JP2021146446A - Processing system, processing part exchange device, processing part determination device, method for exchanging processing part of grinder using the same system - Google Patents

Abstract

To automatize at least a part of exchange work of a grinder.SOLUTION: A processing system 100 comprises: a grinder 10 to which a processing part for processing a surface of an object 200 to be processed is fitted detachably; a manipulator 30 to which the grinder is fitted, and presses the processing part fitted to the grinder to the object to be processed; a processing part exchange device 40 for exchanging the processing part of the grinder; and a control unit for controlling operations of the grinder and the manipulator. The grinder comprises: a rotary axis having a screw groove on a peripheral face, and engaged to the processing part by screw engagement; a drive unit rotating the rotary axis in a normal direction and reverse direction; and a fixing mechanism for fixing the rotary axis. The processing part exchange device has a hand for detaching the processing part fitted to the grinder, in cooperation with the manipulator.SELECTED DRAWING: Figure 1

Description

The present invention relates to a processing system, a processing unit switching device, a processing unit determination device, and a method of exchanging a processing unit of a grinder using the processing system.

Polishing work is performed to treat the surface of the object formed by casting or the like. Conventionally, such polishing work may be performed by an operator using, for example, a grinder. However, the polishing work is often performed in a noisy environment of, for example, exceeding 90 dB, and an environment in which dust is scattered. In addition, the worker may perform the polishing work for a long time in the same posture. For this reason, there is a concern that health hazards to workers may occur at some work sites. On the other hand, a robot that performs such polishing work on behalf of a worker is known (see, for example, Cited Document 1).

The robot described in Patent Document 1 includes a manipulator, a tool (grinding machine), and a handling device for controlling the force applied to the tool. The tool is connected to the manipulator via a handling device. The manipulator grinds the object to be ground by pressing the tool against the object to be ground.

Japanese Patent Application Laid-Open No. 2014-508501

The grindstone used in the grinder needs to be replaced after some use. Conventionally, while the object is automatically polished by the robot, the grindstone replacement work, specifically, confirmation of whether or not the grindstone needs to be replaced, removal of the grindstone from the grinding machine, to the grinding machine The installation of the new grindstone was done manually by the workers.

The present invention has been made in view of the above problems. One of its purposes is to automate at least part of the grindstone replacement work.

According to one embodiment of the present invention, a processing system is provided. The processing system is configured to have a grinder to which a processing unit for processing the surface of the object to be processed is detachably attached and a processing unit to which the grinder is attached and attached to the grinder to be pressed against the object to be processed. It has a manipulator, a processing unit exchanging device for exchanging the processing unit of the grinder, and a control device for controlling the operation of the grinder and the manipulator. The grinder has a rotary shaft having a thread groove on the outer peripheral surface and screw-engages with the processing portion, a drive device capable of rotating the rotary shaft in the forward and reverse directions, and a fixing mechanism for fixing the rotary shaft. And have. The processing unit exchange device has a hand configured to remove the processing unit attached to the grinder in cooperation with the manipulator.

According to another embodiment of the present invention, a processing system is provided. The processing system is configured to have a grinder to which a processing unit for processing the surface of the object to be processed is detachably attached and a processing unit to which the grinder is attached and attached to the grinder to be pressed against the object to be processed. It has a manipulator, a processing unit determining device for determining whether or not the processing unit needs to be replaced, and a control device for controlling the operation of the grinder and the manipulator. The processing unit determination device includes an imaging device that acquires image data of the 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 includes a transmission unit that transmits the image data acquired by the imaging device to the analysis device, a reception unit that receives the analysis result of the image data from the analysis device, and the analysis result received by the reception unit. It has a determination unit for determining whether or not the processing unit needs to be replaced based on the above.

According to another aspect of the present invention, a processing unit exchanging device for exchanging a processing unit of a grinder is provided. The processing unit exchanging device includes a hand configured to limit the movement of the processing unit attached to the rotating shaft of the grinder in the rotational direction, and a stocker configured to store the processing unit for replacement. And an exchange table provided with an exchange place where the processing unit is arranged when the processing unit for replacement is attached to the rotating shaft of the grinder.

According to another embodiment of the present invention, there is provided a processing unit determining device for determining whether or not the processing unit attached to the grinder needs to be replaced. The processing unit determination device includes an imaging device that acquires image data of the 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 includes a transmission unit that transmits the image data acquired by the imaging device to the analysis device, a reception unit that receives the analysis result of the image data from the analysis device, and the analysis result received by the reception unit. It has a determination unit for determining whether or not the processing unit needs to be replaced based on the above.

It is a perspective view which shows the processing system which concerns on this embodiment. It is a control block diagram of the processing system which concerns on this embodiment. It is a perspective view of a grinder. It is a perspective view which excluded a part of grinding machine. It is an enlarged view of the vicinity of an air motor. It is a perspective view of the fixing mechanism. It is a perspective view of the grindstone exchange device. It is a side view of the grindstone changing device. It is a perspective view of the grindstone determination device. It is a front view of the grindstone determination device. It is a perspective view of the grinding machine exchange device. It is a perspective view which shows the other example of the grindstone changing apparatus. It is an enlarged view of the upper surface of the grindstone installation stand. It is an enlarged view of the lower surface of the grindstone installation stand. It is an enlarged view of a sensor. It is the top view of the sensor in the state of detecting a grindstone. It is a top view of the sensor in the state where the grindstone is not detected. It is a perspective view of the replenishment state transmission part.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings described below, the same or corresponding components are designated by the same reference numerals and duplicate description will be omitted. FIG. 1 is a perspective view showing a processing system according to the present embodiment. The processing system 100 includes a grinder 10, a manipulator 30, a grindstone changing device 40, a grindstone determining device 60, a grinding machine changing device 80, and a rotary table 90.

The manipulator 30 has arm segments 32, 34, 36. The manipulator 30 preferably has 6 degrees of freedom. As a result, the arm segment 36 at the tip can be moved to an arbitrary position in the three-dimensional space. The grinder 10 is detachably attached to the arm segment 36 at the tip of the manipulator 30. The manipulator 30 can press the grindstone attached to the grinder 10 against the object 200 placed on the rotary table 90. In the example shown in FIG. 1, the impeller of the mixed flow pump is shown as the object to be processed 200.

The grindstone changing device 40 is configured to replace the grindstone attached to the grinding machine 10. The grindstone determination device 60 is configured to determine whether or not the grindstone attached to the grinding machine 10 needs to be replaced. The grinding machine 80 is used to replace the grinder 10 attached to the manipulator 30. The rotary table 90 has a mounting table 92 for mounting the object 200 to be processed, and the mounting table 92 is configured to rotate at an arbitrary angle around an axis in the vertical direction by, for example, a motor (not shown). ..

FIG. 2 is a control block diagram of the processing system 100 according to the present embodiment. As shown in the figure, the processing system 100 includes a grinder 10, a manipulator 30, a grindstone changing device 40, a grindstone determination device 60, a grinding machine changing device 80, and a control device 120 capable of communicating with a rotary table 90. The control device 120 includes, for example, a computer-readable recording medium containing the operation programs of the grinding machine 10, the manipulator 30, the grindstone changing device 40, the grindstone determining device 60, the grinding machine changing device 80, and the turntable 90, and a program of the recording medium. It has a CPU (Central Processing Unit) or the like that executes the above. Further, the control device 120 may include a PLC (Programmable Logical Controller) including at least a power supply unit, a CPU, a memory for storing an operation program, and an input / output unit.

The control device 120 controls the operations of the grinder 10 and the manipulator 30 according to an operation program according to the shape of the processing object 200, whereby the processing system 100 automatically performs the processing object 200 mounted on the rotary table 90. Can be polished as a target. In addition, the processing system 100 can automatically perform at least a part of the replacement work of the grindstone attached to the grinding machine 10. Specifically, in the present embodiment, the control device 120 controls the grindstone changing device 40 and the grindstone determination device 60, so that the processing system 100 automatically replaces the grindstone attached to the grinding machine 10 at an appropriate timing. be able to. Further, when the control device 120 controls the grinding machine switching device 80, the processing system 100 can automatically replace the grinding machine 10 attached to the manipulator 30.

As shown in FIG. 2, the grindstone 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 grindstone changing device 40, the grindstone determination device 60, and the grinding machine changing device 80 constituting the processing system 100 will be described in detail.

<Grinding machine 10>
FIG. 3 is a perspective view of the grinder 10. FIG. 4 is a perspective view excluding a part of the grinder 10. 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 includes an arm 11, a support member 14, a cylinder device 13, a grindstone 19, and an air motor 18. The arm 11 has a first end portion 11a and a second end portion 11b, and is a rigid body such as metal extending in a predetermined direction. In the illustrated example, the arm 11 is a linear rigid body, but is not limited to this, and may be, for example, an L-shape, a U-shape, a curved shape, or the like, and is not a rigid body but a flexible material having a predetermined elasticity. You may.

The support member 14 has a connecting portion 15 that is detachably connected to the arm segment 36 of the manipulator 30 shown in FIG. As shown in FIG. 3, the connecting portion 15 may have, for example, a flange shape. Further, the support member 14 is pivotally connected to the arm 11 at the opposite end of the connecting portion 15. Specifically, the support member 14 and the arm 11 are pivotally 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 first side portion 11c of the arm 11 to the second side portion 11d. In the example shown in FIG. 3, the support member 14 may be a pair of C-shaped channel steels. The support member 14 is not limited to this, and may be a member of any shape and material that can be connected to the support pin 16. Further, 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 11 and the extending direction of the support pin 16. However, since the support member 14 is pivotally connected to the arm 11, the angle of the support member 14 with respect to the arm 11 can change according to the expansion and contraction of the cylinder device 13.

The cylinder device 13 has, for example, an air cylinder and a piston. One end of the cylinder device 13 is pivotally attached to a portion of the arm 11 located closer to the second end 11b of the arm 11 than the support pin 16, and the other end is pivotally attached to the support member 14 by a support pin (not shown). It can be mounted movably. The support pin 17 and the support pin (not shown) extend in the same direction as the support pin 16, that is, in a direction orthogonal to the extension direction of the arm 11 and the support member 14.

Since the cylinder device 13 has an air cylinder, the cylinder device 13 can be expanded and contracted by the elasticity of the air spring when the grindstone 19 is pressed against the object to be processed 200 (see FIG. 1). Further, the control device 120 shown in FIG. 2 can control the air pressure of the air supplied to the air cylinder of the cylinder device 13. Specifically, when the object 200 to be processed (see FIG. 1) is being polished by the grindstone 19, the control device 120 controls the air pressure of the air cylinder to control the amount of expansion and contraction of the cylinder device 13. The angle of the arm 11 with respect to the support member 14 can be adjusted. Similarly, by controlling the air pressure of the air cylinder by the control device 120, the elasticity of the air spring of the air cylinder can be changed to control the pressing force of the grindstone 19. The cylinder device 13 is not limited to an air cylinder, and a hydraulic cylinder, a hydraulic cylinder, or the like can also be adopted. Further, when performing work that does not require position adjustment or pressing force adjustment by the air cylinder, a spring that applies a constant force can be used instead of the air cylinder to make the device simpler.

As shown in FIG. 5, the air motor 18 has a first shaft 18a (corresponding to an example of a drive shaft) rotated by the air motor 18 and a first pulley 24 attached to the first shaft 18a. As shown in FIG. 4, the grinder 10 includes a grindstone 19 (corresponding to an example of a processing unit) pressed against a processing object 200 (see FIG. 1) and a second shaft 20 (corresponding to an example of a rotating shaft). , A second pulley 21 attached to the second shaft 20. Although not shown, the second shaft 20 has a thread groove on the outer peripheral surface thereof, and is configured to be screw-engaged with the grindstone 19. Therefore, the grindstone 19 can be detachably attached to the grinder 10. Specifically, the grindstone 19 has a nut on the side opposite to the processing surface (lower surface in FIG. 3), and the grindstone 19 and the second shaft 20 are screw-engaged by screwing the second shaft 20 into the nut. Will be done. Further, the grindstone 19 attached to the second shaft 20 can be removed from the second shaft 20 by turning the grindstone 19 in the direction opposite to the second shaft 20. In the present embodiment, the grinder 10 includes a grindstone 19, but the grinding machine 10 is not limited to this, and a relatively soft polishing member such as a sandpaper or a polishing pad, or a surface of an object 200 to be processed such as a sponge or a brush. May be provided with a cleaning member for cleaning.

As shown in FIG. 4, the grinder 10 has a tensioner 22 that appropriately maintains the tension of the belt connecting the first pulley 24 and the second pulley 21. As a result, the driving force of the air motor 18 is transmitted to the second shaft 20 via a belt (not shown), and the grindstone 19 rotates in the circumferential direction. In the present embodiment, the first pulley 24, the second pulley 21, and the belt (not shown) form a rotation transmission mechanism for transmitting the rotation of the first shaft 18a to the second shaft 20, but the rotation is transmitted. The mechanism is not limited to this. For example, the grinder 10 may employ a sprocket instead of the first pulley 24 and the second pulley 21, and may employ a chain that engages 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 first shaft 18a in the forward direction and the reverse direction. Therefore, the air motor 18 can also rotate the grindstone 19 in the forward direction and the reverse direction according to the direction of rotation of the first shaft 18a. The grinder 10 may have an arbitrary drive source capable of rotating the main shaft in the forward direction and the reverse direction, for example, an electric motor, a hydraulic motor, a hydraulic motor, or the like, instead of the air motor 18.

The air motor 18 has a fixing gear 26 on the tip end side of the first shaft 18a. The fixing gear 26 is fixed to the first shaft 18a by, for example, a set screw or a key engagement. In other words, the fixing gear 26 rotates together with the first shaft 18a, and the rotation of the fixing gear 26 is restricted, so that the rotation of the first shaft 18a is also restricted.

As shown in FIG. 3, the grindstone 19 is attached to the first end portion 11a side of the arm 11 with respect to the support pin 16. Specifically, in the illustrated example, the grindstone 19 is provided on the lower side of the arm 11 in the drawing, that is, on the side opposite to the support member 14. However, the present invention is not limited to this, and the grindstone 19 can be provided on the upper side of the arm 11 in the drawing, that is, on the same side as the support member 14.

Due to the structure of the air motor 18, the first shaft 18a can rotate by an external force when air is not supplied. Therefore, as shown in FIGS. 5 and 6, the grinder 10 of the present embodiment has a fixing mechanism 25 for fixing the first shaft 18a of the air motor 18. The fixing mechanism 25 includes a base plate 28, a cylinder 27a and a piston 27b, a pusher 23, and a hook 29 (corresponding to an example of a locking mechanism). The base plate 28 is attached to the arm 11 of the grinder 10. The cylinder 27a and the piston 27b are attached to the 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 has a claw that engages with the fixing gear 26. The pusher 23 is attached to the tip of the piston 27b.

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 first shaft 18a to which the fixing gear 26 is attached can also be fixed. The hook 29 can be urged in a direction away from the fixing gear 26 by a spring or the like (not shown). As a result, when the supply of air to the cylinder 27a is stopped, the hook 29 is separated from the fixing gear 26 by a spring (not shown), and the fixing gear 26 and the first shaft 18a can be released from being fixed. At this time, the piston 27b may be displaced so as to contract by applying a negative pressure to the cylinder 27a so that the hook 29 is separated from the fixing gear 26.

The fixing mechanism 25 may have an arbitrary mechanism capable of fixing the first shaft 18a of the air motor 18, for example, a clamp for gripping the first shaft 18a.

<Whetstone changing device 40>
FIG. 7 is a perspective view of the grindstone changing device 40. FIG. 8 is a side view of the grindstone changing device 40. As shown in FIGS. 7 and 8, the grindstone changing device 40 has four columns 41, a stocker 42, a hand 43, and a collection box 44. The four columns 41 extend vertically upward, and adjacent columns 41 are connected to each other. The stocker 42 is a horizontal plate 4 provided at the upper end of the support column 41.
5 and a tubular member 46 extending in the vertical direction from the horizontal plate 45. The tubular member 46 has an opening 46a provided at the upper end thereof and a notch 46b extending between the upper end and the lower end. The stocker 42 is configured to store the replacement grindstone 19 in a space surrounded by the horizontal plate 45 and the tubular member 46.

In this embodiment, the hand 43 extends in the horizontal direction from the horizontal plate 45 of the stocker 42. The hand 43 is not limited to this, and can be provided at an arbitrary position. The hand 43 has a pair of finger portions 43a so that its tip branches, and is designed so that the nut of the grindstone 19 can be sandwiched between the finger portions 43a. As shown in FIG. 7, it is preferable that the hand 43 is designed so that the distance between the finger portions 43a increases toward the tip. By inserting the nut of the grindstone 19 attached to the grinding machine 10 between the fingers 43a of the hand 43, the hand 43 can limit the movement of the grindstone 19 in the rotational direction. In other words, the hand 43 has the function of a wrench or spanner for loosening the nut of the grindstone 19 from the second shaft 20. The collection box 44 is a box for collecting the used grindstone 19, and is preferably located below the hand 43.

The grindstone changing device 40 has a changing table 47 having a changing place 47a in which the grindstone 19 is arranged when the replacement grindstone 19 is attached to the second shaft 20 of the grinding machine 10. The switching table 47 has a support surface 48 attached to the side of the support column 41, a pair of rails 49 arranged on the support surface 48, an input port 50 formed between the pair of rails 49, and a support surface 48. It has a pair of stoppers 51 arranged in. The support surface 48 is provided so as to be inclined with respect to the vertical direction and the horizontal direction. Further, the charging port 50 is used for charging the replacement grindstone 19 stored in the stocker 42 onto the support surface 48. The pair of rails 49 guide the replacement grindstone 19 loaded from the loading port 50 to the replacement location 47a along the support surface 48. In the example shown in FIG. 7, a state in which the replacement grindstone 19 is arranged at the replacement location 47a is shown.

The pair of stoppers 51 are configured to stop the replacement grindstone 19 guided by the rail 49 at the replacement location 47a. In the illustrated example, the pair of stoppers 51 are connected to the lower ends of the pair of rails 49, respectively, and are arranged so that the distance between the stoppers 51 gradually decreases downward. Not limited to this, the stopper 51 may have an arbitrary structure capable of stopping the replacement grindstone 19 at the replacement location 47a.

The grindstone changing device 40 further has a magnet 52 (corresponding to an example of the first magnet) that can be attached to and detached from the second shaft 20 of the grinder 10. In the illustrated example, the magnet 52 is placed on the horizontal plate 45, but can be placed anywhere. The magnet 52 has, for example, a hole on its upper surface into which the second shaft 20 can be inserted. The magnet 52 has a structure such as a quick coupling inside the hole, and the magnet 52 is attached to the second shaft 20 by inserting the second shaft 20 into the hole, and the magnet 52 is attached to the second shaft by a predetermined force. When pulled from 20, the magnet 52 can be removed from the second shaft 20. The grinder 10 can attract and hold one of the replacement grindstones 19 stored in the stocker 42 with the magnet 52 in a state where the magnet 52 is attached to the second shaft 20.

The grindstone changing device 40 has a baffle plate 53 for removing the replacement grindstone 19 attracted to the magnet 52 from the magnet 52. In the illustrated example, the baffle plate 53 is attached to a pair of rails 49.

Next, a method of exchanging the grindstone 19 in the grindstone exchanging device 40 will be described. The control of each of the following parts is performed by the control device 120. First, the grindstone 19 attached to the grinder 10 is removed from the grinder 10. Specifically, the manipulator 30 inserts a nut provided on the grindstone 19 of the grinder 10 between a pair of finger portions 43a of the hand 43. As a result, the hand 43 can limit the movement of the nut and the grindstone 19 in the rotational direction.

Subsequently, the manipulator 30 rotates the grinder 10 itself in the direction in which the grindstone 19 loosens, while the movement of the nut and the grindstone 19 in the rotational direction is restricted by the hand 43. At this time, the fixing mechanism 25 fixes the first shaft 18a so that the second shaft 20 does not rotate with respect to the grinder 10. As a result, the grindstone 19 screw-engaged with the second shaft 20 is loosened. After that, the grinder 10 rotates the second shaft 20 in the direction in which the grindstone 19 is disengaged from the second shaft 20 by the air motor 18 above the collection box 44. As a result, the grindstone 19 is completely removed from the second shaft 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 manipulator 30.

The manipulator 30 mounts the magnet 52 on the second shaft 20 of the grinder 10. Specifically, the manipulator 30 moves the grinder 10 so that the second shaft 20 of the grinder 10 is inserted into the hole on the upper surface of the magnet 52. Subsequently, the manipulator 30 attracts and holds the replacement grindstone 19 stored in the stocker 42 by the magnet 52. Specifically, the manipulator 30 inserts the first end portion 11a of the arm 11 of the grinder 10 from the notch portion 46b, attracts and pulls up the replacement grindstone 19 with the magnet 52, and pulls up the replacement grindstone 19 from the opening 46a. Take out.

The manipulator 30 moves the replacement grindstone 19 attracted to the magnet 52 to the input port 50. In this state, by hooking a part of the grindstone 19 on the baffle plate 53, the grindstone 19 is peeled off from the magnet 52 and thrown into the insertion port 50. The grindstone 19 thrown into the loading port 50 is guided by the rail 49 toward the replacement location 47a along the support surface 48, and is stopped at the replacement location 47a by the stopper 51.

The manipulator 30 returns the magnet 52 mounted on the grinder 10 to its original position on the horizontal plate 45. Specifically, for example, in the manipulator 30, a part of the magnet 52 is locked to a locking portion (not shown) provided on the horizontal plate 45, and the second shaft 20 of the grinder 10 is inserted from a hole on the upper surface of the magnet 52. By pulling it out, the magnet 52 is removed from the second shaft 20.

Subsequently, the manipulator 30 inserts the second shaft 20 of the grinder 10 into the nut of the grindstone 19 arranged at the replacement location 47a, and drives the air motor 18 to rotate the second shaft 20. As a result, the grindstone 19 is screw-engaged with the second shaft 20, and the grindstone 19 is replaced.

In the present embodiment, the grindstone changing device 40 has a hand 43 provided with a finger portion 43a in order to limit the movement of the nut and the grindstone 19 in the rotational direction, but the present invention is not limited to this. That is, the grindstone changing device 40 may have a known mechanism such as a clamp that can limit the movement of the grindstone 19 in the rotational direction instead of the hand 43.

<Whetstone judgment device 60>
Subsequently, the grindstone determination device 60 will be described. FIG. 9 is a perspective view of the grindstone determination device 60. FIG. 10 is a front view of the grindstone determination device 60. The grindstone determination device 60 includes a rectangular parallelepiped housing 64, a camera 65, and an illumination 66. The housing 64 is formed of a light-impermeable material so as to prevent external light from entering the housing 64. Further, the housing 64 has an opening 64a for inserting the first end portion 11a of the arm 11 of the grinder 10 mounted on the manipulator 30 into the inside of the housing 64. The housing 64 may have light-shielding members (not shown) such as curtains above and below the opening 64a. As a result, the inside of the housing 64 can be shielded from light while allowing the arm 11 to enter and exit the inside of the housing 64.

In this embodiment, a pair of cameras 65 (corresponding to an example of an imaging device) are provided on the upper side and the lower side inside the housing 64. Specifically, the camera 65 provided on the upper side can photograph the upper surface side of the first end portion 11a of the arm 11 of the grinder 10 located below the camera 65. Further, the camera 65 provided on the lower side can photograph the lower surface side of the first end portion 11a of the arm 11 of the grinder 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 processing surface of the grindstone 19 faces the upper side of the arm 11, the image data of the processing surface of the grindstone 19 can be acquired by the camera 65 above. .. Similarly, for example, when the grindstone 19 is attached to the lower side of the arm 11 and the processing surface of the grindstone 19 faces the lower side of the arm 11, the image data of the processing surface of the grindstone 19 is acquired by the lower camera 65. Can be done. The camera 65 may be arranged only above or below, or may be arranged at an arbitrary position in the housing 64.

The illumination 66 is, for example, LED illumination, and any other illumination may be adopted. In the present embodiment, as shown in FIGS. 9 and 10, a pair of left and right lights 66 and a housing are provided on the opening 64a side of the housing 64 slightly above and slightly below the central portion in the vertical direction of the housing 64. A pair of left and right lights 66 are arranged on the back side of the 64. That is, in the present embodiment, a total of eight lights 66 are arranged in the housing 64, and can illuminate the first end portion 11a of the arm 11 of the grinder 10 located in the housing 64. The number and arrangement of the lights 66 is arbitrary.

Next, a method of determining whether or not the grindstone 19 needs to be replaced will be described in the grindstone determination device 60. The control of each of the following parts is performed by the control device 120. First, for example, when the grinder 10 polishes the upper surface or the lower surface of one of the blades of the impeller which is the object to be processed 200, the manipulator 30 uses the first end portion 11a of the arm 11 of the grinder 10 in the housing 64 of the grindstone determination device 60. Move to. The grindstone determination device 60 is either an upper or lower camera 65 based on information about whether the grindstone 19 is attached to the upper side or the lower side of the first end portion 11a of the arm 11 which the control device 120 has. Is operated to acquire image data of the processed surface of the grindstone 19.

The control unit 61 shown in FIG. 2 may appropriately perform image processing on the image data acquired by the camera 65. The transmission unit 62 of the grindstone determination device 60 shown in FIG. 2 transmits the image data acquired by the camera 65 to an external analysis device. The analysis device may include, for example, a large number of image data of the grindstone 19 that needs to be replaced and an AI (Artificial Intelligence) that has learned a large number of image data of the grindstone 19 that does not need to be replaced. The analysis device determines, for example, an arbitrary score for the image data received from the transmission unit 62. 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 analyzer is received. The control unit 61 determines whether or not the grindstone 19 needs to be replaced based on the received analysis result. Specifically, for example, the control unit 61 determines whether or not the grindstone 19 needs to be replaced based on whether or not the score received from the analysis device exceeds or falls below a predetermined threshold value.

The control unit 61 transmits the determination result to the control device 120. When the control device 120 receives the result that the grindstone 19 does not need to be replaced, the control device 120 can control the manipulator 30 and the grinder 10 so as to continue polishing the object 200 to be processed. Further, when the control device 120 receives the result that the grindstone 19 needs to be replaced, the control device 120 controls the manipulator 30, the grinding machine 10, and the grindstone changing device 40 so that the grindstone 19 is replaced by the grindstone changing device 40. ..

<Grinder switching device 80>
Subsequently, the grinder switching device 80 will be described. FIG. 11 is a perspective view of the grinding machine switching device 80. The grinder switching device 80 has a leg portion 81 and a switching table 82. The legs 81 extend in the vertical direction and support the exchange table 82 from below. The switching table 82 has a first position 83 on which the grinder 10 can be installed and a second position 84. In the illustrated example, a replacement grinder 10 is installed at the second position 84. Further, in the illustrated example, the first position 83 is a position for installing the grinder 10 attached to the manipulator 30.

The grinder switching device 80 has a lid 85 for covering the connection portion 15 of the grinder 10 installed at the first position 83 and the second position 84, and a rotary actuator 86 for opening and closing the lid 85. The lid 85 is connected to a horizontal shaft 87 that is rotated about its shaft by a rotary actuator 86. When the rotary actuator 86 rotates the horizontal axis 87, the lid 85 also rotates about the horizontal axis 87. In the illustrated example, a state in which the lid 85 is opened, that is, a state in which the lid 85 does not cover the connecting portion 15 of the grinder 10 installed at the first position 83 or the second position 84 is shown.

The grinder switching device 80 has a sensor 88 (corresponding to an example of the second sensor) that detects the presence or absence of the grinder 10 installed at the first position 83 or the second position 84. The sensor 88 transmits information to the control device 120 whether or not the grinder 10 is installed at the first position 83 or the second 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 switching table 82, and when the grinder 10 is installed at the first position 83 or the second position 84, the pin-shaped sensor 88 may be used. By pressing the grinder 10, the presence or absence of the grinder 10 can be detected.

Next, a method of exchanging the grinding machine 10 in the grinding machine exchanging device 80 will be described. The control of each of the following parts is performed by the control device 120. For example, the grinder 10 is replaced when the polishing of the pressure surfaces (front surface) of all the blades of the impeller, which is the object to be processed 200, is completed, and then the polishing of the negative pressure surface (back surface) of the blades is started. obtain. Specifically, in this case, the grinding machine 10 having the grindstone 19 attached to the lower side of the arm 11 is replaced with the grinding machine 10 having the grindstone 19 attached to the upper side of the arm 11.

First, the manipulator 30 installs the grinder 10 at the first position 83 of the grinder switching device 80. When the control device 120 receives the information indicating that the grinding machine 10 is installed at the first position 83 from the sensor 88, the control device 120 removes the grinding machine 10 from the manipulator 30. Subsequently, the manipulator 30 connects to the connecting portion 15 of the grinder 10 installed at the second position 84, and lifts the grinder 10 from the switching table 82. When the control device 120 receives information from the sensor 88 indicating that the grinding machine 10 does not exist at the second position 84, the rotary actuator 86 so that the lid 85 covers the connecting portion 15 of the grinding machine 10 installed at the first position 83. To operate.

When replacing the grinder 10 again, the control device 120 controls the rotary actuator 86 so that the lid 85 opens, and the manipulator 30 installs the grinder 10 at the second position 84 of the grinder switching device 80. After that, the grinding machine 10 installed at the first position 83 is lifted by the manipulator 30 and the connection portion 15 of the grinding machine 10 installed at the second position 84 is covered with the lid 85 in the same manner as in the above-described process.

As described above, the processing system 100 of the present embodiment can automate at least a part of the replacement work of the grindstone 19 by the grindstone exchange device 40 or the stone determination device. More specifically, according to the processing system 100, at least the work of removing the grindstone 19 from the grinding machine 10, the work of attaching the replacement grindstone 19 to the grinding machine 10, and the work of determining whether or not the grindstone 19 needs to be replaced. One can be done automatically. Further, according to the processing system 100 of the present embodiment, the grinding machine 10 can be automatically replaced.

Next, another embodiment of the grindstone changing device 40 shown in FIGS. 7 and 8 will be described. FIG. 12 is a perspective view showing another example of the grindstone changing device. The grindstone changing device 140 shown in FIG. 12 can be adopted in the processing system 100 shown in FIG. 1 in place of the grindstone changing device 40 shown in FIGS. 7 and 8.

As shown in FIG. 12, the grindstone changing device 140 includes four columns 141, a grindstone installation table 142 (corresponding to an example of a processing unit installation table), a hand 143, and a sensor 144 (an example of a first sensor). It has (corresponding to) and a replenishment state transmission unit 145. The four columns 41 extend vertically upward. The number of grindstone installation stands 142 is arbitrary, but in the present embodiment, three grindstone installation stands 142 are provided in the grindstone changing device 140. Each of the grindstone installation bases 142 is attached to the columns 141 so as to be evenly spaced in the vertical direction. The hand 143 extends horizontally from, for example, the grindstone installation table 142 located at the lowermost position among the three grindstone installation tables 142. The hand 143 is not limited to this and can be provided at any position. The sensor 144 is attached to, for example, one of the four columns 141. The replenishment state transmission unit 145 can be, for example, a switch capable of communicating with the control device 120 shown in FIG. The replenishment state transmission unit 145 is attached to, for example, one of the four columns 141, and is preferably attached to a column 141 different from the column 141 to which the sensor 144 is attached.

Similar to the hand 43 shown in FIG. 7, the hand 143 has a pair of finger portions 143a so that its tip branches, so that the nut of the grindstone 19 can be sandwiched between the finger portions 143a. Designed to. Since the hand 143 has the same function as the hand 43 shown in FIG. 7, detailed description thereof will be omitted.

Each of the grindstone installation bases 142 has an upper surface 142a and a lower surface 142b, and the grindstone 19 can be arranged in each. FIG. 13 is an enlarged view of the upper surface 142a of the grindstone installation table 142. As shown in FIG. 13, a guide 150 for installing the grindstone 19 at a predetermined position is provided on the upper surface 142a of the grindstone installation base 142. In the illustrated example, the three guides 150 form a substantially circular recess close to the outer diameter of the grindstone 19, and the grindstone 19 installed on the upper surface 142a of the grindstone installation table 142 can be guided to a predetermined position. The grindstone 19 can be installed on the upper surface 142a of the grindstone installation table 142 so that the processing surface faces downward.

FIG. 14 is an enlarged view of the lower surface 142b of the grindstone installation table 142. As shown in FIG. 14, the lower surface 142b of the grindstone installation table 142 is provided with a guide 150 for installing the grindstone 19 at a predetermined position, similarly to the upper surface 142a. Further, the lower surface 142b is provided with a magnet 151 for attracting the grindstone 19 (corresponding to an example of the second magnet) installed at a predetermined position on the lower surface 142b by the guide 150. The magnet 151 is attached to a recess provided in a substantially central portion of the three guides 150 that guide the grindstone 19 with an adhesive or the like. The grindstone 19 can be installed on the lower surface 142b of the grindstone installation table 142 so that the processing surface faces upward.

As shown in FIG. 3, when the grindstone 19 can be attached to the side opposite to the support member 14 of the arm 11, the grindstone 19 installed on the upper surface 142a of the grindstone installation base 142 is attached to the arm 11. obtain. On the other hand, when the grindstone 19 can be attached to the same side as the support member 14 of the arm 11, the grindstone 19 installed on the lower surface 142b of the grindstone installation base 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 grindstone 19 is attached to the grinder 10. As shown in FIG. 14, the sensor 144 has two support beams 153a and 153b extending substantially horizontally from the support column 141 and vertically separated from each other, a light emitting unit 154a, and a light receiving unit 154b. Each of the light emitting unit 154a and the light receiving unit 154b is provided on either of the support beams 153a and 153b. In the illustrated example, the light projecting portion 154a is attached to the upper support beam 153a, and the light receiving portion 154b is attached to the lower support beam 153b. When there is no obstacle between the light emitting unit 154a and the light receiving unit 154b, the light from the light emitting unit 154a reaches the light receiving unit 154b. The light receiving unit 154b is configured to convert the received light into an electric signal and transmit it to, for example, the control device 120 shown in FIG.

FIG. 16A is a top view of the sensor 144 in a state where the grindstone 19 is detected. FIG. 16B is a top view of the sensor 144 in a state where the grindstone 19 is not detected. The control device 120 shown in FIG. 2 controls the manipulator 30 so that the arm 11 of the grinder 10 is located in the vicinity of the sensor 144. For example, after attaching a new replacement grindstone 19 to the arm 11 of the grinder 10, the arm 11 moves in the vicinity of the sensor 144 in order to confirm whether the grindstone 19 is attached to the arm 11. At this time, the control device 120 controls the light projecting unit 154a so as to emit light. As shown in FIG. 16A, when the grindstone 19 is attached to the arm 11, the grindstone 19 blocks the light so that the light from the light emitting portion 154a does not reach the light receiving portion 154b. The light receiving unit 154b transmits a signal indicating that the light from the light emitting unit 154a has not been received to the control device 120. The control device 120 can confirm that the grindstone 19 is attached to the arm 11 by receiving a signal from the light receiving unit 154b indicating that the light has not been received.

On the other hand, as shown in FIG. 16B, when the grindstone 19 is not attached to the arm 11, the light from the light emitting unit 154a reaches the light receiving unit 154b. The light receiving unit 154b transmits a signal indicating that the light from the light emitting unit 154a has been received to the control device 120. The control device 120 can confirm that the grindstone 19 is not attached to the arm 11 by receiving a signal indicating that the light has been received from the light receiving unit 154b.

The sensor 144 can also be provided in the grindstone changing device 40 shown in FIGS. 7 and 8. Further, the sensor 144 shown in FIG. 15 is a non-contact type photoelectric sensor, but is not limited to this, and is a contact type or non-contact type that can determine whether or not the grindstone 19 is attached to the arm 11. It may be any sensor.

FIG. 17 is a perspective view of the replenishment state transmission unit 145. The replenishment state transmission unit 145 has a top surface switch 157a and a bottom surface switch 157b. The grindstone 19 can be installed on the grindstone installation table 142 by, for example, a worker. When a worker presses the upper surface switch 157a after installing a predetermined number of grindstones 19 on the upper surface 142a of the grindstone installation table 142, the upper surface switch 157a transmits a signal to the control device 120. By receiving the signal from the upper surface switch 157a, the control device 120 can confirm that the grindstone 19 has been replenished on the upper surface 142a of the grindstone installation table 142. Further, when the worker presses the lower surface switch 157b after installing 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. By receiving the signal from the lower surface switch 157b, the control device 120 can confirm that the grindstone 19 has been replenished on the lower surface 142b of the grindstone installation table 142.

The replenishment state transmission unit 145 can also be provided in the grindstone changing device 40 shown in FIGS. 7 and 8. In that case, when the operator replenishes the stocker 42 with the grindstone 19, the operator presses the switch provided in the replenishment state transmission unit 145, so that the replenishment state transmission unit 145 transmits a signal to the control device 120. Can be done.

Next, a method of exchanging the grindstone 19 in the grindstone exchanging device 140 will be described. The control of each of the following parts is performed by the control device 120. First, the grindstone 19 attached to the grinder 10 is removed from the grinder 10. Specifically, the manipulator 30 inserts a nut provided on the grindstone 19 of the grinder 10 between the pair of finger portions 143a of the hand 143, and removes the grindstone 19 from the grindstone 10 by the method described above for the hand 43.

After that, the sensor 144 may confirm that the grindstone 19 has been removed from the grinder 10. That is, the manipulator 30 moves the arm 11 of the grinder 10 in the vicinity of the sensor 144 as shown in FIG. 16B. The light emitting unit 154a of the sensor 144 emits light, and the light receiving unit 154b receives the light. The light receiving unit 154b transmits a signal indicating that the light has been received to the control device 120. By receiving the signal, the control device 120 can confirm that the grindstone has been removed from the arm 11.

The manipulator 30 inserts the second shaft 20 of the grinder 10 into the nut of the grindstone 19 installed on the upper surface 142a or the lower surface 142b of the grindstone installation base 142, and drives the air motor 18 to rotate the second shaft 20. As a result, the grindstone 19 is screw-engaged with the second shaft 20, and the grindstone 19 is replaced.

Subsequently, the sensor 144 may confirm that the grindstone 19 is attached to the grinder 10. That is, the manipulator 30 moves the arm 11 of the grinder 10 in the vicinity of the sensor 144 as shown in FIG. 16A. The light projecting unit 154a of the sensor 144 emits light, and the light is blocked by the grindstone 19. The light receiving unit 154b transmits a signal indicating that the light has not been received to the control device 120. By receiving the signal, the control device 120 can confirm that the grindstone is attached to the arm 11.

Although the embodiments of the present invention have been described above, the above-described embodiments of the invention are for facilitating the understanding of the present invention and do not limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes an equivalent thereof. In addition, any combination or omission of the claims and the components described in the specification is possible within the range in which at least a part of the above-mentioned problems can be solved or in the range in which at least a part of the effect is exhibited. be.

Some of the forms disclosed herein are described below.
According to the first embodiment, a processing system is provided. The processing system is configured to have a grinder to which a processing unit for processing the surface of the object to be processed is detachably attached and a processing unit to which the grinder is attached and attached to the grinder to be pressed against the object to be processed. It has a manipulator, a processing unit exchanging device for exchanging the processing unit of the grinder, and a control device for controlling the operation of the grinder and the manipulator. The grinder has a rotary shaft having a thread groove on the outer peripheral surface and screw-engages with the processing portion, a drive device capable of rotating the rotary shaft in the forward and reverse directions, and a fixing mechanism for fixing the rotary shaft. And have. The processing unit exchange device has a hand configured to remove the processing unit attached to the grinder in cooperation with the manipulator.

The second form is the processing system of the first form, wherein the grinder has a drive shaft of the drive device and a rotation transmission mechanism for transmitting the rotation of the drive shaft to the rotation shaft, and the fixing mechanism is The gist is that the lock mechanism for fixing the rotation of the drive shaft is included.

A third aspect is that in the processing system of the first or second form, the hand is configured to limit the rotational movement of the processing unit attached to the rotating shaft of the grinder. It is a summary.

In the fourth form, in any of the processing systems of the first to third forms, the processing unit switching device includes a stocker configured to store the processing unit for replacement and the rotating shaft of the grinder. It is a gist to include an exchange table provided with an exchange place where the processing unit is arranged when the processing unit for replacement is attached to the machine.

In the fifth mode, in the processing system of the fourth mode, the processing unit exchange device includes a first magnet that can be attached to and detached from the rotating shaft of the grinder and the replacement processing unit that is attracted to the first magnet. The exchange table has a baffle plate for removing from the first magnet, and the exchange table has a support surface inclined in the vertical direction and the horizontal direction, an input port for inserting the replacement processing unit, and the input port. A rail that guides the replacement processing unit inserted into the mouth to the replacement location along the support surface, and a stopper that stops the replacement processing portion guided by the rail at the replacement location. The gist is to have.

A sixth aspect is the processing system according to any one of the first to third forms, wherein the processing unit exchange device has a processing unit installation table having an upper surface and a lower surface, and the processing unit is provided on the lower surface. The gist is that a second magnet for adsorption is provided.

A seventh aspect is a first configuration in which the processing unit switching device is configured to detect whether or not the processing unit is attached to the grinder in any of the processing systems of the first to sixth forms. The gist is that it has a sensor.

In the eighth aspect, in any of the processing systems of the first to seventh forms, the processing unit exchange device transmits a signal indicating that the processing unit has been replenished to the processing unit exchange device to the control device. The gist is that it has a replenishment status transmitter configured to do so.

The ninth form includes a processing unit determination device for determining whether or not the processing unit needs to be replaced in any of the processing systems of the first to eighth forms, and the processing unit determination device performs processing of the processing unit. It has an imaging device that acquires image data of a surface and a control unit that determines whether or not the processing unit needs to be replaced, and the control unit transmits the image data acquired by the imaging device to an analysis device. It has a transmission unit, a reception unit that receives the 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 is that.

A tenth aspect is the processing system of the ninth aspect, wherein the processing unit determination device includes a housing provided with an opening for inserting the processing unit attached to the rotating shaft of the grinder into the processing unit, and the housing. The gist is that the image pickup apparatus is provided in the housing, and has illumination for illuminating the processing unit located inside the housing.

The eleventh form has a grinder exchange device for exchanging the grinder in any of the processing systems of the first to tenth forms, and the grinder exchange device installs the grinder attached to the manipulator. To cover the connection portion between the first position, the second position where the replacement grinder attached to the manipulator is installed, and the grinders installed at the first position and the second position, respectively, with the manipulator. The gist is that it has a lid.

The twelfth aspect is a gist of the processing system of the eleventh form, in which the grinder switching device has a second sensor for detecting the presence or absence of the grinder at the first position or the second position.

According to the thirteenth form, a processing system is provided. The processing system is configured to have a grinder to which a processing unit for processing the surface of the object to be processed is detachably attached and a processing unit to which the grinder is attached and attached to the grinder to be pressed against the object to be processed. It has a manipulator, a processing unit determining device for determining whether or not the processing unit needs to be replaced, and a control device for controlling the operation of the grinder and the manipulator. The processing unit determination device includes an imaging device that acquires image data of the 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 is the imaging device. A transmission unit that transmits the image data acquired by It has a determination unit for determining the necessity of the above.

In the processing system of the thirteenth form, the processing unit determination device is arranged in the housing and a housing provided with an opening for throwing the processing unit attached to the grinder into the inside. The gist is that the imaging device is provided in the housing, and has an illumination that illuminates the processing unit located inside the housing.

In the fifteenth form, a processing unit exchanging device for exchanging the processing unit of the grinder is provided. The processing unit exchanging device includes a hand attached to the rotating shaft of the grinding machine so as to limit the movement of the processing unit in the rotational direction, and a stocker configured to store the processing unit for replacement. The grinder has an exchange table provided with an exchange place where the processing unit is arranged when the processing unit for replacement is attached to the rotating shaft of the grinder.

In the 16th form, in the processing unit exchange device of the 15th form, the first magnet that can be attached to and detached from the rotating shaft of the grinder and the replacement processing unit that is attracted to the first magnet are separated from the first magnet. The exchange table has a baffle plate for removal, and the exchange table is provided with a support surface inclined with respect to the vertical direction and the horizontal direction, an input port for charging the replacement processing unit, and the input port. The gist is that it has a rail that guides the replacement processing unit to the replacement location along the support surface, and a stopper that stops the replacement processing unit guided by the rail at the replacement location. And.

According to the seventeenth aspect, a processing unit exchanging device for exchanging the processing unit of the grinder is provided. The processing unit exchange device includes a hand attached to the rotation shaft of the grinder so as to limit the movement of the processing unit in the rotational direction, and a processing unit installation table having an upper surface and a lower surface. A second magnet for attracting the processing portion is provided on the lower surface.

The eighteenth form has a first sensor configured to detect whether or not the processing unit is attached to the grinder in any of the processing unit exchange devices of the fifteenth to seventeenth forms. Is the gist.

The nineteenth form provides a processing unit determining device for determining whether or not the processing unit attached to the grinder needs to be replaced. The processing unit determination device includes an imaging device that acquires image data of the 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 includes a transmission unit that transmits the image data acquired by the imaging device to the analysis device, a reception unit that receives the analysis result of the image data from the analysis device, and the analysis result received by the reception unit. It has a determination unit for determining whether or not the processing unit needs to be replaced based on the above.

The twentieth form is the processing unit determination device of the nineteenth form, which includes a housing provided with an opening for inserting the processing unit attached to the grinder into the inside, and a housing arranged in the housing and inside the housing. The gist is that the image pickup device is provided in the housing, and has an illumination that illuminates the processing unit located in the above.

According to the 21st form, there is provided a method of exchanging the processing unit of the grinder using any of the processing systems of the 1st to 12th forms. The hand of the processing unit switching device limits the movement of the processing unit of the grinder in the rotational direction, fixes the rotating shaft of the grinder, and the manipulator engages the processing unit with the rotating shaft by screw. A method in which the grinder is rotated about the rotation axis in a loosening direction, and the grinder rotates the rotation axis in a direction in which the processing unit deviates from the rotation axis.

10: Grinder 15: Connection part 18: Air motor 18a: First shaft 19: Grindstone 20: Second shaft 25: Fixing mechanism 29: Hook 30: Manipulator 40, 140: Grindstone changing device 42: Stocker 43, 143: Hand 47: Exchange table 47a: Exchange place 48: Support surface 49: Rail 50: Input port 51: Stopper 52: Magnet 53: Obstruct plate 60: Grinding stone determination device 61: Control unit 62: Transmission unit 63: Reception unit 64: Housing 64a: Opening 65: Camera 66: Lighting 80: Grinder switching device 83: First position 84: Second position 85: Lid 88: Sensor 100: Processing system 120: Control device 142: Grindstone installation table 142a: Top surface 142b: Bottom surface 144: Sensor 145: Replenishment status transmitter 200: Object to be processed

Claims (21)

A grinding machine to which a processing unit that processes the surface of the object to be processed can be attached and detached,
A manipulator to which the grinding machine is attached and configured to press the processing unit attached to the grinding machine against the processing object.
A processing unit exchanging device for exchanging the processing unit of the grinding machine,
It has a control device for controlling the operation of the grinder and the manipulator.
The grinder has a rotary shaft having a thread groove on the outer peripheral surface and screw-engages with the processing portion, a drive device capable of rotating the rotary shaft in the forward and reverse directions, and a fixing mechanism for fixing the rotary shaft. And have
The processing unit switching device is a processing system having a hand configured to remove the processing unit attached to the grinder in cooperation with the manipulator. In the processing system according to claim 1,
The grinder
The drive shaft of the drive device and
It has a rotation transmission mechanism that transmits the rotation of the drive shaft to the rotation shaft.
The fixing mechanism is a processing system including a locking mechanism for fixing the rotation of the drive shaft. In the processing system according to claim 1 or 2.
A processing system in which the hand is configured to limit the rotational movement of the processing unit attached to the rotating shaft of the grinder. In the processing system according to any one of claims 1 to 3,
The processing unit switching device is
A stocker configured to store the replacement processing unit,
A processing system having an exchange table provided with an exchange place where the processing unit is arranged when the processing unit for replacement is attached to the rotating shaft of the grinder. In the processing system according to claim 4,
The processing unit switching device is
A first magnet that can be attached to and detached from the rotating shaft of the grinding machine,
It has a baffle plate for removing the replacement processing unit attracted to the first magnet from the first magnet.
The exchange table
A support surface that is inclined with respect to the vertical and horizontal directions,
A slot for inserting the replacement processing unit and
A rail that guides the replacement processing unit inserted into the insertion port to the exchange location along the support surface, and
A processing system comprising a stopper that stops the replacement processing unit guided by the rail at the replacement location. In the processing system according to any one of claims 1 to 3,
The processing unit exchange device has a processing unit installation table having an upper surface and a lower surface, and has a processing unit installation table.
A processing system in which a second magnet for attracting the processing unit is provided on the lower surface. In the processing system according to any one of claims 1 to 6.
The processing unit switching device is a processing system having a first sensor configured to detect whether or not the processing unit is attached to the grinder. In the processing system according to any one of claims 1 to 7.
The processing unit switching device is a processing system having a replenishment state transmitting unit configured to transmit a signal indicating that the processing unit has been replenished to the processing unit switching device to the control device. In the processing system according to any one of claims 1 to 8.
It has a processing unit determination device that determines whether or not the processing unit needs to be replaced.
The processing unit determination device is
An image pickup device that acquires image data of the processing surface of the processing unit, and
It has a control unit that determines whether or not the processing unit needs to be replaced.
The control unit
A transmission unit that transmits the image data acquired by the imaging device to the analysis device, and
A receiving unit that receives the analysis result of the image data from the analysis device, and
A processing system including a determination unit that determines whether or not the processing unit needs to be replaced based on the analysis result received by the receiving unit. In the processing system according to claim 9.
The processing unit determination device is
A housing having an opening for inserting the processing unit attached to the rotating shaft of the grinder into the grinding machine, and
It has an illumination that is arranged in the housing and illuminates the processing unit located inside the housing.
The imaging device is a processing system provided in the housing. In the processing system according to any one of claims 1 to 10.
It has a grinder exchange device for exchanging the grinder,
The grinder switching device is
The first position where the grinder attached to the manipulator is installed, and
A second position for installing the replacement grinder to be attached to the manipulator, and
A processing system having a lid for covering a connection portion of the grinder installed at the first position and the second position with the manipulator. In the processing system according to claim 11,
The grinder switching device is a processing system having a second sensor that detects the presence or absence of the grinder at the first position or the second position. A grinding machine to which a processing unit that processes the surface of the object to be processed can be attached and detached,
A manipulator to which the grinding machine is attached and configured to press the processing unit attached to the grinding machine against the processing object.
A processing unit determination device that determines whether or not the processing unit needs to be replaced, and a processing unit determination device.
It has a control device for controlling the operation of the grinder and the manipulator.
The processing unit determination device is
An image pickup device that acquires image data of the processing surface of the processing unit, and
It has a control unit that determines whether or not the processing unit needs to be replaced.
The control unit
A transmission unit that transmits the image data acquired by the imaging device to the analysis device, and
A receiving unit that receives the analysis result of the image data from the analysis device, and
A processing system including a determination unit that determines whether or not the processing unit needs to be replaced based on the analysis result received by the receiving unit. In the processing system according to claim 13,
The processing unit determination device is
A housing provided with an opening for inserting the processing unit attached to the grinding machine into the inside,
It has an illumination that is arranged in the housing and illuminates the processing unit located inside the housing.
The imaging device is a processing system provided in the housing. It is a processing unit exchange device for exchanging the processing unit of the grinding machine.
A hand configured to limit the rotational movement of the processing unit attached to the rotating shaft of the grinding machine,
A stocker configured to store the replacement processing unit,
A processing unit exchange device having an exchange table provided with an exchange place where the processing unit is arranged when the processing unit for replacement is attached to the rotating shaft of the grinder. In the processing unit exchange device according to claim 15,
A first magnet that can be attached to and detached from the rotating shaft of the grinding machine,
It has a baffle plate for removing the replacement processing unit attracted to the first magnet from the first magnet.
The exchange table
A support surface that is inclined with respect to the vertical and horizontal directions,
A slot for inserting the replacement processing unit and
A rail that guides the replacement processing unit inserted into the insertion port to the exchange location along the support surface, and
A processing unit replacement device having a stopper for stopping the replacement processing unit guided by the rail at the exchange location. It is a processing unit exchange device for exchanging the processing unit of the grinding machine.
A hand configured to limit the rotational movement of the processing unit attached to the rotating shaft of the grinding machine,
It has a processing unit installation table having an upper surface and a lower surface, and has.
A processing unit exchange device provided with a second magnet for attracting the processing unit on the lower surface. In the processing unit exchange device according to any one of claims 15 to 17.
A processing unit switching device having a first sensor configured to detect whether or not the processing unit is attached to the grinding machine. It is a processing unit determination device that determines whether or not the processing unit attached to the grinder needs to be replaced.
An image pickup device that acquires image data of the processing surface of the processing unit, and
It has a control unit that determines whether or not the processing unit needs to be replaced.
The control unit
A transmission unit that transmits the image data acquired by the imaging device to the analysis device, and
A receiving unit that receives the analysis result of the image data from the analysis device, and
A processing unit determination device including a determination unit that determines whether or not the processing unit needs to be replaced based on the analysis result received by the receiving unit. In the processing unit determination device according to claim 19,
A housing provided with an opening for inserting the processing unit attached to the grinding machine into the inside,
It has an illumination that is arranged in the housing and illuminates the processing unit located inside the housing.
The imaging device is a processing unit determination device provided in the housing. A method of exchanging a processing unit of a grinder using the processing system according to any one of claims 1 to 12.
The hand of the processing unit switching device limits the movement of the processing unit of the grinder in the rotational direction.
Fix the rotation axis of the grinder and
The manipulator 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.
A method in which the grinder rotates the rotating shaft in a direction in which the processing unit deviates from the rotating shaft.

Images