Patent Description:
As a rotating assembly manufactured by attaching a plurality of parts around a rotating body, there exists a turbine generator used in an aircraft engine or for power generation. As a method of attaching blades as attachment target members to a rotating body, a method of attaching a plurality of blades to grooves formed in the circumferential direction of a rotating body has been disclosed (PTL <NUM> and PTL <NUM>). There is also disclosed a method of attaching blades to a plurality of attachment portions formed at a predetermined interval around a rotating body (PTL <NUM>).

When attaching a blade, the physical amounts of the blade need to be measured. From the viewpoint of work efficiency, there is demand for efficient performance of the measurement.

The present invention has been made in consideration of the above-described problem, and has as its object to provide a technique of efficiently performing measurement of an attachment target member.

According to the present invention, there is provided a measurement device as defined in claim <NUM>.

According to the present invention, it is possible to efficiently perform measurement of an attachment target member.

Note, the following embodiments are not intended to limit the scope of the claimed invention, and limitation is not made to an invention that requires a combination of all features described in the embodiments. Two or more of the multiple features described in the embodiments may be combined as appropriate. Furthermore, the same reference numerals are given to the same or similar configurations, and redundant description thereof is omitted.

Note that in the drawings, the X direction and the Y direction are defined as horizontal directions, and the Z direction is defined as a vertical direction.

<FIG> is a plan view schematically showing a manufacturing system <NUM> according to an embodiment of the present invention. The manufacturing system <NUM> is a system configured to manufacture a rotating assembly by attaching a plurality of attached target members to a rotating main body portion <NUM>. In this embodiment, a blade <NUM> (see <FIG>) serving as the attached target member is attached to the rotating main body portion <NUM>. A rotating assembly <NUM> (see <FIG>) manufactured by the manufacturing system <NUM> can be used as a constituent component of an aircraft engine or a turbine generator. In this embodiment, the manufacturing system <NUM> includes a stand <NUM> on which a tray <NUM> storing a blade <NUM> is placed, a transfer device <NUM> configured to transfer the blade <NUM>, a measurement device <NUM> configured to measure the physical amounts of the blade <NUM>, and an attachment device <NUM> configured to attach the blade <NUM> to the rotating main body portion <NUM>. The manufacturing system <NUM> also includes a control device <NUM> configured to generally control these devices. Note that the configuration of each device will be described later.

<FIG> is a perspective view schematically showing the configuration of the blade <NUM>. The blade <NUM> is an attached target member to be attached to the rotating main body portion <NUM> in the manufacturing system <NUM>. For example, the blade <NUM> is made of a heat resistant alloy (for example, a nickel-base superalloy or a titanium-aluminum alloy), a ceramic matrix composite material (CMC), or the like. In this embodiment, the blade <NUM> includes a root portion <NUM>, a flange portion <NUM>, a wing-shaped portion <NUM>, and an identifier <NUM>.

The root portion <NUM> is configured to be engageable with a groove <NUM> of the rotating main body portion <NUM>. When an engaged portion <NUM> on the lower side of the root portion <NUM> engages with an engaging groove <NUM> of the groove <NUM> shown in <FIG>, the movement of the blade <NUM> with respect to the rotating main body portion <NUM> in the radial direction (the up-and-down direction in <FIG>) and the rotation axis direction (the left-and-right direction in <FIG>) is regulated. The wing portion <NUM> forms a so-called rotor blade of the rotating assembly <NUM>. The flange portion <NUM> defines the interval between the wing portions <NUM>. If a plurality of blades <NUM> are arranged in the circumferential direction of the rotating main body portion <NUM>, the flange portions <NUM> of the adjacent blades <NUM> abut against each other, thereby keeping the interval between the wing portions <NUM> in a predetermined value. The identifier <NUM> is used to identify each blade <NUM>. As the identifier <NUM>, for example, a two-dimensional code such as a barcode or a QR code® may be used.

<FIG> is a perspective view schematically showing the configuration of the tray <NUM>. The tray <NUM> is a storage member capable of storing the blade <NUM> as an attached target member. The tray <NUM> includes a plurality of blade storage portions <NUM>, a held portion <NUM>, and an identifier <NUM>.

Each of the plurality of blade storage portions <NUM> can store the blade <NUM>. The plurality of blade storage portions <NUM> are configured to be able to store the blades <NUM> that are arranged one by one in one direction or in a direction crossing the one direction. The held portion <NUM> is a portion to be held by a tray holding portion <NUM> of the transfer device <NUM> when the transfer device <NUM> transfers the tray <NUM>. The identifier <NUM> is used to identify each tray <NUM>. As the identifier <NUM>, the same identifier as the identifier <NUM> can be used. The identifier <NUM> can be read by a reading portion <NUM> (to be described later) of the transfer device <NUM>, and is stored in a tray storage information storage portion 1262a (to be described later) in association with the identifier <NUM> of the tray <NUM>, the position of the blade storage portion <NUM>, and the identifier <NUM> of the blade <NUM>. Note that as for the blade storage portions <NUM>, the reference numeral is added to only some of these and omitted for the remaining in consideration of the visibility.

<FIG> is a perspective view showing the outline of the stand <NUM> shown in <FIG>. The stand <NUM> is a table used to temporarily place the tray <NUM>. In this embodiment, the stand <NUM> includes a placement member <NUM> configured to place the tray <NUM>, and the placement region of the placement member <NUM> is divided into a supply region <NUM>, a standby region <NUM>, and a collection portion <NUM>.

The supply region <NUM> is a region on which the tray <NUM> transferred from the outside of the manufacturing system <NUM> is placed. That is, in this embodiment, the supply region <NUM> is a region to which the tray <NUM> in a state in which the blades <NUM> are stored is supplied. The supply region <NUM> is provided with positioning members <NUM> configured to position the tray <NUM>. The positioning member <NUM> extends upward from the placement member <NUM> up to a position much higher than the height of one tray <NUM>. This makes it possible to stack a plurality of trays <NUM> in the supply region <NUM>. Note that the tray <NUM> supplied to the supply region <NUM> may be in an empty state without the blades <NUM> stored.

The standby region <NUM> is a region used to make the tray <NUM> storing the blades <NUM> measured by the measurement device <NUM> stand by. To place a plurality of trays <NUM> arranged in the horizontal direction without stacking them, the standby region <NUM> has a space larger than the supply region <NUM> or the collection portion <NUM>. In this embodiment, the standby region <NUM> is provided in a rectangular shape to place a plurality of trays arranged in the X direction and the Y direction. Hence, as for the trays <NUM> placed in the standby region <NUM>, the identifier <NUM> of the tray <NUM> or the identifier <NUM> of the blade <NUM> can be read by the reading portion <NUM> (to be described later) of the transfer device <NUM> located above these. Note that as the tray <NUM> to be made to stand by in the standby region <NUM>, the empty tray <NUM> in which the blades <NUM> are not stored in the plurality of blade storage portions <NUM> may be placed.

Also, the standby region <NUM> is provided with positioning members <NUM> configured to position the tray <NUM>. Note that the tray <NUM> storing the blades <NUM> before measurement may be placed in the standby region <NUM>. Note that as for the positioning members <NUM>, the reference numeral is added to only some of these and omitted for the remaining in consideration of the visibility.

The collection portion <NUM> is a region on which the tray <NUM> to be transferred to the outside of the manufacturing system <NUM> is placed. That is, the tray <NUM> that waits for collection is placed in the collection portion <NUM>. The tray <NUM> that has been emptied by transferring the stored blades <NUM> to the attachment device <NUM> is transferred to the collection portion <NUM> by the transfer device <NUM>. Note that the tray <NUM> placed in the collection portion <NUM> may be in a state in which the blades <NUM> are stored in it. The collection portion <NUM> is provided with positioning members <NUM> configured to position the tray <NUM>. The positioning member <NUM> extends upward from the placement member <NUM> up to a position much higher than the height of one tray <NUM>. This makes it possible to stack a plurality of trays <NUM> in the supply region <NUM>. In addition, when the supply region <NUM> and the collection portion <NUM> are provided, the tray <NUM> can be sequentially supplied and collected, and the manufacturing system <NUM> can be continuously operated.

A description will be made with reference to <FIG> as well. In this embodiment, the measurement device <NUM> is provided on a first side 103a (the right side in <FIG>) of the stand <NUM>, and the attachment device <NUM> is provided on a second side 103b (the lower side in <FIG>) different from the first side 103a. Also, a portion on a third side 103c (the left side in <FIG>) different from the first side 103a and the second side 103b of the stand <NUM> is used as the supply region <NUM> and the collection portion <NUM>. As described above, the measurement device <NUM> and the attachment device <NUM> are provided adjacent to the standby region <NUM> of the stand <NUM>. Transfer of the tray <NUM> or the blades <NUM> is performed by the transfer device <NUM> across and above the supply region <NUM>, the collection portion <NUM>, the measurement device <NUM>, and the attachment device <NUM>. Hence, the moving distance of the tray <NUM> and the blades <NUM> is reduced, and the manufacturing system <NUM> can efficiently perform manufacture.

<FIG> is a perspective view showing the outline of the transfer device <NUM> shown in <FIG>. The transfer device <NUM> is a device configured to transfer the blade <NUM> between the stand <NUM> and the measurement device <NUM> and between the stand <NUM> and the attachment device <NUM>. In this embodiment, the transfer device <NUM> is a so-called gantry-type orthogonal robot, and is provided to be movable in the horizontal direction and the vertical direction above the stand <NUM>, the measurement device <NUM>, and the attachment device <NUM>. Also, in this embodiment, the transfer device <NUM> includes a tray holding portion <NUM>, a blade holding portion <NUM>, a horizontal moving portion <NUM>, a vertical moving portion <NUM>, the reading portion <NUM>, a support portion <NUM>, and a control portion <NUM> (to be described later). Note that as the configuration of the transfer device <NUM>, for example, another known device such as a vertical articulated robot can also be employed.

The tray holding portion <NUM> holds the tray <NUM>. In this embodiment, the tray holding portion <NUM> includes a pair of plate-shaped members <NUM>, <NUM> each including a hook portion <NUM>. When the plate-shaped members <NUM>,<NUM> are translated in directions (the direction of an arrow 5A) in which these separate from each other, the hook portions <NUM>,<NUM> are hooked on hooked portions (not shown) of the held portion <NUM> of the tray <NUM>, and the tray <NUM> is held. Note that the configuration in which the tray holding portion <NUM> holds the tray <NUM> is merely an example, and another configuration such as a configuration in which the tray holding portion <NUM> grips a part of the tray <NUM> can also be employed.

The blade holding portion <NUM> (transfer holding means) holds the blade <NUM>. In this embodiment, two blade holding portions <NUM>,<NUM> are provided, and each of the blade holding portions <NUM>,<NUM> includes a pair of grip members <NUM>,<NUM> capable of gripping the wing-shaped portion <NUM> of the blade <NUM>. The blade holding portion <NUM> translates the pair of grip members <NUM>, <NUM> in directions (the direction of an arrow 5B) in which these separate from each other, thereby gripping the wing-shaped portion <NUM> and thus holding the blade <NUM>. In this embodiment, each of the two blade holding portions <NUM>,<NUM> can hold one blade <NUM>.

Note that in this embodiment, the tray holding portion <NUM> and the blade holding portions <NUM> are supported by the support portion <NUM> provided at the distal end (lower end) portion of the vertical moving portion <NUM>. The support portion <NUM> includes a fixed portion 117a attached to the distal end (lower end) portion of the vertical moving portion <NUM>, and a pivotal portion 117b configured to pivot with respect to the fixed portion 117a. In this embodiment, one side of the fixed portion 117a is fixed to the distal end (lower end) portion of the vertical moving portion <NUM>, and the pivotal portion 117b is configured to pivot on the other side. The pivotal axis of the pivotal portion 117b is a tilting axis Ta tilting downward by <NUM>° with respect to a vertical axis Va of the vertical moving portion <NUM>, and the pivotal portion 117b pivots about the tilting axis Ta. The pivotal portion 117b is pivotally supported by the fixed portion 117a. The tray holding portion <NUM> is formed in one portion tilting by <NUM>° in one direction (horizontal direction) with respect to the tilting axis Ta, and the blade holding portions <NUM> are formed in the other portion tilting by <NUM>° in the other direction (vertical direction) with respect to the tilting axis Ta. Hence, although the pair of grip members <NUM>,<NUM> are directed in the horizontal direction in <FIG>, when the pivotal portion 117b of the support portion <NUM> pivots in the direction (arrow 5C) about the tilting axis Ta, the positions of the tray holding portion <NUM> and the blade holding portions <NUM> are replaced, and grip of the blade <NUM> or the tray <NUM> on the lower side in the vertical direction of the vertical moving portion <NUM> can arbitrarily be gripped in accordance with the transfer purpose and transferred. Additionally, in this embodiment, the transfer device <NUM> includes the two blade holding portions <NUM>. This allows the transfer device <NUM> to efficiently perform the replacing operation of the blade <NUM>.

The horizontal moving portion <NUM> is configured to move the tray holding portion <NUM> and the blade holding portions <NUM> in the horizontal direction (the X direction and the Y direction in <FIG>). The horizontal moving portion <NUM> includes a pair of rail members <NUM>,<NUM> extending in the X direction, an X moving body <NUM> that is provided over the pair of rail members <NUM>,<NUM> and is movable in the X direction, and a Y moving body <NUM> that is movable in the Y direction on the X moving body <NUM>.

The pair of rail members <NUM>,<NUM> are provided at an interval in the Y direction, supports the X moving body <NUM>, and defines the moving range of the tray holding portion <NUM> and the blade holding portions <NUM>. In this embodiment, the pair of rail members <NUM>,<NUM> extend over the whole area of the stand <NUM> and a partial area of the measurement device <NUM> in the X direction and are provided apart from each other such that the whole area of the stand <NUM> and a partial area of the attachment device <NUM> are located between these in the Y direction. Accordingly, the tray holding portion <NUM> and the blade holding portions <NUM> are configured to be movable over the whole area of the stand <NUM>, a partial area of the measurement device <NUM>, and a partial area of the attachment device <NUM>.

The X moving body <NUM> is configured to move the tray holding portion <NUM> and the blade holding portions <NUM> in the X direction. For example, the X moving body <NUM> includes a driving source (not shown) such as an electric motor. The X moving body <NUM> moves the tray holding portion <NUM> and the blade holding portions <NUM> in the X direction by causing a pinion mechanism connected to the output shaft of the electric motor to mesh with a rack mechanism provided on each rail member <NUM>.

The Y moving body <NUM> is configured to move the tray holding portion <NUM> and the blade holding portions <NUM> in the Y direction. For example, the Y moving body <NUM> includes a driving source (not shown) such as an electric motor. The Y moving body <NUM> moves the tray holding portion <NUM> and the blade holding portions <NUM> in the Y direction by causing a pinion mechanism connected to the output shaft of the electric motor to mesh with a rack mechanism provided on the X moving body <NUM>. Note that the configurations of the X moving body <NUM> and the Y moving body <NUM> are not limited to the above-described configurations, and a known configuration can be employed.

The vertical moving portion <NUM> is configured to move the tray holding portion <NUM> and the blade holding portions <NUM> in the vertical direction (Z direction). For example, the vertical moving portion <NUM> includes a driving source (not shown) such as an electric motor, and moves the tray holding portion <NUM> and the blade holding portions <NUM> in the Z direction by a ball screw mechanism or a rack-and-pinion mechanism. Note that the configuration of the vertical moving portion <NUM> is not limited to the above-described configuration, and a known configuration can be employed.

The reading portion <NUM> reads the identifier <NUM> of the tray <NUM> or the identifier <NUM> of the blade <NUM>. This can discriminate the tray <NUM> or the blade <NUM> that is a transfer target.

Note that in this embodiment, the upper area of the stand <NUM>, the upper area of a part of the measurement device <NUM>, and the upper area of a part of the attachment device <NUM> form the moving range of the tray holding portion <NUM> and the blade holding portions <NUM> of the transfer device <NUM>. However, the moving range can appropriately be designed. For example, the whole areas of the stand <NUM>, the measurement device <NUM>, and the attachment device <NUM> may form the moving range of the tray holding portion <NUM> and the blade holding portions <NUM> of the transfer device <NUM>.

Also, in this embodiment, as will be described later, the transfer device <NUM> transfers the blade <NUM> via the tray <NUM> between the stand <NUM> and the measurement device <NUM>, and transfers the blade <NUM> directly between the stand <NUM> and the attachment device <NUM>. However, a configuration for causing the transfer device <NUM> to directly transfer the blade <NUM> between the stand <NUM> and the measurement device <NUM> or a configuration for causing the transfer device <NUM> to transfer the blade <NUM> via the tray <NUM> between the stand <NUM> and the attachment device <NUM> can also be employed.

<FIG> is a perspective view showing the outline of the measurement device <NUM> shown in <FIG>, and <FIG> is a plan view showing the outline of the measurement device <NUM>. The measurement device <NUM> is a device configured to measure the physical amounts of the blade <NUM>. In this embodiment, the measurement device <NUM> is provided next to the standby region <NUM> of the stand <NUM>. Also, in this embodiment, the measurement device <NUM> includes a placement portion <NUM>, a robot <NUM>, a turn table <NUM>, a measurement unit <NUM>, a base portion <NUM> that supports these, and a control portion <NUM> (to be described later).

The placement portion <NUM> is provided to make the blades <NUM> stand by before and after measurement, and includes a placement table <NUM> on which the tray <NUM> storing the blades <NUM> before and after measurement is placed, and a positioning mechanism <NUM> configured to position the tray <NUM>. In this embodiment, the placement table <NUM> is provided in the measurement device <NUM> to face the stand <NUM>. This shortens the distance between the placement portion <NUM> and the stand <NUM> and enables efficient transfer of the tray <NUM>.

The positioning mechanism <NUM> includes regulation members configured to regulate the positions of the four corners of the tray <NUM>, and a displacement unit <NUM> capable of displacing one of the regulation members. When the displacement unit <NUM> displaces in the direction of an arrow 7A in <FIG> in a state in which the tray <NUM> is placed on the placement table <NUM>, the tray <NUM> abuts against each regulation member, and the position of the tray <NUM> on the placement table <NUM> is decided.

The robot <NUM> transfers the blade <NUM> between the placement portion <NUM> and the turn table <NUM>. In this embodiment, the robot <NUM> is a vertical articulated robot, and its distal end portion is provided with a holding portion <NUM> capable of gripping the blade <NUM>. This allows the robot <NUM> to replace the blade <NUM> supported by a blade support member <NUM> (to be described later) at a replacement position N1 on the turn table <NUM> with a different blade <NUM>. Note that although the robot <NUM> is a vertical articulated robot in this embodiment, a horizontal articulated robot or another known industrial robot can be used.

The turn table <NUM> is provided to place each blade <NUM> transferred from the placement portion <NUM> by the robot <NUM> and move the blade <NUM> to the measurement unit <NUM> arranged on the periphery of the turn table <NUM>. When the blade <NUM> placed on the turn table <NUM> is moved to each measuring instrument of the measurement unit <NUM> by the rotary movement of the turn table <NUM>, measurement by the measuring instrument is sequentially performed. The turn table <NUM> includes a rotatably supported circular plate-shaped member <NUM>, and a plurality of blade support portions <NUM> arranged at a predetermined interval on a concentric circle 123r with respect to an axis 123c serving as the center of the plate-shaped member <NUM>.

The plate-shaped member <NUM> can be rotated in the direction of an arrow 7B in <FIG> by, for example, a driving mechanism <NUM> such as a motor about the axis serving as the center of the plate-shaped member <NUM>. When the plate-shaped member <NUM> is intermittently operated, each blade support portion <NUM> can be moved and stopped at a measurement position of the measurement unit <NUM>. The blade support member <NUM> is a support member configured to support the blade <NUM>, and a plurality of blade support members <NUM> are provided such that each can support one blade <NUM>. In this embodiment, eight blade support members <NUM> are arranged at equal intervals on a peripheral edge portion <NUM> of the plate-shaped member <NUM>. However, the number of the blade support members can appropriately be designed. Note that as for the blade support members <NUM>, the reference numeral is added to only some of these and omitted for the remaining in consideration of the visibility.

The measurement unit <NUM> is configured to measure various kinds of physical amounts of the blade <NUM>. The measurement unit <NUM> includes a reading device <NUM>, a size measuring instrument <NUM>, a weight measuring instrument <NUM>, and a temperature measuring instrument <NUM>, and these measuring instruments are arranged to execute measurement of the blade <NUM> supported on the turn table <NUM>. Note that these will be sometimes generically referred to as a measuring instrument 124a hereinafter. Also, the measurement unit <NUM> includes a transfer mechanism <NUM> configured to transfer the blade between the weight measuring instrument <NUM> and the turn table <NUM>.

The reading device <NUM> reads the identifier <NUM> (for example, a two-dimensional code such as a barcode or a QR code®) added to the blade <NUM> in advance. This makes it possible to individually manage various kinds of physical amounts measured in each blade <NUM>. For example, the reading device <NUM> is a barcode reader.

The size measuring instrument <NUM> measures a size measurement portion having a preset size L (the size L in <FIG>) of the blade <NUM>. The size L corresponds to the size in the circumferential direction when the blade <NUM> is attached to the rotating main body portion <NUM>. The blade <NUM> to be attached to the rotating main body portion <NUM> is selected based on the size L. For example, the size measuring instrument <NUM> may include a camera. The size measuring instrument <NUM> may capture the blade <NUM> from above by the camera and calculate the size by analyzing the image data. Also, for example, the size measuring instrument <NUM> may be a laser length measuring sensor.

The weight measuring instrument <NUM> measures the weight of the blade <NUM>. From the viewpoint of increasing efficiency (improving a gas flow and improving combustion efficiency) and suppressing vibrations in a turbine or the like, the position deviation between the center of gravity of the rotating assembly <NUM> and its rotation axis when the blade <NUM> is attached to the rotating main body portion <NUM> is preferably suppressed. Hence, the blade <NUM> needs to be arranged in the circumferential direction of the rotating main body portion <NUM> in balance based on the weight measured by the weight measuring instrument <NUM>.

The transfer mechanism <NUM> includes a grip portion 1245a configured to grip the blade <NUM>, and the blade can be transferred by the grip portion 1245a between the weight measuring instrument <NUM> and the turn table <NUM>. Also, the grip portion 1245a can be moved in the Y direction and the Z direction by a driving source (not shown).

The temperature measuring instrument <NUM> measures the temperature of the blade <NUM>. This makes it possible to correct the value of the size L in consideration of thermal expansion of the blade <NUM>. For example, the temperature measuring instrument <NUM> may be a noncontact infrared radiation thermometer.

In this embodiment, as shown in <FIG>, measurement regions P2 to P4 and a reading region P1 of the measuring instruments 124a are located at equal intervals on the moving path of the blade support members <NUM>. That is, the measurement regions P2 to P4 and the reading region P1 are located at equal intervals along the edge of the plate-shaped member <NUM> of the turn table <NUM>. Hence, each blade <NUM> undergoes measurement every time the plate-shaped member <NUM> rotates by <NUM>°.

Also, in this embodiment, the eight blade support members <NUM> are arranged at equal intervals along the edge of the plate-shaped member <NUM>, as described above. If four blade support members <NUM> which are alternately arranged in the eight blade support members <NUM> are located at the measurement positions M1 to M4, one of the remaining four blade support members <NUM> arranged between these is located at the replacement position N1. This allows the robot <NUM> to replace the (already measured) blade <NUM> after measurement with the (unmeasured) blade <NUM> before measurement during measurement by each measuring instrument. Hence, the measurement device <NUM> can efficiently perform measurement and replacement of the blades <NUM> by rotating/stopping the plate-shaped member <NUM> every <NUM>°.

The base portion <NUM> is provided to be able to support the constituent elements of the measurement device <NUM>. The base portion <NUM> includes a placement support portion <NUM> configured to support the placement portion <NUM>, a measurement support portion <NUM> configured to support the measurement unit <NUM>, and a transfer support portion <NUM> configured to support the robot <NUM> that supports the blade <NUM>. Since the relative positions of the placement portion <NUM>, the measurement unit <NUM>, and the robot <NUM> are thus defined, a work can correctly be performed. In addition, when the heights of the support portions are arbitrarily set to set the height of the tray <NUM> placed on the placement portion <NUM>, the height of the blade support members <NUM> provided on the turn table <NUM>, and a height optimum for transfer of the blade <NUM> by the robot <NUM>, the transfer efficiency of the blade <NUM> can be improved.

<FIG> is a plan view showing the outline of the attachment device <NUM>. The attachment device <NUM> is a device configured to attach the blade <NUM> measured by the measurement device <NUM> to the rotating main body portion <NUM>. The attachment device <NUM> is provided next to the standby region <NUM> of the stand <NUM>. Hence, the transfer device <NUM> can efficiently transfer the blade <NUM> measured by the measurement device <NUM> to the attachment device <NUM>. The attachment device <NUM> includes a placement portion <NUM>, a robot <NUM>, a rotating body measurement portion <NUM>, a rotating body support portion <NUM>, and a control portion <NUM> (to be described later). The attachment device <NUM> also includes a base portion <NUM> that integrates the placement portion <NUM>, the robot <NUM>, the rotating body measurement portion <NUM>, and the rotating body support portion <NUM>.

The placement portion <NUM> is configured to place the blade <NUM> to be attached to the rotating main body portion <NUM>. In this embodiment, the placement portion <NUM> is arranged on the side of the stand <NUM>. This can shorten the moving distance of the transfer device <NUM> when transferring the blade <NUM> between the standby region <NUM> and the placement portion <NUM> and enables efficient transfer of the blade <NUM>.

In this embodiment, the placement portion <NUM> includes a plurality of conveyance bodies <NUM>, a moving unit <NUM>, a regulation unit <NUM>, and a reading unit <NUM>. The reading unit <NUM> has a configuration similar to, for example, the reading device <NUM> of the measurement device <NUM>, and reads the identifier <NUM> added to the blade <NUM> in advance. The reading device <NUM> is, for example, a barcode reader.

The plurality of conveyance bodies <NUM> each include a blade placement portion 1311b on which the blade <NUM> is placed, and a projecting portion 1311a on which the movement of the conveyance body <NUM> is regulated by the regulation unit <NUM>. Note that as for the blade support members <NUM>, the reference numeral is added to only some of these and omitted for the remaining in consideration of the visibility.

The moving unit <NUM> includes an endless path portion R on which the plurality of conveyance bodies <NUM> circulatively move. That is, the plurality of conveyance bodies <NUM> are mounted on the endless path portion R. For example, the moving unit <NUM> may be a roller conveyor that forms the endless path portion R, and another conveyor or a known conveyance mechanism can be employed.

Also, in this embodiment, a placement section S1 including a placement position R1 and an attachment section S2 including an extraction position R2 are provided on the path portion R of the moving unit <NUM>. The placement section S1 is a section where the transfer device <NUM> can transfer the blade <NUM> between the stand <NUM> and the conveyance body <NUM>. The attachment section S2 is a section where the blade <NUM> to be attached to the rotating main body portion <NUM> can be transferred by the robot <NUM> between the rotating main body portion <NUM> and the conveyance body <NUM>. For example, if the reading unit <NUM> reads the identifier <NUM> of the blade <NUM> at the attachment position R2, and the read identifier <NUM> matches the identifier <NUM> of the blade <NUM> to be attached, the robot <NUM> may grip the blade <NUM>. Note that the placement section S1 and the attachment section S2 can appropriately be designed in accordance with the configurations and the like of the transfer device <NUM> and the robot <NUM>.

The regulation unit <NUM> is a unit configured to regulate the movement of the conveyance body <NUM> by the moving unit <NUM>. The regulation unit <NUM> regulates the movement of the conveyance body <NUM> when, for example, the transfer device <NUM> places the blade <NUM> on the empty conveyance body <NUM>, or when the robot <NUM> grips, from the conveyance body <NUM>, the blade <NUM> to be attached to the rotating main body portion <NUM>. The movement of the conveyance body <NUM> is also regulated when the reading unit <NUM> reads the identifier <NUM> of the blade <NUM>.

<FIG> is a view taken in the direction of an arrow 8B in <FIG> and showing a state in which the regulation unit <NUM> does not regulate the movement of the conveyance body <NUM> (a state in which the regulation unit <NUM> does not abut against the conveyance body <NUM>). <FIG> is a view taken in the direction of the arrow 8B in <FIG> and showing a state in which the regulation unit <NUM> regulates the movement of the conveyance body <NUM> (a state in which the regulation unit <NUM> abuts against the conveyance body <NUM>). A base portion 1313b of the regulation unit <NUM> supports the regulation member 1313a such that it can displace in the up-and-down direction. When the conveyance body <NUM> is movable (<FIG>), the regulation member 1313a displaces upward and is located on the moving path of the projecting portion 1311a, and the projecting portion 1311a of the conveyance body <NUM> abuts against the regulation member 1313a, thereby regulating the movement of the conveyance body <NUM> (<FIG>). Note that the configuration of the regulation unit <NUM> is merely an example, and another configuration can be employed. For example, the regulation member 1313a may be provided to be displaceable in a direction perpendicular to the moving direction of the moving unit <NUM>.

Note that in this embodiment, a configuration in which the moving unit <NUM> is included in the placement portion <NUM> has been described as an example. However, a configuration in which the placement portion <NUM> does not include the moving unit <NUM> can also be employed. For example, the conveyance body may be a self-propelled conveyance body in which a driving mechanism for movement is formed.

<FIG> and <FIG> will be referred to together. <FIG> is a view taken in the direction of an arrow 8A in <FIG>, and <FIG> is a view taken in the direction of the arrow 8A and showing only the rotating main body portion <NUM>. In this embodiment, the rotating main body portion <NUM> is supported by the rotatable rotating body support portion <NUM>, and the rotating body measurement portion <NUM> is provided to be able to measure the physical amounts of the rotating main body portion <NUM>.

The rotating main body portion <NUM> will be described here. The rotating main body portion <NUM> forms the main body portion of the rotating assembly <NUM> (see <FIG>) and rotates about a rotation axis Z1. In this embodiment, the rotating main body portion <NUM> includes a circumferential surface, and the circumferential surface is provided with attachment portions M1 to M3 to which the blade <NUM> can be attached. In this embodiment, the attachment portions M1 to M3 are grooves continuously formed on the circumference set with respect to the rotation axis Z1 as the center. Note that the description will be made below taking the attachment portion M1 as an example. The rotating body measurement portion <NUM> can perform the same measurement for the attachment portions M2 and M3 as well. The attachment portions M1 to M3 may simply be referred to as attachment portions M if these are not particularly discriminated. Note that in this embodiment, the description will be made using, as an example, a case in which the rotating assembly <NUM> is an integrated structure including the attachment portions M1 to M3. However, the rotating assembly <NUM> is not limited to this. For example, the rotating assembly may be formed by combining disc bodies each having, at the center, a hole for receiving a rotation axis body. More specifically, the attachment portions M2, M1, and M3 including insertion ports <NUM> (to be described later) may be formed in the outer peripheral portions of three disc bodies, and a rotation axis body may be fitted in the holes of the three disc bodies to form the rotating main body portion <NUM>.

The rotating body measurement portion <NUM> performs movement concerning the rotating main body portion <NUM>. In this embodiment, the rotating body measurement portion <NUM> includes a perimeter measurement portion <NUM> and a gap measurement portion <NUM>.

The perimeter measurement portion <NUM> measures a physical amount concerning the perimeter of the attachment portion M1 of the rotating main body portion <NUM>. In this embodiment, the attachment portion M1 is a groove formed in the circumferential direction of the rotating main body portion <NUM>, and the perimeter measurement portion <NUM> measures a diameter D1 of the groove. The perimeter of the attachment portion M1 is calculated based on the measurement result. The perimeter measurement portion <NUM> includes camera units 1331a and 1331b, and illuminations 1332a and 1332b. Each of the camera units 1331a and 1331b includes a moving mechanism configured to move the camera in the axial direction (height direction) parallel to the rotation axis Z1. Each camera can be moved by the moving mechanism to a position optimum for image capturing (measurement) of the attachment portion M and can perform image capturing (measurement). Also, when each camera is moved in the axial direction, the camera can be moved to a position optimum for image capturing (measurement) of the attachment portion M2 and the attachment portion M3, which have different heights in the axial direction, and the diameter of each groove can be measured. Note that the height in the axial direction can be calculated and acquired by, for example, setting the reference of the moving mechanism based on the placement surface of the rotating body support portion <NUM> on which the rotating main body portion <NUM> is placed.

The camera units 1331a and 1331b can capture two end portions of the attachment portion M1 of the rotating main body portion <NUM> viewed from a side, as shown in <FIG>. In other words, the camera unit 1331a captures one side portion of the attachment portion M1 viewed from a side and acquires information concerning the position. The camera unit 1331b captures the other side portion located at a position symmetric to the one side portion with respect to the rotation axis Z1 of the rotating main body portion <NUM> on the circumference of the groove of the attachment portion M1 and acquires information concerning the position. The distance of the diameter Dl is calculated based on the acquired positions of the one side portion and the other side portion.

The illuminations 1332a and 1332b are provided facing the camera units 1331a and 1331b, respectively, and illuminate the image capturing ranges of the camera units 1331a and 1331b from opposite sides, respectively. Each of the illuminations 1332a and 1332b may be, for example, an LED illumination. When light sources are irradiated by the illuminations 1332a and 1332b from the directions opposite to the camera units 1331a and 1331b, the ridgeline of the rotating main body portion <NUM> supported by the rotating body support portion <NUM> arranged between these can be made clear.

<FIG> will be referred to together. <FIG> is a view schematically showing the attachment portion M1 in a state in which the blades <NUM> are attached. The gap measurement portion <NUM> performs measurement concerning the arrangement of the blades <NUM> attached to the attachment portion M1. For example, the gap measurement portion <NUM> measures a physical amount concerning the gap between the attached target members. In this embodiment, after attachment of an arbitrary number of blades <NUM> along the attachment portion M1 is completed, the gap measurement portion <NUM> measures a gap amount g between the blade <NUM> (the second blade <NUM> from the top in <FIG>) attached first and the blade <NUM> (the third blade <NUM> from the top in <FIG>) attached at last.

The gap measurement portion <NUM> includes a camera unit <NUM> and an illumination <NUM>. The camera unit <NUM> includes a moving mechanism configured to move the camera in the axial direction parallel to the rotation axis Z1. The camera unit <NUM> captures (measures) the gap amount g, and the captured image is analyzed, thereby calculating the gap amount g. The illumination <NUM> illuminates the image capturing region of the camera unit <NUM>. For example, the illumination <NUM> may be an LED illumination. Also, the camera unit <NUM> includes a moving mechanism configured to move the camera in the axial direction parallel to the rotation axis Z1. The camera can be moved by the moving mechanism to an image capturing position optimum for the measurement of the physical amount concerning the gap between the attached target members and can perform image capturing. Also, when the camera is moved in the axial direction, the gap amount g can be captured and measured at a position optimum for the measurement of the physical amount concerning the gap between the attached target members of the blades <NUM> attached to the attachment portion M2 and the attachment portion M3, which have different heights in the axial direction. Note that the height in the axial direction can be calculated and acquired by, for example, setting the reference of the moving mechanism based on the placement surface of the rotating body support portion <NUM> on which the rotating main body portion <NUM> is placed.

Note that in this embodiment, the configurations of the perimeter measurement portion <NUM> and the gap measurement portion <NUM> are merely examples, and the perimeter or gap may be measured using, for example, a laser length measuring sensor. Another known measurement method can also be employed.

The robot <NUM> attaches the blade <NUM> to the rotating main body portion <NUM>. In this embodiment, the robot <NUM> is a vertical articulated robot having a configuration similar to the robot <NUM> of the measurement device <NUM> but may be another known industrial robot.

Attachment of the blade <NUM> by the robot <NUM> will be described here. <FIG> will be referred to together with <FIG>. <FIG> is a sectional view taken along a line I - I in <FIG>, which is a schematic view showing a state halfway through inserting the blade <NUM> into the insertion port <NUM> of the attachment portion M. <FIG> is a sectional view taken along a line II - II in <FIG>, which is a view showing a state in which the blade <NUM> is inserted into and engages with the attachment portion M (attachment completion state). In this embodiment, the robot <NUM> inserts the blade <NUM> from the insertion port <NUM> of the attachment portion M (<FIG>) and slides it in the circumferential direction, thereby moving the blade <NUM> at the position of the insertion port <NUM> to a position shifted in the circumferential direction (<FIG>). The robot <NUM> sequentially repeats this operation, thereby completing attachment of all blades <NUM> to the attachment portion M. At this time, if the blades <NUM> are arranged close to each other, the final blade <NUM> is adjacent to the first blade <NUM> when the final blade <NUM> is attached. The perimeter of the attachment portion M of the rotating main body portion <NUM> is set such that a certain gap is formed between the blades <NUM>. The gap measurement portion <NUM> measures the certain gap amount g.

The base portion <NUM> supports the constituent elements of the attachment device <NUM>. The base portion <NUM> includes a support arrangement portion <NUM> in which the rotating body support portion <NUM> is arranged, a perimeter measurement arrangement portion <NUM> in which the perimeter measurement portion <NUM> is arranged and supported, and a gap measurement arrangement portion <NUM> in which the gap measurement portion <NUM> is arranged and supported. Since these are integrally provided in arbitrary heights on the base portion <NUM>, the relative positions of these are defined, and measurement can correctly be performed by the perimeter measurement portion <NUM> and the gap measurement portion <NUM>. It is also possible to efficiently move the blade <NUM> by the robot <NUM> between the conveyance body <NUM> and the rotating main body portion <NUM>.

<FIG> is a schematic view showing the hardware configuration of the entire manufacturing system <NUM>. In this embodiment, the control device <NUM>, the transfer device <NUM>, the measurement device <NUM>, and the attachment device <NUM> are connected to control the operation of the entire manufacturing system <NUM>. The control device <NUM> includes a processing portion <NUM>, a storage portion <NUM>, and an interface portion <NUM>, and these are connected to each other by a bus <NUM>.

The processing portion <NUM> is a processor represented by, for example, a CPU, and executes programs stored in the storage portion <NUM>. The storage portion <NUM> includes, for example, a RAM, a ROM, a hard disk, and the like, and stores various kinds of data in addition to the programs to be executed by the processing portion <NUM>. The interface portion <NUM> is provided between the processing portion <NUM> and an external device and is, for example, a communication interface or an I/O interface. A host computer <NUM> is a control device configured to manage and control an entire production facility provided with the manufacturing system <NUM>.

<FIG> is a schematic view showing the hardware configuration of the transfer device <NUM>. In this embodiment, a control portion <NUM> and other elements that form the transfer device <NUM> are connected to control the operation of the transfer device <NUM>. The control portion <NUM> includes a processing portion <NUM>, a storage portion <NUM>, and an interface portion <NUM>, and these are connected to each other by a bus <NUM>.

The processing portion <NUM> is a processor represented by, for example, a CPU, and executes programs stored in the storage portion <NUM>. The storage portion <NUM> includes, for example, a RAM, a ROM, a hard disk, and the like, and stores various kinds of data in addition to the programs to be executed by the processing portion <NUM>. The interface portion <NUM> is provided between the processing portion <NUM> and an external device (for example, the control device <NUM> or the like) and is, for example, a communication interface or an I/O interface.

The processing portion <NUM> can communicate with the control device <NUM> via the interface portion <NUM>, and operates the elements of the transfer device <NUM> in accordance with instructions from the control device <NUM>. For example, if an instruction for transferring the tray <NUM> in the supply region <NUM> to the placement portion <NUM> of the measurement device <NUM> is received, the processing portion <NUM> operates the horizontal moving portion <NUM> and the vertical moving portion <NUM>, moves the tray holding portion <NUM> and causes it to hold the tray <NUM>, and transfers the tray <NUM> to the placement portion <NUM>.

In this embodiment, the storage portion <NUM> includes a tray position information storage portion 1162a as a storage area capable of storing data. The tray position information storage portion 1162a is a storage area configured to manage a position to place the tray <NUM>, and includes "tray identification information" and "position information" as stored information.

The "tray identification information" is information used to identify each tray <NUM>. For example, when the reading portion <NUM> of the transfer device <NUM> or the like reads the identifier <NUM> of the tray <NUM>, the processing portion <NUM> acquires the "tray identification information". In addition, the "position information" is information representing where the tray <NUM> is placed on the manufacturing system <NUM>. For example, unique position information is assigned to each of the placement positions of the standby region <NUM> of the stand <NUM>, the supply region <NUM>, the collection portion <NUM>, the placement portion <NUM> of the measurement device <NUM>, and the like. If the tray <NUM> is placed at any placement position, the processing portion <NUM> stores, in the tray position information storage portion 1162a, the "tray identification information" and the "position information" of the place where the tray <NUM> is placed in association with each other. This allows the tray position information storage portion 1162a to manage the position of each tray <NUM>.

<FIG> is a schematic view showing the hardware configuration of the measurement device <NUM>. In this embodiment, a control portion <NUM> and the elements of the measurement device <NUM> are connected to control the operation of the measurement device <NUM>. The control portion <NUM> includes a processing portion <NUM>, a storage portion <NUM>, and an interface portion <NUM>, and these are connected to each other by a bus <NUM>.

The processing portion <NUM> can communicate with the control device <NUM> via the interface portion <NUM>, and operates the elements of the measurement device <NUM> in accordance with instructions from the control device <NUM>. If an instruction for measuring a physical amount of the blade <NUM> placed on the placement portion <NUM> is received from the control device <NUM>, the processing portion <NUM> causes the robot <NUM> to sequentially transfer the blade <NUM> from the tray <NUM> placed on the placement portion <NUM> to the turn table <NUM>. Also, the processing portion <NUM> moves the blade <NUM> to a measurement position of the measurement unit <NUM> while intermittently rotating the turn table <NUM>, and stops the turn table <NUM>. The processing portion <NUM> then causes the measurement unit <NUM> to measure the blade <NUM> moved to the measurement position. In addition, when the tray <NUM> is transferred to the placement portion <NUM> by the transfer device <NUM>, the processing portion <NUM> operates the positioning mechanism <NUM> to position the tray <NUM>.

The storage portion <NUM> includes a tray storage information storage portion 1262a and a blade information storage portion 1262b as storage areas capable of storing data.

The tray storage information storage portion 1262a is a storage area configured to manage the information of the blade <NUM> stored in the tray <NUM>, and includes "tray identification information" (described above), "storage number", and "blade identification information" as stored information.

The "storage number" is a number added to each of the plurality of blade storage portions <NUM> in the tray <NUM>, and is information used to identify which blade storage portion <NUM> in the tray <NUM> stores a given blade <NUM>. The "blade identification information" is information used to identify each blade <NUM>. For example, the processing portion <NUM> acquires the "blade identification information" by causing the reading device <NUM> to read the identifier <NUM> of the blade <NUM>. The processing portion <NUM> stores the "storage number" and the "blade identification information" in the tray storage information storage portion 1262a in association with each other, thereby managing the blade <NUM> stored in the tray <NUM>.

The blade information storage portion 1262b is a storage area configured to manage the measurement information of each blade, and includes "blade identification information" (described above) and "measurement information" as stored information.

The "measurement information" is information concerning the physical amounts of the blade <NUM> measured by the measurement device <NUM>. In this embodiment, the "measurement information" includes the weight, the size, and the temperature of each blade <NUM>. The processing portion <NUM> stores these in the blade information storage portion 1262b in association with the "blade identification information", thereby managing the physical amounts of each blade <NUM>.

<FIG> is a schematic view showing the hardware configuration of the attachment device <NUM>. In this embodiment, a control portion <NUM> and the elements of the attachment device <NUM> are connected to control the operation of the attachment device <NUM>. The control portion <NUM> includes a processing portion <NUM>, a storage portion <NUM>, and an interface portion <NUM>, and these are connected to each other by a bus <NUM>.

The processing portion <NUM> can communicate with the control device <NUM> via the interface portion <NUM>, and operates the elements of the attachment device <NUM> in accordance with instructions from the control device <NUM>. For example, if a request for acquiring information about the perimeter of the rotating main body portion <NUM> is received from the control device <NUM>, the processing portion <NUM> causes the perimeter measurement portion <NUM> to measure the perimeter of the rotating main body portion <NUM>. Also, if an attachment instruction is received from the control device <NUM>, the processing portion <NUM> causes the robot <NUM> to attach the blade <NUM> based on information stored in an arrangement information storage portion 1352b (to be described later). After attachment, the processing portion <NUM> causes the gap measurement portion <NUM> to measure the gap, and determines the state of the gap.

In this embodiment, the storage portion <NUM> includes an attachment portion information storage portion 1352a, the arrangement information storage portion 1352b, and a gap information storage portion 1352c as storage areas capable of storing data. The attachment portion information storage portion 1352a is a storage area configured to manage the information of the attachment portion M of the rotating main body portion <NUM>, and includes "attachment portion identification information", "perimeter", and "height" as stored information or the like.

The "attachment portion identification information" is information used to identify each attachment portion M. The "perimeter" is the perimeter of the attachment portion M measured by the perimeter measurement portion <NUM> of the attachment device <NUM>. The "height" is the height of the attachment portion M measured by the perimeter measurement portion <NUM>. The processing portion <NUM> stores these in the attachment portion information storage portion 1352a in association with each other, thereby managing the information of each attachment portion M of the rotating main body portion <NUM>.

The arrangement information storage portion 1352b is attachment information storage area configured to manage the arrangement of the blade <NUM> to be attached to the attachment portion M, and includes "arrangement information", "arrangement position", and "blade identification information" (described above) as stored information. The "arrangement position" is information concerning the position of the blade <NUM> in the circumferential direction of the attachment portion M. For example, the "arrangement position" may be a relative position with respect to the insertion port <NUM>, or may be an attachment order. The "arrangement information" is information concerning which blade <NUM> should be attached to each arrangement position of the attachment portion M, and is associated with the "blade identification information" and the "arrangement position". This allows the arrangement information storage portion 1352b to manage which blade <NUM> is attached at which position of the attachment portion M.

The gap information storage portion 1352c is a storage area configured to manage the gap between the adjacent blades <NUM> after the blades <NUM> are attached to the attachment portion M, and includes "attachment portion identification information" described above), "arrangement information", "gap", and "determination result" as stored information.

The "gap" is the gap between the adjacent blades <NUM> measured by the gap measurement portion <NUM> of the attachment device <NUM>. The "determination result" is a result of determining whether the gap amount g of the measured gap falls within the preset range of allowable values. When these are stored in association with the "arrangement information", information representing whether the arrangement of the blade <NUM> is appropriate can be accumulated.

Note that the pieces of information stored in the storage portion <NUM> of the transfer device <NUM>, the storage portion <NUM> of the measurement device <NUM>, and the storage portion <NUM> of the attachment device <NUM> may be stored in the storage portion <NUM> of the control device <NUM>. In addition, the control device <NUM> and the host computer <NUM> may communicate to store the various kinds of information in the host computer <NUM>. In this case, the processing portion <NUM> of the control device <NUM> may request the data from each device, and the processing portion of each device may transmit the target data to the processing portion <NUM> based on the request from the processing portion <NUM> of the control device <NUM>. Similarly, the control device <NUM> and the host computer <NUM> may communicate to transmit/receive target data.

<FIG> is a flowchart showing an example of an attachment step of the blade <NUM> by the manufacturing system <NUM>. Each step is implemented when one or a plurality of devices of the manufacturing system <NUM> operate based on an instruction from the processing portion <NUM>. For example, this flowchart starts when the tray <NUM> is transferred from the outside of the manufacturing system <NUM> to the supply region <NUM> of the stand <NUM>.

In step S1801, based on an instruction from the processing portion <NUM>, the transfer device <NUM> transfers the tray <NUM> placed in the supply region <NUM>. At this time, the transfer device <NUM> transfers the tray <NUM> based on processing shown in <FIG>. Upon confirming that the transfer device <NUM> has transferred the tray <NUM> to the placement portion <NUM>, the processing portion <NUM> advances to the process in step S1802.

In step S1802, the measurement device <NUM> measures the blades <NUM> stored in the tray <NUM> based on an instruction from the processing portion <NUM>. Details will be described with reference to <FIG>. Upon confirming that measurement by the measurement device <NUM> has ended, the processing portion <NUM> advances to the process in step S1803.

In step S1803, based on an instruction from the processing portion <NUM>, the transfer device <NUM> transfers, to the standby region <NUM>, the tray <NUM> placed on the placement portion <NUM> in a state in which the measured blades <NUM> are stored. Upon confirming that the transfer device <NUM> has transferred the tray <NUM> to the standby region <NUM>, the processing portion <NUM> advances to the process in step S1804.

In step S1804, the attachment device <NUM> attaches the blades <NUM> based on an instruction from the processing portion <NUM>. Note that in this step, measurement of the perimeter of the rotating main body portion <NUM>, selection of the blade <NUM> to be attached, transfer of the selected blade <NUM>, and the like are also performed. Details of these will be described with reference to <FIG>.

In step S1805, the transfer device <NUM> transfers the empty tray <NUM> to the collection portion <NUM> based on an instruction from the processing portion <NUM>. Upon confirming that the transfer by the transfer device <NUM> has ended, the processing portion <NUM> ends the flowchart.

Note that although a series of procedures has been described above with a focus placed on a given tray <NUM>, processing for the next tray <NUM> may be performed before all the processes for one tray <NUM> are ended. That is, the processes may be performed in parallel such that while the attachment device <NUM> is attaching the blade <NUM>, the measurement device <NUM> performs measurement of the next blade <NUM>. This makes it possible to efficiently perform the attachment work.

<FIG> is a flowchart showing details of the processing of step S1801, which is a flowchart showing an example of processing of the processing portion <NUM> of the transfer device <NUM>. For example, this flowchart is implemented when the processing portion <NUM> of the transfer device <NUM> reads out and executes a program stored in the storage portion <NUM>. For example, this flowchart starts when the tray <NUM> is supplied from the outside of the manufacturing system <NUM> to the supply region <NUM>, and the processing portion <NUM> of the transfer device <NUM> receives a transfer instruction from the processing portion <NUM> of the control device <NUM>.

In step S1901, the processing portion <NUM> confirms whether another tray <NUM> is placed on the placement portion <NUM> as the transfer destination. If another tray is placed on the placement portion <NUM>, the process advances to step S1902 to transfer the tray <NUM> to the standby region <NUM> and then advances to step S1903. Note that the processing of step S1902 is not executed depending on the states of the standby region <NUM> and the placement portion <NUM> (see a broken line in <FIG>). At this time, the processing portion <NUM> may cause the reading portion <NUM> to read the identifier <NUM> of the tray <NUM> and store, in the tray position information storage portion 1162a, the identification information of the tray <NUM> and the position information of the position where the tray <NUM> is placed. On the other hand, if any other tray <NUM> is not placed on the placement portion <NUM>, the process advances to step S1905 to transfer the tray <NUM> to the placement portion <NUM> and then advances to step S1906.

In step S1903, the processing portion <NUM> confirms again whether another tray <NUM> is placed on the placement portion <NUM> as the transfer destination. That is, the processing portion <NUM> confirms whether the placement portion <NUM> is free. If any other tray is not placed on the placement portion <NUM>, the processing portion <NUM> advances to step S1904 to transfer the tray <NUM> to the placement portion <NUM> and then advances to step S1906. Note that in the processing of step S1904, if the processing of step S1902 is not omitted, the tray <NUM> is transferred from the standby region <NUM> to the placement portion <NUM> in step S1901. If the processing of step S1902 is performed, the tray <NUM> is transferred from the supply region <NUM> to the placement portion <NUM>. On the other hand, if another tray <NUM> is placed on the placement portion <NUM>, the processing of step S1903 is repeated.

In step <NUM>, the processing portion <NUM> transmits, to the control device <NUM>, information representing that the tray <NUM> is already transferred to the placement portion <NUM>, and ends the flowchart. At this time, the processing portion <NUM> may transmit the identification information of the tray <NUM> to the control device <NUM> together.

<FIG> is a flowchart showing details of the processing of step S1802, which is a flowchart showing an example of processing of the processing portion <NUM> of the measurement device <NUM>. For example, this flowchart is implemented when the processing portion <NUM> of the measurement device <NUM> reads out and executes a program stored in the storage portion <NUM>. For example, this flowchart starts when the processing portion <NUM> receives a measurement instruction for the processing portion <NUM> of the control device <NUM>.

In step S2001, the processing portion <NUM> transfers the blade <NUM> to the turn table <NUM> by the robot <NUM>. In this embodiment, the robot <NUM> transfers the blade <NUM> to the support portion <NUM> of the turn table <NUM>.

In steps S2002 to S2005, the processing portion <NUM> performs reading of the identifier <NUM> by the reading device <NUM>, size measurement by the size measuring instrument <NUM>, weight measurement by the weight measuring instrument <NUM>, and temperature measurement by the temperature measuring instrument <NUM>. At this time, the processing portion <NUM> moves the blade <NUM> to the reading position and each measurement position by rotating the turn table <NUM> by a predetermined angle.

In step S2006, the processing portion <NUM> generates blade information to be stored in the blade information storage portion 1262b based on acquired blade identification information and measurement information, and stores the blade information. More specifically, the pieces of information measured in steps S2002 to S2005 are temporarily stored in a predetermined storage portion each time, and the blade information is completed in step S2006.

In step S2007, the processing portion <NUM> confirms whether an unmeasured blade <NUM> exists in the tray <NUM>. If an unmeasured blade <NUM> exists, the processing portion <NUM> advances to step S2008 to perform, by the robot <NUM>, replacement of the measured <NUM> blade <NUM> placed on the turn table <NUM> with the unmeasured blade <NUM> stored in the tray <NUM>, and then returns to step S2002. On the other hand, if an unmeasured blade <NUM> does not exist, the processing portion <NUM> advances to step S2009 to transfer the blade <NUM> placed on the turn table <NUM> to the tray <NUM> on the placement portion <NUM>, and then advances to step S2010.

In step S2010, the processing portion <NUM> generates information to be stored in the tray storage information storage portion 1262a based on the identification information of the tray <NUM> and the identification information of the blade <NUM>. After that, in step S2011, the processing portion <NUM> sends a transfer request of the tray <NUM> to the control device <NUM> and ends the processing.

Note that in the above example, the operation of the measurement device <NUM> has been described with a focus placed on one blade <NUM>. However, the processing may be performed parallelly for a plurality of blades <NUM>.

<FIG> is a flowchart showing details of the processing of step S1804, which is a flowchart showing an example of processing of the processing portion <NUM> of the attachment device <NUM>. For example, this flowchart is implemented when the processing portion <NUM> of the measurement device <NUM> reads out and executes a program stored in the storage portion <NUM>. For example, this flowchart starts when the processing portion <NUM> receives an attachment instruction from the processing portion <NUM> of the control device <NUM>.

In step S2101, the processing portion <NUM> measures the perimeter of the rotating main body portion <NUM> by the perimeter measurement portion <NUM>. After that, in step S2102, the processing portion <NUM> acquires, via the control device <NUM>, the information stored in the tray storage information storage portion 1262a and the blade information storage portion 1262b measurement device <NUM>.

In step S2103, the processing portion <NUM> generates arrangement information. Based on the perimeter of the rotating main body portion <NUM> and the measured size, weight, and the like of each blade <NUM>, the processing portion <NUM> decides selection and arrangement of the blade <NUM> to be attached. For example, the processing portion <NUM> selects and arranges the blade such that there is little deviation of center of gravity after attachment, and the gap amount g of the gap after attachment of all blades <NUM> is equal to or less than an allowable value. Note that as for the processing of step S2103, information prepared in advance in the host computer <NUM> may be received, and the processing may be performed based on the received information. In step S2104, the processing portion <NUM> requests the control portion <NUM> to transfer the selected blade <NUM> to the placement portion <NUM>.

In step S2105, the processing portion <NUM> confirms whether the blade <NUM> of the attachment target is placed on the placement portion <NUM>. If the blade <NUM> of the attachment target is placed, the processing portion <NUM> advances to step S2106. If the blade <NUM> of the attachment target is not placed, the processing of step S2105 is repeated.

Here, for example, upon receiving the transfer request in step S2104 from the processing portion <NUM>, the processing portion <NUM> of the control device <NUM> instructs the transfer device <NUM> to transfer the target blade <NUM> to the placement portion <NUM>. When the transfer of the blade <NUM> ends, the transfer device <NUM> transmits transfer completion information to the processing portion <NUM>. Upon receiving the transfer completion information, the processing portion <NUM> transmits information representing that the transfer operation of the blade <NUM> has ended to the processing portion <NUM> of the attachment device <NUM>. The processing portion <NUM> receives the information, thereby confirming that the blade <NUM> has been placed in step S2103.

In step S2106, the processing portion <NUM> attaches the blade <NUM> to the rotating main body portion <NUM> by the robot <NUM>. The processing portion <NUM> sequentially attaches the blade <NUM> based on the generated arrangement information, and if the attachment has ended, advances to step S2107.

In step S2107, the processing portion <NUM> performs gap measurement by the gap measurement portion <NUM>. In this embodiment, the gap amount g of the gap between the blade <NUM> attached first and the blade <NUM> attached at last is measured. After the measurement, the processing portion <NUM> advances to the processing of step S2108.

In step S2108, the processing portion <NUM> confirms whether the gap amount of the gap measured in step S2107 falls within the range of allowable values. If the gap amount falls outside the range of allowable values, in step S2109, the processing portion <NUM> performs replacement of the blades <NUM> by the robot <NUM> and returns to step S2107. On the other hand, if the gap amount falls within the range of allowable values, the processing portion <NUM> advances to step S2110 to extract the rotating assembly <NUM> from the rotating body support portion <NUM> by a transfer means (not shown), and ends the processing. Note that if the rotating main body portion <NUM> includes a plurality of attachment portions M, extraction of the rotating assembly <NUM> is performed after the attachment of the blades <NUM> to all the attachment portions M is ended.

As described above, according to the manufacturing system <NUM> of this embodiment, attachment of the blades <NUM> to the rotating main body portion <NUM> can automatically be performed without a worker, and the rotating assembly <NUM> can efficiently be manufactured. Also, according to the measurement device <NUM> of this embodiment, since measurement can be performed by the measurement unit <NUM> while placing the blades <NUM> on the placement portion <NUM> and making them stand by, the measurement of the blades <NUM> can efficiently be performed. Furthermore, according to the attachment device <NUM> of this embodiment, the appropriate blades <NUM> can be attached based on the perimeter of the rotating main body portion <NUM>.

In the above-described embodiment, the blade <NUM> is transferred in the order of the stand <NUM>, the measurement device <NUM>, the stand <NUM>, and the attachment device <NUM>. However, the blade <NUM> may be transferred from the measurement device <NUM> to the attachment device <NUM> without interposing the stand <NUM>. That is, the transfer device <NUM> may transfer the blade <NUM> that has undergone the measurement by the measurement device <NUM> directly to the attachment device <NUM>.

Also, in the above-described embodiment, the robot <NUM> of the attachment device <NUM> inserts the blade <NUM> sequentially from the insertion port <NUM> of the rotating main body portion <NUM>. However, a configuration capable of attaching the blade <NUM> from an arbitrary position of the attachment portion M can also be employed.

<FIG> is a perspective view showing the outline of a blade <NUM> according to another embodiment. The blade <NUM> is configured such that a widthwise length L2 of a root portion <NUM> becomes shorter than the groove width of an attachment portion M. Hence, the blade <NUM> shown in <FIG> can be inserted into the groove of the attachment portion M in an insertion direction indicated by an arrow Id. After the blade <NUM> is inserted, the blade <NUM> is rotated by <NUM>° in a rotation direction indicated by an arrow Rd, thereby attaching the blade <NUM> to the attachment portion M in a correct orientation. That is, an engaged portion <NUM> on the lower side of the root portion <NUM> of the blade <NUM> engages with an engaging groove <NUM> (see <FIG>) of the attachment portion M.

According to the blade <NUM> of this embodiment, an attachment device <NUM> can attach the blade <NUM> from an arbitrary position of the attachment portion M while rotating a rotating body support portion <NUM>. Hence, an insertion port <NUM> (see <FIG>) need not be formed in the attachment portion M.

As described above, in the embodiments of the present invention, the system has been described as the manufacturing system <NUM> used to manufacture the rotating assembly <NUM> by attaching the blade <NUM> or <NUM> to a groove of the rotating main body portion <NUM>. However, the present invention is not limited to this. For example, the system may be a disassembly system configured to detach and disassemble the blade <NUM> or <NUM> from the rotating assembly <NUM> to which the blade <NUM> or <NUM> is attached, or may be used as an overhaul system configured to replace a worn blade <NUM> or <NUM> with a new blade <NUM> or <NUM>.

Claim 1:
A measurement device (<NUM>) configured to measure a physical amount of each of a plurality of attachment target members (<NUM>) to be attached in a circumferential direction of a rotating main body portion (<NUM>), comprising:
a placement portion (<NUM>) on which a storage member (<NUM>) capable of storing the plurality of attachment target members (<NUM>) is placed; and
measurement means (<NUM>) for measuring the physical amount of the attachment target member (<NUM>);
characterized by
transfer means (<NUM>) for transferring the attachment target member (<NUM>) between the placement portion (<NUM>) and the measurement means (<NUM>), wherein
the measurement means (<NUM>) comprises:
a weight measuring instrument (<NUM>) configured to measure a weight of the attachment target member (<NUM>), a size measuring instrument (<NUM>) configured to measure a size of the attachment target member (<NUM>), and a temperature measuring instrument (<NUM>) configured to measure a temperature of the attachment target member (<NUM>); and
a reading device (<NUM>) configured to read a first identifier (<NUM>) added to the attachment target member (<NUM>) in advance,
the measurement device (<NUM>) comprises first conveyance means (<NUM>) for conveying the attachment target member (<NUM>) from a measurement region of the weight measuring instrument (<NUM>), the size measuring instrument (<NUM>), and the temperature measuring instrument (<NUM>) to a reading region of the reading device (<NUM>); and
the first conveyance means (<NUM>) includes:
a support member (<NUM>) capable of rotating about a rotation axis, on which a plurality of support portions (<NUM>) capable of supporting the attachment target members (<NUM>) are provided at a predetermined interval across a circumferential direction; and
a driving mechanism (<NUM>) capable of rotating the support member (<NUM>).