CN115151377A

CN115151377A - Processing system, processing section replacing device, processing section judging device, and method for replacing processing section of grinding machine using processing system

Info

Publication number: CN115151377A
Application number: CN202080097500.5A
Authority: CN
Inventors: 织田健太郎; 坂井智哉; 山川贵士; 内村知行; 日比野圭祐
Original assignee: Ebara Corp
Current assignee: Ebara Corp
Priority date: 2020-03-19
Filing date: 2020-10-07
Publication date: 2022-10-04
Also published as: WO2021186772A1; JP7366813B2; JP2021146446A

Abstract

At least a part of the replacement work of the grinding wheel is automated. The processing system has: a grinder to which a treatment unit for treating a surface of an object to be treated is detachably attached; a robot to which a grinder is attached, the robot being configured to press a processing unit attached to the grinder to a processing object; a processing section replacing device for replacing the processing section of the grinder; and a control device for controlling the actions of the grinding machine and the manipulator. The grinding machine has: a rotating shaft having a thread groove on an outer peripheral surface thereof and engaged with the processing portion by a thread; a drive device capable of rotating the rotating shaft in forward and reverse directions; and a fixing mechanism that fixes the rotating shaft. The processing unit replacing device has a hand member configured to be cooperated with the robot to remove the processing unit attached to the grinder.

Description

Processing system, processing section replacing device, processing section judging device, and method for replacing processing section of grinding machine using processing system

Technical Field

The present invention relates to a processing system, a processing section replacing device, a processing section judging device, and a method for replacing a processing section of a grinder using the processing system.

Background

Polishing work is performed to treat the surface of an object to be molded by casting or the like. Conventionally, such a polishing operation is sometimes performed by an operator using a polishing machine, for example. However, the polishing work is often performed in a noisy environment of, for example, over 90dB or in an environment where dust is scattered. In addition, the operator may perform the polishing operation in the same posture for a long time. Therefore, in some work sites, there is a possibility that health damage may occur to the worker. In contrast, a robot that performs such a polishing operation instead of an operator is known (for example, see cited document 1).

The robot described in patent document 1 includes a hand, a tool (grinding machine), and an operation device for controlling a force applied to the tool. The implement is connected to the manipulator via an operating device. The robot arm grinds the object to be ground by pressing the tool against the object to be ground.

Documents of the prior art

Patent document

Patent document 1: japanese Kohyo publication 2014-508051

Disclosure of Invention

Grinding wheels used in grinding machines need to be replaced if used to some extent. Conventionally, a robot automatically grinds an object, and an operator manually replaces a grinding wheel, specifically, confirms whether or not the grinding wheel needs to be replaced, removes the grinding wheel from a grinder, and attaches a new grinding wheel to the grinder.

The present invention has been made in view of the above problems. One of the purposes is to automate at least a part of the grinding wheel replacement operation.

According to one aspect of the invention, a processing system is provided. The processing system has: a grinder to which a treatment unit for treating a surface of an object to be treated is detachably attached; a robot to which the grinder is attached, the robot being configured to press the processing unit attached to the grinder against the object to be processed; a processing unit replacing device for replacing the processing unit of the grinding machine; and a control device for controlling the grinding machine and the manipulator. The above-mentioned grinder has: a rotating shaft having a thread groove on an outer peripheral surface thereof and being engaged with the processing portion by a thread; a drive device capable of rotating the rotational shaft in forward and reverse directions; and a fixing mechanism for fixing the rotating shaft. The processing unit exchanging device includes a hand member configured to be operated in cooperation with the robot to remove the processing unit attached to the grinder.

According to another aspect of the invention, a processing system is provided. The processing system has: a grinder to which a treatment unit for treating a surface of an object to be treated is detachably attached; a robot to which the grinder is attached, the robot being configured to press the processing unit attached to the grinder against the object to be processed; a processing unit determination device that determines whether or not the processing unit needs to be replaced; and a control device for controlling the grinding machine and the manipulator. The processing unit determination device includes: an imaging device that acquires image data of a processing surface of the processing unit; and a control unit for determining whether or not the processing unit needs to be replaced. The control unit includes: a transmission unit that transmits the image data acquired by the imaging device to an analysis device; a receiving unit that receives an analysis result of the image data from the analysis device; and a determination unit that determines whether or not the processing unit needs to be replaced, based on the analysis result received by the reception unit.

According to another aspect of the present invention, there is provided a processing section replacing device for replacing a processing section of a grinding machine. The treatment section replacement device includes: a hand member configured to restrict movement of the processing unit attached to the rotation shaft of the grinder in a rotation direction; a storage configured to store the processing unit for replacement; and a replacement table having a replacement position at which the processing unit is disposed when the processing unit for replacement is attached to the rotating shaft of the grinding machine.

According to another aspect of the present invention, there is provided a processing unit determining device for determining whether or not a processing unit attached to a grinding machine needs to be replaced. The processing unit determination device includes: an imaging device that acquires image data of a processing surface of the processing unit; and a control unit for determining whether or not the processing unit needs to be replaced. The control unit includes: a transmission unit that transmits the image data acquired by the imaging device to an analysis device; a receiving unit that receives an analysis result of the image data from the analysis device; and a determination unit that determines whether or not the processing unit needs to be replaced, based on the analysis result received by the reception unit.

Drawings

Fig. 1 is a perspective view showing a treatment system according to the present embodiment.

Fig. 2 is a control block diagram of the processing system of the present embodiment.

Fig. 3 is a perspective view of the grinder.

Fig. 4 is a perspective view of the grinder with a portion removed.

Fig. 5 is an enlarged view of the vicinity of the air motor.

Fig. 6 is a perspective view of the fixing mechanism.

Fig. 7 is a perspective view of the grinding wheel changer.

Fig. 8 is a side view of the grinding wheel changer.

Fig. 9 is a perspective view of the grinding wheel judging device.

Fig. 10 is a front view of the grinding wheel judging device.

Fig. 11 is a perspective view of a grinder changing device.

Fig. 12 is a perspective view showing another example of the grinding wheel changer.

Fig. 13 is an enlarged view of the upper surface of the grinding wheel mounting table.

FIG. 14 is an enlarged view of the lower surface of the grinding wheel mounting table

Fig. 15 is an enlarged view of the sensor.

Fig. 16A is a plan view of the sensor in a state where the grinding wheel is detected.

Fig. 16B is a plan view of the sensor in a state where the grinding wheel is not detected.

Fig. 17 is a perspective view of the supplementary state transmitting unit.

Detailed Description

Embodiments of the present invention will be described below with reference to the drawings. In the drawings described below, the same or corresponding components are denoted by the same reference numerals, and redundant description thereof is omitted. Fig. 1 is a perspective view showing a treatment system according to the present embodiment. The processing system 100 has a grinder 10, a robot 30, a grinding wheel exchanging device 40, a grinding wheel judging device 60, a grinder exchanging device 80, and a rotary table 90.

The robot 30 has

arm segments

32, 34, 36. The robot 30 preferably has 6 degrees of freedom. This enables the arm segment 36 at the tip to be moved to an arbitrary position in three-dimensional space. The grinder 10 is detachably attached to an arm section 36 at the front end of the robot 30. The robot 30 can press the grindstone attached to the grinder 10 against the object 200 to be processed placed on the rotating table 90. In the example shown in fig. 1, an impeller of an oblique flow pump is shown as a processing object 200.

The grinding wheel exchanging device 40 is configured to exchange a grinding wheel attached to the grinding machine 10. The grinding wheel determination device 60 is configured to determine whether or not the grinding wheel attached to the grinder 10 needs to be replaced. The grinder replacing device 80 is used to replace the grinder 10 mounted to the robot 30. The rotary table 90 has a mounting table 92 on which the processing object 200 is mounted, and the mounting table 92 is configured to be rotated by an arbitrary angle about an axis in the vertical direction by a motor or the like, not shown.

Fig. 2 is a control block diagram of the processing system 100 according to the present embodiment. As shown in the drawing, the processing system 100 includes a control device 120 capable of communicating with the grinder 10, the robot 30, the grinding wheel changer 40, the grinding wheel determiner 60, the grinder changer 80, and the turntable 90. The control device 120 includes a computer-readable recording medium storing therein operating programs of the grinder 10, the robot 30, the grinding wheel exchanging device 40, the grinding wheel determining device 60, the grinder exchanging device 80, and the turntable 90, a CPU (Central Processing Unit) for executing the program of the recording medium, and the like. The control device 120 may include at least a power supply unit, a CPU, a memory in which an operation program is stored, and a PLC (Programmable Logic Controller) including an input/output unit.

The controller 120 controls the operations of the polishing machine 10 and the robot 30 in accordance with an operation program corresponding to the shape of the object 200, thus, the processing system 100 can automatically polish the processing object 200 placed on the turntable 90. In addition, the processing system 100 can automatically perform at least a part of the replacement work of the grinding wheel attached to the grinding machine 10. Specifically, in the present embodiment, the control device 120 controls the grinding wheel exchanging device 40 and the grinding wheel judging device 60, so that the processing system 100 can automatically exchange the grinding wheel attached to the grinder 10 at an appropriate timing. Also, the processing system 100 can automatically replace the grinder 10 mounted to the robot 30 by controlling the grinder replacing apparatus 80 by the control apparatus 120.

As shown in fig. 2, the grinding wheel determination device 60 includes a control unit 61, a transmission unit 62, and a reception unit 63. The functions of the control unit 61, the transmission unit 62, and the reception unit 63 will be described later.

Next, the grinder 10, the grinding wheel exchanging device 40, the grinding wheel judging device 60, and the grinder exchanging device 80 constituting the processing system 100 will be described in more detail.

< grinding machine 10 >

Fig. 3 is a perspective view of the grinder 10. Fig. 4 is a perspective view of the grinder 10 with a portion thereof removed. Fig. 5 is an enlarged view of the vicinity of the air motor. Fig. 6 is a perspective view of the fixing mechanism. As shown in fig. 3, the grinder 10 has an arm 11, a support member 14, a cylinder device 13, a grinding wheel 19, and an air motor 18. The arm portion 11 has a 1 st end portion 11a and a 2 nd end portion 11b, and is a rigid body such as a metal extending in a predetermined direction. In the illustrated example, the arm portion 11 is a linear rigid body, but is not limited thereto, and may be, for example, an L-shaped, U-shaped, or curved flexible material having predetermined elasticity instead of a rigid body.

The support member 14 has a connecting portion 15 detachably connected to an arm segment 36 of the robot 30 shown in fig. 1. As shown in fig. 3, the connecting portion 15 can have, for example, a flange shape. The support member 14 is pivotally connected to the arm 11 at an end opposite to the connecting portion 15. Specifically, the support member 14 and the arm 11 are pivotably connected by a support pin 16 extending in a direction orthogonal to the extending direction of the arm 11. The support pin 16 extends from the 1 st side portion 11c to the 2 nd side portion 11d of the arm portion 11. In the example shown in fig. 3, the support member 14 may be a pair of C-shaped channels. The support member 14 is not limited to this, and may be any shape and material that can be connected to the support pin 16. In the state shown in fig. 3, the support member 14 is shown to extend in a direction orthogonal to the extending direction of the arm portion 11 and the extending direction of the support pin 16. However, since the support member 14 is pivotably connected with respect to the arm 11, the angle of the support member 14 with respect to the arm 11 can be changed according to the extension and contraction of the cylinder device 13.

The cylinder device 13 has, for example, a cylinder and a piston. One end of the cylinder device 13 is pivotally attached to a portion closer to the 2 nd end portion 11b of the arm portion 11 than the support pin 16 by a support pin 17, and the other end is pivotally attached to the support member 14 by a support pin not shown. The support pins 17 and unillustrated support pins extend in the same direction as the support pins 16, that is, in a direction orthogonal to the extending direction of the arm portions 11 and the support members 14.

Since the cylinder device 13 includes the air cylinder, the cylinder device 13 can expand and contract by the elasticity of the air spring when the grindstone 19 is pressed against the processing object 200 (see fig. 1). The control device 120 shown in fig. 2 can control the air pressure of the air supplied to the cylinders of the cylinder device 13. Specifically, when the object 200 to be processed (see fig. 1) is ground by the grinding wheel 19, the controller 120 controls the air pressure of the air cylinder to control the amount of expansion and contraction of the cylinder device 13, thereby adjusting the angle of the arm 11 with respect to the support member 14. Similarly, the control device 120 can control the pressing force on the grinding wheel 19 by controlling the air pressure of the air cylinder and changing the elasticity of the air spring of the air cylinder. The cylinder device 13 is not limited to an air cylinder, and a hydraulic cylinder, or the like may be used. Further, when the position adjustment and the pressing force adjustment are performed without using the cylinder, a spring that applies a constant force can be used instead of the cylinder, which makes the apparatus simpler.

As shown in fig. 5, the air motor 18 includes a 1 st main shaft 18a (corresponding to an example of a drive shaft) rotated by the air motor 18 and a 1 st pulley 24 attached to the 1 st main shaft 18a. As shown in fig. 4, the grinder 10 includes a grindstone 19 (corresponding to an example of a processing portion) pressed against the object 200 (see fig. 1), a 2 nd spindle 20 (corresponding to an example of a rotation shaft), and a 2 nd pulley 21 attached to the 2 nd spindle 20. Although not shown, the 2 nd spindle 20 has a screw groove on its outer peripheral surface, and is configured to be screwed with the grindstone 19. Therefore, the grinding wheel 19 can be detachably attached to the grinder 10. Specifically, the grindstone 19 has a nut on the opposite side of the treatment surface (lower surface in fig. 3), and the 2 nd spindle 20 is screwed into the nut to threadedly engage the grindstone 19 and the 2 nd spindle 20. Further, the grindstone 19 attached to the 2 nd spindle 20 can be detached from the 2 nd spindle 20 by rotating the grindstone 19 in the opposite direction to the 2 nd spindle 20. In the present embodiment, the polishing machine 10 includes the grinding wheel 19, but is not limited thereto, and may include a relatively soft polishing member such as a sandpaper or a polishing pad, or a cleaning member such as a sponge or a brush for cleaning the surface of the object 200.

As shown in fig. 4, the grinding machine 10 has a tensioner 22 that maintains the tension of the belt connecting the 1 st pulley 24 and the 2 nd pulley 21 appropriately. Thereby, the driving force of the air motor 18 is transmitted to the 2 nd spindle 20 via a belt, not shown, and the grinding wheel 19 rotates in the circumferential direction. In the present embodiment, the 1 st pulley 24, the 2 nd pulley 21, and a belt not shown constitute a rotation transmission mechanism for transmitting the rotation of the 1 st spindle 18a to the 2 nd spindle 20, but the mechanism for transmitting the rotation is not limited to this. For example, the grinding machine 10 may employ a sprocket instead of the 1 st pulley 24 and the 2 nd pulley 21, and may employ a chain engaged with the sprocket instead of the belt. However, from the viewpoint of dust resistance, it is preferable to use a belt as in the present embodiment.

The air motor 18 can rotate the 1 st spindle 18a in the forward and reverse directions. Therefore, the air motor 18 can rotate the grinding wheel 19 in the forward and reverse directions depending on the rotation direction of the 1 st spindle 18a. The grinder 10 may have, instead of the air motor 18, any drive source capable of rotating the spindle in the forward and reverse directions, for example, an electric motor, a hydraulic motor, or the like.

The air motor 18 has a fixing gear 26 on the tip side of the 1 st main shaft 18a. The fixing gear 26 is fixed to the 1 st main shaft 18a by, for example, a setscrew or key engagement. In other words, the fixing gear 26 rotates together with the 1 st main shaft 18a, and the rotation of the 1 st main shaft 18a is also restricted by restricting the rotation of the fixing gear 26.

As shown in fig. 3, the grinding wheel 19 is attached to the arm 11 on the 1 st end 11a side of the support pin 16. Specifically, in the illustrated example, the grinding wheel 19 is provided on the lower side of the arm 11 in the drawing, i.e., on the opposite side of the support member 14. However, the grinding wheel 19 is not limited thereto, and may be provided on the upper side of the arm 11 in the drawing, that is, on the same side as the support member 14.

In terms of the structure of the air motor 18, the 1 st spindle 18a can be rotated by an external force in a state where air is not supplied. Then, as shown in fig. 5 and 6, the grinder 10 of the present embodiment includes a fixing mechanism 25 for fixing the 1 st spindle 18a of the air motor 18. The fixing mechanism 25 includes a base plate 28, a cylinder 27a, a piston 27b, a pusher 23, and a hook 29 (corresponding to an example of a lock mechanism). The base plate 28 is mounted to the arm 11 of the grinding mill 10. The cylinder 27a and the piston 27b are mounted on a base plate 28. One end of the hook 29 is pivotally attached to a bolt 28a provided on the base plate 28, and the other end thereof has a claw that engages with the fixing gear 26. The pusher 23 is mounted to the front end of the piston 27 b.

As shown in fig. 6, when air is supplied to the cylinder 27a, the piston 27b is displaced, and the pusher 23 presses the hook 29 toward the fixing gear 26. At this time, the claw of the hook 29 engages with the fixing gear 26 to fix the fixing gear 26. As a result, the 1 st main shaft 18a to which the fixing gear 26 is attached can also be fixed. The hook 29 can be biased in a direction away from the fixing gear 26 by a spring or the like, not shown. Accordingly, when the air supply to the cylinder 27a is stopped, the hook 29 is separated from the fixing gear 26 by a spring not shown, and the fixing of the fixing gear 26 and the 1 st main shaft 18a can be released. At this time, the hook 29 may be separated from the fixing gear 26 by applying a negative pressure to the cylinder 27a to displace the piston 27b in a shortening manner.

The fixing mechanism 25 may have any mechanism capable of fixing the 1 st spindle 18a of the air motor 18, and may include, for example, a clip or the like for gripping the 1 st spindle 18a.

< grinding wheel replacing device 40 >

Fig. 7 is a perspective view of the grinding wheel exchanging device 40. Fig. 8 is a side view of the grinding wheel changer 40. As shown in fig. 7 and 8, the grinding wheel exchanging apparatus 40 includes four support columns 41, a reservoir 42, a hand 43, and a collection box 44. The four support columns 41 extend vertically upward, and the adjacent support columns 41 are connected to each other. The reservoir 42 includes a horizontal plate 45 provided at the upper end of the support 41, and a cylindrical member 46 extending in the vertical direction from the horizontal plate 45. The tubular member 46 has an opening 46a provided at an upper end thereof, and a cutout portion 46b extending between the upper end and a lower end. The reservoir 42 is configured to hold the grinding wheel 19 for replacement in a space surrounded by the horizontal plate 45 and the cylindrical member 46.

In this embodiment, the hand 43 extends in a horizontal direction from a horizontal plate 45 of the reservoir 42. The hand member 43 is not limited to this, and can be provided at any position. The hand member 43 has a pair of finger parts 43a with the distal ends thereof branched, and is designed so that a nut of the grinding wheel 19 can be sandwiched between the finger parts 43 a. As shown in fig. 7, the distance between the finger parts 43a of the hand member 43 is preferably designed to increase toward the tip. The hand member 43 can restrict the movement of the grindstone 19 in the rotational direction by sandwiching the nut attached to the grindstone 19 of the grinding machine 10 between the finger portions 43a of the hand member 43. In other words, the hand 43 has a function of a wrench or spanner for loosening the nut of the grinding wheel 19 from the 2 nd spindle 20. The collection box 44 is a box for collecting the used grindstone 19, and is preferably located below the hand 43.

The grinding wheel exchanging device 40 has an exchanging table 47, and the exchanging table 47 has an exchanging position 47a at which the grinding wheel 19 for exchanging is arranged when the grinding wheel 19 is attached to the 2 nd spindle 20 of the grinder 10. The exchange table 47 has a support surface 48 attached to a side portion of the column 41, a pair of guide rails 49 arranged on the support surface 48, a charge port 50 formed between the pair of guide rails 49, and a pair of stoppers 51 arranged on the support surface 48. The support surface 48 is inclined with respect to the vertical direction and the horizontal direction. The throw-in port 50 is used for throwing the grinding wheel 19 for replacement stored in the reservoir 42 onto the support surface 48. The pair of guide rails 49 guide the grinding wheel 19 for replacement, which is introduced from the inlet 50, to the replacement position 47a along the support surface 48. In the example shown in fig. 7, the grinding wheel 19 for replacement is disposed at the replacement position 47a.

The pair of stoppers 51 are configured to stop the grinding wheel 19 for replacement guided by the guide rail 49 at the replacement position 47a. In the illustrated example, the pair of stoppers 51 are connected to the lower ends of the pair of guide rails 49, respectively, and are disposed such that the distance between the stoppers 51 gradually decreases downward. The stopper 51 is not limited to this, and may have any structure capable of stopping the grindstone 19 for replacement at the replacement position 47a.

The grinding wheel changer 40 further includes a magnet 52 (corresponding to an example of the 1 st magnet) detachably attached to the 2 nd spindle 20 of the grinding machine 10. In the illustrated example, the magnet 52 is disposed on the horizontal plate 45, but may be disposed at any position. The magnet 52 has, for example, a hole in its upper surface into which the 2 nd spindle 20 can be inserted. The magnet 52 has a structure such as a quick coupling (quick coupling) inside the hole, and the magnet 52 is attached to the 2 nd spindle 20 by inserting the 2 nd spindle 20 into the hole, and the magnet 52 can be detached from the 2 nd spindle 20 by pulling the magnet 52 from the 2 nd spindle 20 with a predetermined force. In the grinder 10, in a state where the magnet 52 is attached to the 2 nd spindle 20, one of the grinding wheels 19 for replacement stored in the reservoir 42 can be attracted and held by the magnet 52.

The grindstone replacing device 40 has a retainer 53 for removing the grindstone 19 for replacement, which is attracted to the magnet 52, from the magnet 52. In the illustrated example, the shutter 53 is attached to the pair of guide rails 49.

Next, a method of replacing the grinding wheel 19 in the grinding wheel replacing device 40 will be described. The following control of the respective sections is performed by the control device 120. First, the grinding wheel 19 attached to the grinder 10 is detached from the grinder 10. Specifically, the robot 30 inserts a nut provided on the grinding wheel 19 of the grinder 10 between the pair of finger portions 43a of the hand member 43. The hand member 43 can thereby restrict the movement of the nut and the grinding wheel 19 in the rotational direction.

Next, the hand 43 restricts the movement of the nut and the grindstone 19 in the rotational direction, and the robot 30 rotates the grinder 10 in a direction in which the grindstone 19 loosens. At this time, the 1 st spindle 18a is fixed by the fixing mechanism 25, and the 2 nd spindle 20 is fixed so as not to rotate with respect to the grinding machine 10. This loosens the grindstone 19 screwed to the 2 nd spindle 20. Then, the grinder 10 rotates the 2 nd spindle 20 by the air motor 18 above the collection box 44 in a direction in which the grindstone 19 is separated from the 2 nd spindle 20. Thereby, the grindstone 19 is completely separated from the 2 nd spindle 20, and the grindstone 19 falls into the collection box 44. Therefore, the hand 43 is configured to remove the grindstone 19 attached to the grinder 10 in cooperation with the robot 30.

The robot 30 mounts the magnet 52 to the 2 nd spindle 20 of the grinder 10. Specifically, the robot 30 moves the grinder 10 such that the 2 nd spindle 20 of the grinder 10 is inserted into the hole in the upper surface of the magnet 52. Next, the robot 30 holds the grindstone 19 for replacement stored in the stocker 42 by attracting it with the magnet 52. Specifically, the robot 30 inserts the 1 st end 11a of the arm 11 of the grinder 10 from the notch 46b, draws up the grinding wheel 19 for replacement by attracting it with the magnet 52, and takes out the grinding wheel 19 for replacement from the opening 46 a.

The robot 30 moves the grinding wheel 19 for replacement, which is attracted to the magnet 52, toward the inlet 50. In this state, a part of the grindstone 19 is hooked on the baffle 53, whereby the grindstone 19 is peeled off from the magnet 52 and is thrown into the inlet 50. The grindstone 19 thrown into the inlet 50 is guided by the guide rail 49 along the support surface 48 toward the replacement position 47a, and is stopped at the replacement position 47a by the stopper 51.

The robot 30 returns the magnet 52 mounted to the grinder 10 to the home position on the horizontal plate 45. Specifically, for example, the robot 30 locks a part of the magnet 52 to an unillustrated locking portion provided on the horizontal plate 45, and removes the magnet 52 from the 2 nd spindle 20 by pulling out the 2 nd spindle 20 of the grinder 10 from a hole in the upper surface of the magnet 52.

Next, the robot 30 inserts the 2 nd spindle 20 of the grinder 10 into the nut of the grindstone 19 disposed at the replacement position 47a, and drives the air motor 18 to rotate the 2 nd spindle 20. Thereby, the grindstone 19 is screwed to the 2 nd spindle 20, and the grindstone 19 is replaced.

In the present embodiment, the grinding wheel exchanging device 40 includes the hand member 43 having the finger parts 43a for restricting the movement of the nut and the grinding wheel 19 in the rotational direction, but is not limited thereto. That is, the grinding wheel changer 40 may have a known mechanism such as a clamp (clamp) capable of restricting the movement of the grinding wheel 19 in the rotational direction, instead of the hand 43.

< grinding wheel judging device 60 >

Next, the grinding wheel checking device 60 will be described. Fig. 9 is a perspective view of the grinding wheel judging device 60. Fig. 10 is a front view of the grinding wheel judging device 60. The grinding wheel checking device 60 has a housing 64 having a rectangular parallelepiped shape as a whole, a camera 65, and an illumination 66. The housing 64 is formed of an opaque material to prevent external light from entering the housing 64. The housing 64 has an opening 64a for inserting the 1 st end 11a of the arm 11 of the grinder 10 attached to the robot 30 into the housing 64. The housing 64 may have light shielding members, not shown, such as a curtain, above and below the opening 64a. This enables the arm 11 to move into and out of the housing 64, and the housing 64 to be shielded from light.

In the present embodiment, a pair of cameras 65 (corresponding to an example of an imaging device) are provided on the upper and lower sides inside the housing 64. Specifically, the camera 65 provided on the upper side can take an image of the upper surface side of the 1 st end portion 11a of the arm portion 11 of the grinder 10 positioned below the camera 65. The camera 65 provided on the lower side can photograph the lower surface side of the 1 st end 11a of the arm 11 of the grinding machine 10 located above the camera 65. As described above, the grindstone 19 can be attached to the upper side or the lower side of the arm 11 of the grinder 10. Therefore, for example, when the grindstone 19 is attached to the upper side of the arm 11 and the processed surface of the grindstone 19 faces the upper side of the arm 11, the image data of the processed surface of the grinding wheel 19 can be acquired by the upper camera 65. Similarly, for example, when the grindstone 19 is attached to the lower side of the arm 11 and the processed surface of the grindstone 19 faces the lower side of the arm 11, the image data of the processed surface of the grindstone 19 can be acquired by the lower camera 65. The camera 65 may be disposed only on one of the upper side and the lower side, or may be disposed at any position in the housing 64.

The illumination 66 is, for example, LED illumination, and any other illumination can be used. In the present embodiment, as shown in fig. 9 and 10, a pair of left and right illuminators 66 is disposed on the opening 64a side of the housing 64 at positions slightly above and slightly below the vertical center portion of the housing 64, and a pair of left and right illuminators 66 is disposed on the back side of the housing 64. That is, in the present embodiment, a total of eight illuminators 66 are disposed in the housing 64, and the 1 st end 11a of the arm 11 of the grinding machine 10 positioned in the housing 64 can be illuminated. The number and configuration of the illumination 66 is arbitrary.

Next, a method of determining whether or not the grinding wheel 19 needs to be replaced in the grinding wheel determining device 60 will be described. The following control of the respective sections is performed by the control device 120. First, for example, when the grinder 10 grinds the upper surface or the lower surface of one blade of the impeller as the object 200, the manipulator 30 moves the 1 st end 11a of the arm 11 of the grinder 10 into the housing 64 of the grindstone determination device 60. The grindstone determination device 60 operates one of the upper and lower cameras 65 based on the information on which of the upper side and the lower side of the 1 st end portion 11a of the arm 11 the grindstone 19 is attached to, which is included in the control device 120, to acquire image data of the processed surface of the grindstone 19.

The control unit 61 shown in fig. 2 may also perform image processing on the image data acquired by the camera 65 as appropriate. The transmission unit 62 of the grinding wheel determination device 60 shown in fig. 2 transmits the image data acquired by the camera 65 to an external analysis device. The analyzer may include, for example, an AI (intellectual Intelligence) that learns a large amount of image data of the grindstone 19 that needs to be replaced and a large amount of image data of the grindstone 19 that does not need to be replaced. The analysis device determines an arbitrary score for the image data received from the transmission unit 62, for example. The receiving unit 63 shown in fig. 2 receives the analysis result of the image data from the analysis device. Specifically, for example, the score determined by the analysis device is received. The control unit 61 determines whether or not the grinding wheel 19 needs to be replaced based on the received analysis result. Specifically, for example, the control unit 61 determines whether or not the grinding wheel 19 needs to be replaced based on whether the score received from the analysis device exceeds or falls below a predetermined threshold.

The control section 61 transmits the determination result to the control device 120. When receiving a result that the grinding wheel 19 does not need to be replaced, the controller 120 can control the robot 30 and the grinder 10 so as to continue grinding the processing object 200. In addition, when receiving the result that the grinding wheel 19 needs to be replaced, the control device 120 controls the robot 30, the grinding machine 10, and the grinding wheel replacing device 40 so that the grinding wheel 19 is replaced in the grinding wheel replacing device 40.

< grinder replacing device 80 >

Next, the grinder replacing device 80 will be explained. Fig. 11 is a perspective view of the grinder exchanging apparatus 80. The grinder exchanging device 80 has a leg 81 and an exchanging table 82. The leg portion 81 extends in the vertical direction and supports the exchange table 82 from below. The change station 82 has a 1 st position 83 and a 2 nd position 84 where the grinder 10 can be positioned. In the illustrated example, a replacement grinder 10 is provided at position 2 84. In the illustrated example, the 1 st position 83 is a position for setting the grinder 10 attached to the robot 30.

The grinder exchanging apparatus 80 has a cover 85 for covering the connecting portion 15 of the grinder 10 disposed at the 1 st position 83 and the 2 nd position 84, and a rotary actuator 86 for opening and closing the cover 85. The cover 85 is connected to a horizontal shaft 87, and the horizontal shaft 87 is rotated about its axis by a rotary actuator 86. The horizontal shaft 87 is rotated by the rotary actuator 86, and the lid 85 is also rotated about the horizontal shaft 87. In the illustrated example, a state is shown in which the cover 85 is opened, that is, a state in which the cover 85 does not cover the connecting portion 15 of the grinder 10 disposed at the 1 st position 83 or the 2 nd position 84.

The grinder replacing device 80 includes a sensor 88 (corresponding to an example of the 2 nd sensor) for detecting the presence or absence of the grinder 10 installed at the 1 st position 83 or the 2 nd position 84. The sensor 88 sends information to the control device 120 whether the grinder 10 is provided at the 1 st position 83 or the 2 nd position 84. The sensor 88 may be, for example, a pin-shaped sensor 88 extending from the lower surface to the upper surface of the exchange table 82, and the presence or absence of the grinder 10 can be detected by pressing the pin-shaped sensor 88 when the grinder 10 is installed at the 1 st position 83 or the 2 nd position 84.

Next, a method of replacing the grinding machine 10 in the grinding machine replacement device 80 will be explained. The following control of each section is performed by the control device 120. For example, when the grinding of the pressure surfaces (front surfaces) of all the blades of the impeller as the object 200 is completed and the grinding of the suction surfaces (rear surfaces) of the blades is started next, the grinding machine 10 can be replaced. Specifically, in this case, the grinder 10 having the grindstone 19 attached to the lower side of the arm 11 is replaced with the grinder 10 having the grindstone 19 attached to the upper side of the arm 11.

First, the robot 30 sets the grinder 10 to the 1 st position 83 of the grinder replacing device 80. Upon receiving the information indicating that the grinder 10 is installed at the 1 st position 83 from the sensor 88, the controller 120 removes the grinder 10 from the robot 30. Next, the robot 30 is connected to the connecting portion 15 of the grinder 10 disposed at the 2 nd position 84, and lifts the grinder 10 from the changing table 82. Upon receiving the information from the sensor 88 indicating that the grinder 10 is not present at the 2 nd position 84, the control device 120 operates the rotary actuator 86 so that the cover 85 covers the connecting portion 15 of the grinder 10 disposed at the 1 st position 83.

In case of replacing the grinder 10 again, the control device 120 controls the rotary actuator 86 in such a manner that the cover 85 is opened, and the robot 30 sets the grinder 10 to the 2 nd position 84 of the grinder replacing device 80. Then, as in the foregoing process, the grinder 10 disposed at the 1 st position 83 is lifted up by the robot 30 and the connecting portion 15 of the grinder 10 disposed at the 2 nd position 84 is covered by the cover 85.

As described above, the processing system 100 according to the present embodiment can automate at least part of the work of replacing the grinding wheel 19 by the grinding wheel replacing device 40 or the grinding wheel judging device. More specifically, according to the processing system 100, at least one of the operation of detaching the grinding wheel 19 from the grinder 10, the operation of attaching the grinding wheel 19 for replacement to the grinder 10, and the operation of determining whether or not the grinding wheel 19 needs to be replaced can be automatically performed. In addition, according to the processing system 100 of the present embodiment, the work of replacing the grinding machine 10 can be automatically performed.

Next, another embodiment example of the grinding wheel changer 40 shown in fig. 7 and 8 will be described. Fig. 12 is a perspective view showing another example of the grinding wheel changer. The grinding wheel changer 140 shown in fig. 12 can be used in the treatment system 100 shown in fig. 1 in place of the grinding wheel changer 40 shown in fig. 7 and 8.

As shown in fig. 12, the grinding wheel exchanging device 140 includes four support columns 141, a grinding wheel mounting table 142 (corresponding to an example of a processing unit mounting table), a hand 143, a sensor 144 (corresponding to an example of the 1 st sensor), and a replenishment state transmitting unit 145. The four support columns 141 extend vertically upward. The number of the grinding wheel installation tables 142 is arbitrary, but in the present embodiment, three grinding wheel installation tables 142 are provided in the grinding wheel changer 140. The grinding wheel mounting tables 142 are mounted on the support columns 141 so as to be equally spaced apart in the vertical direction. The hand 143 extends in the horizontal direction from, for example, the lowermost grinding wheel mounting table 142 of the three grinding wheel mounting tables 142. The hand member 143 is not limited thereto, and can be provided at any position. The sensor 144 is mounted, for example, to one of the four posts 141. The supplementary state transmitting unit 145 may be, for example, a switch that can communicate with the control device 120 shown in fig. 2. The supplement state transmitter 145 is attached to, for example, one of the four support columns 141, preferably to a support column 141 different from the support column 141 to which the sensor 144 is attached.

The hand member 143 has a pair of finger parts 143a with the leading ends branched, and is designed to be able to sandwich a nut of the grindstone 19 between the finger parts 143a, similarly to the hand member 43 shown in fig. 7. The hand member 143 has the same function as the hand member 43 shown in fig. 7, and therefore, a detailed description thereof is omitted.

Each of the grinding wheel mounting tables 142 has an upper surface 142a and a lower surface 142b, and the grinding wheels 19 can be disposed thereon. Fig. 13 is an enlarged view of the upper surface 142a of the grinding wheel mounting table 142. As shown in fig. 13, a guide 150 for setting the grinding wheel 19 at a predetermined position is provided on the upper surface 142a of the grinding wheel setting table 142. In the illustrated example, three guides 150 form a substantially circular recess close to the outer diameter of the grinding wheel 19, and the grinding wheel 19 provided on the upper surface 142a of the grinding wheel installation table 142 can be guided to a predetermined position. The grinding wheel 19 may be provided on the upper surface 142a of the grinding wheel installation table 142 so that the processed surface faces downward.

Fig. 14 is an enlarged view of the lower surface 142b of the grinding wheel arranging table 142. As shown in fig. 14, a guide 150 for setting the grinding wheel 19 at a predetermined position is provided on the lower surface 142b of the grinding wheel setting table 142, similarly to the upper surface 142a. Further, a magnet 151 (corresponding to an example of the 2 nd magnet) for attracting the grindstone 19, which is provided to a predetermined position on the lower surface 142b by the guide 150, is provided on the lower surface 142b. The magnet 151 is bonded to a recess provided substantially at the center of the three guides 150 that guide the grindstone 19 with an adhesive or the like. The grinding wheel 19 may be provided on the lower surface 142b of the grinding wheel installation table 142 so that the processed surface faces upward.

As shown in fig. 3, when the grindstone 19 is attached to the arm 11 on the side opposite to the support member 14, the grindstone 19 provided on the upper surface 142a of the grindstone installation table 142 can be attached to the arm 11. On the other hand, when the grindstone 19 is attached to the same side of the arm 11 as the support member 14, the grindstone 19 provided on the lower surface 142b of the grindstone installation table 142 can be attached to the arm.

Fig. 15 is an enlarged view of the sensor 144. The sensor 144 may be, for example, a non-contact photoelectric sensor configured to detect whether or not the grinding wheel 19 is attached to the grinder 10. As shown in fig. 14, the sensor 144 includes two support beams 153 and 153b extending substantially horizontally from the support 141 and vertically separated from each other, a light projecting portion 154a, and a light receiving portion 154b. The light projecting section 154a and the light receiving section 154b are provided on one of the support beams 153a and 153b, respectively. In the illustrated example, the light projecting section 154a is attached to the upper support beam 153a, and the light receiving section 154b is attached to the lower support beam 153b. When there is no obstacle between the light projecting section 154a and the light receiving section 154b, the light from the light projecting section 154a reaches the light receiving section 154b. The light receiving unit 154b is configured to convert the received light into an electrical signal and transmit the electrical signal to the control device 120 shown in fig. 2, for example.

Fig. 16A is a plan view of the sensor 144 in a state where the grinding wheel 19 is detected. Fig. 16B is a plan view of sensor 144 in a state where grinding wheel 19 is not detected. The control device 120 shown in fig. 2 controls the robot 30 in such a manner that the arm 11 of the grinder 10 is located near the sensor 144. For example, after a new grindstone 19 for replacement is attached to the arm 11 of the grinder 10, the arm 11 is moved to the vicinity of the sensor 144 to confirm whether or not the grindstone 19 is attached to the arm 11. At this time, the controller 120 controls the light projector 154a to emit light. As shown in fig. 16A, when the grindstone 19 is attached to the arm 11, the grindstone 19 blocks light so that the light from the light emitter 154a does not reach the light receiver 154b. The light receiver 154b transmits a signal indicating that the light from the light projector 154a is not received, to the controller 120. The control device 120 can confirm that the grinding wheel 19 is attached to the arm 11 by receiving a signal indicating that the light is not received from the light receiving section 154b.

On the other hand, as shown in fig. 16B, when the arm 11 is not attached with the grindstone 19, the light from the light emitter 154a reaches the light receiver 154B. The light receiving unit 154b transmits a signal indicating that the light from the light projecting unit 154a is received, to the control device 120. The control device 120 can confirm that the grinding wheel 19 is not mounted on the arm 11 by receiving a signal indicating that light is received from the light receiving portion 154b.

The sensor 144 may be provided in the grinding wheel changer 40 shown in fig. 7 and 8. The sensor 144 shown in fig. 15 is a non-contact photoelectric sensor, but is not limited to this, and may be any contact or non-contact sensor that can determine whether or not the grinding wheel 19 is attached to the arm 11.

Fig. 17 is a perspective view of the supplementary state transmitting unit 145. The replenishment state transmitter 145 includes a switch 157a for the upper surface and a switch 157b for the lower surface. The grinding wheel 19 can be set on the grinding wheel setting table 142 by, for example, an operator. When the operator sets a predetermined number of grindstones 19 on the upper surface 142a of the grindstone installation table 142 and presses the upper surface switch 157a, the upper surface switch 157a transmits a signal to the control device 120. The control device 120 receives a signal from the upper surface switch 157a, and can thereby confirm that the grinding wheel 19 is replenished on the upper surface 142a of the grinding wheel mounting table 142. When the operator presses the lower surface switch 157b after setting a predetermined number of grindstones 19 on the lower surface 142b of the grindstone installation table 142, the lower surface switch 157b transmits a signal to the control device 120. The control device 120 receives a signal from the lower surface switch 157b, and can confirm that the grinding wheel 19 is replenished on the lower surface 142b of the grinding wheel installation table 142.

The replenishment state transmitter 145 may be provided in the grinding wheel changer 40 shown in fig. 7 and 8. In this case, the replenishment state transmitter 145 is configured to be able to transmit a signal to the control device 120 by the operator pressing a switch provided in the replenishment state transmitter 145 when the operator replenishes the reservoir 42 with the grindstone 19.

Next, a method of replacing the grinding wheel 19 in the grinding wheel replacing device 140 will be described. The following control of each section is performed by the control device 120. First, the grinding wheel 19 attached to the grinder 10 is detached from the grinder 10. Specifically, the robot 30 inserts a nut provided on the grindstone 19 of the grinder 10 between the pair of fingers 143a of the hand member 143, and removes the grindstone 19 from the grinder 10 in the manner described above with respect to the hand member 43.

Sensor 144 may then be used to confirm that grinding wheel 19 is removed from grinder 10. That is, the robot 30 moves the arm 11 of the grinder 10 to the vicinity of the sensor 144 as shown in fig. 16B. The light emitter 154a of the sensor 144 emits light, and the light receiver 154b receives the light. The light receiving unit 154b transmits a signal indicating that light is received to the control device 120. The control device 120 can confirm whether or not the grinding wheel is detached from the arm 11 by receiving the signal.

The robot 30 inserts the 2 nd spindle 20 of the grinder 10 into the nut of the grindstone 19 provided on the upper surface 142a or the lower surface 142b of the grindstone installation table 142, and drives the air motor 18 to rotate the 2 nd spindle 20. Thereby, the grindstone 19 is screwed into the 2 nd spindle 20, and the grindstone 19 is replaced.

Next, the sensor 144 can be used to confirm that the grinding wheel 19 is mounted on the grinder 10. That is, the robot 30 moves the arm 11 of the grinder 10 to the vicinity of the sensor 144 as shown in fig. 16A. The light projecting portion 154a of the sensor 144 emits light, which is blocked by the grindstone 19. The light receiving unit 154b transmits a signal indicating that light is not received to the control device 120. The control device 120 can confirm that the grinding wheel is attached to the arm 11 by receiving the signal.

The embodiments of the present invention have been described above, and the above embodiments of the present invention are not intended to limit the present invention, but are for easy understanding of the present invention. The present invention can be modified and improved without departing from the scope of the gist thereof, and the present invention naturally includes equivalents thereof. In addition, any combination or omission of the respective components described in the claims and the description is possible within a range in which at least a part of the above-described problems can be solved or at least a part of the effects can be obtained.

Several embodiments disclosed in the present specification are described below.

According to a first aspect, a processing system is provided. The processing system has: a grinder to which a treatment unit for treating a surface of a treatment object is detachably attached; a robot to which the grinder is attached, the robot being configured to press the processing unit attached to the grinder against the object to be processed; a processing unit replacing device for replacing the processing unit of the grinding machine; and a control device for controlling the grinding machine and the manipulator. The above-mentioned grinder has: a rotating shaft having a thread groove on an outer circumferential surface thereof and threadedly engaged with the treatment section; a drive device capable of rotating the rotary shaft in forward and reverse directions; and a fixing mechanism for fixing the rotating shaft. The processing unit replacing device includes a hand member configured to be cooperated with the robot to remove the processing unit attached to the grinder.

The gist of aspect 2 is the processing system according to aspect 1, wherein the grinding machine includes a drive shaft of the drive device and a rotation transmission mechanism that transmits rotation of the drive shaft to the rotating shaft, and the fixing mechanism includes a lock mechanism that fixes rotation of the drive shaft.

The gist of aspect 3 is the treatment system according to aspect 1 or 2, wherein the hand member is configured to restrict movement of the treatment section attached to the rotation shaft of the polishing machine in a rotation direction.

In accordance with claim 4, in any one of the processing systems of claims 1 to 3, the processing unit replacing device includes: a storage configured to store the processing unit for replacement; and a replacement table having a replacement position at which the processing unit is disposed when the processing unit for replacement is attached to the rotating shaft of the grinding machine.

In the processing system according to claim 5, wherein the processing unit exchanging device includes: a 1 st magnet which is detachable from the rotating shaft of the grinding machine; and a baffle plate for detaching the processing unit for replacement attracted to the 1 st magnet from the 1 st magnet, wherein the replacement stage includes: a support surface inclined with respect to the vertical direction and the horizontal direction; an inlet through which the treatment unit for replacement is introduced; a guide rail that guides the process unit for replacement, which is put into the inlet, to the replacement position along the support surface; and a stopper that stops the process portion for replacement guided by the guide rail at the replacement position.

The gist of aspect 6 is the treatment section exchange device of any one of the treatment systems of aspects 1 to 3, wherein the treatment section exchange device includes a treatment section installation table having an upper surface and a lower surface, and the lower surface is provided with a 2 nd magnet for attracting the treatment section.

The gist of aspect 7 is that, in any one of the processing systems of aspects 1 to 6, the processing unit replacing device includes a 1 st sensor, and the 1 st sensor is configured to detect whether or not the processing unit is attached to the grinder.

The gist of the 8 th aspect is that, in any one of the processing systems of the 1 st to 7 th aspects, the processing unit replacing device includes a replenishment state transmitting unit configured to transmit a signal indicating that the processing unit is replenished to the processing unit replacing device, to the control device.

A gist of aspect 9 is that any one of the processing systems of aspects 1 to 8 includes a processing unit determination device that determines whether or not the processing unit needs to be replaced, the processing unit determination device including an imaging device that acquires image data of a processing surface of the processing unit and a control unit that determines whether or not the processing unit needs to be replaced, the control unit including: a transmission unit that transmits the image data acquired by the imaging device to an analysis device; a receiving unit that receives an analysis result of the image data from the analysis device; and a determination unit that determines whether or not the processing unit needs to be replaced, based on the analysis result received by the reception unit.

In a 10 th aspect, the processing system according to the 9 th aspect includes: a housing having an opening for inserting the processing unit mounted on the rotating shaft of the grinder into the housing; and an illumination unit disposed in the housing and configured to illuminate the processing unit located inside the housing, wherein the imaging device is disposed in the housing.

The gist of the 11 th aspect is that any one of the processing systems of the 1 st to 10 th aspects is provided with a grinder replacing device for replacing the grinder, the grinder replacing device having a 1 st position at which the grinder already attached to the manipulator is set, a 2 nd position at which the grinder for replacement to be attached to the manipulator is set, and a cover for covering a connecting portion of the grinder with the manipulator, which is set at the 1 st position and the 2 nd position, respectively.

A gist of the 12 th aspect is that, in the processing system of the 11 th aspect, the grinder replacing device includes a 2 nd sensor, and the 2 nd sensor detects presence or absence of the grinder at the 1 st position or the 2 nd position.

According to the 13 th aspect, a processing system is provided. The processing system has: a grinder to which a treatment unit for treating a surface of a treatment object is detachably attached; a robot to which the grinder is attached, the robot being configured to press the processing unit attached to the grinder against the object to be processed; a processing unit determination device that determines whether or not the processing unit needs to be replaced; and a control device for controlling the grinding machine and the manipulator. The processing unit determining device includes an imaging device that acquires image data of a processing surface of the processing unit, and a control unit that determines whether or not the processing unit needs to be replaced, and the control unit includes: a transmission unit that transmits the image data acquired by the imaging device to an analysis device; a receiving unit that receives an analysis result of the image data from the analysis device; and a determination unit that determines whether or not the processing unit needs to be replaced, based on the analysis result received by the reception unit.

A gist of aspect 14 is the processing system of aspect 13, wherein the processing unit determining device includes: a housing having an opening for inserting the treatment unit mounted on the grinder into the housing; and an illumination unit disposed in the housing and configured to illuminate the processing unit located inside the housing, wherein the imaging device is provided in the housing.

The 15 th aspect provides a processing section replacing device for replacing a processing section of a grinding machine. The treatment section replacement device includes: a hand member configured to restrict movement of the processing unit in a rotational direction, the hand member being attached to a rotational shaft of the grinder; a storage configured to store the processing unit for replacement; and a replacement table having a replacement position at which the processing unit is disposed when the processing unit for replacement is attached to the rotating shaft of the grinding machine.

A 16 th aspect is the processing unit exchanging device according to the 15 th aspect, including: a 1 st magnet which is attachable to and detachable from the rotating shaft of the grinder; and a baffle plate for detaching the processing unit for replacement attracted to the 1 st magnet from the 1 st magnet, wherein the replacement stage includes: a support surface inclined with respect to the vertical direction and the horizontal direction; an inlet into which the treatment unit for replacement is introduced; a guide rail that guides the process unit for replacement, which is put into the inlet, to the replacement position along the support surface; and a stopper that stops the process portion for replacement guided by the guide rail at the replacement position.

According to the 17 th aspect, there is provided a processing section replacing device for replacing a processing section of a grinding machine. The treatment section replacement device includes: a hand member configured to restrict movement of the processing unit in a rotational direction, the hand member being attached to a rotational shaft of the grinder; and a processing unit installation table having an upper surface and a lower surface. The lower surface is provided with a 2 nd magnet for attracting the processing unit.

The gist of the 18 th aspect is that any one of the treatment section replacement devices of the 15 th to 17 th aspects is provided with a 1 st sensor, and the 1 st sensor is configured to detect whether or not the treatment section is attached to the grinder.

The 19 th aspect provides a processing unit judging device for judging whether or not a processing unit attached to a grinding machine needs to be replaced. The processing unit determining device includes an imaging device for acquiring image data of a processing surface of the processing unit, and a control unit for determining whether or not the processing unit needs to be replaced. The control unit includes: a transmission unit that transmits the image data acquired by the imaging device to an analysis device; a receiving unit that receives an analysis result of the image data from the analysis device; and a determination unit that determines whether or not the processing unit needs to be replaced, based on the analysis result received by the reception unit.

The gist of aspect 20 is that the processing unit determining apparatus of aspect 19 includes: a housing having an opening for inserting the treatment section mounted on the polishing machine into the housing; and an illumination unit disposed in the housing and configured to illuminate the processing unit located inside the housing, wherein the imaging device is disposed in the housing.

According to the 21 st aspect, there is provided a method of performing an operation of replacing a processing unit of a grinding machine using any one of the processing systems of the 1 st to 12 th aspects. The hand member of the processing unit replacing device restricts the movement of the processing unit of the grinder in the rotational direction, fixes the rotating shaft of the grinder, rotates the grinder around the rotating shaft in a direction in which the processing unit is loosely engaged with the screw of the rotating shaft, and rotates the rotating shaft in a direction in which the processing unit is separated from the rotating shaft.

Description of the reference numerals

10: grinding machine

15: connecting part

18: pneumatic motor

18a: 1 st main shaft

19: grinding wheel

20: no. 2 main shaft

25: fixing mechanism

29: hook

30: mechanical arm

40. 140: grinding wheel replacing device

42: storage device

43. 143: hand-shaped component

47: changing table

47a: replacement position

48: bearing surface

49: guide rail

50: input port

51: stop piece

52: magnet

53: baffle plate

60: grinding wheel judging device

61: control unit

62: transmitting part

63: receiving part

64: shell body

64a: opening(s)

65: camera head

66: illumination device

80: grinder replacing device

83: position 1

84: position 2

85: cover

88: sensor with a sensor element

100: processing system

120: control device

142: grinding wheel setting table

142a: upper surface of

142b: lower surface

144: sensor with a sensor element

145: complement state transmitting unit

200: an object to be processed.

Claims

1. A processing system having:

a grinder to which a treatment unit for treating a surface of an object to be treated is detachably attached;

a robot to which the grinder is attached, the robot being configured to press the processing unit attached to the grinder against the object to be processed;

a processing portion replacing device for replacing the processing portion of the grinding machine; and

a control device for controlling the motion of the grinder and the robot,

the grinding machine has: a rotating shaft having a thread groove on an outer circumferential surface thereof and threadedly engaged with the treatment section; a drive device capable of rotating the rotating shaft in the forward and reverse directions; and a fixing mechanism that fixes the rotating shaft,

the processing unit replacing device includes a hand member configured to be cooperated with the robot to remove the processing unit attached to the grinder.

2. The processing system of claim 1,

the grinding machine has:

a drive shaft of the drive device; and

a rotation transmission mechanism that transmits rotation of the drive shaft to the rotating shaft,

the fixing mechanism includes a locking mechanism that fixes rotation of the drive shaft.

3. The processing system of claim 1 or 2,

the hand member is configured to restrict movement of the processing unit attached to the rotation shaft of the grinder in a rotation direction.

4. The processing system of any of claims 1 to 3,

the treatment section replacement device includes:

a storage configured to store the processing unit for replacement; and

and a replacement table having a replacement position at which the processing unit for replacement is disposed when the processing unit is attached to the rotating shaft of the grinding machine.

5. The processing system of claim 4,

the treatment section replacement device includes:

a 1 st magnet that is attachable to and detachable from the rotating shaft of the grinding machine; and

a baffle plate for detaching the processing unit for replacement attracted to the 1 st magnet from the 1 st magnet,

the replacement station has:

a support surface inclined with respect to the vertical direction and the horizontal direction;

an inlet into which the treatment unit for replacement is introduced;

a guide rail that guides the process unit for replacement, which is put into the inlet, to the replacement position along the support surface; and

and a stopper that stops the process portion for replacement guided by the guide rail at the replacement position.

6. The processing system of any of claims 1 to 3,

the process-part exchanging device has a process-part setting table having an upper surface and a lower surface,

the lower surface is provided with a 2 nd magnet for attracting the processing unit.

7. The processing system of any of claims 1 to 6,

the processing unit replacing device includes a 1 st sensor, and the 1 st sensor is configured to detect whether the processing unit is attached to the grinder.

8. The processing system of any of claims 1 to 7,

the processing unit replacing device includes a supplement state transmitting unit configured to transmit a signal indicating that the processing unit is supplemented to the processing unit replacing device to the control device.

9. The processing system of any of claims 1 to 8,

a processing unit judging means for judging whether or not the processing unit needs to be replaced,

the processing unit determination device includes:

an imaging device that acquires image data of a processing surface of the processing unit; and

a control unit for determining whether or not the processing unit needs to be replaced,

the control unit includes:

a transmission unit that transmits the image data acquired by the imaging device to an analysis device;

a receiving unit that receives an analysis result of the image data from the analysis device; and

and a determination unit that determines whether or not the processing unit needs to be replaced, based on the analysis result received by the reception unit.

10. The processing system of claim 9,

the processing unit determination device includes:

a housing having an opening for throwing the processing portion mounted on the rotating shaft of the grinder into the inside; and

an illumination unit disposed in the housing and configured to illuminate the processing unit located inside the housing,

the shooting device is arranged in the shell.

11. The processing system of any of claims 1 to 10,

having a grinder-changing device for changing the grinder,

the grinder replacing device comprises:

a 1 st position where the grinder already mounted on the robot is set;

a 2 nd position where the grinder for replacement to be mounted to the robot arm is set; and

a cover for covering the connection portions of the grinder with the robot arm, which are respectively disposed at the 1 st position and the 2 nd position.

12. The processing system of claim 11,

the grinder exchanging apparatus has a 2 nd sensor, and the 2 nd sensor detects the presence or absence of the grinder at the 1 st position or the 2 nd position.

13. A processing system having:

a processing unit determination device that determines whether or not the processing unit needs to be replaced; and

a control device for controlling the actions of the grinding machine and the manipulator,

the processing unit determination device includes:

the control unit includes:

14. The processing system of claim 13,

the processing unit determination device includes:

a housing having an opening for feeding the processing portion mounted on the grinding machine into the inside; and

the shooting device is arranged in the shell.

15. A processing portion replacing device for replacing a processing portion of a grinding machine, comprising:

a hand member configured to restrict an operation of the processing unit attached to a rotation shaft of the grinder in a rotation direction;

a storage configured to store the processing unit for replacement; and

16. The treatment section replacing device according to claim 15, comprising:

the replacement station has:

the feeding port is provided with a feeding hole, the processing part is used for replacement;

17. A processing portion replacing device for replacing a processing portion of a grinding machine, comprising:

a hand member configured to restrict an operation of the processing unit attached to a rotation shaft of the grinder in a rotation direction; and

a processing part setting table having an upper surface and a lower surface,

18. The treatment section replacing device according to any one of claims 15 to 17,

the polishing machine is provided with a 1 st sensor, and the 1 st sensor is configured to detect whether the processing part is mounted on the polishing machine.

19. A processing unit judging device for judging whether or not a processing unit attached to a grinder needs to be replaced, comprising:

the control unit includes:

20. The processing section determining apparatus according to claim 19, comprising:

a housing having an opening for inserting the treatment section attached to the grinding machine into the interior thereof; and

an illumination unit disposed in the housing and configured to illuminate the processing unit disposed inside the housing,

the shooting device is arranged in the shell.

21. A method of performing a replacement operation of a processing section of a grinding mill using a processing system according to any one of claims 1 to 12, in which method,

restricting an action in a rotational direction of the processing section of the grinder by the hand member of the processing section exchanging apparatus,

the rotating shaft of the grinding machine is fixed,

the robot rotates the grinder around the rotation shaft in a direction in which the screw engagement between the processing unit and the rotation shaft is loosened,

the grinder rotates the rotary shaft in a direction in which the processing unit is separated from the rotary shaft.