the collet 36 of the support 10 grips the proximal end portion of the pin 21 and restrains the pin 21 so as not to move in the pin extending direction Dp. Due to the restraint of the pin 21, the blade forming portion 2a in the second intermediate material 1c is supported by the support 10 from below.

  Next, as a part of the blade processing step (S25), the controller 100 drives the tool driving mechanism 54 and the tool moving mechanism 55. By the driving of the tool driving mechanism 54 and the tool moving mechanism 55, the processing tool T3 attached to the tool driving mechanism 54 processes the upper portion of the blade forming portion 2a in the second intermediate material 1c. During processing of the blade forming portion 2a by the processing tool T3, the attachment portion 3 of the second intermediate material 1c is gripped by the second workpiece gripping machine 52b, and the blade forming portion 2a is supported by the support tool 10.

  Even during processing of the blade forming portion 2a by the processing tool T, the support 10 need not be moved at all, but may be moved as described above.

  As described above, when the processing of the wing forming portion 2a is completed and the wing portion 2 is formed, a series of processing ends.

  In addition, when the above processing on the blade forming portion 2a is rough processing with a cutting tool such as a cutter, and the blade forming portion 2a is precisely processed with a grinding tool such as a grindstone, the processing tool is replaced with a grinding tool. After that, the blade surface formed by roughing is ground in the same manner as described above with a grinding tool. That is, of the pressure surface and the suction surface of the wing formed by rough machining, one surface facing the lower side is supported by the support tool 10, and the other surface facing the upper side is ground by the grinding tool. Next, the second gripping / moving mechanism 53b is reversed so that the aforementioned one surface is directed upward and the aforementioned other surface is directed downward. Next, the other surface facing downward is supported by the support 10, and the one surface facing upward is ground with a grinding tool.

  After roughing with a cutting tool such as a cutter, or after finishing with a grinding tool such as a grindstone, and when performing polishing with a polishing tool such as an elastic grindstone, after changing the processing tool to a polishing tool, As with precision machining, each blade surface is polished.

  As described above, in the case of performing precision machining with a grinding tool, after this precision machining is completed, the grinding tool is used to adjust the surface shape of the grinding tool by using a dressing tool, and then another blade material 1a. It is preferable to prepare for processing. In this case, the controller 100 stores the amount of change in the tool diameter of the grinding tool due to dressing as a correction value, and when processing another blade material 1a with this grinding tool, the grinding tool with respect to the blade material 1a is stored. It is preferable to correct the relative position by this correction.

  As described above, in the present embodiment, the mounting portion 3 is formed on the other end side in a state where one end portion is gripped by the first workpiece gripping machine 52a among the both end portions of the blade material 1a, and thereafter The wing portion 2 is formed on one end portion side in a state where the attachment portion 3 on the other end side is gripped by the second workpiece gripping machine 52b. For this reason, in this embodiment, it is not necessary to separately form a fixing portion that does not constitute the blade 1 in the process of processing the blade 1 from the blade material 1a. Moreover, in the present embodiment, as described above, the blade material 1a is transferred from the first workpiece gripping machine 52a to the second workpiece gripping machine 52b, so that the blade 1 can be processed consistently with a single processing device M. it can. For this reason, it is not necessary to transfer the blade material 1a to a plurality of processing devices in the process of forming the blade 1 from the blade material 1a. For example, after forming the attachment portion 3 from the blade material with one processing device, the blade material is removed from the processing device, and the blade material is attached to another processing device, and then the blade with the other processing device. There is no need to form the wing 2 from a material.

  Therefore, in this embodiment, the manufacturing lead time of the wing | blade 1 can be shortened.

  In addition, in the present embodiment, since the blade 1 can be processed consistently with a single processing device M, the load of quality control of the processed blade 1 can be reduced.

  In the present embodiment, in the blade processing step (S25), the blade forming portion 2a of the intermediate materials 1b and 1c is viewed from below while the attachment portion 3 of the intermediate materials 1b and 1c is gripped by the second workpiece gripping machine 52b. The wing forming portion 2a is processed by being supported by the support tool 10. For this reason, in this embodiment, since the blade forming part 2a is processed in a state where the long intermediate materials 1b and 1c are stably supported, chatter vibration of the processed part during processing is suppressed. be able to. As a result, in this embodiment, it is possible to suppress the rough surface roughness of the machined surface, damage to the machining tool T, and the like due to chatter vibration.

  In the above embodiment, when the blade forming product 1d is processed with the processing tool T, the longitudinal direction Dw of the blade forming product 1d is a direction perpendicular to the pin extending direction Dp. However, when processing the blade forming product 1d, the longitudinal direction Dw of the blade forming product 1d may not be a vertical direction as long as it has a direction component perpendicular to the pin extending direction Dp. .

  Moreover, in the said embodiment, when processing the attachment formation part 3a in the wing | blade raw material 1a with the processing tool T, you may make it support this attachment formation part 3a with the support tool 10 from the downward direction.

  Moreover, in the said embodiment, when the processing apparatus M is provided with the some tool drive mechanism 54 and the some tool movement mechanism 55, the attachment part 3 is processed by the drive of a 1st tool drive mechanism and a 1st tool movement mechanism. And you may process the wing | blade part 2 by the drive of a 2nd tool drive mechanism and a 2nd tool movement mechanism.

1: wing, 1a: wing material, 1b: first intermediate material, 1c: second intermediate material, 1d: wing forming product,
2: wing part, 2a: wing formation part, 3: attachment part, 3a: attachment formation part, 10: support, 11: cylinder base, 12: flow path, 13: main flow path, 14: branch flow path, 20: Support cylinder, 21:
Pin: 25: Casing, 26: Cylinder chamber, 28: Inlet, 29: Fluid chamber, 31: Tracking mechanism, 32: Guide rod, 33: Spring, 35: Pin restraint mechanism, 36: Collet, 40:
Fluid supply unit 51: base 52a: first work gripping machine 52b: second work gripping machine 5
3a: first gripping moving mechanism, 53b: second gripping moving mechanism, 54: tool driving mechanism, 55: tool moving mechanism, 56: tool station, 57: support moving mechanism, 100: control vessels, 101
: CPU, 102: Memory, 105: Device interface, 110: Auxiliary storage device, 11
2: machining sequence control program, 113: first gripping program, 114: second gripping program, 115: attachment portion machining program, 116: blade portion machining program, 117: support program

Claims (6)

In a wing processing method having a wing portion that is long in one direction and an attachment portion provided at one end of the wing portion in the one direction,
A base, a plurality of workpiece grippers for gripping the blade forming product , a gripping moving mechanism provided on the base for each of the plurality of workpiece grippers and changing the orientation and position of the workpiece gripper, and the blade forming product A machining tool to be machined is mounted, one or more tool drive mechanisms for driving the machining tool, and each of the one or more tool drive mechanisms is provided on the base, and at least the machining tool is mounted by the tool drive mechanism Using a processing device comprising a tool moving mechanism that changes the orientation and position of the part,
A first gripping step of causing the first workpiece gripper of the plurality of workpiece grippers to grip the other end in the one direction that is a part of the blade forming portion that becomes the blade portion in the blade forming product ;
Of the one or more tool driving mechanisms, the tool moving mechanism with respect to the tool driving mechanism and the tool moving mechanism with respect to the tool driving mechanism are driven, and the attachment is performed in the blade forming product gripped by the first workpiece gripping machine. A mounting portion machining step for forming the mounting portion by processing the mounting forming portion to be a portion;
A second gripping step of gripping the mounting portion by a second workpiece gripping machine of the plurality of workpiece gripping machines after the mounting portion machining step;
After the second gripping step, a first grip releasing step for releasing gripping of the blade forming part by the first workpiece gripping machine,
After the first grip releasing step, any one of the one or more tool driving mechanisms and the tool moving mechanism with respect to the tool driving mechanism are driven to be gripped by the second workpiece gripping machine. Processing the blade forming part including the other end in the blade forming product to form the blade part;
Perform the wing machining method. In the wing processing method according to claim 1,
In the state in which the one direction of the blade forming product gripped by the second workpiece gripping machine is oriented in a direction including a horizontal component, the blade processing step is performed.
A support step of supporting the wing forming portion with a support tool from a lower side of the wing forming portion in the wing forming product in which the attachment portion is gripped by the second workpiece gripping machine during execution of the wing portion machining step; Run,
Wing processing method. In a wing processing apparatus having a wing portion that is long in one direction and a mounting portion provided at one end of the wing portion in the one direction,
Base and
A plurality of work gripping machines for gripping the blade forming product ;
A gripping movement mechanism that is provided on the base for each of the plurality of workpiece grippers and changes the orientation and position of the workpiece gripper;
One or more tool driving mechanisms that are mounted with a processing tool for processing the blade forming product and drive the processing tool;
A tool moving mechanism that is provided on the base for each of the one or more tool driving mechanisms, and changes a direction and a position of at least a portion on which the processing tool is mounted by the tool driving mechanism;
A controller for controlling operations of the plurality of workpiece grippers, the gripping movement mechanism for each of the plurality of workpiece grippers, the one or more tool driving mechanisms, and the tool movement mechanism for each of the one or more tool driving mechanisms; ,
With
The controller is
The first workpiece gripper among the plurality of workpiece grippers grips the other end in the one direction that is a part of the blade forming portion that becomes the blade portion in the blade forming product. Among the above tool driving mechanisms, any of the tool driving mechanisms and the tool moving mechanism with respect to the tool driving mechanism are driven, and the attachment portion in the blade forming product gripped by the first workpiece gripping machine An attachment forming step for processing the attachment forming portion to form the attachment portion;
A second gripping step of gripping the mounting portion by a second workpiece gripping machine of the plurality of workpiece gripping machines after the mounting portion machining step;
After the second gripping step, a first grip releasing step for releasing gripping of the blade forming part by the first workpiece gripping machine,
After the first grip releasing step, any one of the one or more tool driving mechanisms and the tool moving mechanism with respect to the tool driving mechanism are driven to be gripped by the second workpiece gripping machine. Processing the blade forming part including the other end in the blade forming product to form the blade part;
A control execution unit for executing
Wing processing equipment. In the wing processing apparatus according to claim 3,
Comprising a support for supporting the wing forming product from below;
The control execution unit
The gripping movement mechanism with respect to the second workpiece gripping machine causes the one direction of the blade forming product in which the attachment portion is gripped by the second workpiece gripping machine to be in a state including a horizontal direction component. And executing the wing processing step in the state,
During the execution of the blade processing step, a support step of supporting the blade forming portion with the support from the lower side of the blade forming portion in the blade forming product in which the attachment portion is gripped by the second workpiece gripping machine. Run the
Wing processing equipment. In the wing processing apparatus according to claim 4,
The support is provided with a plurality of cylinders for supporting the blade formed article from the lower side of the blade forming products, a cylinder block having a plurality of cylinders are attached, a
The cylinder includes a pin, a casing that covers the base end portion of the pin so as to be displaceable in a pin extending direction in which the pin extends, and a surface of the wing forming product that is disposed on a tip end side of the pin. A follow-up mechanism for following the position of the pin in the pin extending direction to the position of the surface of the wing forming product in the pin extending direction so that the tip portion contacts, and the pin extending direction of the pin with respect to the casing A pin restraining mechanism for restraining the relative position of
The casing of each of the plurality of cylinders is fixed to the cylinder base;
Wing processing equipment. In a processing sequence control program of a wing processing apparatus having a wing portion that is long in one direction and an attachment portion provided at one end of the wing portion in the one direction,
The processing apparatus includes a base, a plurality of work gripping machines that grip the blade forming product , a gripping movement mechanism that is provided on the base for each of the plurality of work gripping machines, and changes a direction and a position of the work gripping machine, A processing tool for processing the blade forming product is mounted, and is provided in the base for each of the one or more tool driving mechanisms for driving the processing tool, and for each of the one or more tool driving mechanisms, and at least the processing by the tool driving mechanism A tool moving mechanism for changing the orientation and position of a part on which a tool is mounted; the plurality of workpiece gripping machines; the gripping movement mechanism for each of the plurality of workpiece gripping machines; the one or more tool driving mechanisms; A controller for controlling the operation of the tool moving mechanism for each tool driving mechanism,
In the controller,
The first workpiece gripper among the plurality of workpiece grippers grips the other end in the one direction that is a part of the blade forming portion that becomes the blade portion in the blade forming product. Among the above tool driving mechanisms, any of the tool driving mechanisms and the tool moving mechanism with respect to the tool driving mechanism are driven, and the attachment portion in the blade forming product gripped by the first workpiece gripping machine A first machining instruction step for instructing execution of an attachment portion machining program for machining the attachment forming portion to form the attachment portion;
A second gripping instruction step for instructing execution of a second gripping program for gripping the mounting portion to a second workpiece gripper of the plurality of workpiece grippers after the mounting portion is formed;
A first grip release instructing step for instructing execution of a first grip program for releasing the grip of the blade forming portion by the first work gripper after the second work gripper grips the attachment portion;
After the first workpiece gripper releases the grip of the blade forming part, drive one of the one or more tool drive mechanisms and the tool movement mechanism with respect to the tool drive mechanism, A second machining instruction step for instructing execution of a blade machining program for machining the blade forming portion including the other end in the blade forming product gripped by a second workpiece gripping machine to form the blade. When,
A processing sequence control program for executing

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