JPH08257860A - Automatic changer for machining tool - Google Patents

Abstract

PURPOSE: To accurately and quickly perform automatic changing of many machining tools by arranging a clamping fixture movably from a change position in the front of a nut runner and from the front of the nut runner to a separated return position or refuge position, in a change station. CONSTITUTION: When a grinder unit 18, mounted with a new grinding wheel 20, is separated from a grinding wheel change position, a moving base 68 is moved to perform positioning of the first clamping fixture 64 of clamping an old grinding wheel 20 after use in a return position. A holding fixture 52 of an X-Y robot 54 holds the old grinding wheel 20, also to return air cylinders 72, 72 to the origin, and a pair of clamping pawls 62, 62 are separated from each other, to release the old grinding wheel 20. This old grinding wheel 20 is returned to the original storage position by the X-Y robot 54. Since the grinding wheel 20 thus mounted in the grinder unit 18 can be automatically replaced with a grinding wheel 20 of optimum kind for grinding polishing part of a crossing rail, a rail can be accurately ground and polished.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool exchanging device for selecting a necessary tool from a large number of stored machining tools and automatically exchanging it with a machining tool attached to the machining apparatus. Is.

[0002]

2. Description of the Related Art For example, crossing rails for railways are
It is manufactured by casting manganese steel, but since burrs and flaws (including excess thickness and bumps) are generated in the cast product after casting, it is necessary to remove them. Removal of burrs and casting flaws that occur in these castings (hereinafter referred to as "workpieces") is generally performed by a grinder such as a rotary grindstone as a processing tool.

[0003]

The crossing rail has a wide variety of 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 wears out with time and cannot be used, it is necessary to replace it with a new grindstone. However, since the replacement work is conventionally performed manually, the worker is tired, time is consumed, and the production efficiency is reduced.

[0004]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above-mentioned problems inherent in the replacement of machining tools, and it is an object of the present invention to provide a suitable solution to this problem. The purpose is to provide means for obtaining. That is, a stable tightening torque can be obtained by mechanically managing the tightening torque of the nut for attaching and detaching the working tool, and safe and reliable automatic replacement is possible.

[0005]

In order to overcome the above-mentioned problems and to achieve the intended purpose, an automatic changing device for a machining tool according to the present invention comprises a plurality of removably attachable to the machining device via a nut. The processing tool of, a storage shelf that is detachably stored in a state of being aligned vertically and horizontally on a flat surface, and a holder that can hold and release the processing tool are provided so as to be vertically and horizontally movable along the flat surface of the storage shelf, A robot that transfers the processing tool of the storage shelf to the exchange station by the holding tool and returns the processing tool of the exchange station to the original storage position of the storage shelf; A nut runner that loosens and tightens the nut for mounting, and a return position that separates from the front surface of the nut runner and the replacement position of the front surface of the nut runner to the replacement station. Two sets of gripping tools, which are movably disposed in the set or retracted position and which releasably clamp the machining tool, and two machining tools to be exchanged with the robot are specified, and the robot is It is characterized by comprising a pair of gripping tools and a control means for actuating and controlling the nut runner.

In order to achieve the above object, an automatic tool exchanging device according to another invention of the present application is rotatably indexable supported on a support base and detachably mountable to a machining device via a nut. Loosen and tighten the nuts for mounting the tool magazine, which has a plurality of machining tools on the outer periphery and the machining tool, which is disposed on the support table and indexed at the tool exchange position of the tool magazine, to the machining device. It is characterized by comprising a nut runner and a control means for controlling the operation of the tool magazine and the nut runner.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An automatic tool changing device according to the present invention will be described below with reference to the accompanying drawings with reference to the preferred embodiments. In the embodiment, a case will be described in which an automatic exchanging device is provided in a grinding / polishing device that grinds / polishes a crossing rail, and a large number of different types of grindstones are automatically replaced.

FIG. 1 is a plan view showing a schematic structure 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 hand 1.
The grinding / polishing manipulator 22 that grinds / polishes the crossing rail 12 by the grindstone 20 of the grinder unit 18 mounted on the 6 and the grindstone automatic changer 24 that automatically replaces the grindstone 20 attached to the grinder unit 18 are basically used. It is configured.

[0009]

[Work table and grinding / polishing manipulator (robot)
Regarding the work table 14, a plurality of clamp devices 28 are arranged at predetermined intervals in the longitudinal direction, and the crossing rails 12 mounted on the work table 14 are clamped and fixed at a plurality of positions in the lateral direction. Is configured to. The present invention is also applicable to a case where the manipulator 22 is fixed and the work table 14 side is movable. In this case, the automatic grindstone changing device 24
Work table 14 located near the manipulator 22
It is set in a position that does not interfere with the movement of the. Of course, both 14 and 22 may be movable.

Adjacent to the work table 14 and in parallel along the longitudinal direction of the work table 14, the guide rails 30, 30 are provided.
Is laid, and a carriage 32 is movably mounted on the guide rails 30, 30, and an articulated grinding / polishing manipulator 22 having a plurality of degrees of freedom is mounted on the carriage 32.
(Movable part of robot, same below) is installed. As shown in FIG. 2, the hand 16 of the grinding / polishing manipulator 22 is provided with a grinder unit 1 having a grindstone 20 of a shape and type according to the grinding / polishing portion of the crossing rail 12.
8 is detachably attached. The grinding / polishing manipulator 22 and the dolly 32 are operationally controlled by the controller 34 (see FIG. 8), and the crossing rail 12 is ground / polished by the grindstone 20. The manipulator 22 and the controller 34 form a so-called robot.

When the grindstone 20 is worn (abraded) and cannot be used, it is detected by a wear amount detection device (not shown), or the grindstone 20 is of a different type depending on the grinding / polishing portion of the crossing rail 12. When exchanging, the carriage 32 and the grinding / polishing manipulator 22 are operated and controlled so that the grinder unit 18 is moved to the exchanging station S of the automatic grindstone exchanging device 24 and stands by.

[0012]

[Regarding the grinder unit] The grinder unit 18 is provided on the upper part of the unit body 36 with the grinding / grinding unit.
The polishing machine manipulator 22 includes a connecting tool 38 that is detachably attached to the hand 16, and the unit 18 includes the hand 16
(See Fig. 2). A motor (not shown) and a bearing sleeve 42 are integrally swingably supported by the unit body 36, and a rotary shaft 44 is rotatably inserted through the bearing sleeve 42. A male screw portion 44 is provided at one end of the rotary shaft 44.
By forming a, a nut 46 is fastened to the male screw portion 44a inserted into the center through hole 20a of the grindstone 20, so that the grindstone 20 is fixed to the rotary shaft 44 so as to be integrally rotatable. The other end of the rotary shaft 44 is connected to a motor via a transmission mechanism 48 composed of a pulley and a belt, and by driving the motor, the grindstone 20 rotates integrally with the rotary shaft 44. There is.

[0013]

[About automatic grindstone changing device] Guide rail 30,
A device 24 for automatically exchanging the grindstone 20 of the grinder unit 18 mounted on the grinding / polishing manipulator 22 is arranged on the opposite side of the work table 14 across the 30. As shown in FIGS. 3 to 5, the automatic grindstone changing device 24 has a large number of grinding stones of various types (flat grindstone, cylindrical grindstone, shell-shaped grindstone, etc.) on the front vertical surface of a vertically-arranged storage shelf 50. Two
It is designed to store 0, 20 'vertically and horizontally so that they can be taken out freely. In front of the storage shelf 50, the grindstone 20
An XY robot 54 is provided which is capable of moving the holding tool 52 capable of holding and releasable in the vertical and horizontal directions (XY direction) parallel to the vertical surface of the storage rack 50. That is, in front of the storage shelf 50,
An X rail 56 extending parallel to the storage shelf 50 is horizontally arranged, and a vertical Y rail 58 extending parallel to the storage shelf 50 is movable in the lateral direction (X direction) on the X rail 56. It is arranged. Further, the Y-rail 58 is provided with a holder 52, which is an air cylinder capable of holding and releasing the grindstone 20 and which can advance and retreat in the depth direction (Z direction), and is movable in the vertical direction (Y direction). And the XY robot 54
The grindstone 20 to be used next stored in the storage rack 50 according to a command from the controller 34 is taken out from a predetermined storage position, and the used grindstone 20 removed from the grinder unit 18 is stored in the original storage position. Function to return to. 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 adopted.

At the exchanging station S of the grindstone 20 provided between the storage rack 50 and the XY robot 54 and on the side of the storage rack 50, a new grindstone 20 to be used next and a post-use grindstone 20. A grindstone gripping device 60 that grips the old grindstone 20 is provided. The grindstone gripping devices 60 are close to each other.
A first gripping tool 64 composed of a pair of gripping claws 62, 62 that can be separated from each other, and a pair of gripping claws 6 that can also approach and separate from each other.
As shown in FIG. 4, a second gripper 66 composed of 2, 62 is provided in parallel, and the old and new grindstones 20 are provided by the respective grippers 64, 66.
Is configured to releasably grasp. Each gripper 64,
As shown in FIG. 6, each of the gripping claws 62 forming the 66 is slidable so as to come into contact with and separate from each other by an air cylinder 72, and a moving table 68 itself including these gripping tools 64, 66 and each air cylinder 72. Is slid to the left and right by a guide 76 and an air cylinder (not shown).
(See FIGS. 13 to 15). Further, the opposing portions of the grip claws 62, 62 are formed in an arc shape capable of reliably gripping the boss portion 20b of the grindstone 20 from both sides as shown in the figure. In addition, the moving base 68 is configured to move the first gripper 64 to the nut runner 8 described later.
0 in front of the grinding wheel replacement position (FIG. 13), the outer retracted position (FIG. 14) away from the storage rack 50, and the front return position (FIG. 15) of the storage rack 50. .

A nut runner 80 shown in FIG. 7 is disposed at the grindstone replacement position on the side of the storage rack 50, and the nut 46 that attaches the grindstone 20 to the rotary shaft 44 of the grinder unit 18 by the runner 80. Is configured to loosen and tighten. That is, the first gripper 64 of the grindstone gripping device 60 faces the grindstone replacement position,
The grindstone 2 of the grinder unit 18 is held by the gripping tool 64.
0 is gripped and the rotation shaft 44 is separately stopped, the nut runner 80 loosens the nut 46 to remove it from the rotation shaft 44, and the grinder unit 18 is retracted from the nut runner 80 and removed to remove the grindstone 20.
Can be removed from the unit 18. Also new whetstone 2
The second gripping tool 66 holding 0 is exposed to 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 tightened in a state in which the rotation is separately stopped. The new grindstone 20 can be attached to the unit 18. Then, the first gripping tool 64 gripping the old grindstone 20 is moved from the retracted position to the return position, and the old grindstone 20 is received from the gripping tool 64 by the XY robot 54, and is returned to the original position in the storage rack 50. Configured to return to storage position. The storage rack 50 is not limited to being vertical, and can be installed horizontally or diagonally in any posture.

[0016]

[Regarding Control Unit] FIG. 8 is a control block diagram of the grinding / polishing apparatus 10. The controller 34 as a control unit has a computer 34a built therein, and the computer 34a has a crossing rail according to a preset procedure. Program storage means for storing a program for grinding / polishing each of the 12 parts is included. Then, in the computer 34a, the grinder unit 1 mounted on the grinding / polishing manipulator 22 according to the program.
The replacement of the grindstone 20 in 8 is instructed. The computer 34a uses the wear amount of the grindstone 20 detected by a wear amount detection device (not shown) to correct the grinding depth and compare the wear amount with the preset wear amount to replace the grindstone 20.
Also functions as a means for determining whether or not replacement is required.

[0017]

Next, the operation of the automatic grindstone exchanging device according to this structure will be described. The crossing rail 1 mounted on the work table 14 by the grinder unit 18 mounted on the grinding / polishing manipulator 22.
2 is ground / polished based on a preset work procedure. When the grindstone 20 attached to the grinder unit 18 is exhausted and cannot be used, or when the grindstone 20 of the type currently attached cannot grind / polish the next grinding / polishing position of the crossing rail 12. Replaces a new grindstone 20 of the same type or a grindstone 20 of a different type stored in the storage rack 50.

That is, in the automatic grindstone changing device 28, as shown in FIGS. 9A and 9B, the first gripping tool 64 faces the grindstone replacing position and the second gripping tool 66 faces the returning position. There is. At this time, as shown in FIG. 6A, the gripping claws 62, 62 are separated from each other and stand by in a state capable of gripping the boss portion 20b of the grindstone 20. Also, XY robot 5
No. 4 faces 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
Then, the holder 52 is moved in the X-Y directions and the rod 52a thereof is extended in the Z direction, and the new grindstone 2 to be used next.
Holds 0. Further, in the grinding / polishing manipulator 22, the grinder unit 18 is moved to the exchange station S and waits in front of the first gripping tool 64 waiting at the grindstone exchange position.

The holder 52 holding the new grindstone 20 is
The second gripper 66 is moved to the waiting position where it is waiting,
As shown in FIGS. 11A and 11B, the new grindstone 2 is provided between the pair of spaced gripping claws 62, 62 of the second gripping tool 66.
Bring 5 In addition, the old grindstone 20 in the grinder unit 18 of the grinding / polishing manipulator 22 is attached to the pair of gripping claws 62, 62 which are separated from each other in the first gripping tool 64.
Between. In each of the gripping tools 64, 66, the pair of gripping claws 62, 62 approach each other due to the urging force of each air cylinder 72, and as shown in FIGS.
The boss portion 20b of the grindstone 20 corresponding to 2 is gripped (see FIG. 6).
(See (b)). Further, the nut 46 of the old grindstone 20 held by the first holding tool 64 is loosened by the nut runner 80 and removed while the rotation shaft 44 of the grinder unit 18 is stopped. And the rotary shaft 44
By releasing the rotation stopper and retracting the grinder unit 18 from the nut runner 80,
The old grindstone 20 is detached from 8 (FIGS. 13 (a) and 13 (b)). As a rotation stop for the rotating shaft 44, for example, there is a system in which a brake enters a non-circular portion provided in a part of the shaft body. Also,
When the rotary shaft 44 is the rotary shaft of the electric grinder itself, rotation is stopped by the 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.

Next, as shown in FIGS. 14 (a) and 14 (b), the first gripping tool 64 is moved to the retracted position and the second gripping tool 66 is waited at the grindstone replacement position. Then, by bringing the grinder unit 18 close to the nut runner 80 again, the rotary 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 rotary shaft 44 with the nut runner 80 while the rotary shaft 44 is stopped. When the tightening of the nut 46 by the nut runner 80 is completed, the air cylinders 72, 72 are returned to their original positions and the pair of gripping claws 62, 62 are separated from each other. Finally, the rotation axis 4
The detent for 4 is released.

When the grinder unit 18 to which the new grindstone 20 is attached is separated from the grindstone replacement position, as shown in FIG.
As shown in (a) and (b), the movable table 68 is moved,
The first holding tool 64 holding the used old whetstone 20 is positioned at the return position. The holder 52 of the XY robot 54 holds the old grindstone 20, and the air cylinders 72, 72 are returned to their original positions so that the pair of gripping claws 62, 62 are separated from each other to release the old grindstone 20. And this old whetstone 2
The 0 is returned to the original storage position by the XY robot 54.

As described above, the automatic grindstone exchanging device 24 according to the embodiment can automatically replace the grindstone 20 mounted on the grinder unit 18 with the optimum grindstone 20 for the grinding / polishing portion of the crossing rail 12. The rail 12 can be ground and polished with high accuracy. Further, since a mistake in exchanging the grindstone 20 due to a human error does not occur, it is possible to eliminate a mistake in grinding / polishing. Moreover, since the grindstone 20 can be replaced in a short time, the working capacity can be improved.

In the embodiment, the operation of holding the new grindstone 20 by the second gripper 66 and the old grindstone 20 by the first gripper 64 are performed.
The case where the same operation as the gripping is performed has been described, but the present application is not limited to this. For example, the grindstone 2 according to the work procedure set by the controller 34.
When 0 is replaced, the new grindstone 20 can be held in advance by the second holding tool 66 while the crossing rail 12 is being ground / polished by the grinder unit 18. In addition, the first gripper 64 that grips the new grindstone 20 in advance is positioned at the retracted position, the second gripper 66 is positioned at the grindstone replacement position, and the second gripper 66 grips the old grindstone 20. Later, the first grip 64
Is moved to the grindstone replacement position, and 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,
X the old grindstone 20 of the second gripper 66 facing the return position.
-It can be returned to the original position by the Y robot 54.
In the above-described embodiment, the case where the grindstone is automatically replaced has been described, but the present application is not limited to this, and the processing tool may be, for example, a disk-shaped or cylindrical cutter or a circular saw. Further, the number of nut runners 80 may be two or more, and the number of gripping tools may be three or more.

[0024]

[Other Embodiment] FIGS. 16 and 17 show another embodiment of the automatic grindstone changing device, in which a large number of grindstones 20 are arranged in a tool magazine 81 capable of rotary indexing. That is, a vertical pivot 83 is projectingly fixed to the support base 82, and the tool magazine 81 is supported above the pivot 83 so as to be horizontally rotatable via a bearing (not shown). The tool magazine 81 is basically formed in a polygonal rectangular tube shape, and the grindstones 20 are radially and detachably held by a large number of tool holding portions 81a formed in the circumferential direction of the polygonal side wall. , The magazine 81
A large-diameter spur gear 84 is integrally rotatably fixed to the lower part of the bottom surface of the. Further, the motor 85 arranged and fixed on the support base 82
The pinion 87 fixed to the rotary shaft 86 of the
By rotating the tool magazine 81 in mesh with No. 4, the desired grindstone 20 can be indexed. In addition,
The motor 85 is controlled by the command from the controller 34 so as to index the grindstone 20 held in the tool magazine 81 and used next to the grindstone replacement position.

A fixing portion 88 that projects into the tool magazine 81 is provided on the pivot 83, 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 response to a command from the controller 34, the grindstone 20 rotationally indexed to the grindstone replacement position by the tool magazine 81 is rotated by the rotary shaft 44 of the grinder unit 18.
It is configured to loosen or tighten a nut 46 for mounting on. At the grindstone replacement position, a means (not shown) for stopping rotation of the grindstone 20 facing the position is provided.

In the automatic grindstone exchanging device 24 according to another embodiment, when exchanging the grindstone 20 of the grinder unit 18 mounted on the grinding / polishing manipulator 22, the old grinder unit 18 of the grinding / polishing manipulator 22 is replaced. Grindstone 20 and tool magazine 81
The empty tool holding part 81a facing the grindstone replacement position is loaded. Next, the rotary shaft 44 of the grinder unit 18
With the nut stopped, the nut 46 of the old grindstone 20 loaded in the tool holding portion 81a is inserted into the nut runner 8
Loosen with 0 and remove. Then, by separating the grinder unit 18 from the tool holding portion 81a, the old grindstone 20 is removed from the unit 18.

Next, the nut runner 80 is replaced with the old grindstone 2
After separating from 0, the motor 85 is driven to rotationally index the tool holding portion 81a in which the desired old grindstone 20 is loaded to the grindstone replacement position. Then, the rotary shaft 44 of the unit 18 is inserted into the central through hole 20a of the new grindstone 20 by bringing the grinder unit 18 closer to the tool holding portion 81a again. Next, the rotation shaft 44 is stopped, and the nut runner 80 is used to fix the nut 46 to the rotation shaft 44.
The new grindstone 20 is fixed to the grinder unit 18 by tightening it on the male screw portion 44a.

[0028]

[Modification] FIG. 18 shows a modification of the above-described another embodiment, in which a tool magazine 81 is provided with a large number of grinding stones 2 in upper and lower stages.
0 is arranged. That is, the tool magazine 81 supported by the support base 82 so as to be rotatable and indexable.
Guides 90 are arranged on the polygonal side walls at required intervals in the circumferential direction, and a holding plate 91 is arranged on each guide 90 so as to be movable up and down. Tool holding portions 81a and 81b are formed in two upper and lower steps on each holding plate 91, and the grindstone 20 is detachably held by each holding portion 81a and 81b.
It should be noted that when the holding plate 91 is positioned at the lowered position, the upper tool holding portion 81a is set to the grindstone replacement level. Further, at the grindstone replacement position, an air cylinder 92 for moving up and down the holding plate 91 indexed to the position.
And the holding plate 91 positioned at the lowered position.
Is raised by the cylinder 92 to move the lower tool holding portion 81b to the grindstone replacement level.

A stand 93 is erected on the support base 82 at a position where it does not hinder the rotation of the tool magazine 81, and a nut runner 80 arranged on the stand 93 is installed.
However, it faces the magazine 81. Further, the nut runner 80 is located at the grindstone replacement level, and in response to a command from the controller 34, the nut 46 is moved at the level.
Is configured to loosen and tighten. The motor 85 and the air cylinder 92 are controlled by a command from the controller 34 so that the grindstone 20 held in the tool magazine 81 and used next faces the replacement level of the grindstone replacement position.

In the automatic grindstone changing device 24 according to the modification,
When replacing the grindstone 20 of the grinder unit 18 mounted on the grinding / polishing manipulator 22, the old grindstone 20 in the grinder unit 18 of the grinding / polishing manipulator 22 is set to the replacement level of the grindstone replacement position in the tool magazine 81. Empty tool holder 8 facing
1a (or 81b). Next, with the rotation shaft 44 of the grinder unit 18 being stopped, 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 releasing the rotation stop of the rotary shaft 44 and separating the grinder unit 18 from the tool holding portion 81a, the old grindstone 20 is removed from the unit 18.

Next, the nut runner 80 is replaced with the old grindstone 2
After separating from 0, the motor 85 is driven to rotationally index the tool holding portion 81a in which the desired old grindstone 20 is loaded to the grindstone replacement position. Then, the rotary shaft 44 of the unit 18 is inserted into the central through hole 20a of the new grindstone 20 by bringing the grinder unit 18 closer to the tool holding portion 81a again. Next, the nut runner 80 tightens the nut 46 onto the male screw portion 44a of the rotary shaft 44 while the rotary shaft 44 is stopped from rotating.
0 is fixed to the grinder unit 18.

When the new grindstone 20 held by the tool holding portion 81b formed in the lower stage of the holding plate 91 is attached to the grinder unit 18, the corresponding holding plate 9 is held.
After the motor 1 is driven by the motor 85 to be rotationally indexed to the grindstone replacement position, the air cylinder 92 is urged to raise the holding plate 91 along the guide 90. Thereby, the holding plate 91
The tool holding portion 81b in the lower stage of is positioned at the grindstone replacement level. Therefore, by bringing the grinder unit 18 close to the tool holding portion 81b as described above, the rotary shaft 44 of the unit 18 is moved to the center through hole 20 of the new grindstone 20.
After being inserted into a and stopping the rotation shaft 44 from rotating, the nut runner 80 is used to attach the nut 46 to the male screw portion 44 of the rotation shaft 44.
If tightened to a, the new grindstone 20 will become the grinder unit 1.
It is fixed to 8.

[0033]

As described above, according to the automatic tool exchanging device of the present invention, it is possible to select a large number of various kinds of machining tools and automatically replace them with the machining device by using only one type of nut runner. Therefore, the labor of the operator can be reduced, and the working time can be shortened to improve the production efficiency. In addition, it is possible to prevent a situation in which a proper machining tool is not replaced due to a human error, and accurate machining is achieved.

[Brief description of drawings]

FIG. 1 is a plan view schematically showing an entire grinding / polishing device provided with a preferred embodiment of an automatic tool exchanging device according to the present invention.

FIG. 2 is a side view showing a grinding / polishing manipulator according to an embodiment.

FIG. 3 is a plan view showing an automatic grindstone changing device according to an embodiment.

FIG. 4 is a front view showing an automatic grindstone changing device according to an embodiment.

FIG. 5 is a side view showing the automatic grindstone changing device according to the embodiment.

FIG. 6 is an explanatory diagram showing an operating state of a gripping tool in the automatic grindstone exchanging device according to the embodiment.

FIG. 7 is an explanatory view showing a state in which a nut for fixing a grindstone is loosened or tightened by a nut runner of the automatic grindstone changing device according to the embodiment.

FIG. 8 is a control block diagram of the grinding / polishing device according to the embodiment.

FIG. 9 is an operation explanatory diagram of a grindstone replacement by the grindstone automatic replacement device according to the embodiment, showing a state of waiting for the grindstone replacement.

FIG. 10 is an operation explanatory view of the grindstone replacement by the grindstone automatic replacement device according to the embodiment, and is an explanatory view showing a state in which a new grindstone is held by the XY robot.

FIG. 11 is an explanatory view of the operation of exchanging a grindstone by the automatic grindstone exchanging device according to the embodiment, showing a state in which old and new grindstones are positioned at positions where they can be gripped by corresponding gripping tools.

FIG. 12 is a diagram for explaining the operation of exchanging a grindstone by the automatic grindstone exchanging device according to the embodiment, showing a state in which old and new grindstones are gripped by corresponding gripping tools.

FIG. 13 is an operation explanatory view of the grindstone replacement by the grindstone automatic replacement device according to the embodiment, showing a state in which the old grindstone is removed from the grinder unit.

FIG. 14 is an explanatory view of the operation of exchanging a grindstone by the automatic grindstone exchanging device according to the embodiment, showing a state in which a new grindstone is attached to the grinder unit.

FIG. 15 is an operation explanatory view of the grindstone replacement by the grindstone automatic replacement device according to the embodiment, showing a state in which the old grindstone is held by the holder of the XY robot.

FIG. 16 is a schematic plan view of an automatic grindstone exchanging device according to another embodiment.

FIG. 17 is a side view showing a part of an automatic grindstone exchanging device according to another embodiment in a longitudinal section.

FIG. 18 is a side view showing a part of a grindstone automatic exchanging device according to a modification of another embodiment in a vertical section.

[Explanation of symbols]

18 Grinder Unit 20 Grindstone 34 Computer 46 Nut 50 Storage Shelf 52 Holding Tool 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 Base S Exchange Station

Claims (2)

[Claims] 1. A storage shelf (50) in which a plurality of processing tools (20) that can be removably attached to a processing device (18) via nuts (46) are detachably stored in a vertically and horizontally aligned state on a flat surface. ), And a holder (52) capable of holding and releasing the processing tool (20) is provided so as to be vertically and horizontally movable along the flat surface of the storage shelf (50), and the storage shelf (52) is provided by the holder (52). Transfer the processing tool (20) of 50) to the exchange station (S) and
A robot (54) for returning the processing tool (20) of (S) to the original storage position of the storage shelf (50), and the processing device (1) provided in the exchange station (S).
8) The nut runner (80) for loosening and tightening the nut (46) for attaching the processing tool (20) to the replacement station (S), and the nut runner (80)
A pair of gripping claws (62, 62) movably arranged at a replacement position of the front surface of the nut runner and a returning position or a retracted position separated from the front surface of the nut runner (80), and releasably clamping the processing tool (20). 2 sets of gripping tools (64, 66) and a machining tool (20) to be exchanged with the robot (54) are specified, and the robot (54), 2 sets of gripping tools (64, 66) and nuts An automatic tool exchanging device comprising a control means (34) for controlling the operation of a runner (80). 2. A plurality of processing tools (20), which are rotatably indexable supported on a support base (82) and can be detachably attached to a processing device (18) via nuts (46), are arranged on the outer periphery. A tool magazine (81) provided, and for mounting the machining tool (20) arranged on the support base (82) and indexed to the tool exchange position of the tool magazine (81) to the machining device (18). A nut runner (80) for loosening and tightening the nut (46), and a control means (34) for controlling the operation of the tool magazine (81) and the nut runner (80). Automatic exchange device.