JPS6368362A - Automatic replacing device for tool - Google Patents

Abstract

PURPOSE:To automatically replace a cylindrical polishing member by installing a drum onto the cylindrical polishing member positioned at the taking-out part of a feeding stocker and fitting the basic edge part of the drum into the cut part of a demounting member and shifting the edge part of the drum in the axial direction. CONSTITUTION:A drum 1 is inserted into a cylindrical polishing member 2 positioned at the taking-out part 13 of a feeding stocker 12, leaving the basic edge part, by a robot, etc. and mounted, and then the prescribed grinding work is started. When replacement becomes necessary because of ehxaustion, the basic edge part of the drum 1 is fitted into the cut part 26 of a demounting member 21 in a recovery station 20, and then the edge surface of the cylindrical polishing member 2 is attached onto the demounting member 21 by shifting the edge part of the drum 1 to the basic edge part side in the axial direction, and then the cylindrical polishing member 2 is demounted from the drum 1. Then, the drum 1 is shifted to the taking-out part 13, and a new cylindrical polishing member 2 is installed. Thus, only the cylindrical polishing member can be replaced automatically, and the working efficiency can be improved.

Description

[Detailed Description of the Invention] (Industrial Application Field) This invention relates to an automatic tool changing device,
In particular, the present invention relates to an automatic tool changing device suitable for chamfering, deburring, etc. of synthetic resin molded products.

(Prior Art) As a specific example of an apparatus for deburring a synthetic resin molded article, there is, for example, an apparatus described in Japanese Patent Application Laid-Open No. 60-238260. In this device, as shown in FIG. 6, a rotary cutting tool 53 such as an end mill is rotatably attached to a tool support frame 52 of a drive arm 51. The drive arm 51 is configured to move along a predetermined trajectory, and the workpiece 5
4 at a predetermined position and driving the drive arm 51 along the trajectory and rotating the tool 53, unnecessary protrusions on the surface 55 of the workpiece 54 to be cut are removed. It is being done as it is.

In the above-described apparatus, a rotary cutting tool such as an end mill is used as the tool. At this time, if there is a shape error in the workpiece 54, the cut surface 55 and the rotary tool 53 do not have a predetermined distance relationship, and if they are too close to each other, the cut into the product body may occur. If this occurs, or if they are too far apart, residual cutting will occur and protrusions will remain on the product surface. Therefore, in the above-mentioned apparatus, a correction mechanism including a pair of springs 56 and 57 is further provided on the tool support frame 52 in order to prevent a decrease in finishing accuracy due to the above-mentioned shape error.

On the other hand, when a grinding tool such as a grindstone is used as a rotary tool, the machined surface becomes a gently curved surface, and therefore, by feeding it under pressure along the surface where pars occur, the surface to be cut 55 as described above is Without the need for a mechanism that accurately corrects the distance relationship between the rotary tool 53 and the rotary tool 53, debris can be surely removed, and the product body can be finished with a good surface finish without leaving any spiral traces. However, since grinding tools such as the above-mentioned grindstones gradually wear out with the amount of processing, it is necessary to replace the tools. Therefore, Fig. 7 shows JP-A-61-44547.
This figure shows an automatic exchanging device for such a consumable tool as disclosed in the above publication. This device uses a rotary tool 60 such as a grindstone when moving up and down a gripping device 60 whose position and rotation are controlled by a drive device such as a robot on a tool stand 61.
The shaft 63 of the handle can be automatically gripped and released. For this purpose, a collet chuck 66 having an outer diameter smaller than the diameter of the through hole 64,65 bored in the tool stand 61, and a collet chuck 66 disposed on the outer periphery thereof,
The gripping device 60 is provided with an adapter 67 having an outer diameter larger than the diameter of the through hole 64.65,
7 is fitted into the collet chuck 66 at its tapered end, and is biased toward the end by a lever spring 68.

(Problems to be Solved by the Invention) By the way, in the above-mentioned grinding tool made of a grindstone, etc.,
Although only the surface layer changes,
When replacing the shaft, it is necessary to replace the entire shaft including the shaft, which poses a problem of high cost. Therefore, recently, as shown in FIG. 8, a rotary grinding tool that is divided into a base portion having a gripping shaft and a member having a polishing surface has been put into practical use. That is, as shown in the figure, it is composed of a cylindrical polishing member 80 having abrasive grains attached to the outer peripheral surface of a cylindrical base material, and a drum 81 that is inserted into this cylindrical polishing member 80 and grips the inner circumference of the cylindrical polishing member 80. It is the perfect tool to be used. When using such a divided tool, the grinding work can be continued by simply replacing the cylindrical grinding parts t and t80, which greatly improves economic efficiency. However, replacing the grinding tool with the split structure described above has been done manually, and when it is attached to the robot described above to perform grinding work such as deburring, it is difficult to completely replace the grinding tool. In addition, it was necessary to stop the apparatus each time the tool was replaced, and sufficient work efficiency could not be achieved.

This invention has been made in view of the above-mentioned points, and its purpose is to automatically replace the installation and removal of the cylindrical abrasive member as described above, and for this purpose, a robot etc. using the above-mentioned tool can be used. An object of the present invention is to provide an automatic tool changing device that can improve the efficiency of machining operations.

(Means for Solving the Problems) Therefore, the automatic tool changing device of the present invention is positionally and rotationally controlled by a drive device such as a robot, and
An automatic tool changing device for mounting and removing a cylindrical polishing member 2 held on the inner periphery of a drum 1 made of an elastic material so as to have a variable outer diameter, the tool comprising: The members 2 are arranged parallel to each other, and the take-out part 1
3, and a removal member 2 having a notch 26 having a width smaller than the outer diameter of the cylindrical abrasive member 2 and larger than the variable minimum diameter of the drum 1.
1 is disposed, and the drum 1 is inserted into the cylindrical polishing member 2 located in the take-out section 13 with the proximal end remaining. 2, while the above drum 1
By fitting the base end portion where the cylindrical polishing member 2 is not located into the notch 26, and then moving the drum 1 toward the base end side in the axial direction, the cylindrical polishing member is removed from the drum 1. 2 is configured to be removed.

(Function) In the automatic tool changing device configured as described above, the cylindrical polishing member 2 is attached to the drum 1 by inserting the drum 1 into the cylindrical polishing member 2 located at the take-out portion 13 of the supply stocker 12. do.

At this time, the drum 1 is inserted into the cylindrical polishing member 2 with the base end left intact. The above-mentioned cylindrical polishing member 2 needs to be replaced after performing a prescribed grinding process.
When removing, first remove the proximal end with the removal member 21.
into the notch 26 of. Next, the drum 1 is moved toward the base end in the axial direction. Here, since the width of the notch 26 is smaller than the outer diameter of the cylindrical polishing member 2, when the drum 1 is moved toward the proximal end, the end surface of the cylindrical polishing member 2 is attached to the removal member. 21, and the axial movement of this cylindrical polishing member 2 is prevented.

Therefore, only the drum 1 moves in the axial direction, and the cylindrical polishing member 2 is removed from the drum 1. Thereafter, by moving to the above-described mounting operation, a new cylindrical polishing member 2 is mounted, and by repeating the above-described mounting and removal, it becomes possible to automatically exchange the tool. .

(Embodiments) Next, specific embodiments of the present invention will be described in detail with reference to the drawings.

First, based on FIGS. 4 and 5, the drum 1 and the cylindrical gf used in the automatic tool changing device of the present invention will be explained.
The polishing member 2 will be explained. A shaft 3, which is gripped by a gripping device such as a robot, is inserted and bonded to the drum 1 at an axial center position on one end thereof. The drum l is formed into a substantially cylindrical shape from an elastic material such as nitrile rubber, and a substantially U-shaped groove 4 is formed around the entire circumference of the drum l, as shown in the cross-sectional view of FIG. A large number of projecting pieces 5 are formed parallel to the axis, and spaced apart from each other in the circumferential direction by these grooves 4. Each of the projecting pieces 5 is configured such that its distal end side can swing around its base end. Each of the protrusions 5 is formed in a direction having an inclination angle θ with respect to the straight line l passing through the axis of the drum 1. Therefore, when the drum 1 is rotated, centrifugal force is applied to each of the protrusions 5. In such a case, each protrusion 5 rises in the direction in which the above-mentioned inclination angle becomes smaller, and the outer diameter of the drum 1 given by the outer peripheral surface of each protrusion 5 increases. On the other hand, when the drum 1 is inserted into a cylindrical body having an inner diameter smaller than the outer diameter of the drum 1, the outer diameter shrinks and deforms according to the inner diameter, so that it comes into contact with the inner peripheral surface of the cylindrical body. state. At this time, the inner periphery gripping force is applied by the rubber elastic restoring force of each of the protrusions 5. When rotating this, the centrifugal force acting on each protrusion 5 as described above causes a stronger inner circumferential gripping force to act.

The cylindrical polishing member 2 serving as a grinding tool is formed as a cylindrical body that can be gripped on the inner circumference by the drum 1, as described above. Abrasive grains are attached to its outer peripheral surface. The axial length of the cylindrical polishing member 2 is smaller than the length of the drum 1, as shown in FIG. Sometimes, an area not covered by the cylindrical polishing member 2 remains on the base end side of the drum 1.

Furthermore, the tip of the drum 1 is formed into a tapered shape to facilitate insertion into the cylindrical polishing member 2.

1 to 3 show an embodiment of the automatic tool changing device of the present invention. In FIG. 1, reference numeral 10 denotes an apparatus main body, and a supply rack part 12 for accommodating a plurality of cylindrical polishing members 2 stacked in parallel with each other stands on the side of the upper frame 11 of this apparatus main body 10. It is set up. At the lower end of this supply strike and force part 12, there is a take-out part 13 for the cylindrical polishing member 2, which is notched from the front side to the left side in the figure.
is provided. The cylindrical polishing member 2 located in this take-out part 13, that is, the cylindrical polishing member 2 located at the lowest part in the supply stocker part 12, is connected to the positioning support member 1.
The lower periphery is supported by 4.15. Note that a long hole 16 is formed in the side of the supply stocker section 12, so that the storage state within the supply stocker section 12 can be confirmed.

On the other hand, approximately in the center of the front door 17 of the main body 10 is a long
is drilled. A collection station 20 is provided within the main body 10 of the apparatus facing this long diameter 18.

A removal member 21 made of a flat plate material is arranged in the collection station 20, and this removal member 21 is
At its upper position, it is pivotally supported by a support shaft 23 on a support frame 22 fixed to the upper frame 11 of the main body 10 of the apparatus. The support shaft 23 is provided with a protrusion 24 at one location on its outer periphery, and the support shaft 24 of the support frame 22
3 is inserted into the hole at a position corresponding to the projection 24,
A recess slightly larger than the width of the protrusion 24 is formed. Therefore, the removal member 21 can be rotated slightly around the support shaft 23 within the range in which the projections 24 abut the end faces of the recesses in the rotational direction. The reason for this will be explained later.

A notch 26 that opens to the left in the figure is formed at the lower side of the removal member 21. The vertical width of the notch 26 is slightly smaller than the inner diameter of the cylindrical polishing member 2 described above. Further, the horizontal depth of the notch 26 is set to exceed the diameter of the cylindrical polishing member 2. The shape of the elongated portion 18 includes the entire notch 26, and the cylindrical polishing member 2 attached to the drum 1 can be freely attached to the drum 1 from the front of the front door 17 at the left side of the notch 26 in the figure. The size and shape are such that it can be inserted into the main body 10.

On the other hand, on the upper frame 11 of the apparatus main body 10, a check mechanism section 30 is further provided for checking whether or not the cylindrical polishing member 2 is attached to the drum 1. This check mechanism section 30 includes an outer frame 34 consisting of a base plate 31 fixed on the upper frame 11 and side plates 32 and 33 respectively erected at the left and right ends of the base plate 31 in the figure; It is comprised of a substantially U-shaped inner frame 35 that is slidably disposed on a base plate 31. Inner frame 3 above
Reference numeral 5 is composed of a bottom plate 36 that slides on the base plate 31, and inner walls 37 and 38 that are respectively erected at the left and right ends of the bottom plate 36 in the figure, and the upper part of the left inner wall 37 is A microswitch 39 is attached to the position. On the other hand, the main body of an air cylinder 40 is attached to the right side surface of the right inner wall 38, and the piston rod 41 of the air cylinder 40 extends along the right inner wall 38 toward the left inner wall 37. An abutment plate 42 is fixed to the tip. By operating the air cylinder 40, the abutment plate 42 can reciprocate horizontally between the inner walls 37, 38. The micro switch 39 is 0N10 as follows.
Adjusted to operate as FF. That is, while the abutting plate 42 moves forward to the position where the drum 1 with the cylindrical polishing member 2 mounted thereon is sandwiched between the drum 1 and the left inner wall 37, the microswitch 39 continues to be OFF.
On the other hand, when the abutment plate 42 advances further a distance corresponding to the decrease in the wall thickness of the cylindrical polishing member 2 from the above point to a position where it sandwiches the drum 1 on which the cylindrical polishing member 2 is not attached, the micro The operating lever 43 of the switch 39 comes into contact with the abutment plate 42 and is turned ON. Note that the pressing force from the air cylinder 40 causes the cylindrical polishing member 2 attached to the drum 1 to
When the drum 1 is sandwiched between the left inner wall 37 and the contact plate 42, the cylindrical polishing member 2 is stopped without being further deformed.On the other hand, when only the drum 1 is sandwiched, the drum 1 protrudes. It is adjusted so that the piece 5 is stopped with some deformation.

Further, springs 44.45 are arranged between each inner wall 37.38 of the inner frame 35 and each side plate 32.33 of the outer frame 34. These springs 44, 45 maintain the position of the inner frame 35 relative to the outer frame 34 at approximately the same position when not in operation.

Next, the operating state of the above device will be explained. First, in order to attach the cylindrical polishing member 2 to the drum 1, the drum 1 with the shaft 3 gripped is fed to a gripping mechanism whose position and rotation are controlled by a drive device such as a robot, as shown in FIG. It is located at a position a substantially coaxial with the cylindrical polishing member 2 located at the lowermost take-out portion 13 of the stocker portion 12 . Next, it moves into the take-out part 13 in the axial direction. In this process, the tip of the drum 1 is first inserted into the inner peripheral hole of the cylindrical polishing member 2.
The tip of the drum 1 is tapered, so even if the axes of the drum 1 and the cylindrical polishing member 2 are slightly misaligned, the tip of the drum 1 can be inserted into the cylindrical polishing member 2. It can be inserted reliably. As the drum 1 is further moved, the cylindrical polishing member 2 comes into contact with the back plate of the supply stocker section 12 and is prevented from moving toward the back side. The cylindrical polishing member 2 is inserted into the cylindrical polishing member 2 while being contracted along the inner diameter of the polishing member 2. Next, the axial movement of the drum 1 is stopped, and as shown in FIG. The mounting operation of the cylindrical abrasive member 2 on the drum 1 is completed by raising the cylindrical abrasive member 2 attached to the drum 1 to a position where the lower end of the outer periphery is almost reached, and then removing it from the supply stocker section 12 to the left side. do.

At this time, the cylindrical polishing member 2 is in a state where the inner circumference is gripped by the restoring force of the rubber elasticity of the drum 1, and as described above, the length of the drum 1 is longer than the length of the cylindrical polishing member 2. Therefore, the base end side of the drum 1 is
It is in a state where it is not covered by the cylindrical polishing member 2. Furthermore, by removing the cylindrical abrasive member 2 at the lowest position in the above operation, the other cylindrical abrasive members 2 arranged above it fall due to their own weight, and the cylindrical abrasive member 2 at the lowest position is fixed. It will be newly located on the support member 14. Note that the drum 1 is attached to the cylindrical polishing member 2.
The detachment operation after insertion can also be an operation of pulling out the drum 1 in the opposite direction to the insertion direction.

After the above-mentioned mounting operation is completed, it is possible to shift to a predetermined grinding operation, but the shift to the above-mentioned grinding operation is performed after the operation of checking whether or not the cylindrical polishing member 2 is attached in the check mechanism section 30 described above. It is also possible to do so. Therefore, the operating state of the check mechanism section 30 will be explained next.

In the above checking operation, first check the drum 1
In the figure, the left inner wall 3 of the inner frame 35 of the check mechanism section 30
7 and the contact plate 42. At this time, the inner frame 35
are located in a predetermined neutral position by springs 44, 45, and the abutment plate 42 is located in a retracted position. Then, the air cylinder 40 is operated to move the contact plate 42 forward. In this process, the abutting plate 42 first comes into contact with the drum 1, and when the abutting plate 42 is to be moved forward, the entire inner frame 35 moves in the opposite direction to the advancing direction of the abutting plate 42. Start moving. When the left inner wall 37 also comes into contact with the drum 1, the microswitch 39 operates as described above depending on the stop position of the contact plate 42.
Depending on the state, the presence or absence of the cylindrical polishing member 2 on the drum 1 is determined.

Next, as the grinding process is performed, it wears out.
Drum 1 of cylindrical polishing member 2 that needs to be replaced
The removal operation will be explained below. First, as shown in FIG. 2(b), the drum 1 is placed in a position facing the elongated part 18 provided on the front door 17 of the main body 10 of the apparatus. This position is on the left side of the long shaft 18 as shown in FIG. 1, and the drum 1 is inserted into the apparatus main body 10 through the long shaft 18 there. As shown in the perspective view of FIG. When the portion not covered by the shaped polishing member 2 comes to lie on the same plane as the removal member 21, the insertion movement is stopped. Next, the drum 1 is moved horizontally and laterally in order to fit into the notch 26 of the removal member 21. At this time, the removal member 21 is adapted to be able to rotate slightly as described above. Therefore, even if there is a deviation in the height direction between the center of the drum 1 and the center of the notch 26, the removal member 21 remains in contact with the drum 1 within its rotatable range. The fitting can be rotated appropriately depending on the situation, and the above-mentioned fitting operation can be performed more reliably. After completing the above-mentioned insertion operation, next the device main body 1
A moving operation is performed to pull out the drum 1 in the opposite direction to the direction of insertion and movement into the drum 1. At this time, since the vertical width of the notch 26 is smaller than the inner diameter of the cylindrical polishing member 2, the cylindrical polishing member 2 attached to the drum 1 is
The upper and lower sides of 6 abut against the removal member 21, and movement toward the front side of this removal member 21 is prevented. therefore,
Only the drum 1 is pulled out from the apparatus main body 1, and the cylindrical polishing member 2 remains inside the apparatus main body 10, and when it is removed from the drum 1, it falls due to its own weight. Device body 10
As shown in FIG. 2, a collection box 49 having an inclined plate 48 is installed inside the cylindrical polishing member 2.
will be stored in the collection box 49 as a fixed number.

The drum 1 from which the cylindrical polishing member 2 has been removed in the above-mentioned removal operation is moved to the above-described mounting operation, whereby a new cylindrical polishing member 2 is attached, and the grinding work can then be continued. Also, after the above removal operation,
In order to confirm the operation, the check mechanism 30 described above may confirm that the cylindrical polishing member 2 is not attached to the drum 1, and then proceed to the attachment operation.

By attaching and detaching the cylindrical polishing member 2 to and from the drum 1 in the same manner as described above, continuous machining operations can be performed.

As described above, in the above-mentioned apparatus, only the parts with grinding surfaces can be automatically replaced in processing equipment using robots, etc., and therefore the processing work using consumable tools as mentioned above can be automated. , it becomes possible to improve its efficiency. Furthermore, by introducing a tool with a split configuration as described above, it is possible to reduce the cost of machining work. Furthermore, the above device can be installed and removed with a simple configuration by utilizing the shapes and structures of the split tools, and therefore can be manufactured at low cost, is easy to handle, and has fewer parts that fail.

Although one embodiment of the automatic tool changing device of the present invention has been described above, the present invention is not limited to the above embodiment, and can be implemented with various modifications. For example, in the above description, the supply stocker section 12 has been shown to fall under its own weight, but in order to further increase the number of supplies stored, it may be configured to have an appropriate feeding mechanism to horizontally transport and supply supplies. Further, the drum 1 can be inserted into a cylindrical member and can then grip the cylindrical member on its inner circumference.
In particular, it is not necessary to have a shape in which a groove is formed on the outer periphery. The vertical width of the notch 26 provided in the removal member 21 is such that the drum 1 can be inserted from the opening side, and the cylindrical polishing member 2 can be moved when the drum 1 is pulled out at right angles to the notch. It is sufficient that the removal member 21 prevents the removal member 21. Therefore, the vertical width can be set to any desired width as long as it is smaller than the outer diameter of the cylindrical polishing member 2 and larger than the minimum variable diameter of the drum 1. . Furthermore, although the above example is for deburring synthetic resin products, it can also be used for deburring products made of other materials, chamfering, rust removal from iron products, aluminum products, and other finishes. It can be applied to processing equipment in grinding operations such as processing.

(Effects of the Invention) The automatic tool changing device of the present invention is configured as described above, and therefore, according to the device of the present invention, in a processing device using a robot or the like, a cylinder having a grinding surface of a grinding tool can be replaced. Only the abrasive member can be automatically replaced. Therefore, as shown above, Figure 1, Figure 2, Figure 6, Figure 8, 801:51, Figure 7.

Claims (1)

[Claims] 1. A cylindrical polishing member (2) is gripped on the inner circumference by a drum (1) made of an elastic material whose position and rotation are controlled by a drive device such as a robot and whose outer diameter is variable. This is an automatic tool exchange device for installing and removing tools, and the supply stocker part (12) includes a plurality of cylindrical polishing members (2) arranged in parallel with each other and sequentially supplied to a take-out part (13). and the cylindrical polishing member (2).
a removal member (26) having a width smaller than the outer diameter of the drum (1) and larger than the variable minimum diameter of the drum (1);
1) and a collection station (20) where
The cylindrical polishing member (2) located in the take-out part (13)
), the cylindrical polishing member (2) is inserted into the drum (1) with the base end remaining intact.
, and on the other hand, the proximal end of the drum (1), where the cylindrical polishing member (2) is not located, is attached to the notch (26).
the drum (1) on the base end side in the axial direction.
An automatic tool changing device characterized in that the tool is configured to remove the cylindrical polishing member (2) from the drum (1) by moving the drum.