JPH0857730A - Automatic replacing device for grinding wheel - Google Patents

Abstract

PURPOSE: To automatically replace a grinding wheel, mounted on a grinder fitted to the arm tip or the like of a robot or a manipulator, without manual assistance. CONSTITUTION: A grinding wheel storage chamber 2 is provided to pile up grinding wheels (a) to store them elevatingly, and a grinding wheel takeout port is formed at the upper face of the grinding wheel storage chamber 2. A grinding wheel replacing table 7 is provided to rotatably place the new and old grinding wheels (a) before and after replacement, and a nut runner 8 for fastening and loosening a nut for fixing the grinding wheel (a) to a grinder is elevatingly provided below the grinding wheel replacing table 7. Grinding wheel conveyor mechanism 3 for inserting a claw 5f into the center part mounting hole of the grinding wheel (a) to hangingly support and convey the grinding wheel (a) is provided between the grinding wheel storage chamber 2 and the grinding wheel replacing table 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grindstone exchanging device for automatically exchanging a grindstone mounted on a grinding grinder attached to, for example, an arm tip of a robot or a manipulator.

[0002]

2. Description of the Related Art Conventionally, in the case of manual grinding work, naturally only a small grinder that can be held by human power can be used, which results in a small grinding amount and a long grinding time. Work efficiency is poor due to fatigue.

Further, since the grinding work is a work in which dust is generated and the work environment is bad and the work is not good for health, it is a work most disliked by workers, and securing workers is becoming difficult.

For these reasons, there is a tendency to automate the grinding work by using a robot or the like without relying on human labor, and a device of that kind has been invented, but the replacement work of a grindstone which is a consumable item. Is done manually.

[0005]

However, it is troublesome to manually replace the grindstone mounted on the grinding grinder attached to the arm end of the robot or manipulator every time the grindstone wears, and automation thereof is desired. It was rare.

The present invention has been made in view of the above problems and was devised to solve the problems. The object of the present invention is, for example, a grinding grinder attached to the tip of an arm of a robot or a manipulator. An object of the present invention is to provide a grindstone automatic exchanging device capable of automatically exchanging a grindstone mounted on a workpiece without bothering manpower.

[0007]

In order to achieve the above object, the present invention provides a grindstone accommodating chamber for accommodating grindstones that are stacked upward and can be moved up and down, and a grindstone outlet is formed on the upper surface of the grindstone accommodating chamber. , A whetstone exchange table that rotatably mounts old and new whetstones before and after replacement is installed, and below the whetstone exchange table, a nut runner that tightens and loosens the nut that fixes the whetstone to the grinding grinder is provided so that it can be moved up and down, and It is configured such that a grindstone transfer mechanism that inserts a claw into the mounting hole at the center of the grindstone and hangs and transfers the grindstone is disposed between the grindstone exchange tables.

[0008]

The present invention having the above-described structure operates as follows. That is, move the grinding grinder with the worn grindstone above the grindstone replacement table, raise the nut runner to loosen the nut that fixes the grindstone to the grinder, remove the grindstone from the grinder, and remove it with the grindstone replacement mechanism. Insert the claw into the mounting hole in the center of the grindstone, hang it up, carry and discard it, and then use the grindstone exchange mechanism to insert a claw into the mounting hole in the center of the grindstone and suspend it. Then, it is conveyed to above the grindstone exchanging table, and the nut runner is lifted to tighten the nut for fixing the grindstone to the grinding grinder so that the grindstone is fixed to the grinding grinder.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described more concretely with reference to the embodiments shown in the drawings.

[First Embodiment] Here, FIG. 1 is a side sectional view of an automatic grindstone changing device, FIG. 2 is a view taken along the line AA of FIG. 1, and FIG. 3 is a plan view of the automatic whetstone changing device. 5 is an enlarged cross-sectional view of a main part, FIG. 5A is a side cross-sectional view of the slide transfer device, FIG. 5B is a cross-sectional view of the slide transfer device, and FIG. 5C is a perspective view of the slide transfer device.

In the figure, the automatic grindstone exchanging device 1 of the first embodiment is used in a type in which a grindstone a is fixed to a grinding grinder b by a nut c, and the grindstone a is an offset grindstone. The automatic grindstone exchanging device 1 is a device that automatically removes a worn grindstone a from a grinding grinder b attached to the arm end of a robot or a manipulator, replaces it with a new grindstone a, and mounts and fixes it.
The automatic grindstone exchanging device 1 includes a grindstone accommodating chamber 2, a grindstone conveying mechanism 3, a grindstone exchanging mechanism 6, and the like.

The lower part of the automatic grindstone exchanging device 1 is formed of a thick flat plate-shaped bottom plate 1a, and the bottom plate 1a has four 4
The individual columns 1b and 1c are erected in an elongated rectangular shape. Of these, the two pillars 1b at short intervals
Is erected at one end of the bottom plate 1a, and the other two columns 1c at short intervals are erected at a position closer to the center than the other end. The upper ends of the columns 1b and 1c at short intervals are connected to each other by the upper horizontal plates 1d and 1e, and the upper main girder 1f is laterally provided between the left and right upper horizontal plates 1d and 1e. . A vertical girder 1g is provided upright on the other end side of the bottom plate 1a.

The grindstone accommodating chamber 2 is a chamber for accommodating and storing new grindstones a to be exchanged, and is formed at one end of the automatic grindstone exchanging device 1 toward the column 1b so as to face upward. The grindstone accommodating chamber 2 has a cylindrical shape, and the upper end thereof is opened to form an outlet 2a for a new grindstone a. When a new grindstone a is stored in the grindstone storage chamber 2, it is put into the grindstone storage chamber 2 through this take-out port 2a, and the take-out port 2a is also used as an insertion port for the new grindstone a.

At the inner center of the grindstone storage chamber 2, an elevating and rotating shaft 2b supported so as to be rotatable in forward and reverse directions is provided extending from the bottom surface side toward the upper outlet 2a. A screw is formed on the side peripheral surface of the lifting / lowering rotation shaft 2b, and a lifting / lowering nut 2c is screwed onto the lifting / rotation shaft 2b. The lifting nut 2c is screwed by the rotation blocking piece 2e, which will be described later, by the rotation of the lifting rotation shaft 2b to move up and down along the lifting rotation shaft 2b.
An elevating support base 2d is integrally fixed and supported on the upper part of the elevating nut 2c that ascends and descends along the elevating rotary shaft 2b.

The lift support base 2d is a base for supporting the grindstones a stacked in the grindstone storage chamber 2, and the lowermost grindstone a is placed on the lift support base 2d. A through hole is formed in the center of the lifting support base 2d, and the lifting rotation shaft 2b penetrates this through hole. A lifting nut 2c is provided below the through hole.
Are integrally mounted and support the lifting support base 2d. The lifting support base 2d is structured to be lifted and lowered by a lifting nut 2c that is lifted and lowered by the rotation of the lifting rotation shaft 2b, and the uppermost grindstone a is lifted.
Is pushed upward from the outlet 2a of the grindstone storage chamber 2.

The lifting support base 2d is provided with a rotation blocking piece 2e for preventing the lifting nut 2c from rotating together during rotation of the lifting nut 2c on the lower surface side of its periphery. Further, a guide rod 2f for vertically engaging and guiding the rotation blocking piece 2e is provided on the inner peripheral edge side of the grindstone storage chamber 2 so as to extend from the bottom surface toward the upper outlet 2a. Lifting nut 2c and lifting support base 2d
The rotation blocking piece 2e prevents the wheel from rotating in the grindstone storage chamber 2 and rotates relative to the rotating lifting shaft 2b to move up and down by a screw motion.

The lower end of the elevating rotary shaft 2b is connected to the upper end of a connecting shaft 2g which is rotatably held through the center of the bottom surface of the grindstone storage chamber 2. The lower end side of the connecting shaft 2g extends below the grindstone storage chamber 2 and is linked to a motor 2h mounted below the grindstone storage chamber 2. The elevating and rotating shaft 2b is interlocked with the motor 2h via the connecting shaft 2g, and is structured to rotate by the drive of the motor 2h.

The grindstone conveying mechanism 3 is a mechanism for conveying a new grindstone a from the grindstone storage chamber 2 to the grindstone exchanging mechanism 6 and for conveying and discharging the worn grindstone a on the grindstone exchanging mechanism 6 of the grindstone automatic exchanging device 1. Mainly composed of a slide carrier 4 arranged horizontally on the upper part and a grindstone carrier 5 mounted on the lower surface of a guide traveling plate 4b which moves while sliding on the lower surface side of a guide 4a of the slide carrier 4. Has been done. The guide 4a of the slide transfer device 4 is attached to the lower surface of the upper main girder 1d, passes above the take-out port 2a of the grindstone accommodating chamber 2, and is disposed near the upper part of the grindstone exchanging mechanism 6.

Various well-known structural types can be used for the slide transfer device 4. In this embodiment, as shown in FIG. 5, for example, a flat cylinder 4c is provided inside the guide 4a of the slide transfer device 4 in the horizontal direction. And the flat piston 4d slides in the flat cylinder 4c by air pressure. A flat cylinder 4c is provided on the lower surface side of the guide 4a along the sliding direction of the flat piston 4d.
The long groove 4e leading to the is formed.

The guide traveling board 4b is connected to the flat piston 4d inside through the long groove 4e.
When d slides in the flat cylinder 4c, it slides on the lower surface side of the guide 4a of the slide conveyance device 4. The flat cylinder 4 is provided on the inner side of the long groove 4e.
A seal belt 4f is arranged to prevent the air pressure in c from leaking.

Stoppers 4g for stopping the guide traveling platen 4b are provided at both ends of the guide 4a of the slide conveying device 4. The stopper 4g is adjustable in the horizontal direction so that the moving range of the guide traveling plate 4b on both ends of the guide 4a can be adjusted.

The grindstone carrier 5 is a device for suspending and carrying a new grindstone a on the grindstone storage chamber 2 or a worn grindstone a on the grindstone exchanging mechanism 6, and includes an upper flat plate 5a, a lower flat plate 5b, a cylinder 5c, and an upper and lower plate. Guide 5d, air chuck 5e, claw 5
f, a cylinder 5g, a holding plate 5h, and the like.

An upper flat plate 5a mounted on the lower surface of the guide traveling plate 4a and a lower flat plate 5b spaced below the upper flat plate 5a.
A cylinder 5c that expands and contracts in the vertical direction is provided between them, and the lower flat plate 5b can be moved up and down.
The upper end of the cylinder 5c is connected to the lower surface of the upper flat plate 5a, and the tip of the piston rod of the cylinder 5c is connected to the upper surface of the lower flat plate 5b. Around the cylinder 5c, a plurality of vertical guides 5d for vertically guiding the lower flat plate 5b by the expansion and contraction of the cylinder 5c are attached.

An air chuck 5e for suspending the grindstone a is attached below the lower flat plate 5b, and the air chuck 5e is divided into left and right by air pressure and is opened left and right. Air chuck 5e divided into left and right
A pair of claws 5f are projected downward at the tip of the pair of claws, and the pair of claws 5f are formed so as to be opened left and right by an air chuck 5e.

The pair of claws 5f projecting downward are opened to the left and right after being inserted into the mounting hole formed in the central portion of the grindstone a, and the inner peripheral side surfaces of the mounting hole are pushed toward both sides to open the grindstone a.
Is hung and transported. Therefore, the new grindstone a is not scratched. Further, it is difficult to uniformly hold the outer shape of the worn grindstone a because the outer shape is shaved and deformed into an indefinite shape, but the mounting hole at the center of the grindstone a is not deformed and is constant. Since the hole diameter is maintained, it can be hung and conveyed regardless of the deformation of the outer shape.

The rear end side of the air chuck 5e, which is divided into left and right, is attached to a cylinder 5g which is operated by air pressure to open and close the air chuck 5e left and right. The cylinder 5g is held by a holding plate 5h arranged behind the air chuck 5e. The holding plate 5h is mounted on the lower surface of the lower flat plate 5b.

The grindstone exchanging mechanism 6 is a mechanism for removing the worn old grindstone a mounted on the grinding grinder b and mounting and fixing a new grindstone a on the grinder grinder b. It is mainly composed of a nut runner 8 and the like which is supported by the table 7 and moves up and down. The grindstone exchanging mechanism 6 is the support 1 of the automatic grindstone exchanging device 1.
It is arranged between c and the vertical girder 1g.

The grindstone exchanging table 7 is provided with a frame body 7a in which a nut runner 8 is housed so as to be able to move up and down, and below the bottom plate 7b of the frame body 7a, there is provided a cylinder 7c for vertically expanding and contracting the frame body 7a. Has been. The upper end of the cylinder 7c is connected to the lower surface of the bottom plate 7b, and the cylinder 7c
The tip of the piston rod is the bottom plate 1 of the automatic grindstone changing device 1.
It is connected to the upper surface of a.

Elevating guide pieces 7d are provided above and below the left and right side surfaces of the frame body 7a of the grindstone exchanging table 7, respectively. Elevating guides 7e for elevating and lowering the elevating guide pieces 7d are provided in the upper and lower portions of the side surfaces of the column 1c and the vertical girder 1g in the vertical direction. The grindstone exchanging table 7 includes the lifting guide piece 7d and the lifting guide 7e.
As a result, it is guided to move up and down smoothly.

A grindstone exchange table 7 is provided on the side surface of the vertical girder 1g.
An upper limit stopper 7f and a lower limit stopper 7g are provided for restricting the vertical movement range of the. Upper limit stopper 7f
Is in contact with the upper surface of the bottom plate 7b of the frame body 7a to prevent its rise, and the lower limit stopper 7g is in contact with the lower surface of the bottom plate 7b of the frame body 7a to prevent its fall. The upper limit stopper 7f and the lower limit stopper 7g are attached so as to be vertically adjustable.

A plurality of rollers 7h are provided at the upper end of the frame 7a of the grindstone exchanging table 7 to support the surface of the grindstone a from the lower surface side. Each roller 7h is attached so as to rotate in the circumferential direction so that the grindstone a can smoothly rotate when exchanging the grindstone a.

The nut runner 8 installed in the frame body 7a of the grindstone exchanging table 7 is for tightening or loosening the nut c, and is used to remove the worn grindstone a fastened to the grinding grinder b by the nut c. c serves to tighten the nut c so that the new grindstone a can be loosened and the new grindstone a that has been replaced can be fastened and fixed to the grinding grinder b with the nut c. A nut fastening fitting portion 8 a is connected to the upper portion of the nut runner 8. A nut fastening hole 8b is opened upward at the center of the upper surface of the nut fastening fitting portion 8a.

An engaging recess 8c for engaging the grinding grinder side flange d is formed on the outer periphery of the nut engaging hole 8b on the upper surface of the nut engaging fitting portion 8a.
A locking projection piece 8d which is inserted into a locking hole formed in the grinding grinder side flange d and locked therein is formed so as to project upward.

The outer peripheral side surface of the upper portion of the nut fastening fitting portion 8a projects outward, and the outer peripheral surface of the lower side of which the outer diameter is smaller than the outer diameter of the upper portion protruding below the projecting outer peripheral side surface. A coil spring 8e is mounted on the side surface. The upper end of the coil spring 8e is supported by the upper portion of the nut fastening fitting portion 8a protruding outward, and the lower end thereof is supported by the upper surface of the frame body 7a. The nut fastening fitting portion 8a is biased upward by the coil spring 8e, that is, toward the grinding grinder side flange d.

A waste container 9 for discarding the exchanged worn old grindstone a is attached between the grindstone storage chamber 2 and the grindstone exchange table 7. Further, on the upper horizontal plate 1e above the grindstone exchanging table 7, a stopper stop 10 for holding the upper surface of the grinding grinder b is attached downward.

Next, a method of using and an operation of the automatic grindstone changing device based on the configuration of the above embodiment will be described below. When the grindstone a mounted on the grinding grinder b attached to the end of the arm of the robot or the manipulator is worn by use and needs to be replaced, the arm automatically moves the grindstone changing device 1
Of the grindstone exchanging mechanism 6 moves toward the grindstone exchanging table 7, and the grindstone a attached to the grinding grinder b at the tip of the grindstone exchanging mechanism 6 reaches the upper side of the grindstone exchanging table 7 and the upper end of the grindstone exchanging table 7 on the roller 7h. Place the grindstone a horizontally.

Next, the frame body 7a of the grindstone exchanging table 7 is moved up by the driving of the cylinder 7c, and as the frame body 7a is moved up, the nut runner 8 installed in the frame body 7a and the nuts interlockingly connected to the upper portion thereof. The fastening fitting portion 8a also rises,
The nut c is fitted in the nut fastening hole 8b opened at the center of the upper surface of the ascending nut fastening fitting portion 8a, and the nut fastening hole 8b and the nut c are brought into an engaged state.

At this time, the grinding grinder side flange d is fitted into the locking recess 8c of the nut fastening fitting portion 8a, and the locking recess 8 is fitted into the locking hole formed in the grinding grinder side flange d.
The locking projection piece 8d of c is fitted, and the grinding grinder side flange d is locked to the nut fastening fitting portion 8a. This state is achieved by fitting the locking projection piece 8d of the locking recess 8c into the locking hole formed in the grinding grinder side flange d while the grindstone a is rotating on the roller 7h around the circumference. To be done.

Such a state is detected by a sensor (not shown), the information is transmitted, and the nut runner 8 operates based on the information to move the nut fastening hole 8b at the upper portion of the nut runner 8 in a direction to loosen the nut c. The nut c, which has been fixed to the grinding grinder b by rotating, is removed from the grinding grinder b side by rotating.

When the nut c is disengaged from the grinding grinder b, this is detected by a sensor (not shown), and the frame 7a containing the nut runner 8 is lowered. The frame 7a is lowered by driving the cylinder 7c. Frame 7
When “a” descends, the nut runner 8 and the nut fastening fitting portion 8a on the upper part also descend, but the removed nut c and the grinding grinder side flange d are fitted to the descending nut fastening fitting portion 8a. , These also descend together. The worn old grindstone a removed from the grinding grinder b is held on the roller 7h at the upper end of the grindstone exchanging table 7.

When the lowering of the frame body 7a is stopped, the slide transfer device 4 of the grindstone transfer mechanism 3 starts to operate, and the guide traveling plate 4b of the slide transfer device 4 moves onto the grindstone exchange table 7 along the guide 4a. Come on. A whetstone carrier 5 is attached to the moving guide traveling platen 4b, and the whetstone carrier 5 moved by the guide traveling platen 4b is an old worn grindstone placed on a roller 7h at the upper end of the grindstone exchanging table 7. Stop on a.

After the stop, the cylinder 5c of the grindstone carrier 5 is actuated and the lower flat plate 5b is lowered. An air chuck 5e is attached to the descending lower flat plate 5b, and the air chuck 5e descending by the lower flat plate 5b.
The claw 5f provided on the lower surface of the whetstone is a worn old grindstone a placed on the roller 7h at the upper end of the grindstone exchange table 7.
Into the mounting hole formed in the center of the.

When the claw 5f enters the mounting hole at the center of the grindstone a, the cylinder 5g operates to spread the claw 5f, which is divided into the left and right, to the left and right. The claw 5f is opened to the left and right in the mounting hole of the grindstone a, and the inner peripheral side surface of the mounting hole is pushed in both directions to hold the grindstone a through the mounting hole. After that, the cylinder 5c is operated and the air chuck 5e provided with the claw 5f is lifted by the lower flat plate 5b being lifted,
The grindstone a is moved to the air chuck 5e through the rising claw 5f.
Be hung on.

After the air chuck 5e, which holds the worn old grindstone a, is lifted, the slide transfer device 4 is operated and is transferred to the waste container 9 by the guide traveling plate 4b. When the grindstone a suspended by the air chuck 5e reaches the top of the waste container 9, the cylinder 5g is actuated to close the left and right claws 5f, which causes the worn old grindstone a.
Is disengaged from the claws 5f, falls down, and is discarded in the waste container 9.

The air chuck 5e which discards the worn old grindstone a is moved to a position above the grindstone storage chamber 2 by the guide traveling plate 4b and stopped. After stopping, the claw 5f on the lower surface of the air chuck 5e descending by the lower flat plate 5b is
A new grindstone a placed on the uppermost stage of the grindstone accommodating chamber 2 enters a mounting hole formed at the center thereof.

When the claw 5f enters the mounting hole at the center of the grindstone a, the cylinder 5g is actuated to spread the claw 5f divided into the left and right sides. The claw 5f is opened to the left and right in the mounting hole of the grindstone a, and the inner peripheral side surface of the mounting hole is pushed in both directions to hold the grindstone a through the mounting hole. After that, the cylinder 5c is operated and the air chuck 5e provided with the claw 5f is lifted by the lower flat plate 5b being lifted,
The grindstone a is moved to the air chuck 5e through the rising claw 5f.
Be hung on.

Air chuck 5 with a new grindstone a suspended
After e has risen, the slide transport device 4 operates and is transported to above the grindstone exchanging table 7 by the guide traveling platen 4b. When the grindstone a suspended by the air chuck 5e reaches above the grindstone exchange table 7, the cylinder 5c is actuated and the air chuck 5e descends to move the air chuck 5e.
The new grindstone a suspended by e is lowered until it is placed on the roller 7h at the upper end of the grindstone exchange table 7.

When the new grindstone a is placed on the roller 7h, the lowering of the air chuck 5e is stopped, the cylinder 5g is actuated, and the left and right claws 5f are closed. Comes off the claw 5f. While the new grindstone a is still mounted on the roller 7h, the cylinder 5c operates and the air chuck 5e rises, and then the guide traveling platen 4b moves to the grindstone storage chamber 2 side and retreats.

The frame 7a of the grindstone exchanging table 7 is lifted again, and the nut runner 8 and the nut fastening fitting portion 8a are also frame 7.
rises with a. A nut c and a grinding grinder side flange d are attached to the ascending nut fastening fitting portion 8a, and these also rise together and ascend to the height of a new grindstone a on the roller 7h at the upper end of the grindstone exchanging table 7. . Then, the raised grinding grinder side flange d is inserted into the mounting hole at the center of the new grindstone a of the roller 7h.

The grinding grinder b with the bolt mounted downward is lowered, the bolt of the grinding grinder b is inserted through the center hole of the grinding grinder side flange d of the new grindstone a, and the bolt is inserted into the hole of the nut c below it. Enter the tip of. In this state, the nut runner 8 rotates in the direction in which the nut c is tightened, so that the nut c of the nut fastening fitting portion 8a on the upper part of the nut runner 8 is screwed and fastened to the bolt of the grinding grinder b.

As a result, a new grindstone a is mounted on the grinding grinder b. After that, the grinding grinder b having the new grindstone a attached thereto is separated from the grindstone automatic exchanging device 1, and the exchanging work of the grindstone a is automatically performed and completed.

[Second Embodiment] Here, FIG. 6 is a side sectional view of the automatic grindstone changing device, FIG. 7 is a view taken along the line AA of FIG. 6, FIG. 8 is a plan view of the automatic whetstone changing device, and FIG. FIG. 4 is an enlarged sectional view of a main part.

In the figure, the automatic grindstone exchanging device 11 of the second embodiment is an automatic exchanging device for a grindstone in which the grindstone a is a flat grindstone. The difference from the first embodiment is that the offset grindstone is changed to the plain grindstone. Fastening fitting part 8a by changing to
The structure is slightly changed, and a drive roller 12 for rotating a grindstone a made of a plain grindstone on a roller 7h is provided at the upper end of the grindstone exchange table 7. Furthermore,
The locking projection piece 8d is also not formed on the nut fastening fitting portion 8a.

That is, in addition to the roller 7h similar to the first embodiment, the driving roller 1 is provided on the upper end of the grindstone exchanging table 7.
2 are provided. A motor 12a for driving the driving roller 12 is provided on the rear side.

When replacing the grindstone a with the grinding grinder b, the drive roller 12 is used to replace the grinder 7 with the roller 7.
The whetstone a of h is rotated, and the nut c is loosened or tightened to be removed or attached. The other operation is the same as that of the first embodiment. Therefore, the same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

The present invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the present invention. For example, in the above embodiment, the automatic replacement of the grindstone a of the grinding grinder b attached to the arm tip of the robot or the manipulator has been described, but the grinding grinder b used manually is used.
It can also be applied to automatic replacement of the grindstone a.

[0057]

As is apparent from the above description, according to the automatic grindstone exchanging device of the present invention, for example, a grindstone mounted on a grinding grinder attached to the arm tip of a robot or a manipulator is troublesome. This is a very new and beneficial effect in that it can be replaced automatically without the need to perform it.

[Brief description of drawings]

FIG. 1 is a side sectional view of an automatic grindstone exchanging device according to a first embodiment of the present invention.

FIG. 2 is a view as viewed in the direction of arrows AA in FIG. 1;

FIG. 3 is a plan view of an automatic grindstone exchanging device according to the first embodiment of the present invention.

FIG. 4 is an enlarged cross-sectional view of essential parts showing a first embodiment of the present invention.

FIG. 5A is a side sectional view of a slide transport device showing a first embodiment of the present invention. FIG. 1B is a transverse sectional view of the slide carrying device showing the first embodiment of the present invention. (C)
FIG. 1 is a perspective view of a slide transport device showing a first embodiment of the present invention.

FIG. 6 is a side sectional view of an automatic grindstone exchanging device according to a second embodiment of the present invention.

FIG. 7 is a view on arrow AA of FIG.

FIG. 8 is a plan view of an automatic grindstone exchanging device according to a second embodiment of the present invention.

FIG. 9 is an enlarged sectional view of an essential part showing a second embodiment of the present invention.

[Explanation of symbols]

 1 Automatic grindstone exchanging device 1a Bottom plate 1b Column 1c Column 1d Upper horizontal plate 1e Upper horizontal plate 1f Upper main girder 1g Vertical girder 2 Grindstone storage chamber 2a Exit 2b Lifting rotary shaft 2c Lifting nut 2d Lifting support 2e Rotation blocking piece 2f Guide Rod 2g Connection shaft 2h Motor 3 Grindstone transport mechanism 4 Slide transport device 4a Guide 4b Guide traveling plate 4c Flat cylinder 4d Flat piston 4e Long groove 4f Seal belt 4g Stopper 5 Grindstone transporter 5a Upper flat plate 5b Lower flat plate 5c Cylinder 5d Vertical guide 5e Chuck 5f Claw 5g Cylinder 5h Holding board 6 Grindstone exchanging mechanism 7 Grindstone exchanging table 7a Frame 7b Bottom plate 7c Cylinder 7d Elevating guide piece 7e Elevating guide 7f Upper limit stopper 7g Lower limit stopper 8 Nut runner 8a Nut tightening fitting part 8 Nut fastening hole 8c engaging recess 8d locking protrusion piece 8e coil spring 9 disposal container 10 押止 Suttopa a grindstone b grinding grinder c nut d grinding grinder flange

Claims (1)

[Claims] 1. A grindstone exchange in which a grindstone accommodating chamber for accumulating grindstones upwardly and accommodating vertically is provided, a grindstone removal opening is formed on an upper surface of the grindstone accommodating chamber, and old and new grindstones before and after replacement are rotatably mounted. A table is provided below the grindstone replacement table.
A nut runner that tightens and loosens the nut that fixes the grindstone to the grinding grinder is provided so that it can be moved up and down, and a claw is inserted between the grindstone storage chamber and the grindstone exchange table, and a claw is inserted in the mounting hole at the center of the grindstone to convey the grindstone. An automatic grindstone changing device having a mechanism.