KR102004075B1 - A wing processing method, a wing processing apparatus, a processing order control program of such a processing apparatus, - Google Patents

Abstract

In the processing of the wings, the first gripping step, the mounting part machining step, the second gripping step, the grip releasing step, and the blade part machining step are executed. In the first gripping step, the first work gripper 52a grips the blade forming portion 2a which becomes the blade portion 2 in the blade material. In the mounting portion processing step, the mounting portion 3a, which becomes the mounting portion 3, is machined from the blade material to form the mounting portion 3. [ In the second gripping step, the mounting portion 3 is gripped by the second work gripper 52b. In the grip releasing step, the gripping of the blade forming portion 2a by the first work gripper 52a is released. In the wing portion processing step, the wing portion 2a of the blank 1b is processed to form the wing portion 2.

Description

A wing processing method, a wing processing apparatus, a processing order control program of such a processing apparatus,

The present invention relates to a machining method of a blade having a long blade portion in one direction and a mounting portion provided at an end portion of one direction of the blade portion, a machining device of such a blade, and a machining order control program of such machining device.

The present application claims priority based on Japanese Patent Application No. 2015-079366, filed on April 8, 2015, the contents of which are incorporated herein by reference.

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

As a method of processing such wings, for example, there is a processing method described in Patent Document 1 below. In this processing method, a fixing portion is formed at an end portion opposite to the blade portion at the end portion of the mounting portion in the process of processing the blade from the work. Then, in a state in which the fixed portion is supported by a holder or the like, a blade forming portion that forms a blade and a mount forming portion that is a mounting portion are processed. Thereafter, in this processing method, the fixing portion is separated from the mounting portion.

Japanese Patent Publication No. 2010-530043

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

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

According to a first aspect of the invention for solving the above problems,

A method for machining a blade having a long blade portion in one direction and a mounting portion provided in the one-directional end portion of the blade portion, the method comprising: a base; a plurality of workpiece grasping devices gripping a workpiece; A grip moving mechanism provided in the base for each gripper to change a direction and a position of the work gripping machine; at least one tool driving mechanism mounted with a machining tool for machining the machining target; And a tool moving mechanism that is provided in the base for each of the tool driving mechanisms and changes a direction and a position of at least a portion to which the tool is mounted in the tool driving mechanism, A first grasping step of grasping a blade forming portion of the material to be winged on the first work grasping machine, The tool movement mechanism for any one of the tool driving mechanisms and the tool driving mechanism for the tool driving mechanism is driven to process the mounting forming portion of the mounting portion of the work held in the first work gripper A second gripping step of gripping the second workpiece gripper among the plurality of workpiece gripping machines after the mounting portion machining step; and a second gripping step of gripping the mounting portion after the second gripping step, A first gripping releasing step of releasing gripping of the wing forming part by the first gripping tool and a second gripping releasing step of releasing gripping of the wing forming part by the first gripping tool after the first gripping releasing step, And the tool moving mechanism is driven so that the wing of the workpiece gripped by the second work gripper By machining a part, and executes a processing step of blade portions forming the wing portions.

In this processing method, the mounting forming portion in the material is processed to form the mounting portion in a state where the blade forming portion of the material is held by the first work grasping machine. Thereafter, in a state where the mounting portion is held by the second work gripper, the blade forming portion is processed to form the blade portion. Therefore, in the processing method of the present invention, it is not necessary to separately form a fixing portion that does not constitute the blade in the process of processing the blade from the material. In addition, in this processing method, the material is transferred from the first workpiece grinding machine to the second workpiece grinder, so that the blades can be integrally processed by a single processing machine. Therefore, in the processing method, it is not necessary to transfer the material to a plurality of processing apparatuses in the process of forming the wings from the material.

Therefore, in this processing method, the production lead time of the blade can be shortened. In addition, in this processing method, since the wing can be integrally processed by one processing device, the load of the quality control of the processed wing can be reduced.

According to a second aspect of the invention for solving the above problems,

The method of processing the wing of the first aspect is characterized in that in a state in which the one direction of the workpiece held by the mount portion is directed by the second workpiece gripper in a direction including a horizontal component, And a supporting step of supporting the wing forming portion from the lower side of the wing forming portion of the material in which the mounting portion is held by the second work grasping device during the execution of the wing portion processing step is executed do.

According to the processing method, in the wing portion processing step, the mounting portion in the work is held by the second work grasper, and the wing portion of the work is supported by the supporting portion from below, and the wing portion is processed. Therefore, in the machining method, chattering vibration of a machined portion during machining can be suppressed by machining the blade forming portion in a state of stably supporting a long elongated material in one direction. As a result, in this processing method, roughness of the surface roughness of the machined surface and damage of the machining tool due to chattering vibration can be suppressed.

In order to solve the above problems, according to a third aspect of the present invention,

A wing processing apparatus having a long wing portion in one direction and a mounting portion provided in the one end of the wing portion, the apparatus comprising: a base; a plurality of work grasping devices for grasping an object to be processed; A grip moving mechanism for changing a direction and a position of the workpiece grasping machine, at least one tool driving mechanism mounted with a machining tool for machining an object to be machined, for driving the machining tool, A tool moving mechanism which is provided in the base and changes the direction and position of at least the portion to which the tool is mounted in the tool driving mechanism; The tool, the at least one tool drive mechanism, and the tool movement device for each of the at least one tool drive mechanism And a controller for controlling the operation of the sphere, wherein, in a state in which the first workpiece gripper among the plurality of workpiece grippers grips the vane-forming portion, which is the vane portion of the workpiece, A tool driving mechanism and a tool moving mechanism for the tool driving mechanism are driven to process a mounting forming portion of the mounting portion held in the first work grasping device to form a mounting portion processing A second grasping process of grasping the mounting portion to a second workpiece grasping machine among the plurality of workpiece grasping machines after the mounting portion machining process; and a second grasping process of grasping the wing by the first work grasping machine after the second grasping process, A first grip releasing step of releasing gripping of the forming portion; The tool driving mechanism for the tool driving mechanism and the tool moving mechanism for the tool driving mechanism among the tool driving mechanisms on the first work holding mechanism are driven to process the blade forming portion of the work held by the second work holding device, And a control executing section for executing a wing section machining process for forming the wing section.

In order to solve the above problems, according to a fourth aspect of the present invention,

The apparatus according to any one of the preceding claims, further comprising a support for supporting the work from the lower side, wherein the control execution unit is configured to perform, by the gripping mechanism for the second work gripper, The wing portion processing step is executed in a state in which the one direction of the material on which the mounting portion is gripped is oriented in the direction including the horizontal direction component by the gripper, And a supporting step of supporting the wing forming portion from the lower side of the wing forming portion of the work in which the mounting portion is held by the second work gripper to the supporting portion.

In order to solve the above problems, according to a fifth aspect of the present invention,

Wherein the support includes a plurality of cylinders for supporting the work from a lower side of the work and a cylinder block on which a plurality of cylinders are mounted, A casing which covers a base end portion of the pin so as to be displaceable in a pin extending direction in which the pin extends, and a casing which is arranged in the pin extending direction And a pin restraint mechanism for restraining a relative position of the pin with respect to the casing in the pin extending direction , And the casing of each of the plurality of cylinders is fixed to the cylinder block.

In order to solve the above problems, according to a sixth aspect of the present invention,

A machining order control program for a blade machining apparatus having a long blade portion in one direction and a mounting portion provided in the one end portion of the wing portion, the machining device comprising a base, a plurality of work grippers A grip moving mechanism provided on the base for each of the plurality of workpiece gripping machines and for changing a direction and a position of the workpiece gripping machine and a machining tool for machining an object to be machined, A tool moving mechanism provided in the base for each of the one or more tool drive mechanisms and for changing a direction and a position of at least a portion of the tool drive mechanism where the tool is mounted; The grip moving mechanism, the at least one tool driving mechanism, and the one And a controller for controlling the operation of the tool moving mechanism for each of the tool driving mechanisms, wherein the controller controls the first work gripper among the plurality of work grippers to grip the blade forming portion , The tool driving mechanism for any one of the one or more tool driving mechanisms and the tool moving mechanism for the tool driving mechanism is driven to move the tool holding mechanism A first machining instruction step of instructing execution of a machining program for a mounting part to form the mounting part by machining the mounting part after machining the mounting part, A second gripping instruction step of instructing execution of a gripping program, Instructing execution of a first gripping program for releasing gripping of the wing forming portion by the first work gripping machine after gripping the mounting portion by the first gripper, Driving the tool moving mechanism for any one of the one or more tool driving mechanisms and the tool driving mechanism from the one or more tool driving mechanisms after releasing the negative gripping, And a second machining instruction step for instructing execution of a machining program for forming a wing portion by machining the wing forming portion.

According to an aspect of the present invention,

And is a non-temporary computer-readable storage medium in which the machining sequence control program is stored.

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

1 is an explanatory view showing a configuration of a machining apparatus according to an embodiment of the present invention,
Figure 2 is a cross-sectional view of a support in accordance with an embodiment of the present invention,
Fig. 3 is a view seen from an arrow III in Fig. 2,
4 is an explanatory diagram showing a configuration of a controller according to an embodiment of the present invention;
Fig. 5 is a flowchart showing a processing procedure of a blade according to an embodiment of the present invention,
6 is an explanatory view showing a machining apparatus and a state of blade material in the first grasping process according to the embodiment of the present invention,
Fig. 7 is an explanatory view showing a machining apparatus and a state of a blade material in a mounting portion machining step according to an embodiment of the present invention; Fig.
Fig. 8 is an explanatory diagram showing the state of the processing apparatus and the blade material in the second grasping process and the first grasping process (S23) in the embodiment of the present invention,
Fig. 9 is an explanatory diagram (1) showing a state of a processing device and a blade material in a blade portion processing step in an embodiment according to the present invention, Fig.
10 is an explanatory diagram (2) showing the state of the processing apparatus and the blade material in the blade portion processing step in the embodiment according to the present invention,
11 is a perspective view of a wing according to an embodiment of the present invention.

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

In this embodiment, as shown in Fig. 11, the wing 1 is formed by processing the wing material 1a. The wing 1 has a long wing portion 2 in a longitudinal direction Dw in one direction and a mounting portion 3 provided at an end portion in the longitudinal direction Dw of the wing portion 2. [ The surface of the wing portion 2 forms a three-dimensional curved surface. The mounting portion 3 is, for example, a portion mounted on the rotor shaft of the rotating machine. The wing material (1a) has a rectangular parallelepiped shape whose outer shape is larger than the outer shape of the wing (1). The wing material 1a has a wing forming portion 2a as a wing portion 2 and a mounting forming portion 3a as a mounting portion 3. [ In the following, the wing material 1a, the intermediate material in the process of forming the wing 1 from the wing material 1a, and the wing 1 are collectively referred to as a wing 1d. The longitudinal direction Dw of the blade 1 is also the longitudinal direction of the blade material 1a and the intermediate material.

The processing device M for processing the blade material 1a into the blade 1 is an NC (Numerical Control) processing device. 1, the processing apparatus M includes a base 51, a first work gripper 52a, a first gripper moving mechanism 53a, a second work gripper 52b, A tool movement mechanism 55, a tool station 56, a support 10, a guide movement mechanism 57, and a second gripping mechanism 53b, a tool drive mechanism 54, A fluid supply device 40, and a controller 100. [ The first work gripper 52a grips one end portion in the longitudinal direction Dw of the blade formation 1d. The first gripper moving mechanism 53a relatively moves the first work gripper 52a with respect to the base 51. [ The second work gripper 52b grips the other end portion in the longitudinal direction Dw of the blade formation 1d. The second gripper moving mechanism 53b relatively moves the second work gripper 52b with respect to the base 51. [ The tool driving mechanism 54 drives the blade material 1a and the processing tool T for processing the intermediate material. The tool moving mechanism 55 relatively moves the portion of the tool driving mechanism 54 where the processing tool T is mounted relative to the base 51. [ The tool station 56 has a plurality of processing tools T placed thereon. The support member 10 supports the blade formation 1d. The guide mechanism 57 moves the support 10 relative to the base 51. The fluid feeder (40) supplies driving fluid to the support (10). The controller 100 controls the operations of the above devices and the like.

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

The first gripping moving mechanism 53a moves the first workpiece holding device 52a in the X direction, the Y direction and the Z direction with respect to the base 51 and the gripping axis Ag of the first workpiece holding device 52a, At least relative to each other in the circumferential direction. Similarly to the first gripping moving mechanism 53a, the second gripping moving mechanism 53b is configured to move the second workpiece holding device 52b in the X direction, the Y direction, and the Z direction with respect to the base 51, At least relative to the gripping axis (Ag) of the gripper (52b). The tool driving mechanism 54 has a spindle 54s on which the machining tool T is mounted and a spindle rotating mechanism 54d for rotating the spindle 54s. The tool moving mechanism 55 moves at least the spindle 54s of the tool driving mechanism 54 relative to the base 51 in the X direction, the Y direction and the Z direction. The tool moving mechanism 55 rotates at least the spindle 54s of the tool driving mechanism 54 around the axis extending in the X direction, around the axis extending in the Y direction, and around the axis extending in the Z direction. The support mechanism (57) moves the support (10) relative to the base (51) at least relative to each other in the X, Y and Z directions.

The fluid supply device 40 includes a fluid discharge source 41 for discharging a fluid having a pressure higher than a predetermined pressure, a fluid line 42 for guiding the fluid from the fluid discharge source 41 to the support 10, And a fluid control valve 43 provided in the fluid line 42. The fluid to be discharged from the fluid discharging source 41 may be a gas such as air or a liquid such as oil.

As shown in Figs. 2 and 3, the support member 10 has a plurality of support cylinders 20 and a cylinder 11 on which a plurality of support cylinders 20 are mounted. In this example, four support cylinders 20 are mounted on the cylinder bumper 11.

The support cylinder 20 has a pin 21, a casing 25, a follower mechanism 31, and a pin restraint mechanism 35. The casing 25 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 is extended. The follower mechanism 31 follows the position of the pin 21 in the pin extending direction Dp relative to the movement of the surface position of the blade formation 1d in the pin extension direction Dp. The pin restricting mechanism 35 restrains the relative position of the pin 21 with respect to the casing 25 in the pin extending direction Dp. Here, one side of the pin extending direction Dp is referred to as a tip side, and the opposite side is referred to as a base side.

The casing 25 is provided with a pin base end portion as a base end portion of the fin 21, a follower mechanism 31 and a pin restricting mechanism 35. In the casing 25, A seal 26 is formed. The casing 25 is provided with a pin hole 27 through which the pin 21 penetrates from the inside of the cylinder chamber 26 in the pin extending direction Dp and the fluid supply source 40 in the cylinder chamber 26, And an inlet 28 for receiving the fluid from the inlet 28 is formed.

The pin 21 has a pin body 22 having a cylindrical shape with an axis extending in the pin extending direction Dp and a contact sheet 24 in contact with the blade formation 1d. The pin body 22 is formed with a hollow circumferential hole 23 from the base end side toward the tip end side. The contact sheet 24 is fixed to the tip end side of the pin body 22 in the pin extending direction Dp. The contact sheet 24 closes the opening on the tip side in the pin extending direction Dp. Thus, the contact sheet 24 forms the tip of the pin 21. [

The follower mechanism 31 has a guide rod 32 and a spring 33 as an elastic member. The guide rod 32 guides the movement of the pin 21 in the pin extending direction Dp. The spring 33 biases the pin 21 toward the side projecting from the casing 25 in the pin extending direction Dp. The guide rod 32 has a cylindrical shape and extends from the bottom forming the base end side of the casing 25 in the cylinder chamber 26 in the pin extending direction Dp. The tip end side portion of the guide rod 32 is inserted into the hole 23 of the pin body 22. The spring 33 is disposed between the guide rod 32 and the bottom surface of the hole 23 in the hole 23 of the pin body 22. The spring 33 is in contact with the pin body 22 and the guide rod 32 even when the pin 21 is located at the maximum protruding position. The spring 33 contracts when a load directed toward the base end in the pin extending direction Dp is applied to the pin 21 located at the maximum protruding position and reaches the tip end side in the pin extending direction Dp Generates buoyancy.

The outer periphery of the proximal end of the fin 21 is covered with a collet 36 in the shape of a cylinder. The collet 36 is formed to be elastically deformable from the outer circumferential side to the inner circumferential side. Between the outer circumferential side of the collet (36) and the inner circumferential surface of the casing (25), a fluid chamber (29) into which the fluid from the fluid feeder (40) flows is formed. This fluid chamber (29) is a part of the cylinder chamber (26). The pin restricting mechanism 35 is composed of a collet 36, a fluid chamber 29 in the casing 25, and an inlet 28 formed in the casing 25. The collet 36 is elastically deformed toward the inner circumferential side by the pressure of the fluid when a certain pressure of fluid is supplied from the inlet 28 of the casing 25 to the fluid chamber 29, . By the holding of the pin 21 by the collet 36, the pin 21 is restrained in the pin extending direction Dp in a non-movable manner. That is, this collet 36 constitutes a pin holding member.

Each of the casings 25 of the plurality of support cylinders 20 is embedded in the cylinder base 11 and fixed. The pin extending directions Dp of the respective pins 21 of the plurality of support cylinders 20 are aligned with each other in a state in which the casing 25 is fixed to the cylinder bed 11. [ That is, the pin extending direction Dp of each pin 21 is the same direction. In addition, the pin extending direction Dp of each pin 21 may not be the same direction. The positions of the pins 21 of the plurality of support cylinders 20 in the pin extension direction Dp are the same in a state where the pins 21 are located at the maximum protruding position.

The cylinder base 11 receives the fluid from the fluid line 42 of the fluid feeder 40 and guides the fluid to the inlet 28 of each casing 25 in the plurality of support cylinders 20 And a flow path 12 is formed. The flow path 12 has a main flow path 13 and a plurality of branch flow paths 14. The main flow path 13 is connected to the fluid line 42 of the fluid feeder 40. The main flow path 13 receives the fluid from the fluid line 42. The branch flow path 14 is branched from the main flow path 13 for each of the plurality of support cylinders 20 and connected to the inlet 28 of each casing 25. [ Therefore, it is not necessary to provide the fluid lines 42 connected to the cylinder block 11 for each of the plurality of support cylinders 20, and the fluid lines 42 can be integrated.

The controller 100 is a computer. 4, the controller 100 includes a CPU (Central Processing Unit) 101 for executing various calculations, a memory 102 such as a work area of the CPU 101, a hard disk drive Transmission of various signals and the like between the auxiliary storage device 110 such as a device and the manual input device 103 such as a keyboard and the like and the display device 104 and each of the above- And a storage / reproduction device 106 for executing storage processing and reproduction processing of data with respect to the disk-type storage medium D, as shown in Fig.

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

Programs 113 to 117 to be executed in each step in the blade machining include the first grasping program 113, the second grasping program 114, the mounting part machining program 115 and the wing part machining program 116, and a support program 117. [ The first gripping program 113 is a program for holding and releasing the wing forming object 1d by the first work gripper 52a. The second gripping program 114 is a program for holding and releasing the blade forming product 1d by the second work gripper 52b. The mounting portion machining program 115 is a program executed when machining the mounting forming portion 3a in the blade material 1a. The wing portion processing program 116 is a program executed when the wing forming portion 2a of the wing material 1a is processed. The support program 117 is a program for executing the support of the blade formation 1d by the support 10. At least the mounting part machining program 115 and the wing part machining program 116 among these programs 113 to 117 are stored in the mounting part machining program 115 and the wing part machining program 116 so that the operator or the like of the machining device M is inputted from the manual input device 103 And is a program set in the auxiliary storage device 110 based on various data. The mounting part machining program 115 and the wing part machining program 116 are data groups in which the positions of the machining tools T and the like are numerically expressed. The mounting portion machining program 115 and the wing portion machining program 116 may be those obtained by introducing various types of data from the disk type storage medium D in the storage and reproduction device 106. [

The machining order control program 112 is a program for instructing the execution of the programs 113 to 117 to be executed in the respective steps in the blade machining. The machining order control program 112 and the OS program 111 are introduced into the auxiliary storage device 110 from the disk-shaped storage medium D via the storage / reproduction device 106, for example. The entire programs 111 to 117 may be introduced from the external computer to the auxiliary storage device 110 via the communication network.

All of the programs 111 to 117 are developed on the memory 102 and are executed by the CPU 101. [ The control execution section of the controller is configured with the memory 102 in which the programs 111 to 117 are developed and the CPU 101 that executes the programs 111 to 117 developed on the memory 102. [

Next, a processing procedure of processing the blade material 1a into the blades 1 using the above-described processing device M will be described with reference to the flowchart shown in Fig. In the same drawing, all the processes in the region surrounded by the one-dot chain line are all executed by execution of the machining order control program 112. [

First, the operator instructs the manual input device 103 of the controller 100 to grasp the grip of the blade material 1a in the first work gripper 52a as shown in Fig. 6 (S10 : First gripping step). At this time, the CPU 101 of the controller 100 receives the input from the manual input device 103 under the execution of the first gripping program 113, and the first work holding device 52a and the first gripping moving mechanism (53a) to operate them. As a result, the first work gripper 52a grasps the end portion of the blade material 1a in the longitudinal direction Dw. The end portion of the blade material 1a gripped by the first work gripper 52a is a part of the blade forming portion 2a of the blade material 1a. Further, the first gripping step (S10) may be fully automated. That is, the grip of the blade material 1a may be gripped by the first work gripper 52a only by an instruction from the controller 100, without being instructed by the manual input device 103. [

The CPU 101 of the controller 100 causes the CPU 101 of the controller 100 to execute the processing of the machining order control program 112 by the CPU (Step S11: first processing instruction step).

The CPU 101 receives this instruction and activates the mounting part machining program 115 to execute the mounting part machining program 115. [ The CPU 101 transmits control signals to the tool driving mechanism 54 and the tool moving mechanism 55 under the execution of the mounting part machining program 115 to operate them to cause them to move The mounting and forming portion 3a is machined (S21: mounting portion machining step). In this mounting 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 configured to move the mounting and forming portion 3a indicated by the controller 100 out of the plurality of processing tools T1 to T4 placed on the tool station 56, Is mounted on the spindle 54s. Subsequently, the tool driving mechanism 54 and the tool moving mechanism 55 drive the processing tool T1 mounted on the tool driving mechanism 54 to process the mount forming portion 3a in the blade material 1a And the mounting portion 3 are formed. In the machining of the mount forming portion 3a by the machining tool T1, the first gripping moving mechanism 53a is driven as necessary and the wing material 1a on which the first work holding tool 52a is gripped, / RTI >

The mounting formation portion 3a in the blade material 1a is machined into the mounting portion 3 by the execution of the mounting portion processing step S21 and the blade material 1a is pressed against the first intermediate material 1b ).

The CPU 101 instructs the CPU 101 itself to execute the second gripping program 114 under the execution of the machining sequence control program 112 (S12: second Gripping instruction process).

The CPU 101 receives this instruction, activates the second gripping program 114, and executes the second gripping program 114. The CPU 101 transmits a control signal to the second work gripper 52b and the second gripper moving mechanism 53b under the execution of the second gripper program 114 to operate them, As shown in the drawing, the mounting portion 3 of the first intermediate material 1b is gripped by the second work gripper 52b (S22: second gripping step).

When the second gripping step S22 ends, the CPU 101 causes the CPU 101 to attach itself to the blade forming part 2a by the first work gripper 52a under the execution of the machining order control program 112, And instructs the execution of the first holding program 113 to release the gripping of the first finger (step S13: first finger removal instruction step).

The CPU 101 receives this instruction, activates the first holding program 113, and executes the first holding program 113. The CPU 101 transmits control signals to the first work gripper 52a and the first gripper moving mechanism 53a under the execution of the first gripper program 113 to operate them, Thereby releasing the holding of the blade forming portion 2a to the gripper 52a (S23: first grip releasing step)).

The CPU 101 instructs the CPU 101 itself to execute the support program 117 under the execution of the machining sequence control program 112 (S24: (Step S25: second process instruction step), and instructs execution of the wing part machining program 116 (step S25: second process instruction step).

The CPU 101 receives this instruction, activates the support program 117, and executes the support program 117. The CPU 101 controls the second gripping moving mechanism 53b, the retaining mechanism 57 and the fluid control valve 43 of the fluid supply 40 under the execution of the support program 117 9, the wing forming portion 2a of the first intermediate material 1b gripped by the second work gripper 52b is supported on the support 10 (S24: supporting step). In addition, the CPU 101 activates the wing section machining program 116 to execute the wing section machining program 116. [ The CPU 101 transmits control signals to the second gripping moving mechanism 53b, the tool driving mechanism 54 and the tool moving mechanism 55 under the execution of the wing section machining program 116, , And the wing forming portion 2a of the first intermediate material 1b is machined on these (S25: wing portion machining step).

In the supporting step S24, the controller 100 operates the second gripping moving mechanism 53b and the guide moving mechanism 57, and forms a wing of the first intermediate material 1b just above the support 10 And the respective pins 21 of the support 10 are brought into contact with the blade forming portion 2a. At this time, the longitudinal direction Dw of the first intermediate material 1b becomes the Y direction. That is, the longitudinal direction Dw of the first intermediate material 1b is the horizontal direction perpendicular to the Z direction, and is perpendicular to the pin extending direction Dp of each pin 21 of the support 10 Direction.

On the downward surface of the blade forming portion 2a of the first intermediate material 1b in the process of relative movement of the first intermediate material 1b relative to the support 10, The contact sheets 24 of the plurality of fins 21 in contact with the pins 21 contact each other in order. When the contact sheet 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 first intermediate material 1b in the pin extending direction Dp The position of the pin 21 in the pin extending direction Dp follows the movement of the position of the surface of the work 1b.

When the first intermediate material 1b reaches a predetermined position, the entire fin 21 of the support 10 contacts the blade forming portion 2a of the first intermediate material 1b and the second gripping movement mechanism 53b and the earth moving mechanism 57 are stopped. When the second gripping moving mechanism 53b and the retaining mechanism 57 are stopped, the controller 100 opens the fluid regulating valve 43 of the fluid feeder 40 in the supporting step S24. As a result, the fluid regulating valve 43 is opened, and the fluid from the fluid discharging source 41 is supplied to the support 10 via the fluid line 42. This fluid flows into the fluid chamber 29 of the plurality of support cylinders 20 through the main flow path 13 and the branch flow path 14 of the cylinder bed 11 to elastically deform the collet 36 to the inner circumferential side. As a result, the collet 36 grasps the proximal end portion of the fin 21 and restrains the pin 21 in the pin extending direction Dp in a non-movable manner. By the constraint of the pin 21, the blade forming portion 2a of the first intermediate material 1b is held by the support 10 from below.

In the wing part machining 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 attached to the spindle 54s of the tool driving mechanism 54 at the original position in the tool station 56. [ Subsequently, among the plurality of processing tools T (T1 to T4) placed in the tool station 56, the machining tool T3 for machining the blade forming portion 2a instructed from the controller 100 is mounted on the spindle 54s, . Next, the tool driving mechanism 54 and the tool moving mechanism 55 drive the tool T3 attached to the tool driving mechanism 54 to the blade forming portion 2a of the first intermediate material 1b, The upper portion of the wafer W is processed. During processing of the blade forming portion 2a by the processing tool T3 the first intermediate material 1b is held by the second work gripper 52b and the wing forming portion 2a And is supported by the support 10.

During the machining of the blade forming portion 2a by the processing tool T3, the support 10 may not be moved at all, but may be moved. For example, in the process of moving the processing tool T3 during machining, when the machining tool T3 and the retainer 10 do not face each other in the pin extending direction Dp, May be moved. At this time, the movement of the machining tool T3 is stopped, the machining is stopped once, the restraint of the pin 21 of the retainer 10 is released, . Thereafter, the pin 21 of the support 10 is restrained, and then the machining by the machining tool T3 is started again.

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

In the wing portion processing step S25, the controller 100 drives the second gripping moving mechanism 53b to process the lower portion of the blade forming portion 2a in the second intermediate material 1c The second intermediate work 1c gripped by the second work gripper 52b is moved upward together with the second work gripper 52b so that the support 10 and the second intermediate workpiece 1c.

When the support 10 and the second intermediate material 1c are separated, as a part of the supporting step S24, the controller 100 closes the fluid control valve 43 of the fluid feeder 40, Thereby releasing the constraint of the pin 21 of the motor 10. Next, as shown in Fig. 10, the second gripper moving mechanism 53b is further driven so that the second gripper moving mechanism 53b is moved along with the second work gripper 52b, 2 The intermediate material (c) is reversed about the grip axis (Ag) of the second work gripper (52b). As a result, the lower part of the second intermediate material 1c becomes the upper part, and the upper part becomes the lower part. Next, the controller 100 performs a second gripping movement so that the plurality of pins 21 of the support 10 come into contact with the lower surface of the blade forming portion 2a of the second intermediate material 1c At least one of the mechanism 53b and the paper feed mechanism 57 is driven. As a result, the plurality of fins 21 of the support 10 sequentially contact the surface of the second intermediate material 1c in the lower direction of the blade forming portion 2a. Even in this process, when the contact sheet 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 in the pin extension direction Dp The position of the pin 21 in the pin extending direction Dp is followed by the movement of the position of the surface of the second intermediate material 1c. The lower surface of the blade forming portion 2a of the second intermediate material 1c is a surface that has already been processed, and thus forms a three-dimensional curved surface. However, the entire contact sheet 24 of the plurality of fins 21 comes into contact with the lower surface of the second intermediate material 1c by the follow-up operation of the plurality of fins 21. [ When the entirety of the plurality of fins 21 of the support member 10 comes into contact with the lower surface of the second intermediate material 1c, the controller 100 opens the fluid control valve 43 of the fluid feeder 40 . As a result, the fluid regulating valve 43 is opened, and the fluid from the fluid discharging source 41 is supplied to the support 10 via the fluid line 42. By the supply of the fluid, the collet 36 of the support 10 grasps the base end portion of the fin 21 and restrains the pin 21 in the pin extending direction Dp in a non-movable manner. By the constraint of the pin 21, the blade forming portion 2a of the second intermediate material 1c is held by the support 10 from below.

Next, as a part of the wing section machining 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 drive the tool T3 mounted on the tool driving mechanism 54 in the blade forming portion 2a of the second intermediate material 1c As shown in Fig. During processing of the blade forming portion 2a by the processing tool T3, the second intermediate material 1c is held by the second work gripper 52b at the mounting portion 3, And is supported by the support 10.

During the machining of the blade forming portion 2a by the working tool T, it is not necessary to move the support 10 entirely, but it may be moved as described above.

Thus, when the wing portion 2a is formed and the wing portion 2 is formed, the series of processes is completed.

When the blade forming portion 2a is machined by a cutting tool such as a cutter and the blade forming portion 2a is precisely machined by a grinding tool such as a grindstone The grinding tool is replaced with a grinding tool, and then the grinding surface formed by grinding is grinded with a grinding tool in the same manner as above. That is, while one side of the negative pressure surface and the downward pressure side of the blade portion formed by the rough working is supported by the support 10, the other surface facing the upper side is ground with a grinding tool. Next, the second gripping moving mechanism 53b is reversed so that the above-mentioned one side is faced upward and the other faced face is faced downward. Next, the other face directed downward is supported by the support 10, and one face directed upward is ground with a grinding tool.

After the roughing with a cutting tool such as a cutter or the finishing with a grinding tool such as a grindstone or the like is further carried out with an abrasive tool such as an elastic grindstone or the like, The wing surfaces are polished in the same manner as in the above-described precision machining.

As described above, when the precision machining by the grinding tool is carried out, after finishing the precision machining, the grinding tool is used to form the surface shape of the grinding tool by using the dressing tool, and then the other wing material 1a It is preferable to set the time for machining. In this case, the controller 100 stores the amount of change in the tool diameter of the grinding tool by the dressing as a correction value, and then, when processing the other wing material 1a with the grinding tool, It is preferable to correct the relative position of the grinding tool by this correction.

As described above, in this embodiment, the mounting portion 3 is formed on the other end side in a state where one end portion of both end portions of the wing material 1a is gripped by the first work gripper 52a. Thereafter, the wing portion 2 is formed on one end side in a state where the mounting portion 3 on the other end side is gripped by the second work gripper 52b. For this reason, in the present embodiment, it is not necessary to separately form a fixing portion that does not constitute the blades 1 in the process of processing the blades 1 with the blade material 1a. Further, in this embodiment, as described above, the wing material 1a is transferred from the first work gripper 52a to the second work gripper 52b, 1) can be processed in a consistent manner. Therefore, in the process of forming the blade 1 with the blade material 1a, it is not necessary to transfer the blade material 1a to a plurality of processing devices. For example, after the mounting portion 3 is formed of a wing material with one machining device, the wing material is separated from the machining device, the wing material is mounted on another machining device, It is not necessary to form the wing portion 2 from the wing material.

Therefore, in the present embodiment, the lead time for manufacturing the blade 1 can be shortened.

In addition, in the present embodiment, since the blade 1 can be integrally machined with one machining device M, the load of quality control of the processed blade 1 can be reduced.

In this embodiment, in the wing section processing step (S25), while the mounting portion 3 of the intermediate materials 1b and 1c is gripped by the second work gripper 52b, the wings of the intermediate materials 1b and 1c The forming portion 2a is supported by the support 10 from below and the blade forming portion 2a is processed. Therefore, in the present embodiment, since the blade forming portion 2a is processed in a state of stably supporting the intermediate materials 1b and 1c, which are elongated objects, chatter vibration of the machined portion during machining can be prevented, Can be suppressed. As a result, in the present embodiment, it is possible to suppress roughing of the surface roughness of the machined surface and damage of the machining tool T due to the chattering vibration.

In the above embodiment, the longitudinal direction Dw of the blade forming object 1d is perpendicular to the pin extending direction Dp when the blade forming object 1d is processed with the processing tool T . However, when the blade forming object 1d is being processed, the longitudinal direction Dw of the blade forming object 1d may be a direction having a direction component perpendicular to the pin extending direction Dp, good.

Also, in the above embodiment, even when the mounting forming portion 3a of the blade material 1a is machined by the processing tool T, the mounting portion 3a is supported by the supporting portion 10 from below .

In the above embodiment, when the machining apparatus M includes the plurality of tool driving mechanisms 54 and the plurality of tool moving mechanisms 55, the first tool driving mechanism and the first tool moving mechanism The wing portion 2 may be machined by driving the mounting portion 3 by driving and driving the second tool driving mechanism and the second tool moving mechanism.

[Industrial Availability]

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

1: wing 1a: wing material
1b: first intermediate material 1c: second intermediate material
1d: wing forming part 2: wing part
2a: a wing forming part 3: a mounting part
3a: mounting forming part 10: supporting part
11: cylinder rod 12:
13: Main Euro 14: Quarter Euro
20: Support cylinder 21: Pin
25: Casing 26: Cylinder chamber
28: inlet 29: fluid chamber
31: follower mechanism 32: guide rod
33: spring 35: pin restraint mechanism
36: Collet 40: Fluid feeder
51: base 52a: first work gripper
52b: second work gripper 53a: first gripping mechanism
53b: second gripping mechanism 54: tool driving mechanism
55: tool movement mechanism 56: tool station
57: earth moving device 100: controller
101: CPU 102: Memory
105: device interface 110: auxiliary storage device
112: machining sequence control program 113: first grasp program
114: second gripping program 115: mounting part machining program
116: wing part machining program 117: support program

Claims (6)

A method of processing a blade having a long blade portion in one direction and a mounting portion provided in the one-directional end portion of the blade portion,
A grip moving mechanism which is provided on the base for each of the plurality of workpiece gripping machines and changes a direction and a position of the workpiece gripping machine; A tool driving mechanism for driving the tool, wherein the tool driving mechanism is provided for each of the at least one tool driving mechanism, and changes the direction and the position of at least the portion to which the tool is mounted in the tool driving mechanism By using a machining apparatus having a tool moving mechanism for performing a machining operation,
A first grasping step of grasping a wing-forming part of the work to be winged on a first work grasping machine among the plurality of work grasping machines,
The tool driving mechanism for any one of the one or more tool driving mechanisms and the tool moving mechanism for the tool driving mechanism is driven so that the mounting forming portion as the mounting portion from among the materials gripped by the first work gripper is machined A mounting portion processing step of forming the mounting portion,
A second gripping step of gripping the second workpiece gripper among the plurality of workpiece grippers after the mounting portion machining step,
A first gripping releasing step of releasing gripping of the wing forming part by the first work gripper after the second gripping step,
Driving the tool moving mechanism for any one of the one or more tool driving mechanisms and the tool driving mechanism after the first gripping releasing process to move the tool moving mechanism The wing forming portion is machined to perform a wing portion machining step for forming the wing portion
How to process wings. The method according to claim 1,
The wing portion processing step is executed in a state in which the one direction of the workpiece held by the mount portion is directed by the second work gripper in a direction including a horizontal direction component,
During the execution of the wing portion processing step, a supporting step of supporting the wing forming portion from the lower side of the wing forming portion of the work in which the mounting portion is held by the second work gripper is carried out
How to process wings. 1. A blade processing apparatus having a long blade portion in one direction and a mounting portion provided in the one-directional end portion of the blade portion,
A base,
A plurality of work grasping devices for grasping a workpiece,
A grip moving mechanism provided on the base for each of the plurality of work grasping machines and for changing a direction and a position of the work grasping machine,
At least one tool driving mechanism mounted with a machining tool for machining the machining object,
A tool movement mechanism provided in the base for each of the one or more tool drive mechanisms and for changing a direction and a position of at least a portion to which the tool is mounted in the tool drive mechanism;
And a controller for controlling the operation of the tool movement mechanism for each of the plurality of work gripping machines, the gripping movement mechanism for each of the plurality of work gripping machines, the at least one tool drive mechanism, and the at least one tool drive mechanism,
The controller comprising:
The first workpiece gripper of the plurality of workpiece grippers gripping the wing forming portion that is the wing portion of the workpiece, the first workpiece gripper of any one of the one or more tool drive mechanisms and the tool A mounting portion machining step of forming the mounting portion by machining the mount forming portion that is the mounting portion of the material gripped by the first work grasping device by driving the moving mechanism,
A second gripping step of gripping the second workpiece gripper among the plurality of workpiece grippers after the mounting portion machining step,
A first gripping releasing step of releasing gripping of the wing forming part by the first work gripper after the second gripping step,
Driving the tool moving mechanism for any one of the one or more tool driving mechanisms and the tool driving mechanism after the first gripping releasing process to move the tool moving mechanism And a control executing section for executing the wing section machining step for forming the wing section by machining the wing forming section
Processing equipment for wings. The method of claim 3,
And a support for supporting the material from below,
The control execution unit,
The gripping moving mechanism for the second work gripper makes the one direction of the workpiece held by the second work gripper to be directed in a direction including a horizontal component, The wing portion processing step is executed in the state that the wing portion is machined,
And a supporting step of supporting the wing forming portion from the lower side of the wing forming portion in the material in which the mounting portion is held by the second work grasping device during the execution of the wing portion processing step
Processing equipment for wings. 5. The method of claim 4,
Wherein the support has a plurality of cylinders for supporting the work from a lower side of the work and a cylinder bar on which a plurality of cylinders are mounted,
The cylinder includes a pin, a casing covering the base end of the pin so as to be displaceable in a pin extending direction in which the pin extends, and a casing having a front end portion contacting the front surface of the pin, A follower mechanism for following the position of the pin in the pin extending direction at the position of the surface of the work in the pin extending direction and a relative position in the pin extending direction with respect to the casing And a pin-
Wherein the casing of each of the plurality of cylinders is fixed to the cylinder block
Processing equipment for wings. A machining order control program for a machining apparatus for a blade having an elongated blade portion in one direction and a mounting portion provided in the one-directional end portion of the wing portion,
The apparatus includes a base, a plurality of work grasping devices for grasping an object to be processed, a grip moving mechanism provided on the base for each of the plurality of work grasping machines and for changing the direction and position of the work gripping machine, At least one tool drive mechanism for driving the tool, wherein the tool driving mechanism is provided in the base for each of the at least one tool drive mechanism, and at least a portion of the tool drive mechanism in which the tool is mounted A tool movement mechanism for changing a direction and a position of the tool movement mechanism, and a tool movement mechanism for moving the tool movement mechanism for each of the plurality of workpiece gripping machines, the gripping movement mechanism, the at least one tool drive mechanism, And a controller for controlling the operation of the mechanism,
In the controller,
The first workpiece gripper of the plurality of workpiece grippers gripping the wing forming portion that is the wing portion of the workpiece, the first workpiece gripper of any one of the one or more tool drive mechanisms and the tool A first machining instruction step of instructing execution of a machining part machining program for forming the machining part by machining a mount forming part of the mount part in the work held in the first work grasping machine by driving the moving mechanism,
A second gripping instruction step of instructing execution of a second gripping program for gripping the second workpiece gripper among the plurality of workpiece grippers after the mounting portion is formed;
A first gripping release instruction step for instructing execution of a first gripping program to release gripping of the vane forming portion by the first work gripper after the second work gripper grips the mounting portion;
Driving the tool movement mechanism for any one of the one or more tool driving mechanisms and the tool driving mechanism out of the one or more tool driving mechanisms after the first work gripper releases gripping of the vane forming portion, And a second processing instruction step for instructing execution of a wing part machining program for forming the wing portion by machining the wing forming portion in the material gripped by the gripper
A machining sequence control program stored on media.

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