JPH09192979A - Three dimensional machining device and method for it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily grip and fix a work piece having a complicate curved surface onto a table by providing a gripping means for gripping and fixing the work piece through a process of pressing it to a plurality of reference plates installed on the table. SOLUTION: A material 2 of a turbine blade is positioned on two sets of reference plates 5a to 5d installed on an x-y table of a machining machine by fixing bands 4 by using the reference surfaces and gripped and fixed by gripping and fixing mechanisms 3 to 6 so as not to be moved. The material 2 of the turbine blade is positioned and fixed onto the x-y table in relation to a final product shape. Accordingly, a finished product having the final project shape is manufactured by performing cutting work or grinding work by controlling a machining tool 8 in relation to the work piece 2 on the basis of an NC data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional shape processing method, and more particularly to a three-dimensional shape gripping method and an improvement in the automation rate of a processing apparatus.

[0002]

2. Description of the Related Art A conventional processing apparatus is disclosed in Japanese Patent Laid-Open No. 62-2127.
As shown in Japanese Patent Publication No. 14, a processing system is provided to correct the tool position radius error by measuring the shape after processing, but a mechanism for measuring the shape before processing or changing the processing method or gripping means is provided. I don't have it. For this reason, a reference surface must be set in advance on the workpiece, and complicated setup is required for processing a three-dimensional shape having no reference surface.
Further, as a method for holding various work pieces having a complicated shape, a plurality of pins are arranged on the work piece surface as described in JP-A-1-97027.
A method of fixing the root of the pin, and Japanese Patent Laid-Open No. 61-13184.
As described in Japanese Patent Publication No. 3, a method of taking a mold with resin or the like and holding it with the mold has been known.

[0003]

In the above prior art, the machining allowance for the target shape is small, and the target shape (final product shape) is positioned with respect to the shape of the work piece with high precision and cutting or grinding is performed. Even in the case of a work piece that is produced by forging or casting that requires the above, and has a free-form surface with a complicated shape, the point that the setup is simplified and automated is not sufficiently taken into consideration.

An object of the present invention is to solve the above-mentioned problems of the prior art by simplifying the setup even in the case of a work piece manufactured by forging or casting and having a complicated free-form surface. (EN) Provided is a three-dimensional processing apparatus and a method thereof which can be made into a three-dimensional shape and can be machined into a three-dimensional shape by NC control. Another object of the present invention is to easily perform positioning of a work piece having a complicated free-form surface, grasping, and confirmation of the shape after processing the reference surface,
Another object of the present invention is to provide a three-dimensional processing apparatus and method which can be automatically performed so that a workpiece can be cut or ground into a three-dimensional shape by NC control.

[0005]

To achieve the above object, the present invention provides a two-dimensionally positioned table,
Gripping means for pressing the work piece against a plurality of reference plates installed on the table by a fixing band, and three-dimensional cutting or grinding processing on the work piece gripped and fixed by the grip means. A three-dimensional processing apparatus including a processing tool for performing. The present invention also provides
A table that is positioned two-dimensionally and a plurality of fixing members that are arranged in parallel on each of a plurality of reference plates that are installed on the table are raised until the leading end contacts the surface of the workpiece. Gripping means for gripping and fixing the work by fixing and fixing the work piece to the head of each fixing member by pulling down the fixing band on which the work is laid, and gripping and fixing by the gripping means And a processing tool for performing three-dimensional cutting or grinding on the processed workpiece. Further, according to the present invention, a two-dimensionally positioned table, a measuring device for measuring a shape of a work piece placed on the table at least at a plurality of desired positions, and the work piece by a fixing band Gripping means for pressing and gripping and fixing to a plurality of reference plates installed on a table, and the shape of the work piece gripped and fixed by the gripping means at least at a plurality of desired positions of the work piece measured by the measuring device. An arithmetic unit for locating a product shape input in advance on arithmetic coordinates to obtain the cutting amount or the grinding amount at least at desired plural points of the workpiece, and the workpiece determined by the arithmetic unit Of at least a desired plurality of workpieces by a processing tool so as to obtain a cutting amount or a grinding amount at at least a desired plurality of positions. It is a three-dimensional processing device characterized by comprising a control unit for cutting or grinding the Tokoro.

According to the present invention, a table which is two-dimensionally positioned, a measuring device which measures the shape of a workpiece placed on the table at least at a desired plurality of points, and the workpiece is fixed. Gripping means for pressing and gripping a plurality of reference plates positioned and installed on the table by the band, and at least the work piece measured by the measuring device for the work piece gripped and fixed by the gripping means. An arithmetic unit for locating the product shape input in advance for the shapes at the desired plural points on the arithmetic coordinates and obtaining the cutting amount or the grinding amount at least at the desired plural points of the workpiece, and the arithmetic unit. The table and the processing tool so as to obtain the cutting amount or the grinding amount at least at a desired plurality of positions of the processed workpiece. C control to N for performing at least cutting or grinding the desired plurality of positions of the workpiece
A three-dimensional processing apparatus comprising a C control unit.

Further, according to the present invention, a table which is two-dimensionally positioned, a measuring device which measures the shape of at least a desired plurality of positions of a workpiece placed on the table, and a table which is positioned on the table Each of the plurality of fixing plates installed side by side on each of the plurality of reference plates is lifted and fixed until the head comes into contact with the surface of the workpiece, and the fixing member is attached to the head of each fixing member. Gripping means for gripping and fixing the work piece by pulling down a fixing band on which the work piece is stretched so as to press the work piece, and the work piece gripped and fixed by the gripping means is measured by the measuring device. At least a desired plurality of desired positions of the workpiece by positioning the product shape input in advance for at least a desired plurality of shapes of the processed workpiece on the calculation coordinates. And a machining unit for obtaining the cutting amount or the grinding amount, and NC control of the table and the machining tool so as to obtain the cutting amount or the grinding amount at at least a desired plurality of positions of the workpiece, which is obtained by the computing unit. A three-dimensional processing apparatus comprising: an NC control unit that performs cutting or grinding on at least a desired plurality of points on a workpiece.

Further, according to the present invention, a table which is two-dimensionally positioned, a measuring device which measures the shape of a workpiece placed on the table at least at a plurality of desired locations, and the workpiece is fixed. Gripping means for pressing and gripping a plurality of reference plates positioned and installed on the table by the band, and at least the work piece measured by the measuring device for the work piece gripped and fixed by the gripping means. An arithmetic unit for locating the product shape input in advance for the shapes at the desired plural points on the arithmetic coordinates and obtaining the cutting amount or the grinding amount at least at the desired plural points of the workpiece, and the arithmetic unit. The table based on the cutting amount or grinding amount at least at desired plural points of the workpiece and the product shape input in advance Preliminary machining tool is a three-dimensional processing device characterized by comprising a NC control unit to obtain a product shape by cutting or grinding the NC control to the workpiece.

Further, according to the present invention, a table which is two-dimensionally positioned, a measuring device which measures the shape of a workpiece placed on the table at least at a plurality of desired positions, and a table which is positioned on the table are provided. Each of the plurality of fixing plates installed side by side on each of the plurality of reference plates is lifted and fixed until the head comes into contact with the surface of the workpiece, and the fixing member is attached to the head of each fixing member. Gripping means for gripping and fixing the work piece by pulling down a fixing band on which the work piece is stretched so as to press the work piece, and the work piece gripped and fixed by the gripping means is measured by the measuring device. The product shape that has been input in advance for the shape of at least the desired plural points of the processed workpiece is positioned on the calculation coordinates, and the product shape is positioned on at least the desired plural points of the workpiece. Calculating unit for calculating the cutting amount or the grinding amount, and the table and the machining tool based on the cutting amount or the grinding amount in at least a desired plurality of positions of the workpiece and the product shape input in advance, which are obtained by the calculating unit. And a NC control unit for cutting or grinding a workpiece to obtain a product shape. The present invention also relates to the above 3
In the dimension processing apparatus, an NC control device is configured by the calculation unit and the NC control unit (control unit).

According to the present invention, a shape measuring step of measuring a shape of a work piece manufactured by forging, casting or the like by a measuring device at least at a desired plurality of points, and a work piece carried in by a robot mechanism are fixed to a fixed band. A gripping and fixing step of pressing and gripping and fixing to a plurality of reference plates positioned on the table by the machine, and a work piece gripped and fixed to the plurality of reference plates positioned on the table by the gripping and fixing step In the cutting amount at least at a desired plurality of positions of the workpiece by positioning the product shape previously input to the shape at least at a desired plurality of positions of the workpiece measured in the shape measuring step on the calculation coordinates or The machining amount calculation step for calculating the grinding amount and the number of workpieces calculated in the machining amount calculation step N to the table and the machining tool is also based on the amount of cutting or grinding amount in a desired plurality of positions
And a NC control processing step of performing C processing to perform cutting or grinding on at least a desired plurality of locations of the workpiece.

The present invention is also directed to a shape measuring step of measuring the shape of at least a desired plurality of positions of a work piece manufactured by forging or casting with a measuring device, and a plurality of reference points positioned and set on a table. Each of the plurality of fixing members arranged side by side on each plate is lifted and fixed until the leading end comes into contact with the surface of the work piece carried in by the robot mechanism, and the working member is placed at the beginning of each fixing member. A gripping and fixing step of pressing the workpieces against the plurality of reference plates by gripping and fixing the workpieces by pulling down the fixing band that bridges the workpieces so that the workpieces are pressed, and positioning on the table by the gripping and fixing step. At least a plurality of desired positions of the work piece measured in the shape measuring step in the arithmetic unit for the work piece gripped and fixed to the plurality of reference plates A machining amount calculation step of locating a product shape that is input in advance with respect to the machining shape on the calculation coordinates and calculating a cutting amount or a grinding amount of at least a plurality of desired positions of the workpiece, and a calculation amount in the machining amount calculation step NC control for NC control of the table and processing tool based on the cutting amount or grinding amount at least at desired plural points of the processed workpiece to perform cutting or grinding at least at desired plural points of the workpiece. A three-dimensional processing method comprising a processing step.

According to the present invention, a shape measuring step of measuring a shape of a work piece manufactured by forging, casting, or the like by a measuring device at at least a desired plurality of points, and a work piece carried in by a robot mechanism are fixed to a fixed band. A gripping and fixing step of pressing and gripping and fixing to a plurality of reference plates positioned on the table by the machine, and a work piece gripped and fixed to the plurality of reference plates positioned on the table by the gripping and fixing step In the cutting amount at least at a desired plurality of positions of the workpiece by positioning the product shape previously input to the shape at least at a desired plurality of positions of the workpiece measured in the shape measuring step on the calculation coordinates or The machining amount calculation step for calculating the grinding amount and the number of workpieces calculated in the machining amount calculation step Also, the table and the processing tool are NC-controlled based on the desired cutting amount or grinding amount at a plurality of desired positions and the previously input product shape, and the work is cut or ground to perform a three-dimensional curved surface shape. And a NC control processing step for obtaining a product shape having.

The present invention is also directed to a shape measuring step for measuring the shape of at least a desired plurality of positions of a work piece manufactured by forging or casting with a measuring device, and a plurality of reference points positioned and set on a table. Each of the plurality of fixing members arranged side by side on each plate is lifted and fixed until the leading end comes into contact with the surface of the work piece carried in by the robot mechanism, and the working member is placed at the beginning of each fixing member. A gripping and fixing step of pressing the workpieces against the plurality of reference plates by gripping and fixing the workpieces by pulling down the fixing band that bridges the workpieces so that the workpieces are pressed, and positioning on the table by the gripping and fixing step. At least a plurality of desired positions of the work piece measured in the shape measuring step in the arithmetic unit for the work piece gripped and fixed to the plurality of reference plates A machining amount calculation step of locating a product shape that is input in advance with respect to the machining shape on the calculation coordinates and calculating a cutting amount or a grinding amount of at least a plurality of desired positions of the workpiece, and a calculation amount in the machining amount calculation step The table and the processing tool are NC-controlled based on the cutting amount or grinding amount at least at desired plural points of the processed workpiece and the product shape input in advance to perform the cutting processing or the grinding processing on the processing object. And a NC control processing step for obtaining a product shape having a three-dimensional curved surface shape by performing the three-dimensional processing method.

As described above, according to the present invention, positioning and gripping and fixing of a workpiece having a complicated three-dimensional shape manufactured by forging, casting, etc. can be performed more simply and automatically. There is an effect that can. When fixing a workpiece having a complicated three-dimensional shape such as a turbine blade, it is difficult to receive it on a flat surface, and conventionally, it is often held by a few screws or a vise. However, if the power to withstand the cutting process is supported at several points, the work piece will be damaged. Therefore, according to the present invention, a belt-shaped fixing band is arranged on the surface of the workpiece to disperse and fix the force applied to the workpiece to prevent damage to the workpiece and to provide a mechanical holding method. By taking this, there is an effect that a workpiece having a complicated shape can be easily gripped and fixed (held) without using a solvent such as a low melting point metal or an adhesive such as a resin. Further, according to the present invention, depending on the target shape (final product shape), it is necessary to change the posture of the work piece and re-hold and fix the work piece. It is possible to confirm the shape later.

Further, according to the present invention, by measuring the shape after machining, abnormality or wear of the tool can be measured, and it is fed back to the machining for finishing the final product or the next machining or stored as a database for machining. It can also be used for intelligentization and maintenance of the device itself.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described with reference to the drawings. In the case of a material such as a turbine blade formed by forging, casting or the like as the workpiece 2 to be cut or ground by the processing machine according to the present invention, it has a surface serving as a reference for cutting or grinding. There will be no. FIG. 11 shows a product shape of a turbine blade as shown in (a) and a material (workpiece) 2 manufactured (formed) by forging, casting or the like as shown in (b). On the other hand, the final product shape (target shape) shown in FIG. 11A, which is finished by cutting or grinding by numerical control, is predetermined. However, since the reference surface does not exist in the material 2 such as the turbine blade as shown in FIG. 11 (b), first, the reference surface that serves as a reference for numerical control is cut or ground on the material 2 such as the turbine blade. It needs to be formed by processing. Therefore, the shape of the material 2 such as the turbine blade is measured. FIG. 11B
Shows the shape of the material 2 represented by the measured light section line. Next, the material 2 such as the turbine blade is used as the two sets of reference plates 5a to 5d on the xy table 1 of the processing machine described later.
The mechanisms 3 to 6 which are positioned on the upper side and are gripped and fixed are gripped and fixed so as not to move. Then, the final product shape (target shape) is applied to the measured shape of the material 2 such as the turbine blade to specify the specific portion (main portion) of the root portion 2b and the tip portion of the blade portion 2a shown in FIG. The amount of cutting or the amount of grinding (cutting margin) for which a reference surface is to be created is determined at a location (main location), and a reference surface serving as a reference for numerical control is created based on the cutting or grinding by the working tool 8.
Next, use a material such as a turbine blade with a reference surface
An xy table 1 of a processing machine described later using the reference plane
Reposition on the upper two sets of reference plates 5a-5d,
The gripping and fixing mechanisms 3 to 6 fix the grip so as not to move. As a result, the material (workpiece) 2 such as the turbine blade is positioned and fixed on the xy table 1 with respect to the final product shape (target shape). Therefore, if the machining tool 8 is controlled on the workpiece 2 based on the NC data to perform cutting or grinding, a finished product 15 having a final product shape is manufactured.

FIG. 1 is an overall view showing an embodiment of a processing apparatus (processing machine) according to the present invention, and FIG. 2 shows the concept thereof. The processing machine body according to the present invention is a bed 1
Xy table 1 provided on 7 and the xy table 1
Mechanisms 3 to 6 for positioning, gripping and fixing a workpiece 2 such as a turbine blade having a generally three-dimensional shape formed by forging or casting, and a tool support base for supporting the processing tool 8 to rotate. 9, a shape measuring unit 7, 12 for measuring the three-dimensional shape of the workpiece 2, a robot mechanism 13 for handling the workpiece 2, and a control unit (NC for controlling the processing machine including numerical control). (Control unit) 10 and a calculation unit 11 that calculates a three-dimensional shape of the workpiece 2 from the image signal captured by the shape measuring unit and creates control data and the like based on the calculated three-dimensional shape. Composed. The NC control device is composed of a control unit (NC control unit) 10 and a calculation unit 11. In the xy table 1, a shaft driving motor (not shown) is attached to each table, and numerical control (NC control) is performed by a control unit (NC control unit) 10.
It is controlled) and moves freely in the xy plane.

The mechanisms 3 to 6 for positioning, gripping and fixing the workpiece 2 such as a turbine blade have four reference plates 5a to 5d in which a large number of fixing members 3 which move up and down in the z direction are arranged side by side. Installed on top, both ends of the fixing band 4 woven with nylon fiber are moved in the z direction along the support columns 6 by the drive wires to press the workpiece 2 against the fixing member 3 on the reference plates 5a to 5d. Configured to grasp. That is, four reference plates 5a to 5d having a length of about 1000 mm and a width of about 40 mm are horizontally installed in the y direction on the xy table 1 in order to grip the workpiece 2. Reference plate 5
a to 5d are set in pairs of two, and one set of the reference plates 5c,
5d is movable in the x-axis direction by a drive motor (not shown), and another set of reference plates 5a and 5b is fixed to the xy table 1. The other pair of reference plates 5a and 5b may also be configured to be movable on the xy table 1 in the x-axis direction. Further, on each of the reference plates 5a to 5d, as shown in FIG. 9, a fixing member for supporting the workpiece 2 which individually moves up and down in the z direction (the diameter of which the leading portion is formed in a spherical shape is 12 mm) 3 is about 20 in the y direction
About 50 pieces are arranged side by side at intervals of mm. About 50 fixing members 3 arranged in parallel on each of the reference plates 5a to 5d are configured to be pushed up by an air cylinder until the leading end formed in a spherical shape comes into contact with the surface of the workpiece 2. Has been done. Each fixing member 3 has a wedge-shaped structure in its mounting portion, is fixed to move downward by a fastener 14 which is also controlled by an air cylinder, and is configured to support the workpiece 2. The head portion of the fixing member 3 is the work piece 2 when it comes into contact with the work piece 2.
It is rounded so that it will not be scratched (spherical shape with a radius of about 6 mm). A column 6 is erected between each pair of reference plates 5a, 5b and 5c, 5d, and a fixed band 4 (fiber diameter of about 200 μm, belt width 20 mm × thickness 2 mm) woven from nylon fiber is at both ends. Is supported by the column 6. Rails and drive wires are stretched in the z-direction inside the pillar 6, and both ends of the fixed band 4 fixed to the wire can move in the z-direction along the pillar 6, and when gripping the workpiece 2. By moving below the reference plates 5a to 5d, the workpiece 2 is moved to the reference plates 5a and 5b as shown in FIG.
And 5c and 5d.

The machining tool 8 is rotatably mounted by a motor on a table (tool support base) 9 that can move in the z direction, and is rotatably driven around the z axis as shown in FIG. On the other hand, cutting or grinding is performed.
The shape measuring unit of the workpiece 2 installed adjacent to the main body of the processing machine uses the principle of moire topography as shown in FIG. 10, and the slit is formed by the light source 7b and the white light illumination from the light source 7b. For obtaining an image signal corresponding to the cross-sectional shape of the workpiece 2 by capturing an image of a slit 12 for obtaining a circular light flux and a light cutting line obtained by irradiating the workpiece 2 with the slit-shaped light flux. It is composed of a camera 7a. The slits 12 having a pitch of about 50 μm are placed, for example, perpendicularly to the y axis of the processing machine. The imaging camera 7a is installed at a position where an image of an optical cutting line obtained by irradiating the workpiece 2 with a slit-shaped light beam is captured and an image signal corresponding to the cross-sectional shape of the workpiece 2 is obtained. That is, the optical axis of the image pickup camera 7a is formed to have a certain inclination with respect to the surface of the slit-shaped light beam. Although the slit 12 is formed over a wide range in FIGS. 1 and 9,
It suffices if a slit-shaped light beam is formed on the surface of the workpiece 2 within the field of view of the imaging camera 7a. Of course, one slit-shaped light flux may be formed. In any case, when the portion of the workpiece 2 whose shape is to be measured is out of the visual field of the imaging camera 7a, one of the imaging camera 7a and the light source 7b and the workpiece 2 is relatively moved. For example, it is necessary to travel (move) the workpiece 2 in the x-axis direction, which is the longitudinal direction, and read the traveling displacement amount (traveling coordinate). Further, since the position of the imaging camera 7a and the position of the white light source 7b are predetermined and known values, the calculation unit 11 causes the image corresponding to the cross-sectional shape of the workpiece 2 obtained from the imaging camera 7a. The three-dimensional shape of the workpiece 2 can be calculated from the signal based on the triangulation principle shown in FIG. The accuracy of the three-dimensional shape of the workpiece 2 calculated by the arithmetic unit 11 is determined by the imaging accuracy and the slit width of the imaging camera 7a, and the relative positional relationship between the white light source 7b and the imaging camera 7a. It is possible to calculate the three-dimensional shape of the workpiece 2 with high accuracy of 10 μm or less.

That is, the shape measuring unit should be able to accurately measure the shape of several representative points on the work piece 2 in a state where the work piece 2 is carried into the processing machine by the robot mechanism 13 and has a certain posture. . Therefore, the shape measuring unit may be installed on the xy table 1. However, even in a state where the workpiece 2 is pressed against the reference plates 5a, 5b and 5c, 5d by the positioning, gripping and fixing mechanisms 3 to 6 and gripped, at least both ends of the workpiece 2 (the root portion and the tip of the wing). It is necessary to measure the position and orientation in (part). In order to perform this measurement also by the shape measuring unit, the shape measuring unit is installed on a plurality of xy tables 1 so as to correspond to both ends of the work piece, or the shape measuring unit moves x.
It is necessary to be configured so as to be movable on the y table 1 or in the x axis direction with respect to the xy table 1. The workpiece 3 is fixed to the reference plate 5 by the positioning gripping and fixing mechanisms 3 to 6.
The position and orientation (including the shape) of at least both end portions (the root portion and the tip portion of the blade) of the workpiece 2 in a state of being pressed and held by a, 5b and 5c, 5d are represented by xy
The measurement may be performed with an electric micrometer or an air micrometer (not shown) provided on the table 1. That is,
At least the positions and postures (including the shape) of both ends (the root portion and the tip portion of the blade) of the workpiece 2 may be measured using a stylus type or an ultrasonic probe type. .

The calculation unit 11 calculates the unevenness and the three-dimensional shape of the workpiece 2 from the image signal photographed by the image pickup camera 7a, and also calculates the relation between the target shape and the shape of the workpiece 2. Position (centering) of the workpiece 2 during machining,
A program for determining a machining procedure, a program for calculating and correcting a tool shape error and a motion error based on a shape after machining, and a program for creating control data for cutting or grinding by a machining tool 8 on a workpiece 2 from these calculation results. Is stored. The robot mechanism 13 installed on the side of the main body inserts and unloads the workpiece 2 and the workpiece 2
It is configured to be able to perform positioning.

FIG. 6 shows the processing procedure of the processing machine according to the present invention.
It is a figure which shows processing of a turbine blade as an embodiment. FIG. 3 shows a finished product 15 of the turbine plate.
The shape of the turbine blade 15 is about 500 mm in length,
A blade part 15a having a three-dimensional free-form surface with a maximum width of about 200 mm and a root part 1 for attaching to a turbine shaft part
5b. The shape of the workpiece 2 is stainless steel (equivalent to SUS410) formed by forging, and has a cutting allowance of 1 to 5 mm with respect to the target shape (final product shape). By the way, the workpiece 2 preformed by forging, casting, etc., as shown in FIG. 11 (b), generally satisfies a three-dimensional shape and has a small machining allowance due to final finishing, but the shape accuracy is low. It is rough and does not have a reference surface for cutting or grinding.

For this reason, first, by the shape measuring unit, a specified number of specified points to be used as reference planes for the workpiece (material of the turbine blade) 2 which has been carried in by the robot mechanism 13 and whose position and orientation are maintained. The shape of the workpiece 2 is measured so that the target shape (final product shape) can be applied to the measured shapes of the workpiece 2 at several points in the computing unit 11 by using the xy table 1. Position on the upper two sets of reference plates 5a-5d,
The curved surface portion 2a to be a wing is gripped and fixed by the gripping and fixing mechanisms 3 to 6 so as not to move. As a result, the calculation unit 11
In, the amount of shaving of a specific portion (main portion) of the root portion 2b is set, and the specific portion (main portion) of the root portion 2b is controlled by the machining tool 8 under the control of the control unit (NC control unit) 10. Cutting or grinding is performed to form a general shape (temporary reference surface). Next, the root portion 2b in which this general shape (temporary reference plane) is formed
Is repositioned on the two sets of reference plates 5a to 5d on the xy table 1 and the root portion 2b is gripped and fixed so as not to move by the gripping and fixing mechanisms 3 to 6 again. As a result, the amount of shaving at a specific portion of the curved surface portion 2a to be a blade is set in the calculation unit 11, and the curved surface portion 2 to be a blade is made by the processing tool 8 under the control of the control unit (NC control unit) 10.
Rough cutting or rough grinding is performed on a specific portion of a to form a general shape (temporary reference surface). As described above, provisional reference planes for the target shape (final product shape) could be formed at the specific portions of the root portion 2b of the workpiece (turbine blade material) 2 and the curved surface portion 2a of the blade. .

Next, the wing portion 2a is re-gripped (without grabbing) by the mechanisms 3 to 6 for repositioning and holding and fixing using the temporary reference surface thus formed on the wing portion 2a. The machining tool 8 is fixed and the machining tool 8 is controlled by the control unit (NC control unit) 10 based on the NC data obtained from the target shape (final product shape) held by the calculation unit 11 to perform fine cutting on the details of the root portion 15b. Perform processing or grinding. This gives the final product shape for the root portion 15b. Further, the root portion 15b is re-grip (fixed) and fixed by the mechanisms 3 to 6 which are repositioned and gripped and fixed by using the reference surface of the finished root portion 15b, and the arithmetic unit 11 holds it. Based on the NC data obtained from the target shape (final product shape), the control unit (NC control unit) 10 controls the processing tool 8 to perform finish cutting or grinding on the curved surface portion 15a of the blade. As a result, the curved surface part 15
Also for a, the final product shape is obtained. That is, as shown in FIG. 6, first in a target shape input step 61, data of a target shape (final product shape) based on design information or CAD information is calculated using an input unit such as a communication unit or a recording medium. Enter in 11. Next, in the workpiece loading step 62, the workpiece 2 made of stainless steel formed by forging is loaded into the processing apparatus (processing machine) by the robot mechanism 13 and the processing unit 11 is instructed to start processing. .

Next, in the workpiece shape measuring step 63 and the workpiece shape recognizing step 65, the shape measuring section measures the shape of the workpiece 2 loaded by the robot mechanism 13 as shown in FIG. To do. That is, the workpiece shape measuring step 63 includes a workpiece loading step 81 of loading the workpiece 2 into the shape measuring unit by the robot mechanism 13, and a white light source 7.
light source lighting step 82 for lighting b, and the light source lighting step 82
The white light source 7b is turned on by a pitch of 0.05 mm
The slit-shaped light flux obtained through the slit 12 is irradiated to a specific portion on one surface of the workpiece 2 carried in in the workpiece carrying-in step 81 to form an interference fringe composed of optical cutting lines. Step 83 of projecting interference fringes onto a workpiece, and Step 8 of projecting interference fringes onto a specific location on one surface of the workpiece 2 by moving the workpiece 2 in the x-axis direction.
An interference fringe photographing step 84 for obtaining an image signal corresponding to a cross-sectional shape of a specific portion on one surface of the workpiece by imaging the interference fringes formed by the light cutting lines projected by the imaging camera 7a. A data transfer step 85 of transferring an image signal (image data) corresponding to the cross-sectional shape of a specific portion on one surface of the workpiece obtained in the interference fringe photographing step 84 to the arithmetic unit 11, and the data transfer step 85. The calculation unit 11 that has received the transfer in step S3 is determined by the image pickup accuracy of the image pickup camera 7a, the slit width, the traveling displacement amount of the workpiece 2 in the x-axis direction, and the relative positional relationship between the white light source 7b and the image pickup camera 7a. Based on the principle of triangulation, a surface uneven shape analysis step of analyzing a uneven shape (three-dimensional shape) at a specific location on one surface (one surface) of the workpiece 2 to calculate a three-dimensional shape. 6, a workpiece rotation step 87 for rotating the workpiece 2 by the robot mechanism 13, and a workpiece rotated in the workpiece rotation step 87 by moving the workpiece 2 in the x-axis direction. The interference fringes formed of the optical cutting lines projected by the interference fringe projection step 83 onto a specific position on the opposite surface of the object 2 are imaged by the imaging camera 7a and correspond to the cross-sectional shape of the opposite surface of the workpiece. An interference fringe photographing step 88 for obtaining an image signal and an image signal (image data) corresponding to a cross-sectional shape of a specific portion on the opposite surface of the workpiece obtained in the interference fringe photographing step 88 are transferred to the arithmetic unit 11. Data transfer step 89 and the data transfer step 89
The calculation unit 11 that has received the transfer in step S3 is determined by the image pickup accuracy of the image pickup camera 7a, the slit width, the traveling displacement amount of the workpiece 2 in the x-axis direction, and the relative positional relationship between the white light source 7b and the image pickup camera 7a. A surface unevenness shape analyzing step 90 for calculating a three-dimensional shape by analyzing the uneven shape (three-dimensional shape) of a specific portion on the opposite surface (opposite surface) of the workpiece 2 based on the principle of triangulation; The calculation unit 11
The three-dimensional shape of a specific portion of one surface (one surface) of the workpiece 2 calculated by the surface uneven shape analysis step 86 and the opposite of the workpiece 2 calculated by the surface uneven shape analysis step 90. Surface (opposite side)
3D shape analysis step 9 for analyzing and calculating the 3D shape of the front surface (one surface) and the back surface (opposite surface) of the specific location of the workpiece 2 based on the 3D shape of the specific location
1 and the calculation unit 11 performs a step 92 of checking whether or not the three-dimensional shape analysis is complete in the three-dimensional shape analysis step 91, and a step 92 of the shape analysis in the check step 92. In order that the missing portion can be photographed by the image pickup camera 7a, the calculation unit 11 performs a next image pickup direction setting step 94 for setting a next image pickup direction (a rotation vector amount (posture) of the workpiece 2 with respect to the image pickup camera 7a). The imaging direction (rotation vector amount of the workpiece 2 with respect to the imaging camera 7a) set in the next imaging direction setting step 94 is provided to the control unit (NC control unit) 10, and the control unit (N
The C control unit 10 is a rotation vector amount of the workpiece 2 by the robot mechanism 13 (rotation control amount of the workpiece 2: workpiece 2).
By controlling the posture control amount of the workpiece, the workpiece rotating step 93 in which the image pickup camera 7a can capture an image of the missing portion, and the workpiece controlled by the robot mechanism 13 in the workpiece rotating step 93. Steps 84 to 91 are performed on the workpiece 2, and when the omission is eliminated in the three-dimensional shape analysis, the shape measuring unit and the arithmetic unit 1
The calculation of the three-dimensional shape of the workpiece 2 in 1 is completed.
That is, the three-dimensional shape analysis needs to be performed at least at the location (main location) where the reference surface is formed in the workpiece 2, and need not be performed for all locations of the workpiece 2. That is, if the rough shape including the variation of the workpiece 2 formed by forging or casting can be known in advance and the three-dimensional shape of the main portion forming the reference plane can be calculated,
The target amount (final product shape) is three-dimensionally fitted (positioned) to the three-dimensional shape composed of the calculated main points to form the reference plane, and the cutting amount (cutting amount) ) Can be calculated.
As described above, in the workpiece shape recognition step 64, the calculation unit 11 calculates the three-dimensional shape of the main portion of the workpiece 2.

Next, in the relative position setting step 65 of the target shape and the workpiece shape, the arithmetic unit 11 calculates the three-dimensional shape of the main part of the workpiece 2 calculated in the workpiece shape recognition step 64. For the above, the step 6 of inputting the target shape
The target shape (final product shape) input in 1 is fitted (positioned: centered) to set the relative position, and in the processing amount calculation step 66, the three-dimensional shape of the main part of the workpiece 2 From the difference between the target shape (final product shape) and the target shape (final product shape), the margin of the main part of the workpiece 2, that is, the cutting or grinding amount is calculated with reference to the processing database (tool shape error, movement error, etc.). Next, in the machining procedure setting step 67, the calculation unit 11 sets the machining procedure. Next, in the workpiece position determining step 68, the calculation unit 11 determines the position and posture of the workpiece 2 with respect to the machining tool 8 according to the set machining procedure, and the determined position and posture of the workpiece 2 are determined. Control device 1 so that
The robot mechanism 13 is driven and controlled via 0. That is, the workpiece shape measuring step 63 and the workpiece shape recognition step 64
The robot mechanism 13 can take the position and orientation of the work piece whose three-dimensional shape has been calculated in step 1.

Next, in the workpiece fixing step 69, the computing unit 11 calculates the positions in the x-axis direction of the reference plates 5a, 5b and 5c, 5d of each set, which are optimum for gripping, from the shape of the workpiece 2. The control device 10 controls the movement of the reference plates 5a, 5b and 5c, 5d of each set to the position calculated by the calculation unit 11 in the x-axis direction. Then, as shown in FIG.
By supplying air to the cylinder 31 by means of 2, a plurality of fixing members 3 arranged in parallel on each of the reference plates 5a to 5d.
Moves up and comes into contact with the surface of the work piece 2 whose position and orientation are held by the robot mechanism 13 to stop, and since the air is supplied from the pipe 34, the fastener 14 is pushed out and force is exerted on the work piece 2. The fixing member 3 does not move down even when is applied, and is in a fixed state. The fixing member 3 that does not come into contact with the surface of the workpiece 2 moves up to the upper limit and comes into contact with the stopper 33 and stops. After that, the control device 10 drives the drive wire in the support column 6 to lower the fixing band 4. Both ends of the fixed band 4 are fixed to the uppermost part of the support column 6 during shape measurement and positioning of the workpiece 2. The gripping force of the workpiece 2 is determined by the force of pulling the fixed band 4 at both ends downward by the drive wires, and is about 50 kg in the case of the turbine blade. As described above, the gripping and fixing of the workpiece 2 to the reference plates 5a to 5d, that is, the fixing member 3 is completed as shown in FIG. The workpiece 2 is gripped and fixed to the reference plates 5a to 5d, that is, the fixing member 3, by the blade portion 2 of the workpiece 2.
It is performed in such a manner that setup is sequentially changed between a and the root portion 2b of the workpiece 2. This is because the root portion 2b of the work piece 2 is cut or ground by the working tool 8 or the blade portion 2a of the work piece 2 is cut or ground.

Next, in the tool trajectory calculation step 70, the calculation unit 11 determines the margin of the main part of the workpiece 2 calculated in the machining amount calculation step 66, that is, the amount of cutting or grinding, and the workpiece. The locus of the machining tool 8 at the main points 2 is calculated. Next, in the processing step 71, the control device 1
0 is the cutting of the main part of the work piece 2 by the xy table 1 which moves in the xy direction and the tool 8 which moves in the z direction according to the locus of the processing tool 8 of the main part of the work piece 2 obtained from the calculation unit 11. Alternatively, grinding is performed to form reference surfaces on the root portion 2b and the blade portion 2a of the workpiece 2, respectively. Then, the workpiece 2 is sequentially subjected to setup change such as grasping and fixing to the reference plates 5a to 5d, that is, the fixing member 3 with reference to the reference surfaces formed on the root portion 2b and the blade portion 2a. .

Next, in the post-machining shape measuring step 72, the shape of the workpiece 2 after the setup change is measured by the shape measuring section 7 or an electric micrometer or an air micrometer, particularly, the shape is measured about a major portion. Position and attitude measurements are taken. Then, the calculation unit 11 determines whether or not the measured shape (in particular, position and orientation) satisfies the target, and when not satisfied (insufficient shape), the target shape and the workpiece. Relative position setting process 65
It is determined that an error has occurred in the fitting (positioning: centering) of the target shape (final product shape) to the shape of the workpiece set in step 7, and the actual processing amount calculation step 7
It is necessary to calculate the error amount (correction amount: correction value) in 7 and check the calculated error amount (correction amount: correction value) and the tool shape error in the tool status grasping step 76 to correct the error. In this case, the correction amount (correction value) is stored in the processing database in the processing database storing step 75. Then, in the relative position setting step 65 of the target shape and the workpiece shape, the calculation unit 11 corrects the calculated error amount (correction amount: correction value) to correct the target shape (final product shape) with respect to the workpiece shape. ) Fitting (positioning: centering) settings again. As a result, the workpieces that have undergone a setup change, such as gripping and fixing to the reference plates 5a to 5d, that is, the fixing member 3, are performed with reference to the reference surface formed on the root portion 2b and the blade portion 2a. For 2,
N for cutting or grinding the target shape (final product shape)
This means that the C data has been set with high accuracy.

After that, in the tool trajectory calculation step 70, the calculation section 11 calculates the trajectory of the machining tool 8 based on the NC data obtained from the target shape (final product shape) input in the target shape input step 61. , In the processing step 71,
The control device 10 moves the xy tables 1 and z that move in the xy directions according to the locus of the processing tool 8 obtained from the calculation unit 11.
By cutting or grinding the root portion 2b and the blade portion 2a of the workpiece 2 with the tool 8 moving in the direction, a finished product 15 having a final product shape is obtained. Next, in step 74, the arithmetic unit 11 checks whether or not all the processing has been completed, and the processing is completed and the processing is completed 78. In other words, in the case of a turbine blade, it is impossible to create a shape by gripping and machining it once, and it is necessary to fix the workpiece 2 again in a different posture. Therefore, the processing apparatus positions the work piece 2 again according to the set procedure, and repeats the above procedure to finish the cutting or grinding process.

After the processing is completed, the finished product 15 is removed from the processing machine by the robot mechanism 13, and the finished product 15 is inspected by an inspection device or the like. When the turbine blade was processed by the above procedure, the time required for the entire process to complete the target shape was a short time of about 3.5 hours (actual processing time of about 2.3 hours).

In the above embodiment, the robot mechanism 13 performs the shape measurement and recognition of the workpiece in the workpiece shape measuring step 63 and the workpiece shape recognizing step 64.
Explained that the shape measuring section optically performs the state in which the workpiece 2 is carried in, but the shape may be measured by a contact type using an electric micrometer, an air micrometer, or the like. Object 2 is a reference plate 5a-5b on the xy table 1.
The shape may be measured by placing it on top. However, the work piece 2
It is necessary to prevent the workpiece 2 from moving when measuring the shape. In addition, the posture of the workpiece 2 whose shape has been measured and the fixing member 3 are raised so that the fixing band 4 serves as the reference plates 5a to 5a.
It is necessary to prevent a large deviation from occurring between the posture of the workpiece 2 gripped and fixed on b. If deviation occurs, it is necessary to raise the fixing member 3 to hold and fix the workpiece 2 on the reference plates 5a to 5b by the fixing band 4, and then measure the deviation amount. In any case, the fixing member 3 is lifted and the workpiece 2 is fixed to the reference plate 5 by the fixing band 4.
After gripping and fixing on a to 5b, if the position is measured at a predetermined number of points on the work piece 2, the shape measurement of the work piece 2 does not need to be performed on the xy table 1 and is performed by another station. It is clear that you can go. Further, since the rough shape and dimensions of the work piece 2 formed by forging or casting should be grasped, the work piece 2
The shape of does not have to be measured on all surfaces, and it is sufficient that the shape of the main part can be measured as described above.

[0033]

According to the present invention, it is possible to simplify and automate gripping and fixing on a table of a workpiece having a complicated curved surface shape manufactured by forging, casting, etc.
It is possible to perform a cutting process or a grinding process based on C control to obtain a highly accurate final product having a three-dimensional shape with high efficiency. Further, according to the present invention, the time and manpower required for cutting or grinding a workpiece having a complicated curved surface shape manufactured by forging, casting, etc. can be significantly reduced, and it can be easily and accurately manufactured. The effect that a final product having a three-dimensional shape can be obtained is obtained.

[Brief description of the drawings]

FIG. 1 is an overall schematic perspective view showing an embodiment of a processing machine according to the present invention.

FIG. 2 is a front view showing the concept of an embodiment of a processing machine according to the present invention.

FIG. 3 is a target shape (final product shape) as a turbine blade that is an embodiment of the final product shape according to the present invention.
FIG.

FIG. 4 is a perspective view showing a relationship between a workpiece and a machining tool according to the present invention during machining.

FIG. 5 is a perspective view showing a method of gripping and fixing a workpiece according to the present invention on a plurality of reference plates.

FIG. 6 is a flowchart showing a processing procedure for processing a workpiece by a processing machine according to the present invention.

7 is a flowchart specifically showing a workpiece shape measuring step and a workpiece shape recognizing step shown in FIG.

FIG. 8 is a sectional view showing a driving mechanism of a fixing member in a gripping and fixing means (grip and fixing mechanism) for gripping and fixing a workpiece according to the present invention.

FIG. 9 is a schematic configuration diagram showing an optical system of a shape measuring unit and a calculation unit including a monitor according to the present invention.

FIG. 10 is a diagram showing a positional relationship between a white light source for measuring a three-dimensional shape of a workpiece according to the principle of moire topography and an imaging camera in a shape measuring unit according to the present invention.

FIG. 11 is a diagram showing a relationship between a work piece according to the present invention and a target shape (final product shape); (a) shows a target shape (final product shape); and (b) shows a work piece. It is a perspective view showing the shape of.

[Explanation of symbols]

1 ... xy table, 2 ... workpiece, 2a ... wing part, 2
b ... Base part 3 ... Fixing member, 4 ... Fixing band, 5a, 5b, 5c, 5d
... reference plate 6 ... post, 7 ... shape measuring unit, 7a ... imaging camera, 7b
... light source (white light source) 8 ... machining tool, 9 ... tool support base, 10 ... control unit (NC control unit), 11 ... computing unit 12 ... slit, 13 ... robot mechanism, 14 ... fastener 15 ... target shape (final) Product shape), 15a ... wing part,
15b ... Root part

Claims (11)

[Claims] 1. A table which is two-dimensionally positioned, a gripping means for gripping and fixing a workpiece by pressing a work piece against a plurality of reference plates installed on the table with a fixing band, and gripping and fixing by the gripping means. A three-dimensional processing apparatus, comprising: a processing tool for performing three-dimensional cutting or grinding on a workpiece. 2. The head of each of a plurality of fixing members arranged in parallel with a two-dimensionally positioned table and a plurality of reference plates installed on the table comes into contact with the surface of the workpiece. Gripping means for gripping and fixing the workpiece by pulling downward the fixing band on which the workpiece is laid so as to press the workpiece to the head of each fixing member, A three-dimensional processing apparatus, comprising: a processing tool for performing three-dimensional cutting or grinding on a workpiece gripped and fixed by a gripping means. 3. A two-dimensionally positioned table, a measuring device for measuring the shape of a work piece placed on the table at least at a desired plurality of points, and the work piece by means of a fixed band. Gripping means for pressing and gripping and fixing to a plurality of reference plates installed on a table, and the shape of the work piece gripped and fixed by the gripping means at least at a plurality of desired positions of the work piece measured by the measuring device. An arithmetic unit for locating a product shape input in advance on arithmetic coordinates to obtain the cutting amount or the grinding amount at least at desired plural points of the workpiece, and the workpiece determined by the arithmetic unit Of at least a desired plurality of points of the workpiece by the processing tool so that the cutting or grinding amount at at least a desired plurality of Three-dimensional processing device characterized by comprising a control unit for cutting or grinding on. 4. A table that is two-dimensionally positioned, a measuring device that measures the shape of a work piece placed on the table at least at a plurality of desired locations, and the work piece is fixed by a fixing band. Gripping means for pressing and gripping a plurality of reference plates positioned and installed on the table, and at least a desired plurality of workpieces measured by the measuring device for the workpieces gripped and fixed by the gripping means. An arithmetic unit that positions the product shape input in advance with respect to the shape at the location on the arithmetic coordinates to obtain the cutting amount or the grinding amount at at least a desired plurality of locations of the workpiece, and the object determined by the arithmetic unit. The table and the processing tool are NC controlled so that the cutting amount or the grinding amount at at least a desired plurality of positions of the workpiece can be obtained. At least a desired three-dimensional processing device characterized by comprising a NC control unit for cutting or grinding the plurality of locations in factory product. 5. A table that is two-dimensionally positioned, a measuring device that measures the shape of at least a desired plurality of positions of a workpiece placed on the table, and is positioned and installed on the table. And fixing each of the plurality of fixing members juxtaposed to each of the plurality of reference plates by raising the leading end until it comes into contact with the surface of the workpiece, and fixing the workpiece to the beginning of each fixing member. Gripping means for gripping and fixing the work piece by pulling down a fixing band on which the work piece is stretched so as to press, and the work piece measured by the measuring device for the work piece gripped and fixed by the gripping means. The product shape input in advance for the shape of at least a desired plurality of positions of the workpiece is positioned on the calculation coordinates, and the workpiece is cut at at least a desired plurality of positions. Alternatively, an arithmetic unit for obtaining a grinding amount and an NC unit for controlling the table and the machining tool so that the cutting amount or the grinding amount at at least a desired plurality of positions of the workpiece obtained by the arithmetic unit can be obtained by NC control. A three-dimensional processing apparatus comprising: an NC control unit that performs cutting or grinding at least at a desired plurality of locations. 6. A two-dimensionally positioned table, a measuring device for measuring the shape of a work piece placed on the table at least at a plurality of desired positions, and the work piece by means of a fixing band. Gripping means for pressing and gripping a plurality of reference plates positioned and installed on the table, and at least a desired plurality of workpieces measured by the measuring device for the workpieces gripped and fixed by the gripping means. An arithmetic unit that positions a product shape input in advance with respect to the shape at a position on arithmetic coordinates to obtain a cutting amount or a grinding amount at at least a desired plurality of positions of the workpiece, and a workpiece calculated by the arithmetic unit The table and the processing tool based on the cutting amount or grinding amount at least at desired plural points of the object and the product shape input in advance NC control to three-dimensional processing device characterized by comprising a NC control unit to obtain a product shape by cutting or grinding a workpiece. 7. A table that is two-dimensionally positioned, a measuring device that measures the shape of a work piece placed on the table at least at a plurality of desired positions, and is positioned and installed on the table. And fixing each of the plurality of fixing members juxtaposed to each of the plurality of reference plates by raising the leading end until it comes into contact with the surface of the workpiece, and fixing the workpiece to the beginning of each fixing member. Gripping means for gripping and fixing the work piece by pulling down a fixing band on which the work piece is stretched so as to press, and the work piece measured by the measuring device for the work piece gripped and fixed by the gripping means. The product shape input in advance for the shape of at least a desired plurality of positions of the workpiece is positioned on the calculation coordinates, and the cutting amount or the cutting amount is calculated at least at a plurality of desired positions of the workpiece. Is an NC unit for controlling the table and the machining tool based on a calculation unit for obtaining a grinding amount, and a cutting amount or a grinding amount at least at a desired plurality of positions of the workpiece calculated by the calculation unit and a product shape input in advance. And a NC control unit for cutting or grinding the workpiece to obtain a product shape. 8. A shape measuring step of measuring a shape of a work piece manufactured by forging, casting or the like by a measuring device at least at a desired plurality of points, and a work piece carried in by a robot mechanism on a table by a fixed band. The gripping and fixing step of pressing and fixing the plurality of reference plates positioned on the table, and the workpiece fixed and gripped by the plurality of reference plates positioned on the table by the gripping and fixing step in the computing unit Positioning the product shape input in advance on at least desired plural positions of the workpiece measured in the measuring step on the calculation coordinates to determine the cutting amount or the grinding amount at least at plural desired positions of the workpiece. The machining amount calculation step to be calculated, and at least the desired number of objects of the workpiece calculated in the machining amount calculation step. An NC control processing step of performing NC control of the table and the processing tool based on a cutting amount or a grinding amount at a location to perform cutting or grinding at least a desired plurality of locations of the workpiece. Three-dimensional processing method. 9. A shape measuring step of measuring a shape of at least a desired plurality of positions of a work piece manufactured by forging or casting by a measuring device, and a plurality of reference plates positioned and installed on a table. Each of the plurality of fixing members arranged side by side is lifted and fixed until the head comes into contact with the surface of the workpiece loaded by the robot mechanism, and the workpiece is pressed to the head of each fixing member. As described above, the fixing band on which the work piece is bridged is pulled downward to hold the work piece against the plurality of reference plates by the gripping and fixing step, and the plurality of pieces positioned on the table by the gripping and fixing step. With respect to the work piece gripped and fixed to the reference plate, the shape of the work piece measured in the shape measuring step in the computing unit is obtained at least at desired plural positions. A machining amount calculation step of locating the product shape input in advance on the operation coordinates and calculating the cutting amount or the grinding amount at least at desired plural points of the workpiece, and the object calculated in the machining amount calculation step. An NC control machining step in which the table and the machining tool are NC controlled based on the amount of cutting or the amount of grinding in at least a desired plurality of positions of the workpiece to perform cutting or grinding at least a plurality of desired positions of the workpiece. And a three-dimensional processing method. 10. A shape measuring step of measuring a shape of at least a desired plurality of positions of a work piece manufactured by forging or casting by a measuring device, and a work piece carried in by a robot mechanism on a table by a fixed band. The gripping and fixing step of pressing and fixing the plurality of reference plates positioned on the table, and the workpiece fixed and gripped by the plurality of reference plates positioned on the table by the gripping and fixing step in the computing unit Positioning the product shape input in advance on at least desired plural positions of the workpiece measured in the measuring step on the calculation coordinates to determine the cutting amount or the grinding amount at least at plural desired positions of the workpiece. The machining amount calculation step to be calculated, and at least the desired amount of the workpiece calculated in the machining amount calculation step. A product having a three-dimensional curved surface shape by performing NC processing on the workpiece by performing NC control on the table and the processing tool based on the cutting amount or grinding amount at several points and the previously input product shape. And a NC control processing step for obtaining a shape. 11. A shape measuring step of measuring a shape of at least a desired plurality of positions of a work piece manufactured by forging or casting with a measuring device, and each of a plurality of reference plates positioned and installed on a table. Each of the plurality of fixing members arranged side by side is lifted and fixed until the head comes into contact with the surface of the workpiece loaded by the robot mechanism, and the workpiece is pressed to the head of each fixing member. As described above, the fixing band on which the work piece is bridged is pulled downward to hold the work piece against the plurality of reference plates by the gripping and fixing step, and the plurality of pieces positioned on the table by the gripping and fixing step. The shape of the work piece gripped and fixed to the reference plate in at least a plurality of desired positions of the work piece measured in the shape measuring step in the calculation unit. On the other hand, a machining amount calculation step of locating the product shape input in advance on the calculation coordinates and calculating the cutting amount or the grinding amount at least at desired plural points of the workpiece, and the machining amount calculated in the machining amount calculation step. The NC control of the table and the processing tool is performed based on the cutting amount or grinding amount at least at a desired plurality of positions of the workpiece and the product shape input in advance to perform the cutting process or the grinding process on the workpiece. NC control processing step for obtaining a product shape having a three-dimensional curved surface shape.