Method for machining a component and machining device

Abstract

Method for machining a component (26, 28, 30), in particular a component (26, 28, 30) for a turbomachine, comprising at least the following steps: a) Arranging the component (26, 28, 30) on a clamping device (24) by a robot unit (20) and aligning the component (26, 28, 30) relative to the clamping device (24) by the robot unit (20); b) Fixing the component (26, 28, 30) to the clamping device (24) by moving at least one clamping element (32, 34) of the clamping device (24) by a robot unit (20), wherein the clamping element (32, 34) is moved by being subjected to at least one rotational movement (36) by the robot unit (20) and during the at least one rotational movement (36) of the clamping element (32, 34) torque monitoring and / or angular rotation monitoring by the robot unit (20); and c) Machining the component (26, 28, 30) fixed to the clamping device (24) by a machine tool (12) d) Loosening and / or removing the clamping device (24) from the machine tool (12) by the robot unit (20) e) Releasing and / or removing the machined component (26, 28, 30) from the clamping device (24) by the robot unit (20), wherein the clamping element (32, 34) is subjected to a movement (36) by the robot unit (20) limited by a stop element (40) when releasing the machined component.

Description

[0001] The invention relates to a method for machining a component. Further aspects of the invention relate to a machining device and a component.

[0002] Numerous methods for machining components are known from the prior art. These methods include, for example, machining processes in which material is selectively removed from the respective components. Furthermore, it is known that certain machining processes can be carried out semi-automatically, for example, by robots. This allows for significantly higher machining speeds and quality, especially compared to fully manual machining.

[0003] The publication DE 10 2012 009 010 A1 describes a method for generating a robot movement, in which various reference points are first approached by manually guiding the robot and then a movement path for the robot is determined.

[0004] A robot workstation is known from WO 2015 / 173239 A1. A robot provided for in this workstation is designed to detect a reaction moment in the respective robot joints.

[0005] WO 2016 / 049006 A1 shows two robots working together, which can prevent screws from spinning during a screwing process.

[0006] German patent DE 10 2014 208 530 A1 discloses an interchangeable tool for at least partially automated manufacturing. The interchangeable tool comprises a gripping element that can be gripped ergonomically by an operator and safely by a robot.

[0007] WO 2015 / 003829 A1 discloses a method for automatically replacing a pouring sleeve on a sliding closure of a metallurgical vessel. In this method, a support ring is clamped in a maintenance station to fix the pouring sleeve with a defined preload force.

[0008] WO 2016 / 066616 A1 discloses a robotic system for inspecting and arranging components in an assembly process. A tactile inspection tool is guided by an articulated robot arm to determine the position of the components.

[0009] From US patent 2015 / 0039129 A1, a robot system is known by means of which a stirring process can be carried out in a container with components by means of a gripper of the robot system without the gripper being subjected to high loads.

[0010] EP 1 787 750 A1 discloses a method for machining a component for a turbomachine, comprising at least the steps of arranging the component on a clamping device, fixing the component on the clamping device by moving at least one clamping element of the clamping device by a robot unit; and machining the component fixed on the clamping device by a machine tool.

[0011] The object of the present invention is to provide a method for machining a component, as well as a machining device of the type mentioned above, by means of which even more precise and particularly fast machining of a component is made possible. A further object of the invention is to specify such a component.

[0012] The problems are solved according to the invention by a method with the features of claim 1, by a processing device according to claim 5, and by a component according to claim 8. Advantageous embodiments with expedient further developments of the invention are specified in the respective dependent claims, wherein advantageous embodiments of each aspect of the invention are to be regarded as advantageous embodiments of the other aspects of the invention and vice versa.

[0013] A first aspect of the invention relates to a method for machining a component, in particular a component for a turbomachine. According to the invention, the method comprises at least the following steps: a) Arranging the component (26, 28, 30) on a clamping device (24) by a robot unit (20) and aligning the component (26, 28, 30) relative to the clamping device (24) by the robot unit (20); b) Fixing the component (26, 28, 30) to the clamping device (24) by moving at least one clamping element (32, 34) of the clamping device (24) by a robot unit (20), wherein the clamping element (32, 34) is moved by being subjected to at least one rotational movement (36) by the robot unit (20) and during the at least one rotational movement (36) of the clamping element (32, 34) torque monitoring and / or angular rotation monitoring by the robot unit (20); and c) Machining the component (26, 28, 30) fixed to the clamping device (24) by a machine tool (12) d) Loosening and / or removing the clamping device (24) from the machine tool (12) by the robot unit (20) e) Releasing and / or removing the machined component (26, 28, 30) from the clamping device (24) by the robot unit (20), wherein the clamping element (32, 34) is subjected to a movement (36) by the robot unit (20) limited by a stop element (40) when releasing the machined component.

[0014] Securing the component to the clamping device by moving the clamping element or multiple clamping elements can be performed with exceptional precision and speed by the robot unit, thus enabling particularly accurate and rapid machining of the component within the process. The clamping element can be designed, for example, as a clamping screw or a bayonet fitting, to name just a few types. The use of the robot unit allows for automated and repeatable clamping of the component to be machined. This effectively prevents process variations that can occur with previously known, manually performed clamping processes.The influence of an operator can thus be eliminated, for example, when positioning the component, thereby reducing the likelihood of subsequent machining errors. The clamping device, which can also be called a clamping device, can be designed to fit precisely onto or be inserted into a fixture on the machine tool. The machine tool can be, for example, a milling machine. The clamping device can be adapted to the corresponding fixture on the machine tool. The robot unit can operate according to a machining program designed to carry out the process. The robot unit can be controlled by an automated robot system and can therefore perform the process steps independently. The robot unit can be designed to operate without human intervention.The robot unit can also be described as a motion automation system. The component in question could be, for example, blades or structural components of turbomachinery. Therefore, particularly good reproducibility during the machining of these components is crucial to avoid, for instance, manufacturing-related running instability during the subsequent operation of the turbomachine equipped with these components. The turbomachine can be a thermal turbomachine. In particular, the turbomachine could be an aircraft engine.

[0015] In an advantageous embodiment of the invention, after the component has been fixed to the clamping device in step b), the robot unit arranges and / or fixes the clamping device to the machine tool in a further step b1). This is advantageous because it enables particularly precise and rapid arrangement and, additionally or alternatively, fixing of the clamping device, thereby accelerating the overall process.

[0016] In a further advantageous embodiment of the invention, in step b1) the robot unit aligns the clamping device relative to the machine tool when it is arranged and / or fixed to the machine tool. This is advantageous because it increases the machining quality compared to manual alignment known from the prior art. Accordingly, the probability of producing scrap during machining of the component due to inaccurate alignment is reduced.

[0017] In a further advantageous embodiment of the invention, in step b) the clamping element is moved by being subjected to at least one rotational movement by the robot unit. This is advantageous because the rotational movement allows for a simple self-locking mechanism, which at least largely prevents the clamping element from unintentionally loosening. Particularly good self-locking can be achieved if the clamping element is designed, for example, as a screw (clamping screw).

[0018] Within the scope of the invention, torque monitoring and / or angular rotation monitoring is performed by the robot unit during at least one rotational movement of the clamping element. This is advantageous because it achieves particularly good reproducibility of the rotational movement and thus largely avoids undesirable machining variations when processing the component.

[0019] In step a) of the invention, the robot unit positions the component on the clamping device. This is advantageous because it allows any process variations that can occur with a manually performed component positioning method known from the prior art to be at least largely prevented. The influence of an operator can thus be eliminated when positioning the component on the clamping device, thereby reducing the probability of machining errors on the component.

[0020] According to the invention, when the robot unit positions the component on the clamping device, it aligns the component relative to the clamping device. This offers an advantage over systems known in the prior art because the clamping device does not need to have a defined 6-point alignment system (for precise spatial alignment of the component), thus eliminating the need for precise alignment and exact positioning at these six points. Unlike manual alignment methods known in the prior art, this eliminates the need for complex manual orientation of the component, for example, by means of such a 6-point alignment system on the clamping device.

[0021] In a further step d) of the invention, the robot unit releases and / or removes the clamping device from the machine tool. This is advantageous because the robot unit can exert particularly large forces and thus overcome correspondingly large holding forces that may be required to release the clamping device from the machine tool. Conversely, the clamping device can also be fixed to the machine tool using particularly large holding forces, and therefore with particular security. In addition to or as an alternative to releasing the clamping device, the robot unit can also remove it from the machine tool, thus advantageously enabling particularly safe dismantling of the clamping device from the machine tool.

[0022] In a further step (e) of the invention, the robot unit releases and / or removes the machined component from the clamping device. This is advantageous because the robot unit can overcome particularly high clamping forces that may be required to release the component from the clamping device. Conversely, the component can also be fixed to the clamping device using particularly high clamping forces, thus ensuring a particularly secure hold. In addition to or as an alternative to releasing the component, the robot unit can also remove it from the clamping device, advantageously enabling a particularly safe disassembly of the component from the clamping device.

[0023] In the context of the invention, the clamping element is subjected to a movement by the robot unit, limited by a stop element, when the machined component is released. This is advantageous because the stop element allows for a particularly well-defined limitation of the movement. The stop element can be integrated into the clamping device.

[0024] In a further advantageous embodiment of the invention, prior to machining the component by the machine tool in step c), the component is measured, whereby the position of at least one point of the component relative to a zero-point clamping system of the clamping device is determined. This is advantageous because, for example, any positional tolerances that may occur when arranging the component on the clamping device can be taken into account and compensated for during machining of the component in step c). The zero-point clamping system can be integrated into the clamping device. The zero-point clamping system allows the clamping device to be positioned reproducibly and precisely on the machine tool. This thus enables reproducibly precise positioning of the clamping device, even, for example, after repeated, successive removal and reattachment of the clamping device to the machine tool.By determining the respective position of at least one point (of the component) or several points relative to the zero-point clamping system, the component can be machined precisely by the machine tool.

[0025] A second aspect of the invention relates to a machining device comprising a machine tool for machining a component, in particular a component for a turbomachine, a clamping device for securing the component to the machine tool, and a robot unit configured to secure a component to and release it from the clamping device. Such a machining device enables particularly fast and precisely reproducible machining of components.

[0026] In a further advantageous embodiment of the invention, an optical unit is provided for monitoring the relative alignment between the component and the clamping device and / or the relative alignment between the clamping device and the machine tool. This is advantageous because the optical unit provides a non-contact monitoring system, which allows for particularly reliable monitoring of the machining of the component and also enables the detection of any malfunctions or disturbances of the robot unit and, additionally or alternatively, of the machine tool.

[0027] In a further advantageous embodiment of the invention, at least one fluid pressure element is provided for securing the component in the clamping device, which can be moved by the robot unit via at least one clamping element of the clamping device. This is advantageous because such a fluid pressure element allows for a particularly uniform application of pressure and thus the exertion of a clamping force on the component arranged in the clamping device. The fluid pressure element can, for example, be designed as a hydraulic pressure element, a gas pressure element, or a plasma pressure element. Accordingly, the fluid pressure element can, for example, be designed as a hydraulic cylinder or as a cylinder filled with a gas, to name just a few examples.The fluid in the fluid pressure element can be set in motion by moving the clamping elements using the robot unit, thereby exerting pressure on the component to clamp it to the clamping device.

[0028] A third aspect of the invention relates to a component, particularly for a turbomachine, which is obtainable and / or produced by a method according to the invention and / or by means of a machining device according to the invention. Such a component, which may, for example, be designed as a blade or structural component of a turbomachine, can be machined particularly quickly and precisely by the method according to the invention and additionally or alternatively by means of the machining device according to the invention. The resulting features and their advantages can be found in the descriptions of the first and second aspects of the invention, whereby advantageous embodiments of the first and second aspects of the invention are to be regarded as advantageous embodiments of the third aspect of the invention and vice versa.

[0029] Further features of the invention will become apparent from the claims and the exemplary embodiments. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the exemplary embodiments and / or described individually, can be used not only in the combinations specified, but also in other combinations or on their own, without departing from the scope of the invention. This is illustrated by: Fig. 1 a schematic representation of an exemplary embodiment of a machining device according to the invention; and Fig. 2a-2c respective perspective views of different components, each of which is held in a clamping device for a machine tool of the machining device.

[0030] In the figures, identical or functionally equivalent elements are provided with the same reference symbols.

[0031] Fig. Figure 1 shows a machining device 10 with a machine tool 12 for machining and measuring a component 26, 28, 30. The component 26, 28, 30 can be - as shown in the Fig. 2a-2c shows the components as either blades (parts 26, 28) or structural components (part 30), and thus as components of a turbomachine not shown here. For clarity, the respective components 26, 28, 30 are shown in Fig. Figure 1 is not shown. The turbomachine can be a thermal turbomachine and, in particular, an aircraft engine. The processing device 10 is designed to execute a sequence program and thereby carry out the method according to the invention independently.

[0032] The machining device 10 comprises a clamping device 24, which is located in the Fig. 2a-2c are shown in more detail in various embodiments and serve to secure the component 26, 28, 30 to the machine tool 12. The machining device 10 also includes a robot unit 20, which is designed to secure the component 26, 28, 30 to the clamping device 24 and to release it from the clamping device 24. The robot unit includes a tool turret (not shown in detail here) which contains various interchangeable tools. Of these tools, Fig. 1 For the sake of clarity, only one robot tool 22 designed as a gripper is shown.

[0033] The machining device 10 also includes an optical unit 18 for optically monitoring a relative alignment between the component 26, 28, 30 and the clamping device 24 and for monitoring and checking a relative alignment between the clamping device 24 and the machine tool 12.

[0034] The machine tool 12 further comprises a fixture holder 14, on which the clamping device can be clamped in a positive-locking and force-locking manner. In Fig. Figure 1 shows the clamping device 24, which is clamped to the fixture holder 14, as shown in dashed lines. The machine tool 12 includes a tool 16 designed as a milling cutter for machining the respective component 26, 28, 30.

[0035] The processing device 10 is – as already explained – designed to perform a process for processing the respective component 26, 28, 30, wherein the robot unit 20 first positions the component 26, 28, 30 on the clamping device 24. The clamping device 24 can be detachably fixed to a clamping station 42 by means of the robot unit. When positioning the component 26, 28, 30 on the clamping device 24, the robot unit 20 also aligns the component 26, 28, 30 relative to the clamping device 24.

[0036] Subsequently, the components 26, 28, 30 are secured to the clamping device 24 by the robot unit 20 moving the respective clamping elements 32, 34 of the clamping device 24, which are designed as screws. During this movement, a rotational movement 36 of the clamping elements 32, 34 is performed, as indicated by an arrow. During this movement, the respective clamping jaws 38 of the clamping device, which interact with the screws 32, 34, are pressed against the respective components 26, 28, 30. The respective clamping element 32, 34 is thus moved by being subjected to the rotational movement 36 by the robot unit 20. During the rotational movement 36 of the clamping element 32, 34, the robot unit 20 monitors the torque and, additionally or alternatively, the angular rotation.

[0037] The respective component 26, 28, 30, which is fixed to the clamping device 24, is then machined by the machine tool 12. For this purpose, the respective component 26, 28, 30, which is clamped in the clamping device 24, is first positioned and fixed on the machine tool 12 by the robot unit 20 after it has been fixed to the clamping device 24. This involves precisely aligning the clamping device 24, and thus the respective component 26, 28, 30, in space. The robot unit 20 may have measuring devices 21 that enable a so-called "measuring" process. The "measuring" process is also described in detail below. Furthermore, when positioning and fixing the clamping device 24 on the machine tool 12, the robot unit 20 precisely aligns the clamping device 24 relative to the machine tool 12.The robot unit 20 is therefore designed to align and fix the components 26, 28, 30 relative to the clamping device 24 and the clamping device 24 relative to the machine tool 12. The robot unit 20 thus enables dual alignment and dual fixing, allowing for high machining speed and quality even with components 26, 28, 30 that are not directly related to each other.

[0038] After the respective component 26, 28, 30 has been positioned on the machine tool 12, machining of the component 26, 28, 30 can be carried out by the machine tool 12 (not shown here), whereby the tool 16 (here: milling cutter) acts on the component 26, 28, 30. After machining of the respective component 26, 28, 30, the robot unit 20 releases and removes the clamping device 24 from the machine tool 12. Subsequently, the robot unit 20 releases and removes the machined component 26, 28, 30 from the clamping device 24.

[0039] The respective clamping element 32, 34 (here: screw) is loosened by means of a Fig. The stop element 40 shown in 2a-c is subjected to limited movement by the robot unit 20. This movement is opposite to the rotary movement 36.

[0040] The "measuring" of component 26, 28, 30 can be carried out before machining component 26, 28, 30 (step c)). During the measuring process, at least one point or several points of component 26, 28, 30 in space (for example, six points of component 26, 28, 30) in the arrangement of component 26, 28, 30 on the clamping device 24 can be detected using suitable sensors (e.g., optical sensors). Subsequently, the respective position of these points relative to a zero-point clamping system of the clamping device 24 can be determined during the measuring process. The relative position of the points to the zero-point clamping system can then be transmitted—in the form of a data set characterizing this relative position—to a computer unit of the machine tool 12. Depending on the data set, the tool 16 of the machine tool 12 can then be aligned and guided by the machine tool 12 relative to the component 26, 28, 30 for machining the component 26, 28, 30.This, in turn, allows any deviations / tolerances that may arise when positioning the components 26, 28, 30 on the clamping device 24 to be taken into account and compensated for particularly efficiently during machining by the machine tool 12. The zero-point clamping system can be assigned to the clamping device 24. The zero-point clamping system allows the clamping device 24 to be set with reproducible precision on the machine tool 12. This enables reproducibly precise positioning of the clamping device 24 on the machine tool 12, even, for example, when the clamping device 24 is repeatedly removed and reattached to the machine tool 12. By determining the respective position of the points (of the components 26, 28, 30) relative to the zero-point clamping system, the machine tool 12 can thus perform precise and reproducibly accurate machining of the components 26, 28, 30.

[0041] The measuring instruments 21 can be integrated into the robot unit 20, enabling measurement to be performed using the robot unit 20. The measuring instruments 21 can, for example, be designed as optical sensors. Measurement using the robot unit 20 can be carried out in a particularly confined space, thus saving space. Furthermore, measurement by the robot unit 20 can generally and overall accelerate the machining process of the component 26, 28, 30. This is because measurement by the measuring instruments 21 of the robot unit 20 can also be performed, for example, during the positioning and / or fixing of the clamping device 24 on the machine tool 12 by the robot unit 20, and thus during step b1).Thus, the measuring by the measuring instrument 21 can also be carried out, for example, during transport of the component 26, 28, 30 fixed in the clamping device 24 by the robot unit 20 to the machine tool 12.

[0042] Additionally or alternatively, the measurement can also be carried out by a Fig. 1. Measuring device 44, which is shown only schematically and can be separate from the robot unit 20 and the machine tool 14, is used for measurement. For measurement using the measuring device 44, the component 26, 28, 30 can be positioned on the measuring device 44 by means of the robot unit 20, as shown in Figure 1. Fig. As indicated in Figure 1, decoupling the robot unit 20 from the machine tool 14 effectively prevents the transmission of vibrations to the measuring device 44. These vibrations can occur, for example, during machining of the component 26, 28, 30 using the machine tool 12 or during component transport by the robot unit 20. This enables particularly precise measurement.

[0043] The machine tool 14 can also have an integrated measuring system 13, which can perform the function of the measuring device 44 and additionally or alternatively the measuring instruments of the robot unit 20. Such an integrated measuring system 13 can therefore also be statically fixed to the machine tool 12, thus enabling particularly precise measurement. This allows the measurement of the component 26, 28, 30, performed by the measuring instruments of the robot unit 20 and additionally or alternatively by the measuring device 44, to be either checked again by the measuring system 13 or carried out independently of the measuring device 44 or the robot unit 20. This increases the reliability of the entire machining device 10.Furthermore, for example, the respective measurement data determined independently by the measuring instruments of the robot unit, the measuring system 13 of the machine tool 12 and the measuring device 44 can be compared with each other, and thereby any malfunctions can be identified during the execution of the procedure without having to carry out maintenance which could lead to any downtime (during which no component machining of components 26, 28, 30 could take place) of the machining device 10.

[0044] In summary, the present invention offers the following advantages over the prior art: Firstly, only two devices of the machining device 10 are necessary to machine the respective component 26, 28, 30: the robot unit 20 and the machine tool 12.

[0045] Furthermore, the insertion, screwing, and clamping of components 26, 28, and 30 can be automated and performed with high repeatability using the processing device 10, thus largely eliminating process variations compared to manual processes. The influence of an operator is thereby eliminated. Precise alignment based on six points defining the position of each component 26, 28, and 30 in space is therefore not required on a complex device, as these points can be measured as described. In other words, these points can be programmed into the robot unit 20 before the individual process steps are carried out for each of the respective components 26, 28, and 30. A system check known from the prior art can thus be omitted, saving time.

[0046] To maintain precise positioning, it is known in the prior art to bond components requiring precise machining, such as parts 26, 28, 30, in place to ensure that a specific position and orientation of the components 26, 28, 30 is maintained during machining. This bonding is unnecessary with the present invention. Furthermore, it results in a lower overall effort for preparation and post-processing compared to bonding. For example, the removal of any adhesive residue from the finished machined component 26, 28, 30 is no longer required. Clamping the respective component 26, 28, 30 on the clamping device 24 can be performed independently of the surface of the components 26, 28, 30.

[0047] The process is summarized below: The respective component 24, 26, 30 is first removed from a box (not shown) by the robot (robot unit 20). The respective component 26, 28, 30 is then gripped by the robot unit 20 using the robot tool 22 (gripper) and placed into the open clamping device 24, which can also be referred to as a clamping device. The gripper 22 is then replaced with a screwdriver (not shown). In other words, the robot tool 22 is replaced. The screws (clamping elements 32, 34) on the clamping device 24 are tightened by the rotary movement 36 of the robot unit 20, as the screwdriver of the robot unit 20 acts on the clamping elements 32, 34. The tightening process is monitored by torque and angular rotation monitoring.The tool is then changed again, and the screwdriver is replaced by the gripper 22. The component 26, 28, 30, clamped in the clamping device 24, is transported to the machine tool 12 by the robot unit 20 (using the gripper 22). The clamping device 24, with the component 26, 28, 30 secured and aligned within it, is then clamped onto the fixture 14 for further machining by the robot unit 20. Prior to machining, the component 26, 28, 30 can be measured using the measuring system 13, the measuring instruments 21, and / or the measuring device 44. After machining, the clamping device 24, together with the clamped component 26, 28, 30, is removed from the machine tool 12 and placed on the clamping station 42. After replacing the gripper 22 with the screw tool, the screws 32, 34 can be loosened and thus unscrewed until they reach the limit set by the [missing information]. Fig.The stop element 40 shown in different configurations in Figures 2a-2c is then replaced by the gripper 22, allowing the respective component 26, 28, 30 to be removed from the opened clamping device 24 and placed in another box for transport.

[0048] To carry out this process, specially designed clamping devices 24 are required for clamping the respective components 26, 28, 30. The robot unit 20 operates a clamping mechanism by tightening the screws 32, 34 on the respective clamping device 24. This mechanism secures the component 26, 28, 30 in the clamping device 24. Controlling the torque required to tighten the screws 32, 34 ensures that a sufficient and reproducible clamping force is applied to the clamped component 26, 28, 30. The position of the clamping mechanism is further secured by monitoring the rotation angle of the respective clamping elements 32, 34. Thus, secure clamping of the components 26, 28, 30 is guaranteed.

[0049] The invention enables automated clamping of the components 26, 28, 30 by means of the robot unit 20 for subsequent machining in the machine tool 12. Summary

[0050] The invention relates to methods for machining a component (26, 28, 30), in particular a component (26, 28, 30) for a turbomachine, comprising at least the steps of: f) Arranging the component (26, 28, 30) on a clamping device (24); g) Securing the component (26, 28, 30) to the clamping device (24) by moving at least one clamping element (32, 34) of the clamping device (24) by a robot unit (20); and h) Machining the component (26, 28, 30) fixed to the clamping device (24) by a machine tool (12).

[0051] Further aspects of the invention relate to a processing device (10) and a component (26, 28, 30).

Claims

[1] Method for machining a component (26, 28, 30), in particular a component (26, 28, 30) for a turbomachine, comprising at least the steps: a) arranging the component (26, 28, 30) on a clamping device (24) by a robot unit (20) and aligning the component (26, 28, 30) relative to the clamping device (24) by the robot unit (20); b) fixing the component (26, 28, 30) to the clamping device (24) by moving at least one clamping element (32, 34) of the clamping device (24) by a robot unit (20), wherein the clamping element (32, 34) is moved by being subjected to at least one rotational movement (36) by the robot unit (20), and during the at least one rotational movement (36) of the clamping element (32, 34), torque monitoring and / or angular rotation monitoring is carried out by the robot unit (20); and c) machining the component (26, 28, 30) fixed to the clamping device (24) by a machine tool (12) d) Release and / or removal of the clamping device (24) from the machine tool (12) by the robot unit (20) e) releasing and / or removing the machined component (26, 28, 30) from the clamping device (24) by the robot unit (20), wherein the clamping element (32, 34) is subjected to a movement (36) limited by a stop element (40) by the robot unit (20) when releasing the machined component. [2] Method according to claim 1, characterized by that after the component (26, 28, 30) has been fixed to the clamping device (24) in step b), in a further step b1) the clamping device (24) is arranged and / or fixed to the machine tool (12) by the robot unit (20). [3] Method according to claim 2, characterized bythat in step b1) when arranging and / or fixing the clamping device (24) on the machine tool (12), the clamping device (24) is aligned relative to the machine tool (12) by the robot unit (20). [4] Method according to one of the preceding claims, characterized by that before the component (26, 28, 30) is machined by the machine tool (12) in step c), the component (26, 28, 30) is measured, in which a position of at least one point of the component (26, 28, 30) relative to a zero-point clamping system of the clamping device (24) is determined. [5] Processing device (10) for carrying out a method according to one of the preceding claims, - with a machine tool (12) for machining a component (26, 28, 30), in particular a component (26, 28, 30) for a turbomachine, - with a clamping device (24) for securing the component (26, 28, 30) to the machine tool (12), and - with a robot unit (20) which is designed to fix the component (26, 28, 30) to the clamping device (24) and to release it from the clamping device (24). [6] Processing device (10) according to claim 5, characterized by that an optical unit (18) is provided for monitoring a relative alignment between the component (26, 28, 30) and the clamping device (24) and / or a relative alignment between the clamping device (24) and the machine tool (12). [7] Processing device (10) according to claim 5 or 6, characterized by that at least one fluid pressure element is provided for fixing the component (26, 28, 30) in the clamping device (24), which fluid pressure element can be moved by means of the robot unit (20) through the intermediary of at least one clamping element (32, 34) of the clamping device (24). [8] Component (26, 28, 30), in particular for a turbomachine, obtainable and / or obtained by a method according to one of claims 1 to 4 and / or by means of a processing device (10) according to one of claims 5 to 7.

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