Turbine component handling system for computerized machining system

Abstract

To provide a handling system for a turbine component and a computerized machining system.SOLUTION: A gripper 130 of a system includes: a mounting arm operatively coupled to a tool handler 120 of a machining system 104; a plurality of contact members configured to collectively grasp the turbine component 102; and a first actuator configured to move at least one of the contact members between a release position in which the contact members receive a part of the turbine component therebetween at a first longitudinal position thereof and a grasp position in which the contact members grasp the part at a second longitudinal position thereof different than the first longitudinal position. The tool handler and / or the turbine component is linearly moved to move the gripper relative to the turbine component between the first longitudinal position and the second longitudinal position.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates generally to part handling and machining, and more particularly to a turbine part handling system for a computerized machining system. [Background technology]

[0002] Computer Numerical Control (CNC) machining systems use a computer to automatically machine parts of metal or other rigid materials. A CNC machining system processes a part to specifications according to a set of program instructions without an operator manually controlling the machining operations. Machining systems typically include a part fixture. The part fixture holds the part as machining is performed and moves the part in any direction, e.g., horizontally, vertically, and / or diagonally. The part fixture is often located within a machine housing in which machining is performed on the part. The machine housing may have automatic doors that open and close before and after machining. A tool handler may select from among a number of tools, e.g., on a tool carrier. A computer controls the operation of the tool and part and the relative positions of the tool and part through the tool holder and / or part fixture during automated machining of the part. Tools may come in a variety of forms, including, but not limited to, tools for physically altering a part (e.g., milling, drilling, tapping, boring, grinding, etc.), tools for verifying part location and / or machining accuracy (e.g., physical or optical probes), and tools for post-machining processing (e.g., cleaning debris, removing contaminants, and / or drying the part) (e.g., air jets or high-velocity fans, etc.). During operation, some machining processes require a coolant for the machining tool and / or the part. In this case, the machining tool may include a coolant supply system (e.g., pumps, conduits, and nozzles) for supplying the coolant to the machining tool and / or the part.

[0003] Heavy or complex shaped parts can be difficult to load and remove from the part fixture. For example, when a machine enclosure is used, positioning the part in the part fixture requires the user to manually pick up the part and place it in the part fixture by reaching out and holding the part, e.g., by leaning forward and / or reaching into the machine enclosure. One example of a heavy and / or complex shaped part is a turbine part (such as a turbine blade or nozzle) having an airfoil. Summary of the Invention

[0004] All aspects, examples, and features described below can be combined in any manner that is technically possible.

[0005] One aspect of the disclosure provides a handling system for a turbine component in a computerized machining system, the handling system including a gripper including a mounting arm configured to be operatively coupled to a tool handler of the computerized machining system, a plurality of contact members configured to grip the turbine component as a whole, and a first actuator configured to move at least one of the plurality of contact members between a release position in which the plurality of contact members receive a portion of the turbine component at a first longitudinal position of the portion of the turbine component and a gripping position in which the plurality of contact members grip the portion of the turbine component at a second longitudinal position of the portion different from the first longitudinal position, at least one of the tool handler and the turbine component moving linearly to move the gripper relative to the turbine component between the first longitudinal position and the second longitudinal position.

[0006] Another aspect of the disclosure includes any of the aspects above and further includes a loading system including a loading platform and a second actuator configured to move the loading platform between a user access position distal to a part fixture of the computerized machining system and a loading position proximate to the part fixture of the computerized machining system.

[0007] Another aspect of the present disclosure includes any of the aspects above, and further includes one or more linear guide tracks mounting the loading platform for lateral movement relative to the component fixture, and the second actuator includes a linear actuator configured to move the loading platform along the one or more linear guide tracks between the user access position and the loading position.

[0008] Another aspect of the present disclosure includes any of the aspects above, wherein in the user access position, the loading platform is at least partially outside a machine housing of the computerized machining system, and in the loading position, the loading platform is inside a machine housing of the computerized machining system.

[0009] Another aspect of the disclosure includes any of the aspects described above, and wherein, with the loading platform in the loading position, the tool handler moves the gripper between a first handler position above the loading platform, where at the first handler position, the gripper moves between the release position and the gripping position and grips or releases the turbine component and moves the turbine component to or from the loading platform, and a second handler position above the part fixture, where at the second handler position, the gripper moves between the release position and the gripping position and grips or releases the turbine component and moves the turbine component to or from the part fixture.

[0010] Another aspect of the disclosure includes any of the aspects above, wherein the loading platform moves between the user access position and the loading position and the gripper moves between the first handler position, the second handler position, the release position, and the gripping position in an automated manner as part of a set of part processing instructions for the computerized machining system.

[0011] Another aspect of the disclosure includes any of the aspects described above, and wherein, with the loading platform in the loading position, the tool handler moves the gripper between a first handler position above the loading platform, where at the first handler position, the gripper moves between the release position and the gripping position and grips or releases the turbine component and moves the turbine component to or from the loading platform, and a second handler position above the part fixture, where at the second handler position, the gripper moves between the release position and the gripping position and grips or releases the turbine component and moves the turbine component to or from the part fixture.

[0012] Another aspect of the present disclosure includes any of the above aspects, wherein with the load platform in the user access position, the turbine component is freely movable manually by a user.

[0013] Another aspect of the disclosure includes any of the aspects above, wherein the second longitudinal position of the turbine component includes a center of gravity of the turbine component.

[0014] Another aspect of the present disclosure includes any of the above aspects, wherein the first actuator includes a pneumatic actuator.

[0015] Another aspect of the disclosure includes any of the aspects above, wherein the plurality of contact members includes a first fixed contact member and a second fixed contact member spaced apart from one another such that a portion of the turbine component can pass between the first and second fixed contact members at the first longitudinal position of the portion but is prevented from passing between the first and second fixed contact members at the second longitudinal position, and a movable contact member operably coupled to the first actuator such that the turbine component is selectively gripped by the plurality of contact members at the second longitudinal position.

[0016] Another aspect of the disclosure includes any of the above aspects, wherein the turbine component includes a turbine blade or a turbine nozzle, and a portion of the turbine component includes an airfoil.

[0017] One aspect of the disclosure includes an automated method of handling a turbine component in a computerized machining system, the automated method including: positioning a load platform at a user access location distal from a part fixture of the computerized machining system whereby a user manually loads the turbine component onto the load platform; positioning the load platform with the turbine component at a loading location proximate the part fixture; transferring the turbine component from the load platform to a part fixture of the computerized machining system using a gripper having a plurality of contact members configured to grip the turbine component collectively, the gripper being operably coupled to a tool handler of the computerized machining system; and machining the turbine component using the computerized machining system and a set of part machining instructions.

[0018] Another aspect of the disclosure includes any of the aspects above and further includes, after the machining, using the gripper operably coupled to the tool handler of the computerized machining system to move the turbine component from a part fixture of the computerized machining system to a loading platform, and positioning the loading platform at a user access location distal from a part fixture of the computerized machining system, whereby a user manually removes the turbine component from the loading platform.

[0019] Another aspect of the disclosure includes any of the aspects above, wherein the gripper includes a first actuator configured to move at least one of the plurality of contact members between a release position in which the plurality of contact members receive a portion of the turbine component at a first longitudinal position of the portion of the turbine component and a gripping position in which the plurality of contact members grip the portion of the turbine component at a second longitudinal position of the portion that is different from the first longitudinal position, and the automated method further includes linearly moving at least one of the tool handler and the turbine component such that the gripper moves relative to the turbine component between the first longitudinal position and the second longitudinal position.

[0020] Another aspect of the disclosure includes any of the aspects above, wherein the second longitudinal position of the turbine component includes a center of gravity of the turbine component.

[0021] Another aspect of the present disclosure includes any of the aspects above, further including one or more linear guide tracks mounting the loading platform for lateral movement relative to the component fixture, and further including a second actuator configured to move the loading platform along the one or more linear guide tracks between the user access position and the loading position.

[0022] Another aspect of the present disclosure includes any of the aspects above, wherein in the user access position, the loading platform is at least partially outside a machine housing of the computerized machining system, and in the loading position, the loading platform is inside a machine housing of the computerized machining system.

[0023] Another aspect of the disclosure includes any of the aspects described above, and wherein, with the loading platform in the loading position, the tool handler moves the gripper between a first handler position above the loading platform, where at the first handler position, the gripper moves between the release position and the gripping position and grips or releases the turbine component and moves the turbine component to or from the loading platform, and a second handler position above the part fixture, where at the second handler position, the gripper moves between the release position and the gripping position and grips or releases the turbine component and moves the turbine component to or from the part fixture.

[0024] One aspect of the disclosure includes a gripper of a handling system for a turbine component including an airfoil, the gripper including a mounting arm configured to be operatively coupled to a tool handler of a computerized machining system, a first contact member fixed relative to the mounting arm, and a second contact member fixed relative to the mounting arm, the first and second stationary contact members spaced apart such that the airfoil can pass between the first and second stationary contact members at a first longitudinal position where the airfoil has a first width but is prevented from passing between the first and second stationary contact members at a second longitudinal position where the airfoil has a second width wider than the first width of the airfoil, the gripper also includes a third moveable contact member movable between a gripping position in contact with a portion of the turbine component, the gripping position placing the turbine component on the first and second contact members, and a release position out of contact with the turbine component, the turbine component being movable relative to the first and second contact members, and an actuator for moving the third contact member between the gripping position and the release position.

[0025] Two or more aspects described in this disclosure (including those described in this Summary) can be combined to form an embodiment not specifically described herein, i.e., all embodiments described herein can be combined with each other.

[0026] The details of one or more embodiments are set forth in the drawings and the detailed description below. Other features, objects and advantages will be apparent from the detailed description and drawings, and from the claims.

[0027] These and other features of the present disclosure will be more readily understood from the following detailed description of the various aspects of the disclosure taken in conjunction with the drawings illustrating various embodiments of the disclosure. [Brief description of the drawings]

[0028] [Figure 1]FIG. 1 illustrates a perspective view of a handling system of a computer numerically controlled machining system according to an embodiment of the present disclosure. [Diagram 2] FIG. 1 illustrates a perspective view of an exemplary turbine component in the form of a turbine blade that can be handled by a handling system according to an embodiment of the present disclosure. [Diagram 3] FIG. 1 illustrates a perspective view of an exemplary turbine component in the form of a turbine nozzle that can be handled by a handling system according to an embodiment of the present disclosure. [Figure 4] FIG. 2 illustrates a side view of a gripper of a handling system separated from a tool handler of a machining system according to an embodiment of the present disclosure. [Diagram 5] FIG. 1 illustrates a side view of a gripper of a handling system attached to a tool handler of a machining system according to an embodiment of the present disclosure. [Figure 6] FIG. 2 illustrates a perspective view of a gripper of a handling system attached to a tool handler of a machining system according to an embodiment of the present disclosure. [Figure 7] 1 illustrates a schematic diagram of a turbine component according to an embodiment of the present disclosure. [Figure 8] FIG. 13 shows a side view of a fixed contact member of a gripper of a handling system according to an embodiment of the present disclosure. [Figure 9] 1 illustrates a perspective view (from within the machine enclosure of the machining system) of the handling system when the load platform is in a user access position according to an embodiment of the present disclosure. [Figure 10] FIG. 2 shows a top-down perspective view of a load platform at a user access position of a handling system according to an embodiment of the present disclosure. [Figure 11] 1 illustrates a perspective view (from within the machine enclosure of the machining system) of the handling system when the load platform is in a loading position, according to an embodiment of the present disclosure. [Figure 12] FIG. 2 is a perspective view looking up at the load platform of a handling system when the load platform is in a user access position, according to an embodiment of the present disclosure. [Figure 13]1 illustrates a perspective view of a gripper of a handling system (as viewed from within a machine housing of a machining system) when the load platform is in a loading position, according to an embodiment of the present disclosure. [Figure 14] 1 illustrates a perspective view (from within the machine housing of the machining system) of a gripper in a release position at a first longitudinal position of a turbine component when the loading platform is in a loading position, according to an embodiment of the present disclosure. [Figure 15] 1 illustrates a perspective view (from within the machine housing of the machining system) of a gripper at a second longitudinal position of the turbine component and in a gripping position above the loading platform, according to an embodiment of the present disclosure. [Figure 16] 1 illustrates a perspective view (from within a machine enclosure of a machining system) of a gripper that moves a turbine component to and from a loading position on a loading platform according to an embodiment of the disclosure. [Figure 17] 1 illustrates a perspective view (from within a machine housing of a machining system) of a gripper for moving a turbine component to and from a component fixture of a machining system according to an embodiment of the disclosure. [Figure 18] 1 illustrates a perspective view (from within a machine housing of the machining system) of a gripper at a second longitudinal position of the turbine component and at a gripping position above a component fixture of the machining system, according to an embodiment of the present disclosure. [Figure 19] 1 illustrates a perspective view (from within a machine housing of a machining system) of a gripper at a first longitudinal position of a turbine component and in a released position above a component fixture of a machining system according to an embodiment of the present disclosure. [Figure 20] 1 illustrates a perspective view (from within a machine enclosure of a machining system) of a physical or optical probe for locating a turbine component on a component fixture according to an embodiment of the disclosure. [Figure 21] 1 illustrates a perspective view (from within a machine enclosure of a machining system) of a machining tool for machining a turbine component on a component fixture according to an embodiment of the disclosure.

[0029] It should be noted that the drawings of the present disclosure are not necessarily to scale. The drawings are intended to depict only typical aspects of the present disclosure, and therefore should not be considered as limiting the scope of the present disclosure. In the drawings, like numbers represent like elements between the drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] First, in order to clearly explain the present disclosure, it becomes necessary to select certain terms when referring to and describing relevant machine components in an exemplary application of a computerized machining system. When selecting terms, common industry terms are used and adopted, whenever possible, in a manner consistent with their accepted meaning in the industry. Unless otherwise stated, the above terms should be given a broad interpretation consistent with the context of the present application and the scope of the claims. Those skilled in the art can understand that in many cases, a particular component may be referred to using several different or overlapping terms. What is described as a single part in this specification may include multiple components and may be referred to as comprising multiple components in another context. Alternatively, what is described as including multiple components in this specification may be referred to as a single part elsewhere.

[0031] In addition, some descriptive terms may be used regularly in this specification, so it is useful to define these terms at the beginning of the detailed description. "Distal" and "proximal" to a described element are relative terms, with "distal" representing a position farther away from the described element than the proximal position of the described element, and "proximal" representing a position closer to the described element than the distal position of the described element. In addition, some descriptive terms may be used regularly in this specification, as explained below. The terms "first", "second", and "third" may be used interchangeably to distinguish one component from another, and are not intended to imply a position or importance of the individual components.

[0032] The terms used in the specification are for the purpose of describing particular embodiments only and are not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are also intended to include the plural unless the context clearly indicates otherwise. It is further understood that "comprises" and / or "comprising," as used herein, specify the presence of the mentioned features, integers, steps, operations, members, and / or components, but do not preclude the presence and addition of one or more other features, integers, steps, operations, members, components, and / or groups thereof. "Optional" or "optionally" means that the subsequently described event may or may not occur, or that the subsequently described feature may or may not be present, and that the description includes examples in which the event occurs or the feature is present and examples in which the event does not occur or the feature is not present.

[0033] When an element or layer is referred to as being "in contact with," "engaged with," "connected to," "coupled to," or "attached to" another element or layer, the element or layer may be in direct contact with, engage with, connect, couple, or attach to the other element or layer, or there may be intervening elements or layers present. In contrast, when an element is referred to as being "in direct contact with," "directly engaged with," "directly connected to," or "directly coupled to" another element or layer, there are no intervening elements or layers present. Other words used to describe relationships between elements should be interpreted in the same manner (e.g., "between" and "directly between," "adjacent" and "directly adjacent," etc.). As used herein, the term "and / or" includes any combination of one or more items of the associated multiple listed items. As used herein, the verb forms "couple" and "attach" can be used interchangeably.

[0034] As indicated above, the present disclosure provides a turbine component handling system for a computer numerically controlled machining system. A gripper of the handling system includes a mounting arm configured to be operatively coupled to a tool handler of the machining system, a plurality of contact members configured to grip the turbine component as a whole, and a first actuator configured to move at least one of the plurality of contact members between a release position in which the plurality of contact members receive a portion of the turbine component at a first longitudinal position of the portion of the turbine component and a gripping position in which the plurality of contact members grip the portion at a second longitudinal position of the portion different from the first longitudinal position. The tool handler and / or the turbine component move linearly to move the gripper relative to the turbine component between the first longitudinal position and the second longitudinal position. The handling system may also include a loading system to facilitate loading / unloading of the turbine component. The handling system allows for easy loading and unloading of heavy or complex shaped turbine components, such as turbine blades or turbine nozzles having airfoils, without significant bending and / or stretching while holding the turbine component. The handling system is advantageous in machining systems having a machine housing, but is also useful in machining systems that do not have a machine housing.

[0035] FIG. 1 illustrates a perspective view of a handling system 100 of a turbine component 102 in relation to a computer numerically controlled machining system 104. As described herein, the handling system 100 may include a gripper 130 and a loading system 132. The computer numerically controlled machining system 104 may include any known or future developed computer numerically controlled based machining system 104 (hereinafter referred to for brevity as a "machining system" or "computerized machining system"). By way of non-limiting example, the machining system 104 may include, but is not limited to, HAAS models including vertical spindle couplers, such as the VF Series, Universal Machine Series, VR Series, and TR Series, available from HAAS Automation Inc. of Oxnard, Calif. The machining system 104 uses a computer 106 to automatically process or machine metal or other rigid material components. The machining system 104 follows a set of program instructions to process the turbine component 102 to specifications without an operator manually controlling machine operations. The machining system 104 includes a part fixture 110 for holding and moving the turbine component 102 as machining is performed. In certain embodiments, although not necessary in all cases, the part fixture 110 may be located within a machine housing 112 in which the turbine component 102 is machined. The machine housing 112 may include any known or future developed housing to protect a user from the machining process (e.g., airborne debris, broken parts, etc.). The machine housing 112 may include a set of doors 114 that can be opened or closed to allow or prevent access to the part fixture 110. Note that in FIG. 1, the doors 114 are shown in a retracted, open position. Often, the doors 114 are automated to open and close under the control of the computer 106.

[0036] The machining system 104 also includes a tool handler 120. The tool handler 120 can select from a number of tools 122, e.g., supported on a tool carrier 124, to operate on or move relative to the turbine component 102. For example, the tool handler 120 can select a tool from the tool carrier 124 through an opening in the ceiling of the machine housing 112. The tool carrier 124 can move (e.g., rotate) under the control of the computer 106 to position the desired tool 122 within reach of the tool handler 120. The computer 106 controls the movement and positioning of the tools 122 and the turbine component 102 by the part fixture 110 and / or the tool handler 120 during automated machining of the turbine component 102. The tools 122 may take any form now known or later developed, including, but not limited to, tools for physically altering the part (e.g., milling, drilling, tapping, boring, grinding, etc.), tools for verifying the part's position and / or machining accuracy (e.g., physical or optical probes), tools for post-machining processing (e.g., removing machining debris, removing contaminants, and / or drying the part) (e.g., air jets or high-velocity fans, etc.). The machining system 104 may also include a now known or later developed coolant supply system (not shown in FIG. 1 ) if the machining requires cooling of the machining tools 122 and / or the turbine component 102. Details of the machining system 104 are otherwise known in the art and need not be described further.

[0037] For ease of illustration, the turbine component 102 is illustrated as a turbine blade or turbine nozzle. Figures 2 and 3 show an exemplary turbine component 102 machined by the machining system 104. Figure 2 is a perspective view of a turbine blade 138. The turbine rotor blade 138 includes a root 140 by which the rotor blade 138 is attached to a rotor (not shown) of the turbine. The root 140 may include a dowel tail 142 configured to be attached to a corresponding dowel tail slot in an outer periphery of a rotor wheel of the rotor. The root 140 may further include a shank 144 extending between the dowel tail 142 and a blade platform 146, the shank being disposed at a junction of an airfoil 150 and the root 140 and defining a portion of an inner boundary of a flowpath through a turbine assembly of the turbine. An airfoil 150 of rotor blade 138 includes a concave pressure side (PS) outer wall 154 and a circumferentially or laterally opposed convex suction side (SS) outer wall 156 that extend axially between opposite leading and trailing edges 158, 160. Walls 154 and 156 extend radially from platform 146 to an outer tip 161. An optional tip shroud (not shown) may be coupled to outer tip 161 as is known in the art.

[0038] FIG. 3 is a perspective view of a stationary turbine vane or turbine nozzle 162 (hereafter referred to as “nozzle 162” for brevity). The nozzle 162 includes an outer platform 164 by which the nozzle 162 is mounted to a stationary casing (not shown) of the turbine. The outer platform 164 may include known or future developed mounting configurations that are mounted to corresponding mountings in the casing. The nozzle 162 may further include an inner platform 166 for placement between adjacent turbine rotor blades 138 (FIG. 2) of the turbine (i.e., between the turbine rotor blade platforms 146 (FIG. 2)). An airfoil 168 of the nozzle 162 includes a concave pressure side (PS) outer wall 170 and a circumferentially or laterally opposed convex suction side (SS) outer wall 172 that extend axially between opposed leading and trailing edges 174 and 176. Also, the walls 170 and 172 extend radially from the platform 166 to the platform 164. The embodiments of the disclosure described herein may be applied to either the turbine rotor blade 138, the nozzle 162, or another turbine component. For ease of illustration, only the turbine rotor blade 138 is shown in the following figures. It is understood that other features of the turbine component 102 (such as, but not limited to, internal cooling structures, cutout shapes, exterior wall angles / shapes, etc.) are not shown. In any case, it is understood that the turbine component 102 has a complex shape including many bends and shapes that are difficult to grasp by hand. Additionally, the turbine component 102 may have a significant weight such that a user of the machining system 104 may want to avoid bending and stretching their arms to place the turbine component 102 in the part fixture 110.

[0039] 1 and 4-6, the handling system 100 includes a gripper 130 and may include a loading system 132. The gripper 130 functions to move the parts 102 from the loading system 132 to and from the part fixture 110 of the machining system 104 in a safe and automated manner. The gripper 130 includes a mounting arm 180 configured to be operably coupled to a tool handler 120 of the machining system 104. The mounting arm 180 includes a structural element configured to function as a base for the gripper 130 to which other portions of the gripper 130 are coupled. The mounting arm 180 may have any configuration necessary to position the other portions of the gripper 130. The mounting arm 180 may be selectively coupled to and moved to the tool handler 120 in any manner now known or later developed. In most cases, the tool handler 120 of a particular machining system 104 includes a standard coupler 182 for all tools 122 (FIG. 1) used in the machining system 104. For the exemplary machining system 104 described herein, the coupler 182 includes a spindle 183 that can be coupled to any tool 122 used in the machining system 104. In the illustrated example, the spindle 183 can have a frusto-conical surface configured to fit into a similarly shaped opening in the tool handler 120. A frusto-conical (or tapered) spindle 183 is standard for many models of HAAS Automation (e.g., CAT30, CAT40, CAT50), among others. Other similar spindle styles (such as spindles for machining systems available from HSK Machine Works) may also be used. The tool handler 120 can selectively grip the end of the spindle 183 so that the tool handler can move the tool 122 or the gripper 130 and rotate the spindle 183 to rotate the position of the tool 122 or the gripper 130. Thus, the coupler 182 on the mounting arm 180 of the gripper 130 allows the tool handler 120 to handle the gripper 130 in the same way as other tools 122 in the machining system 104.More specifically, the tool handler 120 can select a tool 122 from the tool carrier 124 through an opening (not shown) in the ceiling of the machine housing 112, as understood in the art. The tool carrier 124 can move in any manner under the control of the computer 106 to position the desired tool 122 or gripper 130 for selection by the tool handler 120, for example, the tool carrier 124 can include a rotatable carriage having various positions for storing the tool 122 and gripper 130. The tool carrier 124 and tool handler 120 can use the coupler 182 to store, select, handle, and / or manipulate the gripper 130 as well as other tools 122 of the machining system 104.

[0040] The tool handler 120, and in particular the coupler 182 (coupler outer diameter spindle 183), may also include known or future developed mechanisms for providing power to the tool 122 or the gripper 130. With respect to the gripper 130, the coupler 182 includes a passageway 185 for providing hydraulic fluid to operate an actuator 187 of the gripper 130, as described herein.

[0041] It is emphasized that the coupler 182 may take a variety of alternative forms depending on the machining system 104, tool handler 120, and / or tool carrier 124 used. Other forms of the coupler 182 are contemplated within the scope of this disclosure.

[0042] Additionally, the gripping portion 130 may include a number of contact members 184 configured to selectively and generally grip the turbine component 102. The contact members 184 may include any number of members for securely gripping a portion of the turbine component 102. The number of contact members 184 required may vary based on the shape, size, weight, etc. of the turbine component 102. In the examples shown herein, the contact members 184 are configured to grip the airfoils 150, 168 of the turbine component 102, although other portions of the turbine component 102 may also be gripped by the gripping portion 130. With respect to gripping the airfoils 150, 168, the contact members 184 may include a first stationary contact member 186 and a second stationary contact member 188. As shown in Figures 4-6, the first and second stationary contact members 186, 188 are spaced apart (i.e., a distance D1) from one another such that a portion of the turbine component 102 (e.g., the airfoils 150, 168) can pass between the first and second stationary contact members 186, 188 at a first longitudinal location L1 of the portion, but is prevented from passing between the first and second stationary contact members 186, 188 at a second longitudinal location L2 of the portion. The stationary contact members 186, 188 may also have different lengths (see, e.g., Figure 8), for example, to accommodate bending of the airfoils 150, 168 of the turbine component 102. As will be further described, the contact members 184 may also include moveable contact members 190 for gripping the turbine component 102 against the stationary contact members 186, 188.

[0043] With respect to the fixed contact members 186, 188, FIG. 7 shows a schematic diagram of a turbine blade 138 or turbine nozzle 162 showing an airfoil 150, 168 having different cross-sectional widths D2, D3 at different longitudinal positions L1, L2. As shown, at a first longitudinal position L1, the airfoil 150, 168 may have a first width D2 that is narrower than a second width D3 at a second longitudinal position L2. The longitudinal position L1 is different from the longitudinal position L1, i.e., at a different longitudinal position on the airfoil 150, 168. The longitudinal positions L1, L2 are shown in brackets to indicate that there are multiple possible positions within a range along the longitudinal direction of the airfoil 150, 168, rather than a single position. The possible ranges of longitudinal positions do not overlap. In any event, the distance D1 (of the fixed contact members 186, 188 shown diagrammatically in FIG. 7) is greater than the width D2 of the airfoils 150, 168 of the turbine component 102, but less than the width D3. In this manner, the fixed contact members 186, 188 of the gripper 130 can be moved vertically to surround the opposing faces of the airfoils 150, 168 in a first longitudinal position L1 (i.e., position L1 for the release position of the gripper 130). The gripper 130 can then be moved longitudinally relative to the turbine component 102 and the airfoils 150, 168 of the turbine component 102, such that the fixed contact members 186, 188 of the gripper 130 can surround the opposing faces of the airfoils 150, 168 in a second longitudinal position L2 (i.e., position L2 for the gripping position of the gripper 130) (FIGS. 15-18). More specifically, according to arrow A in Fig. 7, the gripper 130 can be moved longitudinally from a first longitudinal position L1 to a second longitudinal position L2. Since the distance D1 between the fixed contact members 186, 188 is smaller than the width D3 of the airfoils 150, 168 at the second longitudinal position L2, the turbine component 102 cannot move outside the fixed contact members 186, 188. Similarly, according to arrow B in Fig. 7, the gripper 130 can be moved longitudinally from the second longitudinal position L2 to the first longitudinal position L1 (i.e., position L1 for the release position of the gripper 130) (Figs. 14-19).Because the distance D1 between the stationary contact members 186, 188 is greater than the width D2 of the airfoils 150, 168 at the first longitudinal position L1, the stationary contact members 186, 188 may pass and leave the turbine component 102 after moving from the second longitudinal position L2 to the first longitudinal position L1. As will be further described, at least one of the tool handler 120 and the turbine component 102 may move linearly (through the part fixture 110 (FIG. 1)) to move the gripper 130 relative to the turbine component 102 between the first longitudinal position L1 and the second longitudinal position L2. As will be described, the gripper position may be used to move the turbine component 102 from the mounting table 210 to the part fixture 110 prior to machining, or from the part fixture 110 to the mounting table 210 after machining.

[0044] The gripper 130 also includes an actuator 187 configured to operate the gripper 130. More specifically, as described above, the contact member 184 can include a moveable contact member 190, which is operably coupled to the actuator 187. The moveable contact member 190 is selectively movable such that the turbine component 102 is gripped by the plurality of contact members 184 at a selected longitudinal position of the turbine component 102 (i.e., the second longitudinal position L2). More specifically, the actuator 187 selectively moves at least one of the contact members 184 (i.e., the movable contact member 190) between a release position (FIGS. 14 and 19) in which the contact member 184 receives or releases a portion of the turbine component 102 (e.g., the airfoil 150, 168) at a first longitudinal position L1 of the portion of the turbine component 102, and a gripping position in which the contact member 184 grips the portion of the turbine component 102 at a second longitudinal position L2 different from the first longitudinal position L1 of the portion. In the illustrated example, the movable contact member 190 moves linearly to press the airfoils 150, 168 against the fixed contact members 186, 188 at or near the second longitudinal position L2 to grip the turbine component. More specifically, the moveable contact member 190 contacts the turbine component 102 at or near the second longitudinal location L2 and presses the fixed contact members 186, 188 against opposing surfaces of the turbine component 102 to securely grip the turbine component 102. In certain embodiments, although not required, the second longitudinal location L2 may include the center of gravity of the turbine component 102 to assist in carrying the turbine component 102 in a balanced manner.

[0045] The actuator 187 may include any known or later developed actuator configured to move the moveable contact member 190 to grip the turbine component 102 with the fixed contact members 186, 188. In one non-limiting example, the actuator 187 includes a pneumatic actuator that receives a controlled flow of air under the control of the computer 106 (FIG. 1) through a passage 185 (FIG. 4) in the coupler 182 (FIG. 4). FIGS. 4 and 6 show a conduit 192 for supplying air from the coupler 182 to the actuator 187. Other supply mechanisms are possible, such as but not limited to a fluid passage (not shown) in the mounting arm 180 for delivering air from the coupler 182 to the actuator 187.

[0046] The gripping portion 130 can include portions sized to handle turbine components 102 of different sizes and / or shapes. For example, as shown in FIG. 8, the fixed contact members 186, 188 can be integrally formed, e.g., as a C-shaped member 196 having a base 198. As previously described, the fixed contact members 186, 188 can have different lengths, e.g., to accommodate the curvature of the airfoils 150, 168 of the turbine component 102. For example, the fixed contact member 186 can have a length D4 and the fixed contact member 188 can have a length D5, which are different lengths. Different configurations of the contact members 184 can be formed to handle turbine components 102 of different sizes and / or shapes. For example, a set of C-shaped members 196 can be created with contact members having different spacings D1 and lengths D4, D5 for different turbine components 102 or different sizes of turbine components 102 (e.g., different sized first stage turbine blades for different sized turbines). In certain embodiments, the different C-shaped members 196 may be attached to a mounting arm 180 and actuator 187 configuration that is common to the different C-shaped members 196, for example, through fasteners in openings 200 in the C-shaped members 196. Other ways of configuring the length and spacing of the contact members 184 other than the C-shaped members 196 are also possible. Different lengths of moveable contact members 190 may be created for different sized turbine components 102, or a single common sized moveable contact member 190 may be used, if possible.

[0047] The contact members 184 may also have surfaces sized and / or shaped to securely engage whatever surface of the turbine component 102 they contact. The contact members 184 may, for example, be partially or fully curved or planar, may have roughened or smooth surfaces, and / or may have different cross-sectional shapes. The contact members 184 may also have a material selected to be compatible with the material of the turbine component 102 (e.g., to be able to securely grip the turbine component 102 without damaging it).

[0048] In view of the above, certain embodiments include a gripper 130 of a handling system 100 for a turbine component 102 including an airfoil 150, 168 (FIGS. 2, 3, and 7). The gripper 130 includes a mounting arm 180 configured to be operably coupled to a tool handler 120 of the computerized machining system 104. The gripper 130 also includes a first contact member 186 fixed relative to the mounting arm 180 and a second contact member 188 fixed relative to the mounting arm 180. As shown in FIG. 7, the first and second fixed contact members 186, 188 are spaced apart (by a distance D1) from one another such that the airfoils 150, 168 (FIGS. 2, 3 and 7) can pass between the first and second fixed contact members 186, 188 at a first longitudinal position L1 where the airfoils 150, 168 have a first width D2, but are prevented from passing between the first and second fixed contact members 186, 188 at a second longitudinal position L2 where the airfoils 150, 168 have a second width D3 that is wider than the first width D2. The gripper 130 also includes a third moveable contact member 190 movable between a gripping position (FIGS. 15-17) in contact with a portion of the turbine component 102, where the turbine component 102 is positioned between the first and second contact members 186, 188, and a released position (FIGS. 14 and 19) out of contact with the turbine component 102, where the turbine component 102 can move relative to the first and second contact members 186, 188. The gripper 130 also includes an actuator 187 that moves the third contact member 190 between the gripping position and the released position, for example using a controlled fluid flow to extend or retract the moveable contact member 190 under the control of the computer 106.

[0049] The handling system 100 may also include a loading system 132. The loading system 132 is shown, for example, in Figs. 1 and 9-12. The loading system 132 includes a loading platform 210. The loading platform 210 may include any structure for placing the turbine component 102 at a predetermined position on the loading platform 210. For example, the loading platform 210 may include a plate 216 provided with one or more component holders 218 having a size and / or shape for holding the turbine component 102 at a predetermined position (e.g., so that it can be gripped by the gripper 130).

[0050] In certain embodiments, the loading system 132 may have only the loading platform 210 positioned in the loading position, as shown in FIG. 11. In this situation, having only the loading platform 210 positioned in the loading position proximate the part fixture 110 allows the user (i.e., a human user (not shown)) to freely manually move the turbine component 102 while reducing the need for the user to bend and reach to position the turbine component 102 in the part fixture 110. In other embodiments, the loading system 132 may include a (movable) loading platform 210 and an actuator 212. The actuator 212 is configured to move the loading platform 210 between a user access position (FIGS. 1, 9, 10, 12) distal to the part fixture 110 of the machining system 104 and a loading position (e.g., FIG. 11) proximate to the part fixture 110 of the machining system 104. In this situation, the load platform 210 is in a user access location distal from the component fixture 110 so that the turbine component 102 can be freely moved manually by a user (i.e., a human user (not shown)) with little or no bending or reaching into the machine housing 112 to position the turbine component 102. In certain embodiments, if desired, the loading system 132 can also include one or more linear guide tracks 214 that mount the load platform 210 for lateral movement relative to the component fixture 110.

[0051] To illustrate the operation of the latter embodiment, FIG. 9 shows a perspective view of the loading system 132 (also shown in FIG. 1) in a user access position as viewed from within the machine housing 112, FIG. 10 shows a perspective view of the loading system 132 as viewed from above the user access position outside the machine housing 112, FIG. 11 shows a perspective view of the loading system 132 in a loading position as viewed from within the machine housing 112, and FIG. 12 shows a perspective view of the loading system 132 as viewed from below the user access position outside the machine housing 112. The actuator 212 may include any known or later developed form of linear actuator configured to move the loading platform 210 along one or more linear guide tracks 214 between the user access position (FIGS. 1, 9, 10, 12) and the loading position (FIG. 11). For example, the actuator 212 may include a pneumatic, hydraulic, or electric linear actuator that may be operated manually or under the control of the computer 106. The actuator 212 and the track 214 can be coupled to the part fixture 110 to allow the part fixture 110 to move laterally. As defined herein, distal from the part fixture 110 indicates that the load platform 210 is farther away than when it is proximate to the part fixture 110. In the illustrated example, a machine housing 112 is provided, and in a user access position (FIGS. 1, 9, 10, 12), the load platform 210 is at least partially outside the machine housing 112 of the machining system 104 and is more easily accessible to a user than in the loading position. In the user access position, the actuator 212 is extended to move the load platform 210 away from the part fixture 110 of the machining system 104. If a door 114 of the machine housing 112 is provided, the door 114 is open in this situation. With the loading platform 210 in the user access position, a user (i.e., a human user (not shown)) is free to manually move the turbine component 102. That is, the user can manually place the turbine component 102 on the loading platform 210 or manually remove the turbine component 102 from the loading platform 210 easily and safely without bending and straightening their arms.In contrast, in the loading position (FIG. 11), the load platform 210 is within the machine housing 112 of the machining system 104. In the loading position, the actuator 212 retracts, moving the load platform 210 to a position adjacent (proximate) the part fixture 110 of the machining system 104. If a door 114 of the machine housing 112 is provided, the door 114 may be closed in this situation. The user access and loading positions may be controlled, among other things, by controlling the actuator 212 to extend / retract between its limits, by extension and retraction limits of the actuator 212, and / or by set detents if the actuator 212 and / or track 214 are provided with detents.

[0052] It will be appreciated that the loading system 132 may include alternative structures other than linear actuators and tracks for moving the loading platform 210 between the user access position and the loading position, such as (but not limited to) pivot or parallelogram-arranged actuators and structures.

[0053] In the loading position, shown in FIG. 11 , the gripper 130 and tool handler 120 can place the turbine component 102 in or remove the turbine component 102 from the component fixture 110 without relying on a user. More specifically, with the load platform 210 in the loading position ( FIG. 11 ), the tool handler 120 moves the gripper 130 between a first handler position above the load platform 210 and a second handler position above the component fixture 110, as described further herein. In the first handler position, the gripper 130 moves between a release position and a gripping position to grip the turbine component 102 or release the turbine component 120 and move the turbine component 102 towards or away from the load platform 210. Also, in the second handler position, the gripper 130 moves between a release position and a gripping position to grip the turbine component 102 or release the turbine component 102 and move the turbine component 102 towards the component fixture 110 or move the turbine component 102 away from the component fixture 110.

[0054] In a particular embodiment, all movements of the handling system 100 are controlled by the computer 106. More specifically, the load platform 210 moves between a user access position and a loading position, and the gripper 130 moves between a first handler position, a second handler position, a release position, and a gripping position in an automated manner as part of the set of part processing instructions for the machining system 104. The actual processing by the machining system 104 occurs between operations by the handling system 100.

[0055] Operation of the handling system 100 in conjunction with the machining system 104 will now be described. Figures 13-22 show additional perspective views of the handling system 100 in operation from within the machine housing 112. The handling system 100 may operate as part of an automated method of handling the turbine component 102 to the machining system 104, which may precede and follow known or future developed automated methods of machining the turbine component 102 using the machining system 104.

[0056] Loading before machining:

[0057] To begin the method, as shown in Figures 1, 9, 10 and 12, the loading platform 210 is positioned at a user access location distal to the part fixture 110 of the machining system 104. A user manually loads the turbine component 102 (Figure 9 only) onto the loading platform 210. If a door 114 of the machine housing 112 is provided, the door 114 is open to allow the loading platform 210 to exit to the user access location. In the user access location, the loading platform 210 is at least partially outside the machine housing 112 of the computerized machining system 104, i.e., the door 114 is open. The user can manually place the turbine component 102 onto the loading platform 210, with the holder 218 functioning to, for example, securely position the turbine component 102 in a predetermined position relative to the rest of the loading platform 210, to facilitate positioning of the gripper 130 in a subsequent step.

[0058] FIG. 11 illustrates the loading platform 210 with the turbine component 102 positioned in a loading position adjacent the component fixture 110. In this step, the actuators 212 of the loading system 132 retract and move the loading platform 210 toward the component fixture 110. If one or more guide tracks 214 are provided, the one or more guide tracks 214 allow the loading platform 210 to move linearly. As previously described, the loading system 132 may include alternative structures and actuators for the loading platform 210 to effect the above-described movements. Once the loading platform 210 is moved to the loading position or beyond the loading position, the door 114 of the machine housing 112 closes. If the actuators 212 are not provided, the user may manually place the turbine component 102 on the loading platform 210 in the loading position illustrated in FIG. 11, with the holders 218 functioning as previously described.

[0059] 13-19 illustrate the use of the gripper 130 to move the turbine component 102 from the loading platform 210 to the part fixture 110 of the computerized machining system 104, and the use of the gripper 130 to move the turbine component 102 from the part fixture 110 to the loading platform 210. As previously described, the gripper 130 has a contact member 184 configured to grip the turbine component 102 and is operably coupled to the tool handler 120 of the computerized machining system 104. FIGS. 13 and 14 illustrate the gripper 130 in a released position relative to the turbine component 102, i.e., the gripper 130 is not engaged with or holding the turbine component 102, with the turbine component 102 resting on the loading platform 210. In FIG. 13 , the gripper 130 is selected by the tool handler 120 from the tool carrier 124 ( FIG. 1 ) through an opening (not shown) in the machine housing 112 in a known manner, and the gripper 130 is positioned on the turbine component 102 in a loading position on the load platform 210. The position of the turbine component 102 on the load platform 210 is predefined by the component holder 218 of the load platform 210, so that the gripper 130 can grip the turbine component without further determining the location of the turbine component. However, in alternative embodiments, if desired, the gripper 130 can include a physical or optical probe, for example, to confirm the location of the turbine component 102 on the load platform 210. In the loading position, the load platform 210 is inside the machine housing 112 of the computerized machining system 104, if one is provided.

[0060] FIG. 14 shows the tool handler 120 lowering the gripper 130 to the first longitudinal position L1 of the turbine component 102. As explained, the distance D1 (FIG. 7) between the fixed contact members 186, 188 is wide enough to allow the fixed contact members 186, 188 to pass transversely across the airfoils 150, 168 at the first longitudinal position L1 of the airfoils 150, 168. In an alternative embodiment, if the geometry of the turbine component 102 allows, the gripper 130 could pass longitudinally over, for example, the outer tip 161 (FIG. 2) of the airfoil 150 of a turbine blade 138 (FIG. 2) that does not have a tip shroud. In this way, the contact members 186, 188 can be positioned at the first longitudinal position L1 without passing transversely across the airfoil 150.

[0061] In any case, as shown in Figures 14 and 15, the tool handler 120 and / or the part fixture 110 then linearly move the gripper 130 relative to the turbine component 102 such that the gripper 130 moves between the first longitudinal position L1 and the second longitudinal position L2. In the illustrated example, the part fixture 110, and therefore the turbine component 102, moves away from the viewer of the page on which the figure is shown such that the gripper 130 moves between the first longitudinal position L1 and the second longitudinal position L2. In this case, the turbine component 102 on the part fixture 110 moves so that the gripper 130 is located at the second longitudinal position L2. Alternatively or additionally, the tool handler 120 may move the gripper 130 during this process, if desired. During this movement, the contact members 184 do not generally contact the airfoils 150, 168, although they do make some sliding contact near the end of the movement.

[0062] 15-18 show the tool handler 120 moving the gripper 130. As shown in FIGS. 15-18, the tool handler 120 moves the gripper 130 between a first handler position on the load platform 210 and a second handler position on the part fixture 110. FIGS. 15-16 show the tool handler 120 and the gripper 130 at the first handler position on the load platform 210, where the gripper 130 can move between a release position and a gripping position to grip or release the turbine component 102 and move the turbine component 102 to or from the load platform 210. 17-18 show the tool handler 120 and gripper 130 in a second handler position on the part fixture 110, where the gripper 130 can move between a release position and a gripping position to grip or release the turbine component 102 and move the turbine component 102 into or out of the part fixture 110.

[0063] The movement of the tool handler 120 and gripper 130 between the first and second handler positions will now be described in more detail.

[0064] 15 shows the gripper 130 in a gripping position on the load platform 210 and the actuator 187 actuated to extend the moveable contact member 190 into contact with the turbine component 102 at or near longitudinal location L2. In this situation, the turbine component 102 is rigidly secured by the gripper 130 and is movable.

[0065] 16 illustrates the use of the gripper 130 to lift the turbine component 102 off of the load platform 210. The tool handler 120 now rises (vertically in the page in which the figure is presented) and lifts the gripper 130 and the turbine component 102.

[0066] 17 illustrates moving the turbine component 102 onto the part fixture 110 of the machining system 104, where the tool handler 120 and / or the part fixture 110 move so that the turbine component 102 is positioned above the part fixture 110. That is, generally speaking, the tool handler 120 moves to the right on the page on which the figure is presented, and / or the part fixture 110 moves to the left on the page. Either or both of the tool handler 120 and the part fixture 110 can also be moved toward or away from the page on which the figure is presented, such that the tool component 102 is longitudinally aligned in a desired position on the part fixture 110.

[0067] Figure 18 illustrates the lowering of the turbine component 102 into the component fixture 110. Here, the tool handler 120 lowers (vertically in the page in which the figure is presented) lowering the gripper 130 and the turbine component 102. Upon moving to the position shown in Figure 18, the actuator 187 of the gripper 130 retracts the moveable contact member 190 to a retracted position, placing the gripper 130 in a release position on the component fixture 110.

[0068] 19, the tool handler 120 and / or the part fixture 110 then linearly move the turbine component 102 such that the gripper 130 moves relative to the turbine component 102 between the second longitudinal position L2 and the first longitudinal position L1. In the illustrated example, the turbine component 102 located in the part fixture 110 generally moves toward the viewer of the page on which the figure is shown such that the gripper 130 moves between the second longitudinal position L2 and the first longitudinal position L1. Alternatively or additionally, the tool handler 120 can move the gripper 130 during this process as needed. During this movement, the contact members 184 are released from contact with the airfoils 150, 168, except for some sliding contact immediately at the beginning of the movement.

[0069] The part fixture 110 may include any known or later developed structure for gripping the turbine component 102. As is known in the art, the part fixture 110 may move the turbine component 102 in any manner, such as horizontally, vertically, and / or diagonally, using the necessary actuators controlled by the computer 106.

[0070] Machining:

[0071] 20-21 illustrate various operations of the machining system 104, with FIG. 21 illustrating machining of a turbine component 102 based on a set of part processing instructions. In FIG. 20, the tool handler 120 has replaced the gripper 130 with, for example, a conventional physical or optical probe 220 that may be used in an optional step to verify the location of the turbine component 102 on the part fixture 110. In FIG. 21, the tool handler 120 has replaced the probe 220 with a machining tool 222. Machining as illustrated in FIG. 21 may include using any known or future developed process of the machining system 104 as directed by a set of part processing instructions. In one illustrated example, the machining tool 222 includes a milling head and a coolant 224 is injected into the tool 222. As known in the art, the tool handler 120 and / or the part fixture 110 may move such that a tool 222 moves into contact with the turbine component 102 to perform the machining. The tool 222 is shown above and not in contact with the tool part for illustration purposes, but may not be visible during machining. After machining, the tool handler 120 may optionally select from a variety of post-machining treatment tools on the tool carrier 124 ( FIG. 1 ) to clean debris, remove contaminants, and / or dry the part using air jets or high speed fans.

[0072] Unloading after processing:

[0073] After machining, the handling steps described above for loading the turbine component 102 can be performed in reverse order to remove the turbine component 102. To describe this step, reference will be made to the figures in reverse order. This step involves moving the turbine component 102 from the part fixture 110 of the computerized machining system 104 to the loading platform 210 using a gripper 130 operably coupled to a tool handler 120 of the computerized machining system 104. More specifically, as shown in FIG. 19, the tool handler 120 removes the machining tool 222 (FIG. 20) and selects the gripper 130. FIG. 19 illustrates lowering the gripper 130 onto the turbine component 102. Here, the tool handler 120 lowers (vertically in the page in which the figure is presented) and lowers the gripper 130 onto the turbine component 102. 19, the actuator 187 of the gripper 130 has the movable contact member 190 in a retracted position, ie, the gripper 130 is in a release position over the component fixture 110. In the position of FIG.

[0074] As shown in FIG. 18, the tool handler 120 and / or the part fixture 110 then linearly move the turbine component 102 such that the gripper 130 moves relative to the turbine component 102 between a first longitudinal position L1 and a second longitudinal position L2. In the illustrated example, the part fixture 110 moves away from the viewer of the page on which the figure is shown such that the gripper 130 moves between the first longitudinal position L1 and the second longitudinal position L2. Alternatively or additionally, the tool handler 120 may move the gripper 130 during this step as needed. During this movement, the contact members 184 are released from contact with the airfoils 150, 168, except for some sliding contact near the end of the movement. 18 also shows the gripper 130 in a gripping position on the component fixture 110, with the actuator 187 actuated to extend the moveable contact member 190 so as to bring the moveable contact member 190 into contact with the turbine component 102 at or near longitudinal location L2. In this situation, the turbine component 102 is securely secured by the gripper 130 and is movable.

[0075] 17 illustrates lifting the turbine component 102 out of the component fixture 110. Here, the tool handler 120 moves up (vertically to the page in which this figure is displayed) and lifts the gripper 130 and the turbine component 102.

[0076] 16 illustrates the turbine component 102 being moved from above the part fixture 110 of the machining system 104, where the tool handler 120 and / or part fixture 110 are moved to position the turbine component 102 on the loading platform 210. That is, generally speaking, the tool handler 120 is moved to the left side of the page on which the figure is presented, and / or the part fixture 110 is moved to the right side of the page. One or both of the tool handler 120 and part fixture 110 can also be moved toward or away from the page on which the figure is presented, such that the tool component 102 is longitudinally aligned in a desired position on the loading platform 210 (e.g., part holder 218).

[0077] Figure 15 illustrates the lowering of the turbine component 102 onto the loading platform 210, where the tool handler 120 lowers (vertically in the page in which the figure is presented) lowering the gripper 130 and the turbine component 102. In the position of Figure 15, the actuator 187 of the gripper 130 has moved the moveable contact member 190 to a retracted position, placing the gripper 130 in a released position on the loading platform 210.

[0078] 14, the tool handler 120 and / or part fixture 110 linearly move the turbine component 102 such that the gripper 130 moves relative to the turbine component 102 between the second longitudinal position L2 and the first longitudinal position L1. In the illustrated example, the part fixture 110 generally moves toward the viewer of the page in which the figure is shown such that the gripper 130 moves between the second longitudinal position L2 and the first longitudinal position L1. Alternatively or additionally, the tool handler 120 may move the gripper 130 during this process as desired. During this movement, the contact members 184 are released from contact with the airfoils 150, 168, except for some sliding contact immediately at the beginning of the movement.

[0079] In FIG. 13 , the gripper 130 is in a released position relative to the turbine component 102, i.e., the gripper 130 is not engaged with and is not holding the turbine component 102, the turbine component 102 is again resting on the loading platform 210, and the tool handler 120 can raise the gripper 130 at the first longitudinal position L1 to leave the turbine component 102 on the loading platform 210.

[0080] 1 and 9 illustrate the placement of the load platform 210 in a user access position distal from the part fixture 110 of the machining system 104. In this position, a user can manually remove the turbine component 102 from the load platform 210. That is, the load platform 210 is again placed in a user access position distal from the part fixture 110 of the machining system 104, so that a user can manually remove the turbine component 102 from the load platform 210. If a door 114 of the machine housing 112 is provided, the door 114 is open to allow the load platform 210 to move to the user access position. In the user access position, the load platform 210 is at least partially outside the machine housing 112 of the computerized machining system 104, i.e., the door 114 is open. A user can manually remove the turbine component 102 from the load platform 210 at any designated position. If an actuator 212 is not provided for the loading system 132, a user can manually remove the turbine component from the loading platform 210 in the loading position shown in FIG. 11 (with the door 114 open, if provided).

[0081] The embodiments of the present disclosure provide various technical and commercial advantages, examples of which are described herein. The handling system allows for easy loading and unloading of heavy or complex shaped turbine components, such as turbine blades or turbine nozzles with airfoils, without significant bending and / or stretching while holding the turbine components. The handling system is advantageous in machining systems having a machine housing, but is also useful in machining systems that do not have a machine housing.

[0082] Approximate language used throughout the specification and claims can be applied to modify any quantitative expression that can be reasonably varied without causing a change in the basic function involved. Thus, values ​​modified by one or more terms (such as "approximately", "about", and "substantially") are not limited to the exact value specified. In at least some instances, approximate language may correspond to the precision of the instrument for measuring the value. Range limitations can be combined and / or substituted herein and throughout the specification and claims. Unless the context or language indicates otherwise, such ranges are identified and include all subranges encompassed therein. "About" or "approximately" applied to a particular value in a range applies to both ends of the range and can indicate + / - 10% of the stated value, unless otherwise dependent on the precision of the instrument for measuring the value.

[0083] The corresponding structures, materials, acts, and equivalents of all means-plus-function or step-plus-function elements in the claims are intended to encompass any structures, materials, or acts for performing that function in combination with other specifically claimed claim elements. The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be all inclusive or to limit the disclosure to the disclosed form. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the disclosure. The present embodiments have been chosen and described in order to best explain the principles and practical applications of the disclosure and to enable others skilled in the art to understand the disclosure and to consider various modifications of the various embodiments as may be suitable for particular uses. [Explanation of symbols]

[0084] 100 Handling System 102 Turbine parts 104 Machining System 120 Tool Handler 130 Gripping part 180 Mounting arm 184 Contact member 187 Actuator

Claims

1. A handling system (100) for a turbine component (102) in a computerized machining system (104), the handling system (100) comprising: A grip portion (130) is included, The gripping portion (130) is a mounting arm (180) configured to be operatively coupled to a tool handler (120) of the computerized machining system (104); a plurality of contact members (184) configured to collectively grip the turbine component (102); and a first actuator (187) configured to move at least one of the plurality of contact members (184) between a release position in which the plurality of contact members (184) receive a portion of the turbine component (102) at a first longitudinal position (L1) of the portion of the turbine component (102) and a gripping position in which the plurality of contact members (184) grip the portion of the turbine component (102) at a second longitudinal position (L2) of the portion that is different from the first longitudinal position (L1). Including, At least one of the tool handler (120) and the turbine component (102) moves linearly to move the gripper (130) relative to the turbine component (102) between the first longitudinal position (L1) and the second longitudinal position (L2).

2. 2. The handling system (100) of claim 1, further comprising a loading system (132) comprising a loading platform (210) and a second actuator (212) configured to move the loading platform (210) between a user access position distal to a part fixture (110) of the computerized machining system (104) and a loading position proximate to the part fixture (110) of the computerized machining system (104).

3. 3. The handling system (100) of claim 2, further comprising one or more linear guide tracks (214) on which the loading platform (210) is mounted for lateral movement relative to the component fixture (110), and the second actuator (212) comprises a linear actuator configured to move the loading platform (210) along the one or more linear guide tracks (214) between the user access position and the loading position.

4. 3. The handling system (100) of claim 2, wherein in the user access position, the loading platform (210) is at least partially outside a machine housing (112) of the computerized machining system (104), and in the loading position, the loading platform (210) is inside a machine housing (112) of the computerized machining system (104).

5. With the loading platform (210) in the loading position, the tool handler (120) moves the gripper (130) to a first handler position on the loading platform (210), where the gripper (130) moves between the release position and the gripping position to grip the turbine component (102) or release the turbine component (102) and move the turbine component (102) to or from the loading platform (210); a second handler position above the part fixture, where the gripper moves between the release position and the grip position to grip the turbine component or release the turbine component and move the turbine component to or from the part fixture; The handling system (100) of claim 4, for moving between

6. 6. The handling system (100) of claim 5, wherein the loading platform (210) moves between the user access position and the loading position and the gripper (130) moves between the first handler position, the second handler position, the release position, and the gripping position in an automated manner as part of a set of part processing instructions for the computerized machining system (104).

7. With the loading platform (210) in the loading position, the tool handler (120) moves the gripper (130) to a first handler position on the loading platform (210), where the gripper (130) moves between the release position and the gripping position to grip the turbine component (102) or release the turbine component (102) and move the turbine component (102) to or from the loading platform (210); a second handler position above the part fixture, where the gripper moves between the release position and the grip position to grip the turbine component or release the turbine component and move the turbine component to or from the part fixture; The handling system (100) of claim 2, for moving between

8. The handling system (100) of claim 2, wherein with the load platform (210) in the user access position, the turbine component (102) is freely movable manually by a user.

9. The handling system (100) of any of the preceding claims, wherein the second longitudinal position (L2) of the turbine component (102) comprises a center of gravity of the turbine component (102).

10. The handling system (100) of claim 1, wherein the first actuator (187) comprises a pneumatic actuator.

11. The plurality of contact members (184) include a first stationary contact member (186) and a second stationary contact member (188), the first and second stationary contact members (186, 188) being spaced apart from one another such that a portion of the turbine component (102) can pass between the first and second stationary contact members (186, 188) at the first longitudinal position (L1) of the portion but is prevented from passing between the first and second stationary contact members (186, 188) at the second longitudinal position (L2); and a movable contact member (190) operatively coupled to the first actuator (187) such that the turbine component (102) is selectively gripped by the plurality of contact members (184) at the second longitudinal position (L2). The handling system (100) of claim 1, comprising:

12. The handling system (100) of any of the preceding claims, wherein the turbine component (102) comprises a turbine blade or a turbine nozzle (138), and the portion of the turbine component comprises an airfoil (150, 168).

13. 1. An automated method for handling a turbine component (102) in a computerized machining system (104), the automated method comprising: positioning a loading platform (210) at a user access location distal from a part fixture (110) of the computerized machining system (104), whereby a user manually loads the turbine component (102) onto the loading platform (210); placing the loading platform (210) together with the turbine component (102) in a loading position adjacent the component fixture (110); transferring the turbine component (102) from the loading platform (210) to a part fixture (110) of the computerized machining system (104) using a gripper (130) having a plurality of contact members (184) configured to collectively grip the turbine component (102), the gripper (130) being operably coupled to a tool handler (120) of the computerized machining system (104); and Machining the turbine component (102) using the computerized machining system (104) and a set of component machining instructions. A method comprising:

14. After said machining, transferring the turbine component (102) from a part fixture (110) of the computerized machining system (104) to the loading platform (210) using the gripper (130) operably coupled to the tool handler (120) of the computerized machining system (100, 104) (104); and The loading platform (210) is positioned at a user access location distal to a part fixture (110) of the computerized machining system (104), thereby allowing a user to manually remove the turbine component (102) from the loading platform (210). The automated method of claim 13 further comprising:

15. the gripping portion (130) includes a first actuator (187) configured to move at least one of the plurality of contact members (184) between a release position in which the plurality of contact members (184) receive a portion of the turbine component (102) at a first longitudinal position (L1) of the portion of the turbine component (102) and a gripping position in which the plurality of contact members (184) grip the portion of the turbine component (102) at a second longitudinal position (L2) of the portion that is different from the first longitudinal position (L1); 14. The automated method of claim 13, further comprising linearly moving at least one of the tool handler (120) and the turbine component (102) such that the gripper (130) moves relative to the turbine component (102) between the first longitudinal position (L1) and the second longitudinal position (L2).

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