JPS60217038A - Automatic replacing device for grindstone - Google Patents

Abstract

PURPOSE:To enable automatic replacement of a grindstone, by a method wherein the grindstone is grasped by a clamp part, a holder is rotated, and the clamp part is clamped and unclamped by means of a spindle. CONSTITUTION:A device is provided with a clamp part 14, which is mounted to the forward end of a movably-disposed arm 11 and grasps a grindstone 20 attached to the forward end of a holder 31 with a grindstone, clamp part rotating mechanisms 19, 21, and 22, which rotates the clamp part 14 for mounting and demounting, and a movement control means for the arm 11. Thus, the grindstone is grasped, the holder with the grindstone is rotated by the clamp part rotating mechanism, and the clamp part is unclamped by the mechanism for pull-off. This, after the grindstone is removed from the spindle of a grinding device, enables mounting of a new grindstone by reversing the above operations, resulting in the possibility to automatically replace the grindstone without pulling out the grinding device from a grinding work position.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a device for automatically exchanging a grindstone attached to a spindle of a grinding device, and in particular to a device for changing a grindstone of a device for grinding narrow parts. Ill.

[Technical background of the invention and its problems]

7. Grinding of Rancis water turbines, pump water turbines, etc. has conventionally been carried out by skilled workers using a hand grinder or the like to gradually grind while following the shape of the actual product. In this case, the replacement of the grindstone is performed manually by the operator visually determining the replacement time and loosening the set screw.

In particular, as shown in Figure 1, in the case of 7 Rancis water turbines and pump water turbines, grinding work in narrow areas with medium heat, where workers cannot enter or where it is difficult to work in a suitable position, is difficult. A jig is inserted into the center of the lunch, the grindstone attached to the tip is brought into close contact with the wall of the chamber, and the jig's hand is operated up and down or left and right to grind until the ground surface is uniform. In this case, the grindstone is replaced by a worker who estimates when the grindstone will wear out, pulls out the jig from the runner, manually replaces the screwed grindstone, and then returns the jig to the center of the launch. The grinding wheel is inserted, and the grinding wheel is brought into close contact with the launch grinding surface before the grindstone is replaced, and grinding is continued while being careful not to cause any deviation of the grinding surface before and after the grindstone is replaced.

As described above, conventional grinding operations require skilled workers with advanced skills, which not only takes time but also causes an increase in costs.

In addition, as the head of pump turbines increases, the width of the launch flow path decreases, and some launches that cannot be ground by hand have appeared. Furthermore, there are environmental issues such as dust, vibration, and noise associated with grinding work, and there is a demand for automation of grinding work. At the same time, there is a demand for the development of a device that automatically replaces the grindstone installed in an automatic grinding device.

[Object of the invention] The present invention has been made in consideration of these points,
To provide an automatic grindstone exchange device capable of automatically replacing a grindstone of a grinding device for automatically grinding a narrow part by approaching the grinding device by oneself without pulling out the grinding device from a grinding work position.

[Summary of the invention]

The present invention is an automatic grindstone exchange device that automatically replaces and mounts a holder with a grindstone (Fig. 4), in which a grindstone is attached to the tip and a held part is formed in the rear part, to the spindle of a grinding device, and is movable. A freely arranged arm, a clamp part that grips the pulled whetstone, and a rotating clamp part that rotates the clamp part to attach and detach it. The device is characterized by comprising a mechanism and arm movement control means.

According to the device according to the present invention, the tip of the arm of the automatic grindstone exchange device moves to a position facing the spindle tip of the grinding device, grips the grindstone by the clamp, and rotates the holder with the grindstone by the clamp rotation mechanism. , the new grindstone can be removed from the spindle of the grinding device by unclamping the holder with the grindstone from the spindle and then pulling it out, and the grindstone can be attached to the spindle by the reverse operation.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 2 and 3 are diagrams showing an embodiment of an automatic grindstone exchange device according to the present invention. In FIG. 2, reference numeral 11 denotes an arm, which has an elongated cylindrical shape so that it can be inserted into a narrow part. A cylindrical body 12 is rotatably inserted and held at the tip of the arm 11, and a holding plate 13 is fixed to the tip of the cylindrical body 12 perpendicularly to the axis of rotation of the cylindrical body 12. On the front side of the holding plate 13 (the side opposite to the arm 11),
i pairs of clamp parts 14 are arranged at symmetrical positions with respect to the rotation axis. This clamp part 14 includes a cylindrical body 1'5 having a flange part 15a formed at its tip, and a plurality of chuck segments l-16 disposed in the circumferential direction within the cylindrical body 15.
8, 16b.

The segments 16a, 16b are as shown in FIG.
It is formed and arranged in a circular shape so that its inner periphery contacts the outer periphery of the grindstone, and among these plurality of segments, some segments 16a that are equally arranged are movable in the radial inward direction. This segment 16a is driven by an air cylinder l [17
This is done by Further, the remaining segments 16b are fixed inside the cylindrical body 15. The cylindrical body 15 is the bearing 1
8, it is rotatably supported by the holding plate 13. The rotation of the cylindrical body 15 is controlled by a pinion 21 fitted to the rotating shaft of a motor 19 fixed to the holding plate 13.
This is carried out by the rotation IIm of the clamp portion which is meshed with an internal gear 22 fixed to the inner circumferential wall of the cylindrical body 15. A light receiving source, for example, a light receiving cable 23 is attached to the flange portion 15a of the cylindrical body 15, and receives light from a light emitting source provided on the tip surface of a spindle of a grinding device, which will be described later. This makes it possible to perform positioning control.

An internal gear 24 is fixed to the inner peripheral wall of the cylinder 12, and the arm 1
It meshes with a pinion 26 fitted to the output shaft of a motor 25 fixedly installed inside the motor 1. In addition, the holding plate 13
A pair of light receiving elements 27 are attached to the front side of the arm 11 for temporarily aligning the tip of the arm 11 with respect to the spindle of the grinding device. This light receiving element 27 is provided at a position equidistant 11t (r ) from the centers of the pair of clamp parts 14 .

FIG. 4 is a perspective view showing an example of a grindstone and a grindstone holder that are replaced by the automatic grindstone exchange device according to the present invention.

The whetstone holder 31 includes a cylindrical portion 31a and a tapered portion 31b, and the whetstone 20 is attached to the cylindrical portion 31a. Furthermore, a pair of lock keys 32 are fixed to the outer peripheral surface of the cylindrical portion 31a in parallel to the axis of the grindstone holder 31.

5 and 6 are enlarged cross-sectional views of the spindle tip of a grinding device in which automatic grindstone replacement work is performed using the automatic grindstone changer according to the present invention.

A conical bot 42 into which the tapered part 31b of the whetstone holder 31 is fitted is formed at the center of the tip of the spindle 41, and at symmetrical positions with the bot 42 in between.
A pair of key grooves 43 are formed. The lock key 32 fixed to the grindstone holder 31 can be inserted into the key groove 43. Detection switches 44a and 44b are formed in a crank shape like the lock key 32, and detect the insertion of the lock key 32 inside. is installed. Further, within the spindle 41, an air piston 45 for fixing the lock key 32 is disposed so as to be movable forward and backward within the keyway 43. As shown in FIG. 6, a light emitting light [46] for positioning with the clamp part 14 of the automatic grindstone exchanger is provided on the tip end surface of the spindle 41. A pair of light emitting sources 46 are provided at symmetrical positions with respect to the center of the spindle 41, and the distance between them is between the pair of light receiving elements 23 provided on the clamp portion 14.
The interval is the same as that of

Next, the operation of this embodiment having such a configuration will be explained.

When the grinding operation by the grinding device is performed for a predetermined period of time and the wear of the grinding wheel approaches its limit, the automatic grinding wheel exchange device extends its arm, advances to the vicinity of the stop position of the grinding device, and waits for the grinding device to stop. When the grinding device stops, the arm further extends and stops with the spindle 41 of the grinding device, the automatic grindstone exchange device, and the clamp portion 14 facing each other. in this case,
To position the automatic grindstone changer, first move the automatic grindstone changer in a relatively fast motion from the arm angle of the grinding device to the vicinity of the geometrically aligned spindle 41, and then correct the remaining error. In order to do this, the arm 11 is slightly moved so that the light (preferably laser light) emitted from the light emitting source 46 on the front end surface of the spindle 41 can be made to accurately enter the light receiving element 27 on the front side of the holding plate 13. Next, the arm 11 is moved a distance 11t (r )" in the vertical direction of the straight line connecting the pair of light receiving elements 27. Then, the motor 19 fixed to the holding plate '13 rotates the cylindrical body 15, and the light receiving element 23 moves toward the light emitting source 46. The clamp part 14 is aligned so that it can accurately receive the light from the grinding device.As a result, the automatic grindstone changing device is set at the grindstone changing position with respect to the spindle of the (il+ grinding device).

FIG. 7 is a perspective view showing a state in which a grindstone is exchanged with a grinding device using the automatic grindstone exchange device according to this embodiment.

After setting the automatic grindstone exchange device to the exchange position as described above, the arm 11 is moved forward and the clamp portion 14 is inserted to the outer periphery of the grindstone 20 attached to the spindle 41. Together with this arm forward motion command signal or arm stop command signal, a energizing release signal for the near piston 45 in the spindle 41 is issued, and the clamping of the lock key 32 by the air piston 45 is released. Subsequently, the air cylinder mechanism 17 in the automatic grindstone exchange device is operated to move the segments 16a in the radial direction to replace the grindstone 2.
Clamp 0. When the motor 19 is driven and the cylindrical body 15 is rotated by a predetermined amount with the grindstone 20 clamped,
The lock key 32 moves to a position where the key groove 43 can be pulled out (the state shown by the dashed line in FIG. 6). Next, arm 1
1, the spindle 41 is moved back with the grindstone 20 and the grindstone holder 31 being clamped to the clamp part 14.
be extracted from.

Next, the motor 25 is driven to move the holding plates 1 to 13 to 1.
Rotate 80 degrees and set the new grindstone holder, which has been previously clamped to the other clamp part 14, in a position facing the spindle 41. At this time, light from the light emitting source 46 of the spindle 41 is made to enter the light receiving element 23 of the clamp section 14 to achieve accurate positioning. Next, move the arm 11 forward, and the tapered part 31 of the grindstone holder 31
b into the bot 42 of the spindle 41, and the lock key 32 is inserted into the key groove 43. The lock key 32 is inserted until the end surface of the lock key 32 comes into contact with the switch 44a provided in the key groove 43,
When it comes into contact with the switch 44a, the forward movement of the arm 11 is stopped, and the motor 19 is driven to rotate the cylindrical body 15 once.

As a result, the lock key 32 moves in the direction indicated by the arrow in FIG.
is engaged. [When the end face of the key 32 comes into contact with the switch 44b, the rotation of the cylindrical body 15 is stopped and the air piston 45 is moved forward into the keyway 43.

As a result, the lock key 32 is clamped, and the operation of attaching the grindstone holder 3"1 to the spindle 41 is completed. Subsequently, the air cylinder mechanism 17 is activated, and the clamp part 14
The grinding wheel 20 is moved radially outward.
Release the clamp state. Thereafter, it is decided to move the arm 11 backward, and the grindstone replacement work is completed.

The grinding device that has been replaced with a new grindstone in this way can again continue the grinding operation after the interruption. At this time, the movement of the grinding device to the surface to be ground is only a small distance, and therefore the time from lil+to start of grinding C can be significantly shortened, and grinding position alignment is easy.

The series of operations described above can be performed using general sequence control techniques. FIG. 8 is a flowchart showing the operation of this embodiment described above.

In this embodiment, an example is shown in which two grindstone clamp parts 14 are provided, but the number of clamp parts may be a single one or a plurality of three or more clamp parts.

Further, the present invention can be applied as a tool exchange device that automatically exchanges a tool holder equipped with a cutting tool instead of a grindstone. Further, this embodiment can be used not only for a normal machine tool but also for a grinding device attached to a robot arm.

〔Effect of the invention〕

As explained above, according to the present invention, a self-grinding device that grinds a narrow part such as the center of a runner of a 7 Rancis water turbine or a pump water turbine can be cleaned without removing the grinding device from the grinding position. The grindstone can be automatically replaced at the Y-ill intermediate position.

This shortens the time required to replace the grindstone, and makes positioning extremely easy when starting grinding.

Further, since the grindstone can be replaced without moving the grinding device, it is possible to prevent the grinding surface from shifting before and after the grindstone is replaced, and it is possible to improve grinding accuracy.

[Brief explanation of drawings]

Fig. 1 is an external perspective view showing an example of conventional 1il) cutting work, Fig. 2 is a sectional view showing an embodiment of the automatic grindstone exchange device according to the present invention, and Fig. 3 is a front view showing the configuration of the clamp section. ,
Figure 4 is a perspective view showing an example of a holder with a grinding wheel, Figure 5 is a front view of the spindle end of the grinding device, and Figure 6 is A of Figure 5.
A' cross-sectional view, Fig. 7 is a perspective view showing the grinding wheel replacement state, Fig. 8
The figure is a flowchart showing the steps of the grindstone exchange operation of the present invention. 11... Arm, 13... Holding plate, 14...
・Clamp part, 15...Cylindrical body, 16a, 16b...
・Legment, 17... Air cylinder mechanism, 20...
・Whetstone, 23. 27... Light receiving element, 31... Grinding wheel holder, 32... Lock key, 41... Spindle,
43...Keyway. Vines Garden Figure 2 Figure 3 Figure 4

Claims (1)

[Scope of Claims] 1. In an automatic grindstone exchange device that automatically replaces and mounts a holder with a grindstone, in which a grindstone is attached to the tip and a held part is formed in the rear part, to a spindle of a grinding device, the above-mentioned The device includes a movably disposed arm, a clamp section attached to the tip of the arm and gripping a grindstone attached to the tip of a holder with a grindstone, and a mechanism for attaching and detaching the clamp section. An automatic grindstone exchange device comprising: means for controlling movement of the arm. 2. The automatic grindstone exchange device according to claim 1, wherein a plurality of clamp parts are arranged at the tip of the arm at positions symmetrical with respect to the axis of the arm. 3. The automatic grindstone changing device according to claim 1, wherein the arm movement control means includes a position confirmation optical detection means.