JP7039029B2 - Processing equipment - Google Patents

Description

The present invention relates to a processing device attached to and used for an industrial robot or a machine tool.

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

When a processing device such as a grinding device is attached to the tip of a robot arm and used, if the processing device becomes large or heavy, it becomes necessary to increase the size of the robot itself. For this reason, the processing device attached to the tip of the robot arm is required to be compact and lightweight, and a machine tool that is compact and lightweight as a whole while ensuring rigidity has been proposed (see, for example, Patent Document 1). )

Various automatic tool replacement technologies have been developed for the processing equipment that is attached to the tip of the robot arm, and it has been said that the equipment will become larger if automatic replacement is performed, and a large-diameter grindstone that has been manually performed has been used. A technique for automatically exchanging a car has also been developed (see, for example, Patent Document 2). Similar to the processing equipment, the tool exchange equipment of the processing equipment used to be attached to the tip of the robot arm is also required to be smaller and lighter, and the automatic tool exchange equipment that realizes automatic exchange with a simple and compact mechanism. Has been proposed (see, for example, Patent Document 3).

Japanese Patent No. 5120222 JP-A-2017-64868 Japanese Unexamined Patent Publication No. 2016-55370

In a processing device attached to the tip of a robot arm and a device for automatically exchanging tools used therein, it is effective to simplify the structure in order to reduce the size or weight. Further, in the case of a device for automatically changing tools, a simple mechanism for attaching / detaching tools is preferable because quick replacement is also required.

On the other hand, if a rotary tool, especially a heavy rotary tool such as a large-diameter grindstone, comes off during operation, a serious accident may occur. Therefore, it is natural to ensure safety while simplifying the structure and mechanism. .. From the viewpoint of practicality, it is preferable that the device is safe even if a malfunction occurs in the device, is easy to reduce in size and weight, and is easy to replace the tool.

An object of the present invention is to provide a processing apparatus capable of being miniaturized and lightweight and having excellent practicality.

The present invention is a processing device attached to and used for an industrial robot or a machine tool, the base , an attachment means for attaching to the industrial robot or the machine tool provided on the base, and a rotary shaft. A tool detachably attached to the rotating shaft, a driving means attached to the base for rotationally driving the tool attached to the rotating shaft, and the tool attached to the rotating shaft are circular. The first restricting means for restricting movement in the circumferential direction, the second regulating means for restricting the tool attached to the rotating shaft to move in the direction opposite to the tip of the rotating shaft, and the rotating shaft. A retaining means for preventing the attached tool from detaching from the rotating shaft, a retaining releasing mechanism for allowing the tool to detach from the rotating shaft, and a lock for disabling the operation of the retaining releasing mechanism. The first regulating means includes a spline portion provided on the rotating shaft and a spline bearing provided on the tool, including a mechanism and an unlocking mechanism for disabling the operation of the lock mechanism. The second regulating means is a step provided on the rotating shaft, the retaining means is fitted into the tip of the rotating shaft, and the tool moves toward the tip of the rotating shaft. A member for preventing the retaining member, the retaining release mechanism includes a mechanism for removing the retaining means from the tip of the rotating shaft, and the locking mechanism mechanically blocks the retaining release mechanism. It is a processing device to do.

Further, the processing apparatus of the present invention includes a movable arm having an arm connected to the shaft member, and a hollow support attached to the base on which the shaft member is slidably inserted to support the movable arm. The shaft member is provided with an advancing / retreating means constituting the retaining / releasing mechanism for moving the shaft member in the axial direction of the support, and the retaining means is attached to the arm tip portion of the movable arm and is locked. The mechanism has a key and a key groove provided on the support and the shaft member, and the key is fitted into the key groove to move the shaft member in the axial direction of the support. The unlocking mechanism is blocked, and the unlocking mechanism disengages the key from the keyway, and the key is disengaged from the keyway, so that the shaft member can move in the axial direction of the support. It is characterized by that.

Further, the processing apparatus of the present invention includes a swivel mechanism for swiveling the movable arm starting from the shaft member, and a control means for controlling the operation of the retaining release mechanism, the lock mechanism, the lock release mechanism, and the swivel mechanism. The movable arm is characterized in that the movable arm can be swiveled in a state where the retaining means is removed from the tip end portion of the rotating shaft.

Further, the processing apparatus of the present invention further includes a tool changing device including an accommodating tool for taking out and freely accommodating the pre-use tool, a sensor for detecting the exchange time of the tool in use, and the accommodating tool and the pre-use tool, respectively. The control means is provided with a sensor for detecting a position and a direction, and the control means controls the operation of the processing device so that the tool in use and the tool before use can be automatically exchanged, and the industry in which the processing device is attached. It is characterized by issuing a command to an industrial robot or a machine tool.

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

Further, the processing apparatus of the present invention is characterized in that the tool is a grindstone.

According to the present invention, it is possible to provide a processing apparatus capable of being miniaturized and lightened and having excellent practicality. Further, it is possible to provide a processing apparatus in which automatic tool change is easy.

It is a perspective view which shows the whole structure of the grinding apparatus 1 of 1st Embodiment of this invention. It is an enlarged view around the grinding apparatus main body 10 of the grinding apparatus 1 of FIG. It is a perspective view of the grinding apparatus main body 10 of the grinding apparatus 1 of FIG. It is a front view which saw the grindstone 12 and the movable arm main body 61 removed from the grinding apparatus main body 10 of the grinding apparatus 1 of FIG. It is sectional drawing which shows the structure around the rotation shaft 30 of the grinding apparatus main body 10 of the grinding apparatus 1 of FIG. It is a figure for demonstrating the structure around the movable arm support mechanism 70 of the grinding apparatus main body 10 of the grinding apparatus 1 of FIG. It is a figure for demonstrating the structure of the arm movable shaft 81 of the grinding apparatus main body 10 of the grinding apparatus 1 of FIG. It is a figure for demonstrating the structure of the grindstone exchange apparatus 101 of the grinding apparatus 1 of FIG.

FIG. 1 is a perspective view showing the overall configuration of the grinding device 1 according to the first embodiment of the present invention, in which the grinding device main body 10 is attached to the tip of the arm 201 of the articulated robot. 2 and 3 are an enlarged view and a perspective view of the grinding device main body around 10. FIG. 4 is a front view of the grindstone 12 and the movable arm body 61 removed from the grinding device main body 10, FIG. 5 is a sectional view showing the structure around the rotating shaft 30 of the grinding device main body 10, and FIG. 6 is grinding. FIG. 7 is a diagram for explaining the structure around the movable arm support mechanism 70 of the apparatus main body 10, FIG. 7 is a diagram for explaining the structure of the arm movable shaft 81 of the grinding device main body 10, and FIG. 8 is a grindstone changing device 101. It is a figure for demonstrating the structure of.

The grinding device 1 of the first embodiment of the present invention includes a grinding device main body 10 attached to and used at the tip of an arm (hereinafter referred to as a robot arm) 201 of an articulated robot, and a grindstone 12 used in the grinding device main body 10. The grindstone exchange device 101 for exchanging the grindstone and the grinding device control device 150 for controlling the automatic exchange of the grindstone 12 are provided.

The grinding device main body 10 includes a grindstone wheel 12, and the grindstone wheel 12 is rotated by a drive device 50 to grind the workpiece 301 to be ground. The grindstone 12 is detachably fixed to the rotating shaft 30, and when the grindstone 12 wears, it can be automatically replaced with a new grindstone 12 housed in the grindstone changing device 101.

The grinding device main body 10 has a base 21, and is attached to the tip of the robot arm 201 via a mounting flange 23 provided on the base 21. The grindstone 12 is detachably fixed to a rotating shaft 30 rotatably supported by a base 21 via a bearing 25. A drive device 50 is connected to the rotary shaft 30, and the rotary shaft 30 is rotated by the drive device 50 to rotate the grindstone 12.

The rotary shaft 30 includes a columnar spindle 31 rotatably supported by the bearing 25 and a spline shaft 41 fixed to the tip of the spindle 31. The main shaft 31 has a pulley mounting portion 33 at the base end portion and a recess 35 formed at the tip end portion into which the spline shaft 41 is fitted. A collar 37 is attached to the outer periphery of the tip of the spindle 31.

The spline shaft 41 is a shaft for mounting the grindstone 12, and a spline portion 43 into which the grindstone 12 is fitted is provided from the central portion to the vicinity of the tip, and the front and rear of the spline portion 43 are cylindrical portions 44 and 45. There is. In the spline shaft 41, the cylindrical portion 44 on the proximal end side is fitted and fixed in the recess 35 of the main shaft 31. A sleeve 48, which is a retaining tool for the grindstone 12, is fitted into the cylindrical portion 45 at the tip of the spline portion 43.

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

In the grindstone 12, the spline bearing 15 is fitted into the spline portion 43 of the spline shaft 41 so that the end face of the flange 16 of the fixing sleeve 14 abuts on the end face of the collar 37, and the sleeve is fitted to the tip column portion 45 of the spline shaft 41. 48 is fitted and the grindstone 12 is fixed to the spline shaft 41.

In the grindstone 12 attached to the spline shaft 41, the rotation of the spline shaft 41 in the circumferential direction is blocked by the spline portion 43 and the spline bearing 15. Further, the movement of the main shaft 31 toward the pulley mounting portion 33 side in the axial center direction (longitudinal direction) of the rotating shaft 30 is blocked by the collar 37, and the movement of the spline shaft 41 toward the tip portion side is blocked by the sleeve 48. Will be done.

As described above, in the grinding apparatus main body 10 of the present embodiment, the spline portion 43 and the spline bearing 15 are the first regulating means for restricting the movement of the grindstone 12 in the circumferential direction. Further, the collar 37 is a second restricting means for restricting the movement of the grindstone 12 toward the anti-tip portion of the rotating shaft 30, and the sleeve 48 is a retaining means for preventing the grindstone 12 from coming off the rotating shaft 30.

In the present embodiment, the collar 37 is attached to the tip of the spindle 31 as a means for restricting the movement of the grindstone 12 in the direction opposite to the tip of the rotating shaft 30, but the spindle 31 and the spline shaft 41 are connected to each other. Since a step is structurally generated in the portion, the grindstone 12 may be used as a means for restricting the movement of the grindstone 12 toward the anti-tip portion of the rotating shaft 30. The collar 37 can also be said to be a means for forming a step on the rotating shaft 30.

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

The grinding device main body 10 also has a movable arm 60. The movable arm 60 includes a movable arm main body 61 and a movable arm support mechanism 70 that supports the movable arm main body 61. The movable arm 60 has a function of restricting the detachment of the grindstone 12 with respect to the rotating shaft 30, and the sleeve 48, which is a retaining tool, is attached to the tip column portion 45 of the spline shaft 41 in a state of being attached to the movable arm main body 61. Fit in. The movable arm 60 can be said to be a retaining means for releasing the sleeve 48 because the sleeve 48 can be removed from the spline shaft 41 as described later.

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

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

The arm guide shaft 71 is a cylindrical pipe-shaped member, and is rotatably fixed to the base 21 via a bearing 72. The position of the arm guide shaft 71 is directly above the rotating shaft 30 (see FIG. 3) and above the upper end of the grindstone 12 mounted on the spline shaft 41. A crank arm 73 for rotating the arm guide shaft 71 is connected to the arm guide shaft 71. The crank arm 73 is connected to the air cylinder 74, and the arm guide shaft 71 rotates as the rod of the air cylinder 74 expands and contracts.

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

The arm movable shaft 81 is a columnar member, and the tip of the insertion portion 68 and the tip of the arm movable shaft 81 are connected via a connecting tool 85 in a state of being inserted into the insertion portion 68 of the movable arm main body 61. ing. As a result, the movable arm main body 61 and the arm movable shaft 81 are integrated and move together. The outer diameter of the arm movable shaft 81 is smaller than the inner diameter of the insertion portion 68 of the movable arm main body 61, and the insertion portion 68 and the arm movable shaft 81 are connected to the movable arm main body 61 and the arm movable shaft 81. A cylindrical space is formed between the two, and the arm guide shaft 71 is inserted into this space (see FIG. 6).

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

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

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

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

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

In this state, the servo motor 51 is driven to rotate the grindstone 12 to grind the workpiece 301. In such a grinding device, when a malfunction occurs in the device during operation, the movable arm main body 61 moves, and the sleeve 48 comes off from the tip cylindrical portion 45 of the spline shaft 41, the grindstone 12 is separated from the rotating shaft 30. It may lead to a serious accident. On the other hand, in the grinding apparatus of the present embodiment, the sleeve 48 is a spline because the lock arm 76 regulates the movement of the arm movable shaft 81 (movable arm main body 61) even if a malfunction occurs in the apparatus during operation. It does not come off from the tip cylindrical portion 45 of the shaft 41.

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

In this state, when the crank arm 73 is rotated, the arm movable shaft 81 and the movable arm main body 61 connected to the arm movable shaft 81 rotate from the arm movable shaft 81 as a starting point. The movable arm main body 61 may be swiveled from the spline shaft 41 to a position where the grindstone 12 can be easily removed. As a result, the grindstone 12 can be easily removed.

As described above, in the grinding apparatus main body 10 of the first embodiment, the key provided on the lock arm 76, the first key groove 83 provided on the arm movable shaft 81, and the crank arm 73 for rotating the lock arm 76. The mechanism including the air cylinder 87 for advancing and retreating the arm movable shaft 81 corresponds to a lock mechanism for preventing the sleeve 48 from coming off from the tip cylindrical portion 45 of the spline shaft 41.

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

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

The grindstone exchange device (grindstone exchange exchange station) 101 is a device for storing a new grindstone 12 to be attached to and used for the grindstone main body 10 and for accommodating the used grindstone 12 (FIG. 8). reference). The grindstone 12 is replaced with the fixing sleeve 14 and the lock nut 17 attached to the grindstone 12.

In the grindstone changing device 101, a turntable 105 is mounted on a gantry 103, and six accommodating tools 107 for accommodating the grindstone 12 are provided on the turntable 105 at equal intervals on the same circumference. There is. Each accommodating tool 107 has a distance slightly wider than the thickness of the grindstone 12, and consists of two plates 109 erected on the turntable 105. Each of the two plates 109 is provided with a recess 111 so as to face the upper surface.

When the grindstone 12 is fitted into the accommodating tool 107 from above, the grindstone 12 is inserted between the two plate bodies 109, and the fixing sleeve 14 and the lock nut 17 attached to the grindstone 12 are plate bodies, respectively. It is supported by the recess 111 of the 109.

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

Further, the grindstone exchange device 101 detects the presence or absence of the grindstone diameter detection sensor 121 that detects the grindstone 12 and the fixing sleeve 14 attached to the grindstone 12 as sensors for exchanging the grindstone 12. A fixing sleeve detection sensor 123 is attached. These sensors are coupled to the grinding device control device 150 so that data can be transmitted.

The grinding device control device 150 is connected to a sensor mounted on the grinding device main body 10 and the grindstone changing device 101, and further cooperates with a robot control device (not shown) that controls the robot arm to automatically replace the grindstone 12. Control. The grinding device control device 150 includes data transmission / reception, calculation, control, and data input / output functions. Further, the grinding device control device 150 is provided with a storage means, and a procedure for automatically replacing the grindstone 12 is programmed and stored in the storage means.

The procedure for automatically replacing the grindstone of the grinding device 1 of the present embodiment will be described. The grinding device control device 150 needs to replace the grindstone 12 in use from the data from the grindstone diameter detection sensor 90 mounted on the grindstone main body 10 and the use limit diameter of the grindstone 12 set in advance. Determine if there is one. When the grinding device control device 150 determines that the diameter of the grindstone 12 in use has reached the usage limit diameter, the grinding device control device 150 controls to stop grinding and automatically replace the grindstone 12.

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

The replacement position is directly above the accommodating tool 107 for accommodating the grindstone 12 mounted on the grinding device main body 10, and at a position where the two plates 109 and the fixing sleeve 14 of the grindstone 12 are orthogonal to each other. be. After moving the grindstone 12 to the replacement position, the movable arm main body 61 is moved to a position where the grindstone 12 can be removed from the spline shaft 41 via the crank arm 73 and the air cylinder 87.

After that, the robot arm 201 is operated to lower the grindstone 12 mounted on the grinding apparatus main body 10 and fit it into the accommodating tool 107, retract the robot arm 201, and pull out the spline shaft 41 inserted into the grindstone 12. This completes the removal of the used grindstone 12.

Next, the index unit 113 of the grindstone changing device 101 is operated to move the new grindstone 12 to the front of the spline shaft 41. After that, the robot arm 201 is advanced, the spline shaft 41 is inserted through the grindstone 12, the robot arm 201 is moved upward, and the new grindstone 12 is removed from the accommodating tool 107. Finally, the movable arm main body 61 is moved, the sleeve 48 is fitted into the tip cylindrical portion 45 of the spline shaft 41, and the mounting of the grindstone 12 is completed.

As described above, in the grinding device 1 of the first embodiment, the mechanism for attaching and detaching the grindstone 12 to the rotating shaft 30 is simple, and the air cylinder 87 can be used as the drive source, so that the entire grinding device 10 can be made compact. -Can be made lighter. The grinding device main body 10 has a simplified mechanism for attaching and detaching the grindstone 12 to the rotating shaft 30, while the grindstone 12 is locked so as not to come off the rotating shaft 30 even if a malfunction occurs in the device. , Can be used safely.

Further, the grinding device 1 of the first embodiment includes a grindstone changing device 101 and a grinding device control device 150 for controlling automatic replacement of the grindstone 12, in addition to a mechanism for attaching and detaching the grindstone 12 to the rotating shaft 30. The car 12 can be replaced automatically and is excellent in practicality.

Although the processing apparatus according to the present invention has been described above using the grinding apparatus 1 of the first embodiment, the processing apparatus according to the present invention is not limited to the above embodiment and is modified without changing the gist. Can be used. For example, in the grinding apparatus main body 10 of the first embodiment, the main shaft 31 and the spline shaft 41 are separated, but these may be integrated.

In the grinding device main body 10 of the first embodiment, the grindstone 12 is fixed by using the spline shaft 41, but instead of the spline shaft 41, a key and a key groove are provided on the rotary shaft 30 and the grindstone 12. , The grindstone 12 may be detachably fixed to the rotating shaft 30.

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

Further, the lock arm 76 may be integrally formed with the arm guide shaft 71, and further, the lock arm 76 may be omitted, and the first key groove 83 and the first key groove 83 of the arm movable shaft 81 may be provided at the end of the arm guide shaft 71. 2 A key that fits in the keyway 84 may be attached.

The processing device according to the present invention is not limited to the grinding device, and a cutting device, a polishing device, or the like can be used, and the tool is not limited to the grindstone. Further, in the first embodiment, an example in which a grinding device is attached and used as a processing device at the tip of a robot arm has been shown, but the processing device according to the present invention includes industrial robots such as articulated robots and orthogonal robots, and numerical values. It can be attached to and used in machine tools such as controlled machine tools, machining centers, and CNC machine tools.

As described above, a preferred embodiment has been described with reference to the drawings, but those skilled in the art will easily assume various changes and modifications within a trivial range by looking at the present specification. Therefore, such changes and amendments are construed as being within the scope of the invention as defined by the claims.

1 Grindstone 10 Grindstone body 12 Grindstone 15 Spline bearing 21 Base 23 Mounting flange 30 Rotating shaft 31 Main shaft 41 Spline shaft 43 Spline part 45 Column part 48 Sleeve 50 Drive device 60 Movable arm 61 Movable arm body 62 Arm part 68 Insertion 70 Movable arm support mechanism 71 Arm guide shaft 73 Crank arm 76 Lock arm 81 Arm movable shaft 83 1st key groove 84 2nd key groove 90 Grindstone diameter detection sensor 101 Grindstone changer 107 Accommodating tool 121 Grindstone diameter detection sensor 123 For fixing Sleeve detection sensor 150 Grindstone control device 201 Articulated robot arm

Claims (6)

A processing device that is attached to and used in industrial robots or machine tools.
Base and
Mounting means for mounting on the industrial robot or machine tool provided on the base , and
The axis of rotation and
A tool that can be detachably attached to the rotating shaft,
A driving means attached to the base for rotationally driving the tool attached to the rotating shaft, and a driving means attached to the base.
The first regulating means for restricting the movement of the tool attached to the rotating shaft in the circumferential direction, and
A second regulating means for restricting the tool attached to the rotating shaft from moving toward the anti-tip portion of the rotating shaft, and
A retaining means for preventing the tool attached to the rotating shaft from coming off from the rotating shaft, and
A retaining release mechanism that enables the tool to be detached from the rotating shaft,
A lock mechanism that disables the operation of the retaining release mechanism and
An unlocking mechanism that disables the operation of the locking mechanism,
Equipped with
The first regulating means is composed of a spline portion provided on the rotating shaft and a spline bearing provided on the tool.
The second regulating means is a step provided on the rotating shaft.
The retaining means is a member that fits into the tip of the rotating shaft and prevents the tool from moving toward the tip of the rotating shaft.
The retaining release mechanism includes a mechanism for removing the retaining means from the tip of the rotating shaft.
The locking mechanism is a processing device characterized by mechanically blocking the retaining / releasing mechanism . A movable arm having an arm connected to a shaft member,
A hollow support attached to the base on which the shaft member is slidably inserted to support the movable arm, and
An advancing / retreating means constituting the retaining / releasing mechanism for moving the shaft member in the axial direction of the support, and
Equipped with
The retaining means is attached to the tip of the movable arm and is attached to the tip of the movable arm.
The locking mechanism has a key and a keyway provided on the support and the shaft member.
By fitting the key into the key groove, the shaft member is prevented from moving in the axial direction of the support.
The unlocking mechanism disengages the key from the keyway and releases the key.
The processing apparatus according to claim 1, wherein when the key is disengaged from the key groove, the shaft member can be moved in the axial direction of the support. A swivel mechanism that swivels the movable arm starting from the shaft member,
A control means for controlling the operation of the retaining release mechanism, the lock mechanism, the lock release mechanism, and the turning mechanism.
Equipped with
The processing device according to claim 2 , wherein the movable arm can be turned in a state where the retaining means is removed from the tip end portion of the rotating shaft. In addition, a tool changer equipped with an accommodating tool for taking out and freely accommodating pre-use tools,
A sensor that detects when to replace a tool in use, and
Sensors that detect the positions and directions of the accommodating tool and the pre-use tool, and
Equipped with
The control means controls the operation of the processing device so that the tool in use and the tool before use can be automatically exchanged, and issues a command to an industrial robot or machine tool to which the processing device is attached. The processing apparatus according to claim 3 . The industrial robot is an articulated robot or a Cartesian robot.
The processing apparatus according to any one of claims 1 to 4 , wherein the machine tool is a numerically controlled machine tool, a machining center, or a CNC machine tool. The processing apparatus according to any one of claims 1 to 5 , wherein the tool is a grindstone.

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