JPS59205264A - Automatic water turbine guide vane grinder - Google Patents
Automatic water turbine guide vane grinderInfo
- Publication number
- JPS59205264A JPS59205264A JP58077473A JP7747383A JPS59205264A JP S59205264 A JPS59205264 A JP S59205264A JP 58077473 A JP58077473 A JP 58077473A JP 7747383 A JP7747383 A JP 7747383A JP S59205264 A JPS59205264 A JP S59205264A
- Authority
- JP
- Japan
- Prior art keywords
- grinding
- belt
- grinder
- guide vane
- face
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
- B24B21/165—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape for vanes or blades of turbines, propellers, impellers, compressors and the like
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Hydraulic Turbines (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野」
本発明は、清らかな一定の基準形状の曲＋１ｆｋ１１つ
た物体のベルト研削に％１７、勢に、水中ガイドベーン
を、ロボット等の移＃＠ｌｌＫよね、自ｗＪ−削する＋
４１１Ｋｍする。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention is applicable to the belt grinding of an object with a clean constant reference shape of a curve + 1fk11, and to the transfer of an underwater guide vane to a robot, etc. That's right, my wJ-delete+
411km.
水曜ガイドベーンは、主として鋳造等で製造されており
、Ｗｔ！一方向に一一プロフイｈをもつ二次元−纏であ
る。又、鋳物−のため、表出がでこけこで、ＩＩＩＩＲ
部を基準寸法に仕上げる必會がある。Wednesday guide vanes are mainly manufactured by casting, etc., and Wt! It is a two-dimensional matrix with 11 profiles h in one direction. Also, because it is a cast metal, the surface is uneven and IIIR.
There is a need to finish the parts to standard dimensions.
仁のため、促＊は、ゲージをあてながら、カップ形グラ
イン／−を用いて手動作１ｔ−していたため、多大のゲ
ージ製作費と人件費ｔ４ｂｅとしてい良。For the sake of accuracy, while applying the gauge, the work was done manually using a cup-shaped grain/-, which resulted in a large amount of gauge production cost and labor cost.
又、グライ／ダ一の手作１１社、振動、−脅、粉じんな
どのきびしい職墳下で行なわれるため、カー衛生上から
も開−があった。 ・
〔発明の目的〕
本発明の目的は、ｆＩづド９ｆ等大層簡面研削作東（２
）
の無人化を指向した、高能率、高精度の研削装置を提供
するにある。In addition, since the 11 handicrafts of Grai/Dan are carried out in harsh conditions such as vibrations, dust, and dust, there were also concerns from the viewpoint of car hygiene.・ [Object of the invention] The object of the present invention is to provide a large-layer simple surface grinding process (2
) Our goal is to provide high-efficiency, high-precision grinding equipment aimed at unmanned operation.
本発明の特徴は、ベルト研削装置ににいて、ロボット等
の移動装置のハンド部に固定したブラケットに、エアシ
リンダー及び平行リンクにより、ベルト研削機を、バラ
ンス状態で支持し、ブラケットにセットしたギャップ測
定センサーと、ベルト研削機側に取り付けたターゲット
により、ベルト研削機と被加工物との接触面の位置を、
研削状態で、常時、検出する構造とし、ハンド部を一定
軌跡移動させ、同時にブラケットに固定した加圧シリン
ダーにより、ベルト研削機を加圧し、研削量を、ギヤン
グ測定センサーで監視して、ロボット等の移動装置制御
部へ、ベルト研削機の被加工物との接触面位置を、フィ
ードバックし、適正な曲面を仕上げる自動研削装置にあ
る。A feature of the present invention is that the belt grinding machine is supported in a balanced state by an air cylinder and a parallel link on a bracket fixed to a hand part of a moving device such as a robot, and a gap is set in the bracket. Using a measurement sensor and a target attached to the belt grinder, the position of the contact surface between the belt grinder and the workpiece can be determined.
It has a structure that constantly detects the grinding state, and the hand part moves in a fixed trajectory, and at the same time, the belt grinder is pressurized by a pressure cylinder fixed to the bracket, and the amount of grinding is monitored by a gigang measurement sensor, and the robot etc. This is an automatic grinding device that feeds back the position of the contact surface of the belt grinder with the workpiece to the moving device control unit of the belt grinder to finish an appropriate curved surface.
以下、本発明の実施例を第１図、第２図、第３図、第４
図により説明する。Embodiments of the present invention will be described below with reference to FIGS. 1, 2, 3, and 4.
This will be explained using figures.
被加圧物の水車ガイドベーン１の機械加工面２は、被加
工物の軸３に対して、図面寸法に基づいて加工され精度
が出ている。この被加工物ガイドベーン１の軸３を、■
ブロック４で両端を支持し、平行芯出し器５により機械
加工面２を支えて、被加工物水車ガイドベーン１の水平
芯出しを行なう。The machined surface 2 of the water turbine guide vane 1 of the pressurized object is machined with respect to the shaft 3 of the workpiece based on the dimensions in the drawing to achieve high accuracy. The shaft 3 of this workpiece guide vane 1 is
Both ends are supported by blocks 4, and the machined surface 2 is supported by a parallel centering device 5 to horizontally center the workpiece water turbine guide vane 1.
又、図面寸法に加工した、曲面プロフィル基準ゲージを
、被加工物水車ガイドベーン１の芯出し位置と互換性が
ある位置に配置する。Further, a curved profile reference gauge machined to the drawing dimensions is placed at a position compatible with the centering position of the workpiece water turbine guide vane 1.
研削ベルト６は、モーター７及びモーターブー＋Ｊ −
ｆ３により回転される。又、テンションローラー９に、
シリンダー１１で駆動され、研削ベルト６に強力を与え
る。プラテン１２は、被加工物水車ガイドベーン１なの
接触面であり、ベルト研削機１３は、これらの部品によ
って構成されている。The grinding belt 6 is connected to a motor 7 and a motor boo +J −
Rotated by f3. Also, on the tension roller 9,
It is driven by a cylinder 11 and gives strength to the grinding belt 6. The platen 12 is a contact surface of the workpiece water wheel guide vane 1, and the belt grinder 13 is constituted by these parts.
次に、本ベルト研削機１３を、ロボット等の移動装置本
体１４のハンド部１５に、ブラケット１６を取り付け、
ブラケット１６から４本の平行リンク１７ａ、ｂ及び、
ロッド１８により連結し、ベルト研削機１３が、垂直方
向に移動する構造とし、ブラケット１６に取り付けた２
本のエアシリンダー１９及び、ヒンジビン２０を介して
、平行リンク１７を、吊り上げ、エアシリンダー１９の
圧力調整により、ベルト研削機１３をバランス状態に支
持する。Next, attach the bracket 16 to the hand portion 15 of the main body 14 of the moving device such as a robot to attach the belt grinding machine 13,
Four parallel links 17a, b from the bracket 16 and
The belt grinder 13 is connected by a rod 18 and has a structure in which the belt grinder 13 moves in the vertical direction, and is attached to a bracket 16.
The parallel link 17 is lifted up through the book air cylinder 19 and the hinge bin 20, and the belt grinding machine 13 is supported in a balanced state by adjusting the pressure of the air cylinder 19.
一方、ベルト研削機１３の移動量を指示するセンサータ
ーゲット２０を、ターゲット支持ロッド２１に固定し、
更に、ターゲット支持ロッド２１をベルト研削機１３に
固定し、ブラケット１６に取り付けた、ギャップ測定セ
ンサー２２で、被加工物水車ガイドベーン１との接触面
、すなわち、゛ベルト研削機１３のプラテン面１２の位
置変化が検出できる様に配置する。On the other hand, a sensor target 20 that indicates the amount of movement of the belt grinder 13 is fixed to a target support rod 21,
Further, the target support rod 21 is fixed to the belt grinder 13 and a gap measurement sensor 22 attached to the bracket 16 is used to measure the contact surface with the workpiece water turbine guide vane 1, that is, the platen surface 12 of the belt grinder 13. Place it so that changes in position can be detected.
又、ブラケット１６に、加圧シリンダー２３を固定し、
加圧力の調整により、ブラケット１６より与えられ、バ
ランスされた状態で浮いているベルト研削機１３に切り
込みを与える。Further, the pressurizing cylinder 23 is fixed to the bracket 16,
By adjusting the pressing force, a cut is applied from the bracket 16 to the belt grinding machine 13 floating in a balanced state.
本発明による動作は、ロボット等の移動装置本体１４の
ハンド部１５を手作業で支え、曲面プロフィル基準ゲー
ジに、ベルト研削機１３のプラテン面１２をあて、プロ
フィルティーチングを行なう。この時、ブラケットに取
り付けたギャップ測定センサー２２と、ベルト研削機１
３に取り付けたセンサーターゲット２０により、ベルト
研削機の位置を記憶する。更に、研削装置を、被加工物
の水車ガイドベーン１上へ移動させ、ティーチングした
プロフィルを描かせる。この時、ギャップ測定センサー
２０で記憶したベルト研削機１３の、研削位置を保つた
め、加圧シリンダー２３により、ベルト研削機１３に切
り込みを与える。In the operation according to the present invention, the hand section 15 of the main body 14 of a moving device such as a robot is manually supported, the platen surface 12 of the belt grinder 13 is applied to the curved profile reference gauge, and profile teaching is performed. At this time, the gap measurement sensor 22 attached to the bracket and the belt grinder 1
The position of the belt grinding machine is memorized by the sensor target 20 attached to 3. Furthermore, the grinding device is moved onto the water turbine guide vane 1 of the workpiece, and the taught profile is drawn. At this time, in order to maintain the grinding position of the belt grinder 13 memorized by the gap measurement sensor 20, the pressure cylinder 23 applies a cut to the belt grinder 13.
次に、研削面の位置は、ギャップ測定センサー２２とセ
ンサーターゲット２０との、ギャップにより監視され制
御される。しかし、前記のように、被加工物の水車ガイ
ドベーン１の表面は、鋳物面のため、研削量がまちまち
で、ベルト研削機１３を、バランス状態で支持しておか
ないと、研削量が多い時、研削ベルト６にかかる負荷が
大となり、研削ベルトが破損する。本発明の研削装置は
、研削代が、一定で研削できるように、ギャップ測定セ
ンサー２２とセンサーターゲット２０のギヤッブにより
監視され、ある一定のギヤラグ設定値を越えると、研削
装置が、一定距離戻り、再研削を行なうように、ロボッ
ト等移動装置の、制御部にフィードバックをかける。The position of the grinding surface is then monitored and controlled by the gap between the gap measurement sensor 22 and the sensor target 20. However, as mentioned above, the surface of the water turbine guide vane 1 of the workpiece is a cast metal surface, so the amount of grinding varies, and unless the belt grinder 13 is supported in a balanced state, the amount of grinding will be large. At this time, the load applied to the grinding belt 6 becomes large and the grinding belt is damaged. The grinding device of the present invention is monitored by the gear of the gap measurement sensor 22 and the sensor target 20 so that the grinding allowance can be kept constant, and when a certain gear lag setting value is exceeded, the grinding device returns a certain distance. Feedback is given to the control unit of a moving device such as a robot to perform re-grinding.
これらの繰り返えし動作により、研削量に関係なく、全
面を、高精度、高能率に研削できる。なお、図中１０は
アイドラープーリーである。Through these repeated operations, the entire surface can be ground with high precision and high efficiency, regardless of the amount of grinding. Note that 10 in the figure is an idler pulley.
本発明により、げ、水車ガイドベーン等の曲面をもつワ
ークの研削作業が、無人化で、高精度及び、高能率に加
工できるたぬ、大幅な工数低減ができる。According to the present invention, the grinding work of curved surfaces such as ridges and water wheel guide vanes can be performed unmanned, with high precision and efficiency, and the number of man-hours can be significantly reduced.
第１図は水車ガイドベーンの研削作業を示す平面図、第
２図は第１図の正面図、第３図は第２図の■部の詳細図
、第４図は第３図の側面図である。
１２・・・プラテン、１３・・・ベルト研削機、１５・
・・ハンド部、１６・・・ブラケット、１７ａ・・・平
行リンク、１９・・・エアシリンダー、２２・・・ギャ
ップ測定センサー、２３・・・加圧シリンダー。
代理人 弁理士 高橋明夫
（７）
￥１図
第３図Figure 1 is a plan view showing the grinding work of the water turbine guide vane, Figure 2 is a front view of Figure 1, Figure 3 is a detailed view of the part ■ in Figure 2, and Figure 4 is a side view of Figure 3. It is. 12... platen, 13... belt grinder, 15...
...Hand portion, 16...Bracket, 17a...Parallel link, 19...Air cylinder, 22...Gap measurement sensor, 23...Pressure cylinder. Agent Patent Attorney Akio Takahashi (7) ¥1 Figure 3
Claims (1)
グツテンからなるベルト研１１９ＩＩＩＩＩを、ロボッ
ト轡の参ＩＩＪ装置で、保持移動させゐベルト研削偵歓
において、 ハンドＷＬＫ一定したプククットに、エアンりンｆ−及
び平行りンクによりベルト研Ｍ機を、パランヌ状廖で支
持し、プククットにセットしたキャップ＃１足センサー
と、前記ベルト研削機Ｋ１１ｌｌり付けたターゲットに
より％前記ベルト研削機と被加工物とのｌｌｌ山面ｔ？
−を、研削状態で常時構出する鋳造とし、ハンド部を一
足＠跡移動させ、−１時に前記プラケットに一定した加
圧シリンダーにより、前記ベルト研削４１＆を加圧し、
研鋼量ｔ、ギヤ７グ一定セン丁−で１ｉｌｔして、藺紀
ロボット等の移−装置−１鉤部へ劇紀ベルトー削機の前
記被加工物との僧触−位歇【フィードパンクすることを
栃（１） ４３３−−[Claims] 1. A motor that drives the grinding belt. pulley. During the belt grinding operation, the belt grinder 119III, which consists of a tensile force and a tensioner that give tension to the grinding belt, is held and moved by a robot wheel's reference IIJ device. - The belt grinder M machine is supported by a parallel link with a paranne-shaped sill, and the cap #1 foot sensor set on the pukkut and the target attached to the belt grinder K11ll connect the belt grinder and the workpiece. Ill mountain face t?
- is a casting that is always set in the grinding state, the hand part is moved one step @, and at -1, the belt grinding 41 & is pressurized by a pressure cylinder fixed to the placket,
Grinding steel amount t, gear 7g constant center - 1ilt, transfer device 1 hook part of Iki robot etc. Tochi (1) 433--
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58077473A JPS59205264A (en) | 1983-05-04 | 1983-05-04 | Automatic water turbine guide vane grinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58077473A JPS59205264A (en) | 1983-05-04 | 1983-05-04 | Automatic water turbine guide vane grinder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59205264A true JPS59205264A (en) | 1984-11-20 |
| JPH0561071B2 JPH0561071B2 (en) | 1993-09-03 |
Family
ID=13634950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58077473A Granted JPS59205264A (en) | 1983-05-04 | 1983-05-04 | Automatic water turbine guide vane grinder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59205264A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63318251A (en) * | 1987-06-19 | 1988-12-27 | Sintokogio Ltd | Method and apparatus for removing burr of casting |
| US7896727B2 (en) * | 2007-01-18 | 2011-03-01 | Snecma | Robotic machining tool employing an endless machining belt |
| EP2460624A1 (en) * | 2010-12-06 | 2012-06-06 | Jöst GmbH | Grinding device for mechanical grinding of rotor blades for wind power systems |
| US8512096B2 (en) * | 2007-12-07 | 2013-08-20 | General Electric Company | System for removing material from components |
| EP2865487A1 (en) * | 2013-10-24 | 2015-04-29 | Siemens Aktiengesellschaft | Method and a device for shortening the rotor blades of a flow engine |
| CN105058205A (en) * | 2015-08-31 | 2015-11-18 | 温州金石机器人科技有限公司 | Automatic grinding device used for installation of grinding belt |
| EP2422929B2 (en) † | 2010-08-27 | 2017-03-01 | Jöst GmbH | Grinding device for mechanical grinding of rotor blades for wind power systems |
| CN107116561A (en) * | 2017-06-19 | 2017-09-01 | 中国电子科技集团公司第二十八研究所 | A kind of weld grinding machine people |
| CN110545956A (en) * | 2017-04-18 | 2019-12-06 | 施塔克卤德有限公司及两合公司 | Method for locally grinding a surface and grinding device for carrying out said method |
| CN110814983A (en) * | 2019-11-13 | 2020-02-21 | 中国航发动力股份有限公司 | Blade polishing device and polishing method |
| CN112171458A (en) * | 2020-11-27 | 2021-01-05 | 大捷智能科技(广东)有限公司 | Intelligent mold polishing platform and polishing method |
| CN112959188A (en) * | 2021-02-26 | 2021-06-15 | 中国科学院自动化研究所 | Grinding and polishing device for finishing aero-engine blade |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5179091U (en) * | 1974-12-19 | 1976-06-22 | ||
| JPS567646U (en) * | 1979-06-26 | 1981-01-23 | ||
| JPS57114363A (en) * | 1980-12-29 | 1982-07-16 | Fujitsu Ltd | Working apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53130180A (en) * | 1977-04-19 | 1978-11-13 | Fuji Industries Co Ltd | Thread leading rings |
-
1983
- 1983-05-04 JP JP58077473A patent/JPS59205264A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5179091U (en) * | 1974-12-19 | 1976-06-22 | ||
| JPS567646U (en) * | 1979-06-26 | 1981-01-23 | ||
| JPS57114363A (en) * | 1980-12-29 | 1982-07-16 | Fujitsu Ltd | Working apparatus |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63318251A (en) * | 1987-06-19 | 1988-12-27 | Sintokogio Ltd | Method and apparatus for removing burr of casting |
| US7896727B2 (en) * | 2007-01-18 | 2011-03-01 | Snecma | Robotic machining tool employing an endless machining belt |
| US8512096B2 (en) * | 2007-12-07 | 2013-08-20 | General Electric Company | System for removing material from components |
| EP2422929B2 (en) † | 2010-08-27 | 2017-03-01 | Jöst GmbH | Grinding device for mechanical grinding of rotor blades for wind power systems |
| WO2012076418A1 (en) * | 2010-12-06 | 2012-06-14 | Jöst Gmbh | Grinding device for mechanically grinding rotor blades for wind power plants |
| EP2460624A1 (en) * | 2010-12-06 | 2012-06-06 | Jöst GmbH | Grinding device for mechanical grinding of rotor blades for wind power systems |
| US20120322349A1 (en) * | 2010-12-06 | 2012-12-20 | Joesi Peter | Grinding device for machine based grinding of rotor blades for wind energy systems |
| US11117238B2 (en) | 2013-10-24 | 2021-09-14 | Siemens Energy Global GmbH & Co. KG | Apparatus for shortening the rotor blades of a turbomachine |
| EP2865487A1 (en) * | 2013-10-24 | 2015-04-29 | Siemens Aktiengesellschaft | Method and a device for shortening the rotor blades of a flow engine |
| CN104551942A (en) * | 2013-10-24 | 2015-04-29 | 西门子公司 | Method and apparatus for shortening the rotor blades of a turbomachine |
| EP3000557A1 (en) * | 2013-10-24 | 2016-03-30 | Siemens Aktiengesellschaft | Device for shortening the rotor blades of a flow engine |
| US9616543B2 (en) | 2013-10-24 | 2017-04-11 | Siemens Aktiengesellschaft | Method and apparatus for shortening the rotor blades of a turbomachine |
| US10493589B2 (en) | 2013-10-24 | 2019-12-03 | Siemens Aktiengesellschaft | Apparatus for shortening the rotor blades of a turbomachine |
| CN105058205A (en) * | 2015-08-31 | 2015-11-18 | 温州金石机器人科技有限公司 | Automatic grinding device used for installation of grinding belt |
| CN110545956A (en) * | 2017-04-18 | 2019-12-06 | 施塔克卤德有限公司及两合公司 | Method for locally grinding a surface and grinding device for carrying out said method |
| CN107116561A (en) * | 2017-06-19 | 2017-09-01 | 中国电子科技集团公司第二十八研究所 | A kind of weld grinding machine people |
| CN110814983A (en) * | 2019-11-13 | 2020-02-21 | 中国航发动力股份有限公司 | Blade polishing device and polishing method |
| CN112171458A (en) * | 2020-11-27 | 2021-01-05 | 大捷智能科技(广东)有限公司 | Intelligent mold polishing platform and polishing method |
| CN112171458B (en) * | 2020-11-27 | 2021-03-16 | 大捷智能科技(广东)有限公司 | Intelligent mold polishing platform and polishing method |
| CN112959188A (en) * | 2021-02-26 | 2021-06-15 | 中国科学院自动化研究所 | Grinding and polishing device for finishing aero-engine blade |
| CN112959188B (en) * | 2021-02-26 | 2022-02-08 | 中国科学院自动化研究所 | Grinding and polishing device for finishing aero-engine blade |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0561071B2 (en) | 1993-09-03 |
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