JP2019209451A - Processing device - Google Patents

Abstract

To provide a processing device whose size and weight may be reduced and which has an excellent practicality.SOLUTION: It comprises: a base 21, a mounting flange which is provided on the base 21 for attachment onto a robot arm, a grinding wheel 12 removably mounted on a rotating shaft 30, driving means mounted on the rotating shaft 30 for rotational drive of the grinding wheel 12, a spline part 41 and a spline bearing 15 for restricting the grinding wheel 12 mounted on the rotating shaft 30 from moving in the circumferential direction, a collar 37 and a sleeve 48 for restricting the grinding wheel 12 mounted on the rotating shaft 30 from moving to the rotating shaft 30 in the axial direction, a retaining release mechanism for enabling the grinding wheel 12 to be detached from the rotating shaft 30, a lock mechanism for disabling the operation of the retaining release mechanism, and a lock cancel mechanism that disables the operation of the lock mechanism.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a processing apparatus that is attached to an industrial robot or machine tool.

  Burrs formed in the process of manufacturing a cast product are removed using a grinding device such as a grinder. In the case of large castings, a rotating grinding wheel is attached to the tip of the robot arm, and deburring is often performed while moving the robot arm. When the grinding wheel wears, it is replaced with a new grinding wheel. Deburring is performed.

  When a processing device such as a grinding device is attached to the tip of the robot arm and used, if the processing device becomes large or heavy, the robot itself needs to be enlarged accordingly. For this reason, a processing device to be mounted on the tip of the robot arm is required to be small and light, and a machine tool that has been reduced in size and weight while ensuring rigidity has been proposed (for example, see Patent Document 1). )

  Various automatic tool change technologies have been developed for machining devices that are mounted and used at the tip of the robot arm. Conventionally, large-diameter grinding wheels that have been performed manually are said to be large when automatic replacement is performed. A technology for automatic replacement has also been developed in cars (see, for example, Patent Document 2). In the tool changer of the processing device that is mounted and used at the tip of the robot arm, as with the processing device, it is required to be small and light, and the automatic tool changer realizes automatic change with a simple and compact mechanism. Has been proposed (see, for example, Patent Document 3).

Japanese Patent No. 5122202 JP 2017-64868 A Japanese Patent Laid-Open No. 2006-55370

  It is effective to simplify the structure in order to reduce the size or weight of a processing device that is attached to and used at the tip of the robot arm, and further a device that automatically changes the tool used there. Furthermore, in the case of an apparatus for automatically changing tools, a quick mechanism for changing is also required, so that a simple mechanism for attaching and detaching tools is preferable.

  On the other hand, if a rotating tool, especially a heavy rotating tool such as a large-diameter grinding wheel, is removed during operation, it will lead to a serious accident, so it is natural to keep safety while simplifying the structure and mechanism. . In view of practicality, it is preferable to use a device that ensures safety even if a failure occurs in the device, is easy to reduce in size and weight, and allows easy tool replacement.

  An object of the present invention is to provide a processing apparatus that can be reduced in size and weight and is excellent in practicality.

  The present invention relates to a processing apparatus that is used for attachment to an industrial robot or a machine tool, and includes a base, attachment means for attachment to the industrial robot or machine tool provided on the base, and a rotating shaft. A tool detachably attached to the rotating shaft, a driving means attached to the base for rotationally driving the tool attached to the rotating shaft, and the tool attached to the rotating shaft. A first restricting means for restricting movement in the circumferential direction; a second restricting means for restricting movement of the tool attached to the rotating shaft toward the opposite end of the rotating shaft; and the rotating shaft. A retaining means for preventing the attached tool from being detached from the rotating shaft, a retaining releasing mechanism for allowing the tool to be detached from the rotating shaft, and a lock for disabling the operation of the retaining releasing mechanism. Mechanism and the robot And a lock release mechanism for disabling the operation of the click mechanism, a processing apparatus, characterized in that it comprises a.

  In the processing apparatus of the present invention, the first restricting means includes a spline portion provided on the rotating shaft and a spline bearing provided on the tool, and the second restricting means is provided on the rotating shaft. The retaining means is a member that fits into the distal end portion of the rotating shaft and prevents the tool from moving toward the distal end portion of the rotating shaft, and the retaining release mechanism includes: A mechanism for removing the retaining means from the tip of the rotating shaft is provided, and the locking mechanism mechanically blocks the retaining release mechanism.

  Further, the processing apparatus of the present invention includes a movable arm having an arm connected to a shaft member, and a hollow support body attached to the base on which the shaft member is slidably inserted and supports the movable arm. And an advancing / retreating means constituting the retaining release mechanism for moving the shaft member in the axial direction of the support body, the retaining means being attached to an arm tip of the movable arm, and The mechanism includes a key and a key groove provided on the support and the shaft member, and the key is fitted into the key groove so that the shaft member moves in the axial direction of the support. The lock release mechanism releases the fitting between the key and the key groove, and the key is removed from the key groove, so that the shaft member can move in the axial direction of the support body. It is characterized by that.

  Further, the processing device of the present invention includes a turning mechanism for turning the movable arm with the shaft member as a starting point, a retaining release mechanism, the lock mechanism, the lock release mechanism, and a control means for controlling operations of the turning mechanism. The movable arm is capable of turning in a state where the retaining means is detached from the tip of the rotating shaft.

  Further, the processing apparatus of the present invention further includes a tool changer provided with a storage tool for taking out a pre-use tool and storing it freely, a sensor for detecting a replacement time of a tool in use, the storage tool, and the pre-use tool. A sensor that detects a position and a direction, and the control means controls the operation of the processing apparatus so that the tool in use and the tool before use can be automatically exchanged, and the industry to which the processing apparatus is attached. It issues a command to a robot or machine tool.

  In the processing apparatus of the present invention, the industrial robot is an articulated robot or an orthogonal robot, and the machine tool is a numerically controlled machine tool, a machining center, or a CNC machine tool.

  In the processing apparatus of the present invention, the tool is a grinding wheel.

  According to the present invention, it is possible to provide a processing apparatus that can be reduced in size and weight and is excellent in practicality. In addition, it is possible to provide a processing apparatus that can easily change tools automatically.

It is a perspective view showing the whole grinding device 1 composition of a 1st embodiment of the present invention. FIG. 2 is an enlarged view around the grinding device main body 10 of the grinding device 1 of FIG. 1. It is a perspective view of the grinding apparatus main body 10 of the grinding apparatus 1 of FIG. It is the front view which removed the grinding wheel 12 and the movable arm main body 61 from the grinding apparatus main body 10 of the grinding apparatus 1 of FIG. It is sectional drawing which shows the structure around the rotating shaft 30 of the grinding device main body 10 of the grinding device 1 of FIG. It is a figure for demonstrating the structure around the movable arm support mechanism 70 of the grinding device main body 10 of the grinding device 1 of FIG. It is a figure for demonstrating the structure of the arm movable shaft 81 of the grinding apparatus main body 10 of the grinding apparatus 1 of FIG. It is a figure for demonstrating the structure of the grinding wheel exchange apparatus 101 of the grinding apparatus 1 of FIG.

  FIG. 1 is a perspective view showing the overall configuration of a grinding apparatus 1 according to a first embodiment of the present invention, in which a grinding apparatus body 10 is attached to the tip of an arm 201 of an articulated robot. 2 and 3 are an enlarged view and a perspective view around the grinding apparatus body 10. 4 is a front view of the grinding machine body 10 with the grinding wheel 12 and the movable arm body 61 removed, FIG. 5 is a cross-sectional view showing the structure around the rotating shaft 30 of the grinding machine body 10, and FIG. FIG. 7 is a view for explaining the structure around the movable arm support mechanism 70 of the apparatus main body 10, FIG. 7 is a view for explaining the structure of the arm movable shaft 81 of the grinding apparatus main body 10, and FIG. It is a figure for demonstrating the structure of.

  A grinding apparatus 1 according to a first embodiment of the present invention includes a grinding apparatus body 10 that is attached to and used at the tip of an articulated robot arm (hereinafter referred to as a robot arm) 201, and a grinding wheel 12 that is used in the grinding apparatus body 10. A grinding wheel exchanging device 101 for exchanging the grinding wheel, and a grinding device control device 150 for controlling automatic exchanging of the grinding wheel 12.

  The grinding apparatus main body 10 includes a grinding wheel 12, and the grinding wheel 12 is rotated by a driving device 50 to grind a workpiece 301 that is a workpiece. The grinding wheel 12 is detachably fixed to the rotary shaft 30 and is configured to be automatically replaceable with a new grinding wheel 12 stored in the grinding wheel exchanging device 101 when the grinding wheel 12 is worn.

  The grinding apparatus main body 10 has a base 21 and is attached to the distal end portion of the robot arm 201 through an attachment flange 23 provided on the base 21. The grinding wheel 12 is detachably fixed to a rotating shaft 30 that is rotatably supported on a base 21 via a bearing 25. A driving device 50 is connected to the rotating shaft 30, and the grinding wheel 12 is rotated by rotating the rotating shaft 30 by the driving device 50.

  The rotating shaft 30 includes a columnar main shaft 31 that is rotatably supported by the bearing 25 and a spline shaft 41 that is fixed to the tip of the main shaft 31. The main shaft 31 has a recessed portion 35 in which a pulley mounting portion 33 is fitted at a proximal end portion and a spline shaft 41 is fitted at a distal end portion. A collar 37 is attached to the outer periphery of the tip of the main shaft 31.

  The spline shaft 41 is a shaft for attaching the grinding wheel 12, and a spline portion 43 into which the grinding wheel 12 is fitted is provided near the tip from the center portion, and the front and rear of the spline portion 43 are cylindrical portions 44 and 45. Yes. The spline shaft 41 is fixed by a cylindrical portion 44 on the base end side side being fitted into the concave portion 35 of the main shaft 31. The cylindrical portion 45 at the tip of the spline portion 43 is fitted with a sleeve 48 that is a retainer for the grinding wheel 12.

  The grinding wheel 12 is a known grinding wheel having a through hole 13 at the center, and a fixing sleeve 14 for attaching the grinding wheel 12 to the spline shaft 41 is attached to the through hole 13. The fixing sleeve 14 includes a spline bearing 15 that fits into the spline portion 43 of the spline shaft 41, and a flange 16 that is provided at the end of the spline bearing 15. The spline bearing 15 has a cylindrical outer peripheral surface, is inserted through the through hole 13, a lock nut 17 is screwed into a screw portion (not shown) provided on the outer peripheral surface of the tip, and the fixing sleeve 14 is the grinding wheel 12. Fixed to.

  In the grinding wheel 12, the spline bearing 15 is fitted into the spline portion 43 of the spline shaft 41 so that the end surface of the flange 16 of the fixing sleeve 14 comes into contact with the end surface of the collar 37, and the sleeve is fitted to the tip cylindrical portion 45 of the spline shaft 41. 48 is fitted, and the grinding wheel 12 is fixed to the spline shaft 41.

  In the grinding wheel 12 attached to the spline shaft 41, rotation of the spline shaft 41 in the circumferential direction is blocked by the spline portion 43 and the spline bearing 15. Further, the movement of the main shaft 31 toward the pulley mounting portion 33 in the axial direction (longitudinal direction) of the rotary shaft 30 is blocked by the collar 37, and the movement of the spline shaft 41 toward the tip end is blocked by the sleeve 48. Is done.

  As described above, in the grinding apparatus main body 10 of the present embodiment, the spline portion 43 and the spline bearing 15 are the first restricting means that restricts the grinding wheel 12 from moving in the circumferential direction of the rotary shaft 30. The collar 37 is a second restricting means for restricting the grinding wheel 12 from moving in the direction opposite to the tip of the rotating shaft 30, and the sleeve 48 is a retaining means for preventing the grindstone from being detached from the rotating shaft 30.

  In the present embodiment, a collar 37 is attached to the tip of the main shaft 31 as a means for restricting the grinding wheel 12 from moving toward the anti-tip portion of the rotary shaft 30, but the connection between the main shaft 31 and the spline shaft 41. Since there is a structural step in the portion, this step may be used as a means for restricting the grinding wheel 12 from moving in the direction of the anti-tip portion of the rotating shaft 30. The collar 37 can also be regarded as a means for forming a step on the rotating shaft 30.

  The drive device 50 includes a servo motor 51 that is a drive source that rotates the rotary shaft 30, and a transmission unit 52 that transmits the rotation of the servo motor 51 to the rotary shaft 30. The servo motor 51 is fixed to the base 21 and transmits the rotation of the servo motor 51 to the rotary shaft 30 via a transmission means 52 configured by pulleys 53 and 54 and a timing belt 55. The drive device 50 is not limited to this embodiment, for example, the servomotor 51 and the rotating shaft 30 may be directly connected. Further, the drive source is not limited to the servo motor.

  In addition, the grinding apparatus main body 10 has a movable arm 60. The movable arm 60 includes a movable arm body 61 and a movable arm support mechanism 70 that supports the movable arm body 61. The movable arm 60 has a function of regulating the separation of the grinding wheel 12 with respect to the rotating shaft 30, and the sleeve 48, which is a retainer, is attached to the tip cylindrical portion 45 of the spline shaft 41 while being attached to the movable arm body 61. Fit. Since the movable arm 60 can remove the sleeve 48 from the spline shaft 41 as will be described later, it can be referred to as a retaining release releasing means.

  The movable arm main body 61 includes a cylindrical pipe-shaped insertion portion 68 that is inserted into the arm guide shaft 71 that constitutes the movable arm support mechanism 70, and an arm portion 62 that is disposed orthogonal to the insertion portion 68. The arm portion 62 has an upper arm 63 positioned above the insertion portion 68 and a lower arm 64 positioned below the insertion portion 68, and a balance weight 65 is provided at the tip of the upper arm 63. It has been. On the other hand, a sleeve mounting portion 66 is provided at the tip of the lower arm 64, and a sleeve 48 is rotatably fixed to the sleeve mounting portion 66 via a bearing 67.

  The movable arm support mechanism 70 has an arm guide shaft 71 that supports the movable arm body 61 and an arm movable shaft 81 that is connected to the movable arm body 61.

  The arm guide shaft 71 is a cylindrical pipe-like member, and is fixed to the base 21 via a bearing 72 so as to be rotatable. The position of the arm guide shaft 71 is directly above the rotation shaft 30 (see FIG. 3), and is above the upper end of the grinding wheel 12 mounted on the spline shaft 41. A crank arm 73 for rotating the arm guide shaft 71 is connected to the arm guide shaft 71. The crank arm 73 is connected to the air cylinder 74, and the rod of the air cylinder 74 extends and contracts to rotate the arm guide shaft 71.

  A lock arm 76 is attached to one end of the arm guide shaft 71. The arm guide shaft 71 and the lock arm 76 are integrated and move together. The lock arm 76 is a cylindrical member whose inner diameter is substantially the same as the inner diameter of the arm guide shaft 71, and includes a key (not shown) that fits into a key groove provided on the arm movable shaft 81 on the inner surface.

  The arm movable shaft 81 is a columnar member, and the distal end of the insertion portion 68 and the distal end of the arm movable shaft 81 are coupled via a coupling tool 85 while being inserted into the insertion portion 68 of the movable arm main body 61. ing. Thereby, the movable arm main body 61 and the arm movable shaft 81 are integrated, and move integrally. The outer diameter of the arm movable shaft 81 is smaller than the inner diameter of the insertion portion 68 of the movable arm main body 61, and the insertion portion 68, the arm movable shaft 81, and the movable arm main body 61 are connected to the arm movable shaft 81. A cylindrical space is formed between the arm guide shaft 71 and the arm guide shaft 71 (see FIG. 6).

The arm movable shaft 81 includes a first key groove 83 and a second key groove 84 on the outer peripheral surface of the base end portion (see FIG. 7). The first key groove 83 and the second key groove 84 communicate with each other, and the first key groove 83 is arranged in the axial direction so that the first key groove 83 is closer to the tip than the second key groove 84 and the end surface is in a straight line. Is provided. One end surface of the second key groove 84 faces the end surface 82 on the proximal end side of the arm movable shaft 81. The first keyway 83 is slightly shorter than the second keyway 84 and is the same as the key length of the lock arm 76. The width W ₁ of the first key groove 83 is larger than the width W ₂ of the second key groove 84, the width W ₂ of the second key groove 84 is substantially the same as the width of the key of the lock arm 76.

  An air cylinder 87 that moves the arm movable shaft 81 forward and backward in the axial direction of the arm guide shaft 71 is connected to the base end portion of the arm movable shaft 81 (see FIG. 6). When the arm movable shaft 81 is moved most backward, the key provided on the lock arm 76 is fitted into the first key groove 83, and when the arm movable shaft 81 is moved forward most, the key provided on the lock arm 76 is the second key. Fit into the groove 84.

  Next, the installation procedure of the grinding wheel 12 and the operation procedure of the grinding apparatus main body 10 will be described. After the grinding wheel 12 is fitted into the spline shaft 41, the sleeve 48 attached to the movable arm main body 61 is fitted into the tip cylindrical portion 45 of the spline shaft 41, and the grinding wheel 12 is fixed to the spline portion 43. The sleeve 48 is fitted into the tip cylindrical portion 45 of the spline shaft 41 by operating the air cylinder 87 connected to the arm movable shaft 81 and moving the arm movable shaft 81 backward.

  When the arm movable shaft 81 is retracted so that the end surface of the sleeve 48 contacts the end surface of the fixing sleeve 14 attached to the grinding wheel 12 (see FIG. 5), the arm is movable with respect to the key provided on the lock arm 76. The key groove of the shaft 81 moves from the second key groove 84 to the position of the first key groove 83. In this state, the air cylinder 74 connected to the crank arm 73 is operated to rotate the arm guide shaft 71.

  As a result, the key provided on the lock arm 76 rotates in the circumferential direction with respect to the first key groove 83 to be in the locked position. In the front view of the arm movable shaft 81 in FIG. 7, the lock position is shown with dots. The lock position is a position where the arm movable shaft 81 (movable arm main body 61) cannot move in the axial direction (longitudinal direction) of the arm guide shaft 71, and the release position is the arm movable shaft 81 (movable). The arm body 61) is a position where it can move in the axial direction of the arm guide shaft 71 (see FIG. 7).

  In this state, the servo motor 51 is driven, the grinding wheel 12 is rotated, and the workpiece 301 is ground. In such a grinding apparatus, if a malfunction on the apparatus occurs during operation, the movable arm main body 61 moves, and the sleeve 48 is detached from the tip cylindrical portion 45 of the spline shaft 41, the grinding wheel 12 is detached from the rotary shaft 30. There is a risk of serious accidents. On the other hand, in the grinding apparatus of this embodiment, the sleeve 48 is splined because the lock arm 76 restricts the movement of the arm movable shaft 81 (movable arm main body 61) even if a malfunction on the apparatus occurs during operation. It does not come off from the tip cylindrical portion 45 of the shaft 41.

  Next, how to remove the grinding wheel 12 will be described. With the grinding wheel 12 stopped, the lock arm 76 is rotated to set the key position to the release position with respect to the first key groove 83 of the arm movable shaft 81. Next, the air cylinder 90 is operated to move the arm movable shaft 81 forward most. As a result, the sleeve 48 is detached from the tip cylindrical portion 45 of the spline shaft 41. At the same time, the key of the lock arm 76 is fitted into the second key groove 84 of the arm movable shaft 81.

  In this state, when the crank arm 73 is rotated, the arm movable shaft 81 and the movable arm main body 61 connected thereto rotate around the arm movable shaft 81 as a starting point. The movable arm body 61 may be turned to a position where the grinding wheel 12 can be easily removed from the spline shaft 41. Thereby, the grinding wheel 12 can be easily removed.

  As described above, in the grinding apparatus main body 10 of the first embodiment, the key provided on the lock arm 76, the first key groove 83 provided on the arm movable shaft 81, and the crank arm 73 that rotates the lock arm 76, A mechanism constituted by an air cylinder 87 or the like that moves the arm movable shaft 81 forward and backward corresponds to a lock mechanism that prevents the sleeve 48 from coming off from the tip cylindrical portion 45 of the spline shaft 41.

  Similarly, in the grinding apparatus main body 10 of the first embodiment, the key provided on the lock arm 76, the second key groove 84 provided on the arm movable shaft 81, the crank arm 73 for rotating the lock arm 76, and the arm A mechanism including an air cylinder 87 and the like that moves the movable shaft 81 forward and backward corresponds to a lock release mechanism that allows the sleeve 48 to be disengaged from the tip cylindrical portion 45 of the spline shaft 41.

  In addition, the grinding apparatus main body 10 includes a sensor for automatically exchanging the grinding wheel 12. The sensors include a grinding wheel diameter detection sensor 90 that detects the diameter of the grinding wheel 12, and a pulley reference position management sensor (not shown) that aligns the teeth of the spline portion 43 when the grinding wheel 12 is replaced. These are connected to the grinding machine controller 150 so that data can be transmitted.

  The grinding wheel exchanging device (grinding wheel exchanging / exchange station) 101 is a device for storing a new grinding wheel 12 to be used by being attached to the grinding device main body 10 and for storing the used grinding wheel 12 (FIG. 8). reference). The grinding wheel 12 is exchanged in a state where the fixing sleeve 14 and the lock nut 17 are attached to the grinding wheel 12.

  The grinding wheel exchanging device 101 has a turntable 105 mounted on a gantry 103, and six accommodation tools 107 for housing the grinding wheel 12 are provided on the turntable 105 at equal intervals on the same circumference. Yes. Each container 107 is composed of two plate bodies 109 erected on the turntable 105 with a gap slightly wider than the thickness of the grinding wheel 12. The two plate bodies 109 are each provided with a recess 111 so as to face the upper surface.

  When the grinding wheel 12 is fitted into the container 107 from above, the grinding wheel 12 enters between the two plates 109, and the fixing sleeve 14 and the lock nut 17 attached to the grinding wheel 12 are respectively plate plates. 109 is supported by the recess 111.

  The turntable 105 is provided with an index unit 113 that intermittently rotates the turntable 105 at a constant angle and assigns the turntable 105 to a predetermined position. The index unit 113 is connected to the grinding device control device 150 and operates according to a command from the grinding device control device 150.

  Further, the grinding wheel exchanging device 101 detects the presence or absence of a grinding wheel diameter detection sensor 121 for detecting the grinding wheel 12 and a fixing sleeve 14 attached to the grinding wheel 12 as sensors for exchanging the grinding wheel 12. A fixing sleeve detection sensor 123 is attached. These sensors are connected to the grinding machine controller 150 so as to be able to transmit data.

  The grinding device control device 150 is connected to a sensor mounted on the grinding device main body 10 and the grinding wheel exchanging device 101, and further cooperates with a robot control device (not shown) for controlling the robot arm to automatically exchange the grinding wheel 12. Control. The grinding device control device 150 has data transmission / reception, calculation, control, and data input / output functions. The grinding device control device 150 includes storage means, and a procedure for automatically exchanging the grinding wheel 12 is programmed and stored in the storage means.

  The grinding wheel automatic replacement point of the grinding apparatus 1 of the present embodiment will be described. The grinding device control device 150 needs to replace the grinding wheel 12 in use from the data from the grinding wheel diameter detection sensor 90 mounted on the grinding device body 10 and the preset use limit diameter of the grinding wheel 12. Judge whether there is. When it is determined that the diameter of the grinding wheel 12 being used has reached the usable limit diameter, the grinding device control device 150 performs control so as to stop grinding and automatically replace the grinding wheel 12.

  The grinding device control device 150 sends a command to the robot control device to move the grinding device body 10 to a replaceable position of the grinding wheel 12. The robot control device receives a command from the grinding device control device 150 and moves the grinding wheel 12 mounted on the grinding device main body 10 to the replacement position based on the position coordinates of the robot and the grinding wheel replacement device 101.

  The exchange position is directly above the container 107 that accommodates the grinding wheel 12 mounted on the grinding apparatus body 10 and is a position where the two plates 109 and the fixing sleeve 14 of the grinding wheel 12 are orthogonal to each other. is there. After the grinding wheel 12 is moved to the replacement position, the movable arm body 61 is moved to a position where the grinding wheel 12 can be removed from the spline shaft 41 via the crank arm 73 and the air cylinder 87.

  Thereafter, the robot arm 201 is operated, the grinding wheel 12 mounted on the grinding apparatus main body 10 is lowered and fitted into the container 107, the robot arm 201 is moved backward, and the spline shaft 41 inserted through the grinding wheel 12 is pulled out. This completes the removal of the used grinding wheel 12.

  Next, the index unit 113 of the grinding wheel exchanging device 101 is operated to move the new grinding wheel 12 to the front of the spline shaft 41. Thereafter, the robot arm 201 is moved forward, the spline shaft 41 is inserted through the grinding wheel 12, the robot arm 201 is moved upward, and the new grinding wheel 12 is removed from the container 107. Finally, the movable arm main body 61 is moved, the sleeve 48 is fitted into the tip cylindrical portion 45 of the spline shaft 41, and the mounting of the grinding wheel 12 is completed.

  As described above, the grinding apparatus 1 according to the first embodiment has a simple attachment / detachment mechanism to / from the rotary shaft 30 of the grinding wheel 12 and can use the air cylinder 87 as a drive source. -It can be reduced in weight. The grinding apparatus main body 10 has a mechanism for attaching / detaching the grinding wheel 12 to / from the rotary shaft 30 simplified. On the other hand, the grinding wheel 12 is locked so as not to be detached from the rotary shaft 30 even if a malfunction occurs in the apparatus. Can be used safely.

  The grinding device 1 of the first embodiment includes a grinding wheel controller 101 and a grinding device controller 150 that controls automatic replacement of the grinding wheel 12 in addition to a mechanism for attaching and detaching the grinding wheel 12 to the rotary shaft 30. The vehicle 12 can be automatically replaced and is highly practical.

  As mentioned above, although the processing apparatus which concerns on this invention was demonstrated using the grinding apparatus 1 of 1st Embodiment, the processing apparatus which concerns on this invention is not limited to the said embodiment, It changed in the range which does not change a summary. Can be used. For example, in the grinding apparatus body 10 of the first embodiment, the main shaft 31 and the spline shaft 41 are separated, but these may be integrated.

  In the grinding apparatus body 10 of the first embodiment, the grinding wheel 12 is fixed using the spline shaft 41. Instead of the spline shaft 41, a key and a key groove are provided on the rotary shaft 30 and the grinding wheel 12. The grinding wheel 12 may be detachably fixed to the rotary shaft 30.

  Further, in the grinding apparatus body 10 of the first embodiment, the movable arm body 61 and the arm movable shaft 81 are connected via the connector 85, but the movable arm body 61 and the arm movable shaft 81 are integrally formed. It may be. Furthermore, the insertion portion 68 provided in the movable arm main body 61 may be eliminated, and the arm movable shaft 81 may be rotatably supported by the arm guide shaft 71.

  The lock arm 76 may be formed integrally with the arm guide shaft 71. Further, the lock arm 76 is omitted, and the first key groove 83 of the arm movable shaft 81, the first A key that fits in the two-key groove 84 may be attached.

  The processing apparatus according to the present invention is not limited to a grinding apparatus, and a cutting apparatus, a polishing apparatus, or the like can be used, and a tool is not limited to a grinding wheel. In the first embodiment, an example in which a grinding device is attached and used as a processing device at the tip of the robot arm is shown. However, the processing device according to the present invention is an industrial robot such as an articulated robot or an orthogonal robot, It can be mounted and used on machine tools such as control machine tools, machining centers, and CNC machine tools.

  As described above, the preferred embodiments have been described with reference to the drawings. However, those skilled in the art will readily understand various changes and modifications within the obvious scope by looking at the present specification. Therefore, such changes and modifications are interpreted as being within the scope of the invention defined by the claims.

DESCRIPTION OF SYMBOLS 1 Grinding machine 10 Grinding machine main body 12 Grinding wheel 15 Spline bearing 21 Base 23 Mounting flange 30 Rotating shaft 31 Spindle 41 Spline shaft 43 Spline part 45 Cylindrical part 48 Sleeve 50 Drive device 60 Movable arm 61 Movable arm main body 62 Arm part 68 Insertion Unit 70 Movable arm support mechanism 71 Arm guide shaft 73 Crank arm 76 Lock arm 81 Arm movable shaft 83 First key groove 84 Second key groove 90 Grinding wheel diameter detection sensor 101 Grinding wheel changing device 107 Storage tool 121 Grinding wheel diameter detection sensor 123 For fixing Sleeve detection sensor 150 Grinding device controller 201 Arm of articulated robot

Claims (7)

A processing device attached to and used in an industrial robot or machine tool,
The base,
Mounting means for mounting on the industrial robot or machine tool provided on the platform;
A rotation axis;
A tool removably attached to the rotating shaft;
Driving means attached to the base for driving the tool attached to the rotating shaft to rotate;
First restricting means for restricting movement of the tool attached to the rotating shaft in a circumferential direction;
A second restricting means for restricting movement of the tool attached to the rotating shaft toward the opposite end of the rotating shaft;
Retaining means for preventing the tool attached to the rotating shaft from being detached from the rotating shaft;
A retaining release mechanism that allows the tool to be detached from the rotating shaft;
A locking mechanism that disables the operation of the retaining release mechanism;
An unlocking mechanism that disables the operation of the locking mechanism;
A processing apparatus comprising: The first restricting means includes a spline part provided on the rotating shaft and a spline bearing provided on the tool,
The second restricting means is a step provided on the rotating shaft;
The retaining means is a member that fits into the distal end portion of the rotating shaft and prevents the tool from moving toward the distal end portion of the rotating shaft,
The retaining release mechanism includes a mechanism for removing the retaining means from the tip of the rotating shaft,
The processing apparatus according to claim 1, wherein the lock mechanism mechanically blocks the retaining release mechanism. A movable arm having an arm connected to a shaft member;
A hollow support attached to the base for supporting the movable arm and through which the shaft member is slidably inserted;
Advancing / retreating means constituting the retaining release mechanism for moving the shaft member in the axial direction of the support;
With
The retaining means is attached to the arm tip of the movable arm,
The lock mechanism includes a key and a key groove provided on the support and the shaft member,
When the key is fitted in the key groove, the shaft member is prevented from moving in the axial direction of the support,
The lock release mechanism uncouples the key and the key groove,
The processing apparatus according to claim 1, wherein the key is disengaged from the key groove, whereby the shaft member can be moved in the axial direction of the support body. A turning mechanism for turning the movable arm around the shaft member;
Control means for controlling operations of the retaining release mechanism, the lock mechanism, the lock release mechanism, and the turning mechanism;
With
The processing apparatus according to claim 3, wherein the movable arm can turn in a state where the retaining means is detached from a tip end portion of the rotating shaft. Furthermore, a tool changer provided with a container for taking out a pre-use tool and storing it freely,
A sensor that detects when the tool is in use, and
A sensor for detecting the position and direction of each of the container and the pre-use tool;
With
The control means controls the operation of the processing apparatus so that a tool in use and a tool before use can be automatically exchanged, and issues a command to an industrial robot or machine tool to which the processing apparatus is attached. The processing apparatus according to claim 4. The industrial robot is an articulated robot or an orthogonal robot;
6. The processing apparatus according to claim 1, wherein the machine tool is a numerically controlled machine tool, a machining center, or a CNC machine tool.   The processing apparatus according to any one of claims 1 to 6, wherein the tool is a grinding wheel.