JP3562022B2 - Automatic tool changer - Google Patents

Description

[0001]
[Industrial applications]
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic machine tool changer that can select a required tool from a large number of stored machining tools and automatically exchange the machine tool with a machine tool attached to the machine.
[0002]
[Prior art]
For example, crossing rails for railways are manufactured by casting manganese steel, but the casting after casting has burrs and flaws (including excess wall and bumps). There is. Removal of burrs and pouring flaws generated in these castings (hereinafter referred to as “workpieces”) is generally performed by a grinder such as a rotary grindstone as a processing tool.
[0003]
[Problems to be solved by the invention]
In the above-mentioned crossing rail, there are various parts to be ground and polished, and it is necessary to replace the grindstone of the grinder with an appropriate type according to the shape of each part. In addition, since the grindstone is worn out with time and cannot be used, it is necessary to replace the grindstone with a new grindstone in this case. However, conventionally, since the replacement work is performed manually, the operator is tired, takes a long time, and reduces the production efficiency.
[0004]
[Object of the invention]
SUMMARY OF THE INVENTION The present invention has been proposed in view of the above problems inherent in the exchange of working tools, and has been proposed to appropriately solve the problems, and provides means for automatically and quickly automatically replacing a large number of working tools. The purpose is to: That is, by mechanically managing the tightening torque of the nut for attaching and detaching the processing tool, a stable tightening torque can be obtained, and safe and reliable automatic replacement is enabled.
[0005]
[Means for Solving the Problems]
In order to overcome the above problems and achieve the intended purpose, the automatic tool changer according to the present invention includes:A multi-joint type manipulator that processes a workpiece with a processing tool that is detachably provided via a nut to a processing device attached to the hand,
Vertically erected, saidA storage shelf in which a plurality of processing tools are detachably stored in a state of being arranged horizontally and vertically on a flat surface,
The holding tool capable of holding and releasing the processing tool is vertically and horizontally aligned along the flat surface of the storage shelf.( X-Y direction ) And depth direction ( Z direction )To be able to be moved to the storage shelf.Next useprocessingEngineeringTools to the exchange station andUsedA robot that returns the processing tool to the original storage position on the storage shelf,
The exchange stationForward and backwardFor attaching a machining tool to the machining device.SaidA nut runner to loosen and tighten the nut;
The exchange station is disposed movably to an exchange position on the front surface of the nut runner and a return position or a retreat position separated from the front surface of the nut runner,Next processing tool or usedTwo sets of gripping tools comprising a pair of gripping claws for releasably holding the processing tool,
Specifying a machining tool to be exchanged for the robot,The articulated manipulator,It is characterized by comprising two sets of grippers and control means for controlling the operation of the nut runner.
[0006]
In order to achieve the above object, an automatic tool exchange tool according to another invention of the present application,Along with being formed into a polygonal square tube,SupportAxis projected and fixed toA plurality of processing tools that are rotatably indexable and that can be detachably mounted on the processing equipment via nuts, Of that polygonal side wallA tool magazine arranged on the outer periphery,
SaidA fixing part provided on the pivot and protruding inside the tool magazineArranged inIt can move forward and backward with respect to the tool change position of the tool magazine.Attach the machining tool indexed to the tool change position to the machining equipmentRunaA nut runner to loosen and tighten the nut,
Control means for controlling the operation of the tool magazine and the nut runner.
[0007]
【Example】
Next, an automatic exchanging device for a working tool according to the present invention will be described below with reference to the accompanying drawings by taking a preferred embodiment. In the embodiment, a case will be described in which an automatic exchange device is provided in a grinding / polishing device for grinding / polishing a crossing rail, and a large number of kinds of grinding wheels are automatically exchanged.
[0008]
FIG. 1 is a plan view illustrating a schematic configuration of a grinding / polishing apparatus according to an embodiment. The apparatus 10 includes a work table 14 on which a crossing rail 12 is mounted and a grinder unit 18 mounted on a hand 16. It basically comprises a grinding / polishing manipulator 22 for grinding / polishing the crossing rail 12 with the grinding wheel 20, and a grinding wheel automatic changer 24 for automatically replacing the grinding wheel 20 attached to the grinder unit 18.
[0009]
[Work table and grinding / polishing manipulator (robot)]
A plurality of clamp devices 28 are disposed on the work table 14 at predetermined intervals in the longitudinal direction so that the crossing rails 12 mounted on the work table 14 are clamped and fixed at a plurality of positions from the short direction. It is configured. The present invention is also applicable to a case where the work table 14 side is configured to be movable with the manipulator 22 as a fixed position. In this case, the automatic grinding wheel changing device 24 is set in a position near the manipulator 22 and at a position where the movement of the work table 14 is not hindered. Of course, both 14 and 22 may be movable.
[0010]
Adjacent to the work table 14, guide rails 30, 30 are laid in parallel along the longitudinal direction of the work table 14, and a carriage 32 is mounted on the guide rails 30, 30 so as to run freely. An articulated grinding / polishing manipulator 22 having a plurality of degrees of freedom (movable part of a robot, the same applies hereinafter) is installed on the carriage 32. As shown in FIG. 2, the hand 16 of the grinding / polishing manipulator 22 is detachably mounted with a grinder unit 18 having a grindstone 20 of a shape and a type corresponding to the grinding / polishing portion of the crossing rail 12. ing. The operation of the grinding / polishing manipulator 22 and the carriage 32 is controlled by a controller 34 (see FIG. 8), and the grinding / grinding of the crossing rail 12 by the grindstone 20 is performed. The manipulator 22 and the controller 34 form a so-called robot.
[0011]
When the consumption amount detecting device (not shown) detects that the whetstone 20 has been consumed (worn) and cannot be used for use, or when the whetstone 20 is replaced with a different type of whetstone 20 according to the grinding / polishing portion of the crossing rail 12. Is set so that the operation of the carriage 32 and the grinding / polishing manipulator 22 is controlled, and the grinder unit 18 is moved to the replacement station S of the automatic grinding wheel changing device 24 and waits.
[0012]
[About grinder unit]
The grinder unit 18 includes a connecting tool 38 which is detachably mounted on the hand 16 of the grinding / polishing manipulator 22 on an upper part of a unit body 36, and the unit 18 is mounted on the hand 16 (see FIG. 2). . A motor (not shown) and a bearing cylinder 42 are integrally and swingably supported by the unit body 36, and a rotating shaft 44 is rotatably inserted through the bearing cylinder 42. A male screw portion 44a is formed at one end of the rotating shaft 44, and the grindstone 20 is fixed to the rotating shaft 44 so as to be integrally rotatable by tightening a nut 46 to the male screw portion 44a inserted into the center through hole 20a of the grindstone 20. . Further, the other end of the rotating shaft 44 is connected to a motor via a transmission mechanism 48 including a pulley and a belt, and the grinding wheel 20 rotates integrally with the rotating shaft 44 by driving the motor. I have.
[0013]
[About automatic grinding wheel changer]
A device 24 for automatically changing the grindstone 20 of the grinder unit 18 mounted on the grinding / polishing manipulator 22 is disposed on the opposite side of the work table 14 with the guide rails 30, 30 interposed therebetween. As shown in FIGS. 3 to 5, the automatic whetstone changing device 24 includes a large number of various types of whetstones (flat whetstones, cylindrical whetstones, ammunition-shaped whetstones, etc.) on a front vertical surface of a vertically arranged storage shelf 50. 20, 20 'are arranged in a state of being arranged vertically and horizontally so that they can be taken out freely. Further, in front of the storage shelf 50, an XY robot 54 capable of moving a holder 52 capable of holding and releasing the grindstone 20 in the vertical and horizontal directions (XY directions) parallel to the vertical surface of the storage shelf 50 is provided. You. That is, an X rail 56 extending parallel to the storage shelf 50 is horizontally disposed in front of the storage shelf 50, and a vertical Y rail 58 extending parallel to the storage shelf 50 is placed on the X rail 56 horizontally. It is arranged movably in the direction (X direction). Further, on the Y rail 58, a holder 52 composed of an air cylinder capable of holding and releasing the grindstone 20 and capable of moving back and forth in the depth direction (Z direction) is provided so as to be movable in the vertical direction (Y direction). Then, the XY robot 54 removes the next used grindstone 20 stored in the storage shelf 50 from a predetermined storage position according to a command from the controller 34, and removes the used grindstone 20 from the grinder unit 18 after use. Functions to return the grindstone 20 to the original storage position. As a means for moving the Y rail 58 and the holder 52, a mechanism for rotating a ball screw by an actuator such as an air cylinder or a motor, a mechanism for running a toothed belt by a motor, or the like is employed.
[0014]
An exchange station S for the grindstone 20 provided between the storage rack 50 and the XY robot 54 and beside the storage rack 50 includes a new grindstone 20 to be used next and an old grindstone 20 after use. Is provided with a grindstone gripping device 60 for gripping. The whetstone gripping device 60 includes a first gripping tool 64 including a pair of gripping claws 62, 62 that can approach and separate from each other, and a second gripping grip including a pair of gripping claws 62, 62 that can also approach and separate from each other. As shown in FIG. 4, a tool 66 is provided in parallel with each other, and the new and old grindstones 20 are configured to be releasably gripped by the gripping tools 64 and 66. As shown in FIG. 6, each of the gripping claws 62 constituting each of the gripping tools 64 and 66 is configured to be slidable so as to be brought into contact with and separated from each other by an air cylinder 72. The moving table 68 itself is slid left and right by a guide 76 and an air cylinder (not shown) (see FIGS. 13 to 15). The opposing portions of the gripping claws 62, 62 are formed in an arc shape capable of securely gripping the boss portion 20b of the grindstone 20 from both sides as shown in the figure. In addition, the moving table 68 holds the first gripper 64 at a whetstone exchange position (FIG. 13) on the front surface of a nut runner 80 described later, an outward retreat position (FIG. 14) separated from the storage shelf 50, and a storage shelf 50. At the front return position (FIG. 15).
[0015]
A nut runner 80 shown in FIG. 7 is provided at a grindstone replacement position on the side of the storage shelf 50, and the nut 46 attaching the grindstone 20 to the rotating shaft 44 of the grinder unit 18 is loosened by the runner 80. It is configured to be tightened. That is, the first gripper 64 of the grinding wheel gripping device 60 faces the whetstone replacement position, the grindstone 20 of the grinder unit 18 is gripped by the gripper 64, and the nut runner 80 Thus, the nut 46 is loosened and removed from the rotating shaft 44, and the grinder unit 18 is retracted from the nut runner 80 and removed, whereby the grindstone 20 can be removed from the unit 18. Also, the second gripper 66 holding the new grindstone 20 faces the grindstone replacement position, the rotary shaft 44 of the unit 18 is inserted into the center through hole 20a of the grindstone 20, and the nut 46 is separately locked. By tightening, the new grindstone 20 can be attached to the unit 18. Then, the first gripper 64 gripping the old grindstone 20 is moved from the retracted position to the return position, and the XY robot 54 receives the old grindstone 20 from the gripper 64 and returns the old grindstone 20 to the original position in the storage shelf 50. It is configured to return to the storage position. Note that the storage shelf 50 is not limited to a vertical position, and can be installed in an arbitrary posture either horizontally or diagonally.
[0016]
[About control means]
FIG. 8 is a control block diagram of the grinding / polishing apparatus 10, in which a controller 34 as a control means has a built-in computer 34a, and the computer 34a stores each part of the crossing rail 12 in a preset procedure. A program storage means for storing a program for grinding and polishing is included. Then, the computer 34a instructs the replacement of the grindstone 20 in the grinder unit 18 mounted on the grinding / polishing manipulator 22 according to the program. The computer 34a corrects the grinding depth by the consumption amount of the grindstone 20 detected by a consumption amount detection device (not shown), and replaces the grinding wheel 20 by comparing with a preset consumption amount that requires replacement. It also functions as means for determining whether or not is necessary.
[0017]
Operation of the embodiment
Next, the operation of the automatic grinding wheel changing device according to this configuration will be described. The crossing rail 12 mounted on the work table 14 is ground and polished by the grinder unit 18 mounted on the grinding / polishing manipulator 22 according to a preset operation procedure. When the grindstone 20 attached to the grinder unit 18 becomes worn and cannot be used, or when the grindstone 20 of the currently attached type cannot grind / polish the next grinding / polishing position of the crossing rail 12. Performs replacement with a new grindstone 20 of the same type or a different type of grindstone 20 stored in the storage shelf 50.
[0018]
That is, in the automatic whetstone changing device 28, as shown in FIGS. 9A and 9B, the first holding tool 64 faces the whetstone replacement position, and the second holding tool 66 faces the return position. At this time, as shown in FIG. 6A, the gripping claws 62, 62 are separated from each other and are on standby in a state where the boss 20b of the grindstone 20 can be gripped. The XY robot 54 is facing a predetermined standby position. In this state, when the controller 34 issues a command to replace the grindstone 20, as shown in FIGS. 10A and 10B, the XY robot 54 moves the holder 52 in the XY directions and The rod 52a is extended in the Z direction to hold a new grindstone 20 to be used next. In the grinding / polishing manipulator 22, the grinder unit 18 is moved to the exchange station S and stands by at the front of the first gripper 64 waiting at the grindstone exchange position.
[0019]
The holding tool 52 holding the new grindstone 20 is moved to a return position where the second holding tool 66 is on standby, and is separated from the second holding tool 66 as shown in FIGS. The new grindstone 25 is exposed between the pair of gripping claws 62, 62. Further, the old grindstone 20 in the grinder unit 18 of the grinding / polishing manipulator 22 is made to face between the pair of separated gripping claws 62 of the first gripper 64. In each of the gripping tools 64, 66, the pair of gripping claws 62, 62 are brought close to each other by the urging of each air cylinder 72, and correspond to the gripping tools 62, 62 as shown in FIGS. The boss 20b of the grindstone 20 is gripped (see FIG. 6B). Further, with the rotation shaft 44 of the grinder unit 18 stopped from rotating, the nut 46 of the old grindstone 20 gripped by the first gripper 64 is loosened and removed by the nut runner 80. Then, the old grindstone 20 is removed from the unit 18 by releasing the rotation stopper of the rotating shaft 44 and retreating the grinder unit 18 from the nut runner 80 (FIGS. 13A and 13B). In order to prevent the rotation of the rotating shaft 44, for example, there is a method in which the brake enters a non-circular portion provided in a part of the shaft main body. When the rotating shaft 44 is the rotating shaft of the electric grinder, the rotation is stopped by a motor with a brake. The holder 52 of the XY robot 54 releases the new grindstone 20 and the second gripper 66 is in a movable state.
[0020]
Next, as shown in FIGS. 14A and 14B, the first gripper 64 is moved to the retracted position, and the second gripper 66 is on standby at the grindstone replacement position. Then, by bringing the grinder unit 18 close to the nut runner 80 again, the rotation shaft 44 of the unit 18 is inserted into the center through hole 20 a of the new grindstone 20. Next, the new grindstone 20 is fixed to the grinder unit 18 by tightening the nut 46 to the male screw portion 44a of the rotating shaft 44 by the nut runner 80 in a state where the rotating shaft 44 is stopped. When the nut 46 is completely tightened by the nut runner 80, the air cylinders 72 are returned to their original positions, and the pair of gripping claws 62 are separated from each other. Finally, the rotation stopper of the rotating shaft 44 is released.
[0021]
When the grinder unit 18 to which the new grindstone 20 is attached is separated from the grindstone replacement position, as shown in FIGS. 15A and 15B, the moving table 68 is moved to grip the used old grindstone 20. The first gripper 64 is positioned at the return position. The holding tool 52 of the XY robot 54 holds the old grindstone 20, and the air cylinders 72, 72 are returned to the original position, and the pair of gripping claws 62, 62 are separated from each other to release the old grindstone 20. Then, the old grindstone 20 is returned to the original storage position by the XY robot 54.
[0022]
As described above, the automatic whetstone changing device 24 according to the embodiment can automatically change the whetstone 20 mounted on the grinder unit 18 to a whetstone 20 of a type most suitable for a grinding / polishing portion of the crossing rail 12. 12 can be precisely ground and polished. In addition, since there is no occurrence of an erroneous replacement of the grindstone 20 due to a human error, it is possible to eliminate grinding and polishing errors. In addition, since the replacement of the grindstone 20 can be performed in a short time, the working ability can be improved.
[0023]
In the embodiment, the case where the operation of gripping the new grindstone 20 with the second gripper 66 and the operation of gripping the old grindstone 20 with the first gripper 64 are performed in the same manner has been described, but the present invention is not limited thereto. Not something. For example, when replacing the grindstone 20 according to the work procedure set by the controller 34, the new grindstone 20 is previously transferred to the second gripper 66 while the grinding / polishing work of the crossing rail 12 is performed by the grinder unit 18. It can be held. Further, the first gripper 64 holding the new grindstone 20 in advance was positioned at the retreat position, and the second gripper 66 was positioned at the grindstone replacement position, and the second gripper 66 gripped the old grindstone 20. Thereafter, the first gripper 64 is moved to the grindstone replacement position so that the new grindstone 20 is attached to the grinder unit 18. In this case, while the new grindstone 20 is attached to the grinder unit 18, the old grindstone 20 of the second gripping tool 66 facing the return position can be returned to the original position by the XY robot 54. In the above-described embodiment, the case where the whetstone is automatically changed has been described. However, the present invention is not limited to this, and the processing tool may be, for example, a disk-shaped or cylindrical-shaped cutter or a circular saw. Further, the number of the nut runners 80 may be two or more, and the number of the grippers may be three or more.
[0024]
[About another embodiment]
FIGS. 16 and 17 show another embodiment of the automatic grinding wheel changing device, in which a large number of grinding wheels 20 are arranged in a tool magazine 81 which can be rotated and indexed. That is, a vertical pivot 83 is projected and fixed to the support base 82, and a tool magazine 81 is supported on the upper part of the pivot 83 via a bearing (not shown) so as to be horizontally rotatable. The tool magazine 81 is basically formed in a polygonal rectangular tube shape, and the grindstones 20 are radially detachably held by a large number of tool holding portions 81a formed in the circumferential direction on the polygonal side wall, respectively. A large-diameter spur gear 84 is fixed to the lower portion of the bottom of the magazine 81 so as to be integrally rotatable. Further, a pinion 87 fixed to a rotation shaft 86 of a motor 85 disposed and fixed to the support base 82 meshes with the spur gear 84 to rotate the tool magazine 81, thereby enabling indexing of a desired grindstone 20. . The motor 85 is controlled by a command from the controller 34 so as to index the grindstone 20 held by the tool magazine 81 and used next to the grindstone replacement position.
[0025]
The pivot 83 has a fixing portion 88 protruding into the tool magazine 81, and the nut runner 80 is disposed on the fixing portion 88 via a base 89. The nut runner 80 is always supported at a fixed position, and in order to attach the grindstone 20 rotationally indexed to the grindstone changing position by the tool magazine 81 according to a command from the controller 34, to the rotating shaft 44 of the grinder unit 18. Is loosened or tightened. A means (not shown) for preventing the grinding wheel 20 facing the position from being rotated is provided at the grinding wheel replacement position.
[0026]
In the automatic whetstone changing device 24 according to another embodiment, when the whetstone 20 of the grinder unit 18 mounted on the grinding / polishing manipulator 22 is replaced, the old whetstone 20 in the grinder unit 18 of the grinding / polishing manipulator 22 is replaced. The tool magazine 81 is loaded into the empty tool holding portion 81a facing the whetstone replacement position. Next, with the rotation shaft 44 of the grinder unit 18 stopped from rotating, the nut 46 of the old grindstone 20 loaded in the tool holding portion 81a is loosened and removed by the nut runner 80. Then, the old grindstone 20 is removed from the unit 18 by separating the grinder unit 18 from the tool holding portion 81a.
[0027]
Next, after the nut runner 80 is separated from the old grindstone 20, the motor 85 is driven to rotate and index the tool holding portion 81a loaded with the desired old grindstone 20 to the grindstone changing position. Then, by bringing the grinder unit 18 close to the tool holding portion 81a again, the rotating shaft 44 of the unit 18 is inserted into the center through hole 20a of the new grindstone 20. Next, the rotation shaft 44 is stopped, and the nut 46 is fastened to the male screw portion 44 a of the rotation shaft 44 by the nut runner 80, so that the new grindstone 20 is fixed to the grinder unit 18.
[0028]
[About the modified example]
FIG. 18 shows a modification of the above-mentioned another embodiment, in which a large number of grinding wheels 20 are arranged in a tool magazine 81 in two upper and lower stages. That is, in the tool magazine 81 rotatably indexed by the support table 82, guides 90 are arranged at required intervals in the circumferential direction on the polygonal side walls, and a holding plate 91 is arranged on each guide 90 so as to be able to move up and down. Is done. The tool holding portions 81a and 81b are formed on each of the holding plates 91 in two upper and lower stages, and the grindstone 20 is detachably held on the respective holding portions 81a and 81b. In a state where the holding plate 91 is positioned at the lowered position, the upper tool holding portion 81a is set so as to be positioned at the whetstone replacement level. Further, an air cylinder 92 that raises and lowers the holding plate 91 indexed to the position is disposed at the whetstone replacement position, and the holding plate 91 positioned at the lowering position is raised by the cylinder 92 so that The tool holding unit 81b is configured to move to the whetstone replacement level.
[0029]
A stand 93 is erected on the support base 82 at a position where the rotation of the tool magazine 81 is not hindered. A nut runner 80 disposed on the stand 93 faces the inside of the magazine 81. The nut runner 80 is located at the whetstone replacement level, and is configured to loosen or tighten the nut 46 at the level according to a command from the controller 34. The motor 85 and the air cylinder 92 are controlled by a command from the controller 34 so that the grindstone 20 to be used next and held by the tool magazine 81 faces the replacement level of the grinding wheel replacement position.
[0030]
In the whetstone automatic exchanging device 24 according to the modified example, when exchanging the whetstone 20 of the grinder unit 18 mounted on the grinding / polishing manipulator 22, the old whetstone 20 in the grinder unit 18 of the grinding / polishing manipulator 22 is replaced by The tool magazine 81 is loaded into an empty tool holding portion 81a (or 81b) facing the replacement level of the grinding wheel replacement position. Next, with the rotation shaft 44 of the grinder unit 18 stopped from rotating, the nut 46 of the old grindstone 20 loaded in the tool holding portion 81a is loosened by the nut runner 80 and removed. Then, by stopping the rotation of the rotating shaft 44 and separating the grinder unit 18 from the tool holding portion 81a, the old grindstone 20 is removed from the unit 18.
[0031]
Next, after the nut runner 80 is separated from the old grindstone 20, the motor 85 is driven to rotate and index the tool holding portion 81a loaded with the desired old grindstone 20 to the grindstone changing position. Then, by bringing the grinder unit 18 close to the tool holding portion 81a again, the rotating shaft 44 of the unit 18 is inserted into the center through hole 20a of the new grindstone 20. Next, the new grindstone 20 is fixed to the grinder unit 18 by tightening the nut 46 to the male screw portion 44a of the rotating shaft 44 by the nut runner 80 in a state where the rotating shaft 44 is stopped.
[0032]
When the new grindstone 20 held by the tool holding portion 81b formed at the lower stage of the holding plate 91 is mounted on the grinder unit 18, the corresponding holding plate 91 is driven by the motor 85 to rotate the corresponding holding plate 91 to the whetstone changing position. After being ejected, the air cylinder 92 is urged to raise the holding plate 91 along the guide 90. Thereby, the lower tool holding portion 81b of the holding plate 91 is positioned at the whetstone replacement level. Therefore, as described above, by bringing the grinder unit 18 close to the tool holding portion 81b, the rotating shaft 44 of the unit 18 is inserted into the center through hole 20a of the new grindstone 20, and the rotating shaft 44 is stopped from rotating. When the nut 46 is tightened to the male screw portion 44 a of the rotating shaft 44 by 80, the new grindstone 20 is fixed to the grinder unit 18.
[0033]
【The invention's effect】
As described above, according to the automatic tool changer according to the present invention, a single type of nut runner can be used to select a large number of different types of processing tools and automatically change the processing tool to a processing apparatus. The labor can be reduced, and the working time can be shortened to improve the production efficiency. In addition, it is possible to prevent a situation where the processing tool is not replaced with an appropriate processing tool due to a human error, and accurate processing is achieved.
[Brief description of the drawings]
FIG. 1 is a plan view schematically showing an entire grinding / polishing apparatus in which a preferred embodiment of an automatic tool changer according to the present invention is disposed.
FIG. 2 is a side view showing a grinding / polishing manipulator according to the embodiment.
FIG. 3 is a plan view showing an automatic whetstone changing device according to an embodiment.
FIG. 4 is a front view showing the automatic grinding wheel changing device according to the embodiment.
FIG. 5 is a side view showing the automatic grinding wheel changing device according to the embodiment.
FIG. 6 is an explanatory diagram showing an operation state of a gripping tool in the automatic grinding wheel changing device according to the embodiment.
FIG. 7 is an explanatory view showing a state in which a nut for fixing a grinding wheel is loosened or tightened by a nut runner of the automatic grinding wheel changing device according to the embodiment.
FIG. 8 is a control block diagram of the grinding / polishing apparatus according to the embodiment.
FIG. 9 is an explanatory view of an operation of changing a grinding wheel by the automatic grinding wheel changing device according to the embodiment, and shows a state in which the grinding wheel is being changed;
FIG. 10 is an explanatory diagram of an operation of exchanging a grindstone by the automatic grindstone exchanging device according to the embodiment, and is an explanatory diagram showing a state in which a new grindstone is held by an XY robot.
FIG. 11 is an explanatory diagram of a whetstone exchange operation by the automatic whetstone exchanging device according to the embodiment, and shows a state where new and old whetstones are positioned at positions where they can be gripped by corresponding grippers.
FIG. 12 is an explanatory view of an operation of exchanging a grindstone by the automatic grindstone exchanging apparatus according to the embodiment, and shows a state in which a new and old grindstone is gripped by a corresponding gripper.
FIG. 13 is an explanatory view of an operation of replacing a grinding wheel by the automatic grinding wheel changing device according to the embodiment, and shows a state in which an old grinding wheel is removed from a grinder unit.
FIG. 14 is an explanatory diagram of an operation of exchanging a grindstone by the automatic grindstone exchanging device according to the embodiment, and shows a state in which a new grindstone is attached to a grinder unit.
FIG. 15 is an explanatory diagram of an operation of exchanging a grindstone by the automatic grindstone exchanging device according to the embodiment, and shows a state in which an old grindstone is held by a holder of an XY robot.
FIG. 16 is a schematic plan view of an automatic grinding wheel changing device according to another embodiment.
FIG. 17 is a side view of an automatic grinding wheel changing device according to another embodiment, partially cut away.
FIG. 18 is a side view of a part of a whetstone automatic exchanging device according to a modification of another embodiment, which is cut vertically.
[Explanation of symbols]
18 Grinder unit 20 Whetstone
34 Computer 46 Nut
50 Storage shelf 52 Holder
54 XY robot 62 Gripping claw
64 First gripping tool 66 Second gripping tool
78 Second air cylinder 80 Nut runner
81 Tool magazine 82 Support stand
S exchange station

Claims (2)

A multi-joint type manipulator (22) for processing a work (12) with a processing tool (20) detachably provided via a nut (46) to a processing device (18) mounted on a hand (16) ,
A storage shelf (50), which is vertically erected and stores the plurality of processing tools (20) detachably in a state of being arranged vertically and horizontally on a flat surface,
A holder (52) capable of holding and releasing the processing tool (20) is provided along a flat surface of the storage shelf (50) so as to be movable vertically and horizontally ( XY directions ) and in a depth direction ( Z direction ) , with transferring process engineering tool then use the storage rack (50) by the holder (52) and (20) to the switching station (S), storing spent working tool changing station (S) (20) A robot (54) for returning to the original storage position of the shelf (50),
Wherein arranged freely forward and backward with respect to changing station (S), the nut runner (80) for loosening and tightening of the nut for attaching the working tool (20) wherein the processing unit (18) (46),
In the exchange station (S), a processing tool ( hereinafter , referred to as an exchange position on the front surface of the nut runner (80) and a return position or a retreat position separated from the front surface of the nut runner (80) is provided. 20) or two sets of gripping tools (64, 66) comprising a pair of gripping claws (62, 62) for releasably holding the used processing tool (20);
A machining tool (20) to be exchanged with the robot (54) is designated, the robot (54), the articulated manipulator (22) , two sets of grippers (64, 66) and a nut runner (80). And a control means (34) for controlling the operation of the machining tool. It is formed in the shape of a polygonal rectangular tube , is rotatably indexed by a pivot (83) protruding and fixed to the support base (82) , and is detachably attached to the processing device (18) via a nut (46). A tool magazine (81) in which a plurality of work tools (20) that can be mounted are arranged on the outer periphery of the polygonal side wall ,
Is freely forward and backward with respect to the tool change position of the fixed portion projecting internally disposed (88) in the tool magazine (81) of the tool magazine the provided pivot (83) (81), said tool change the loosening and tightening the nut runner to perform mounting the indexed a working tool in position (20) to said processing device (18) Luna Tsu bets (46) (80),
An automatic machine tool changer comprising: a tool magazine (81); and control means (34) for controlling the operation of the nut runner (80).

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