CN-115151377-B - Processing system, processing unit replacement device, processing unit determination device, and method for replacing processing unit of polishing machine using processing system

Abstract

At least a portion of the grinding wheel replacement operation is automated. The processing system includes a grinder to which a processing unit for processing a surface of an object to be processed is detachably attached, a robot to which the grinder is attached and configured to press the processing unit attached to the grinder against the object to be processed, a processing unit replacement device for replacing the processing unit of the grinder, and a control device for controlling operations of the grinder and the robot. The polishing machine has a rotary shaft having a screw groove on the outer peripheral surface and screw-engaged with the processing section, a drive device capable of rotating the rotary shaft in the forward and reverse directions, and a fixing mechanism for fixing the rotary shaft. The processing unit replacement device has a hand-shaped member configured to be detached from a processing unit attached to the grinder in cooperation with a robot.

Inventors

• Enta Ken
• Sakai Zhizai
• YAMAKAWA TAKASHI
• UCHIMURA TOMOYUKI
• Keisuke Hibino

Assignees

• 株式会社荏原制作所

Dates

Publication Date

20260508

Application Date

20201007

Priority Date

20200319

Claims (18)

1. 1. A processing system, having: A grinder to which a processing unit for processing the surface of the object to be processed is detachably attached; A robot arm to which the grinder is attached, the robot arm being configured to press the processing section attached to the grinder against the processing target; a treatment section replacement device for replacing the treatment section of the grinder, and A control device for controlling the motions of the grinder and the manipulator, The grinder comprises a rotary shaft having a thread groove on the outer peripheral surface and engaged with the nut thread provided on the processing unit, a driving device capable of rotating the rotary shaft in the forward and reverse directions, and a fixing mechanism for fixing the rotary shaft, The processing unit replacement device has a hand-shaped member configured to be detached from the processing unit mounted on the grinder in cooperation with the robot, The manipulator rotates the nut of the processing unit in a loosening direction while the movement of the processing unit in the rotation direction is restricted by the hand-shaped member.
2. 2. The processing system of claim 1, wherein, The grinder has: A drive shaft of the drive device, and A rotation transmission mechanism that transmits rotation of the drive shaft to the rotation shaft, The fixing mechanism includes a locking mechanism that fixes rotation of the drive shaft.
3. 3. The processing system of claim 1, wherein, The hand-shaped member is configured to restrict movement of the processing portion mounted on the rotation shaft of the grinder in a rotation direction.
4. 4. The processing system of claim 1, wherein, The processing unit replacement device includes: A storage configured to store the processing unit for replacement, and And a replacement table having a replacement position at which the treatment unit for replacement is disposed when the treatment unit is attached to the rotating shaft of the grinder.
5. 5. The processing system of claim 4, wherein, The processing unit replacement device includes: A1 st magnet which is detachable with respect to the rotation shaft of the grinder, and A shutter for detaching the processing unit for replacement attached to the 1 st magnet from the 1 st magnet, The exchange table has: a support surface inclined with respect to the vertical direction and the horizontal direction; a loading port into which the processing unit for replacement is loaded; A guide rail for guiding the treatment part for replacement placed in the placement port to the replacement position along the support surface, and And a stopper for stopping the processing unit for replacement guided by the guide rail at the replacement position.
6. 6. The processing system of claim 1, wherein, The treatment part replacing device is provided with a treatment part setting table, wherein the treatment part setting table is provided with an upper surface and a lower surface, And a 2 nd magnet for adsorbing the treatment part is arranged on the lower surface.
7. 7. The processing system of claim 1, wherein, The processing unit replacement device has a1 st sensor configured to detect whether the processing unit is attached to the grinder.
8. 8. The processing system of claim 1, wherein, The processing unit replacement device includes a replenishment state transmitter configured to transmit a signal indicating that the processing unit is replenished to the processing unit replacement device to the control device.
9. 9. The processing system of claim 1, wherein, Has a processing unit judging device for judging whether the processing unit needs to be replaced, The processing unit judgment device includes: an imaging device for acquiring image data of a processing surface of the processing unit, and A control part for judging whether the processing part needs to be replaced, The control unit includes: a transmitting unit that transmits the image data acquired by the imaging device to an analyzing device; A receiving unit for receiving the analysis result of the image data from the analysis device, and And a judging unit configured to judge whether or not the processing unit needs to be replaced based on the analysis result received by the receiving unit.
10. 10. The processing system of claim 9, wherein, The processing unit judgment device includes: A housing having an opening for inputting the treatment section mounted on the rotating shaft of the grinder into the interior, and An illumination unit disposed in the housing for illuminating the processing unit located inside the housing, The shooting device is arranged in the shell.
11. 11. The processing system of claim 1, wherein, Having a mill changing device for changing the mill, The grinder replacing device has: a1 st position, which sets the grinder installed at the robot; a2 nd position where the grinder for replacement to be attached to the robot arm is provided, and And a cover for covering the connection portions of the grinder with the robot arm, which are respectively provided at the 1 st position and the 2 nd position.
12. 12. The processing system of claim 11, wherein, The mill changing device has a2 nd sensor that detects the presence or absence of the mill at the 1 st position or the 2 nd position.
13. 13. A processing system, having: A grinder to which a processing unit for processing the surface of the object to be processed is detachably attached; A robot arm to which the grinder is attached, the robot arm being configured to press the processing section attached to the grinder against the processing target; a processing unit determination device that determines whether the processing unit needs to be replaced; A control device for controlling the motions of the grinder and the manipulator, and A hand-shaped member configured to be coupled to the manipulator to detach the processing unit attached to the grinder, The manipulator rotates the nut of the processing unit in a loosening direction in a state in which the movement of the processing unit in the rotation direction is restricted by the hand-shaped member, The processing unit judgment device includes: an imaging device for acquiring image data of a processing surface of the processing unit, and A control part for judging whether the processing part needs to be replaced, The control unit includes: a transmitting unit that transmits the image data acquired by the imaging device to an analyzing device; A receiving unit for receiving the analysis result of the image data from the analysis device, and And a judging unit configured to judge whether or not the processing unit needs to be replaced based on the analysis result received by the receiving unit.
14. 14. The processing system of claim 13, wherein, The processing unit judgment device includes: A housing having an opening for putting the treatment section mounted to the grinder into the interior, and An illumination unit disposed in the housing for illuminating the processing unit located inside the housing, The shooting device is arranged in the shell.
15. 15. A treatment section replacement device for replacing a treatment section of a grinder, comprising: a hand member configured to restrict movement of the processing unit mounted on a rotation shaft of the grinder in a rotation direction; a storage configured to store the processing unit for replacement; a replacement table having a replacement position at which the processing unit for replacement is disposed when the processing unit is attached to the rotating shaft of the grinder; A1 st magnet which is detachable with respect to the rotation shaft of the grinder, and A shutter for detaching the processing unit for replacement attached to the 1 st magnet from the 1 st magnet, The exchange table has: a support surface inclined with respect to the vertical direction and the horizontal direction; a loading port into which the processing unit for replacement is loaded; A guide rail for guiding the treatment part for replacement placed in the placement port to the replacement position along the support surface, and And a stopper for stopping the processing unit for replacement guided by the guide rail at the replacement position.
16. 16. A treatment section replacement device for replacing a treatment section of a grinder, comprising: a hand member configured to restrict an operation in a rotation direction of the processing portion mounted on a rotation shaft of the grinder, and A processing part setting table having an upper surface and a lower surface, The 2 nd magnet for attracting the processing unit disposed at a predetermined position on the lower surface is provided on the lower surface.
17. 17. The process portion changing apparatus according to claim 15, wherein, The polishing machine has a 1 st sensor configured to detect whether the processing section is attached to the polishing machine.
18. 18. A method of performing replacement work of a treatment section of a grinder using the treatment system according to any one of claims 1 to 12, in which method, Restricting the movement of the grinder in the rotational direction of the treatment section by the hand-shaped member of the treatment section changing device, The rotation shaft of the grinder is fixed, The manipulator rotates the nut of the processing unit in a loosening direction in a state in which the movement of the processing unit in the rotation direction is restricted by the hand-shaped member, The grinder rotates the rotation shaft in a direction in which the treatment portion is separated from the rotation shaft.

Description

Processing system, processing unit replacement device, processing unit determination device, and method for replacing processing unit of polishing machine using processing system Technical Field The present invention relates to a processing system, a processing unit replacement device, a processing unit determination device, and a method for replacing a processing unit of a polishing machine using the processing system. Background In order to treat the surface of an object to be formed by casting or the like, a polishing operation is performed. Conventionally, such polishing work is sometimes performed by an operator using a polishing machine, for example. However, the polishing work is often performed in a noise environment exceeding 90dB or in an environment where dust is scattered, for example. In addition, the operator may perform the polishing work in the same posture over a long period of time. Therefore, in some work sites, there is a concern that there is a possibility that the work site may be injured by the health of the operator. In contrast, a robot that performs such a polishing operation instead of an operator is known (for example, refer to reference 1). The robot described in patent document 1 includes a manipulator, an implement (grinding machine), and an operating device for controlling a force applied to the implement. The implement is connected to the manipulator via an operating device. The manipulator presses the tool against the object to be ground to grind the object to be ground. Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2014-508051 Disclosure of Invention Grinding wheels used in grinding machines need to be replaced if used to some extent. Conventionally, polishing of an object is automatically performed by a robot, and on the other hand, replacement of a grinding wheel is performed manually by an operator, specifically, whether replacement of the grinding wheel is necessary is checked, the grinding wheel is detached from the polishing machine, and a new grinding wheel is attached to the polishing machine. The present invention has been made in view of the above-described problems. One of the purposes is to automate at least part of the replacement operation of the grinding wheel. According to one aspect of the present invention, a processing system is provided. The processing system includes a grinder to which a processing unit for processing a surface of a processing object is detachably attached, a robot to which the grinder is attached, the robot being configured to press the processing unit attached to the grinder against the processing object, a processing unit replacement device for replacing the processing unit of the grinder, and a control device for controlling operations of the grinder and the robot. The polishing machine includes a rotary shaft having a screw groove on an outer peripheral surface thereof and screwed with the processing portion, a driving device capable of rotating the rotary shaft in a forward direction and a reverse direction, and a fixing mechanism for fixing the rotary shaft. The processing unit replacement device includes a hand-shaped member configured to be coupled to the robot to remove the processing unit attached to the grinder. According to another aspect of the present invention, a processing system is provided. The processing system includes a grinder to which a processing unit for processing a surface of a processing object is detachably attached, a robot to which the grinder is attached, the robot being configured to press the processing unit attached to the grinder against the processing object, a processing unit determining device that determines whether the processing unit needs to be replaced, and a control device that controls operations of the grinder and the robot. The processing unit determination device includes an imaging device that acquires image data of a processing surface of the processing unit, and a control unit that determines whether the processing unit needs to be replaced. The control unit includes a transmitting unit that transmits the image data acquired by the imaging device to an analyzing device, a receiving unit that receives an analysis result of the image data from the analyzing device, and a determining unit that determines whether or not the processing unit needs to be replaced based on the analysis result received by the receiving unit. According to another aspect of the present invention, there is provided a process portion replacement device for replacing a process portion of a grinder. The processing unit replacement device includes a hand member configured to restrict movement of the processing unit mounted on the rotating shaft of the grinder in a rotation direction, a storage configured to store the processing unit for replacement, and a replacement table provided with a replacement position at which the processing unit for replacement is dispose