Processing system, processing unit replacement device, processing unit determination device, and method for replacing processing unit of grinder using processing system

Abstract

At least a part of a replacement operation of a grinding wheel is automated. A processing system has a grinder to which a processing portion that processes a surface of a processing target is detachably attached, a robot to which the grinder is attached and configured to press the processing portion attached to the grinder against the processing target, a processing portion replacement device for replacing the processing portion of the grinder, and a control device that controls the operations of the grinder and the robot. The grinder has a rotation shaft having a threaded groove on an outer peripheral surface and threadedly engaged with the processing portion, a driving device that can rotate the rotation shaft in a forward direction and a reverse direction, and a fixing mechanism that fixes the rotation shaft. The processing portion replacement device has a hand-shaped member configured to detach the processing portion attached to the grinder in cooperation with the robot.

Description

Technical Field

[0001] This invention relates to a processing system, a processing unit replacement device, a processing unit determination device, and a method for replacing the processing unit of a grinding mill using the processing system. Background Technology

[0002] Grinding is performed to treat the surface of objects formed in processes such as casting. Previously, such grinding operations were sometimes carried out by operators using grinding machines. However, grinding operations are mostly conducted in environments with noise levels exceeding 90 dB and dust dispersion. Furthermore, operators sometimes perform grinding operations in the same posture for extended periods. Therefore, in some work environments, there are concerns about the potential health hazards to operators. To address this, a robot is known to replace operators in performing such grinding operations (e.g., see reference 1).

[0003] The robot described in Patent Document 1 has a robotic arm, a tool (grinding machine), and an operating device for controlling the force applied to the tool. The tool is connected to the robotic arm via the operating device. The robotic arm grinds the object being ground by pressing the tool against it.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Publication No. 2014-508051 Summary of the Invention

[0007] The grinding wheels used in a grinding machine need to be replaced when they reach a certain level of wear. In the past, robots automatically ground objects, while operators manually replaced the grinding wheels. Specifically, they would determine whether the grinding wheel needed to be replaced, remove the existing grinding wheel from the grinding machine, and install a new grinding wheel.

[0008] This invention was made in view of the above-mentioned problems. One of its objectives is to automate at least a portion of the grinding wheel changing operation.

[0009] According to one aspect of the present invention, a processing system is provided. The processing system includes: a grinder having a processing unit for processing the surface of an object to be processed detachably mounted thereon; a robot arm having the grinder mounted thereon, configured to press the processing unit mounted on the grinder onto the object to be processed; a processing unit replacement device for replacing the processing unit of the grinder; and a control device for controlling the operation of the grinder and the robot arm. The grinder includes: a rotating shaft having a threaded groove on its outer peripheral surface and threadedly engaging with the processing unit; a drive device capable of rotating the rotating shaft in both forward and reverse directions; and a fixing mechanism for fixing the rotating shaft. The processing unit replacement device includes a hand-shaped component configured to cooperate with the robot arm to detach the processing unit mounted on the grinder.

[0010] According to another aspect of the present invention, a processing system is provided. The processing system includes: a grinding machine having a processing unit for processing the surface of an object to be processed detachably mounted thereon; a robotic arm having the grinding machine mounted thereon, configured to press the processing unit mounted on the grinding machine onto the object to be processed; a processing unit determining device for determining whether the processing unit needs to be replaced; and a control device for controlling the movements of the grinding machine and the robotic arm. The processing unit determining device includes: an imaging device for acquiring image data of the processed surface of the processing unit; and a control unit for determining whether the processing unit needs to be replaced. The control unit includes: a transmitting unit for transmitting the image data acquired by the imaging device to a parsing unit; a receiving unit for receiving the parsing result of the image data from the parsing unit; and a determining unit for determining whether the processing unit needs to be replaced based on the parsing result received by the receiving unit.

[0011] According to another aspect of the present invention, a processing unit replacement device for replacing the processing unit of a grinding machine is provided. The processing unit replacement device includes: a hand-shaped member configured to restrict the movement of the processing unit mounted on the rotating shaft of the grinding machine in the rotational direction; a storage container configured to store the processing unit for replacement; and a replacement table having a replacement position for the processing unit when the processing unit for replacement is installed onto the rotating shaft of the grinding machine.

[0012] According to another aspect of the present invention, a processing unit determining device is provided for determining whether a processing unit installed in a grinding machine needs to be replaced. The processing unit determining device includes: an imaging device that acquires image data of the processed 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 a parsing device; a receiving unit that receives parsing results of the image data from the parsing device; and a determining unit that determines whether the processing unit needs to be replaced based on the parsing results received by the receiving unit. Attached Figure Description

[0013] Figure 1 This is a perspective view showing the processing system of this embodiment.

[0014] Figure 2 This is a control block diagram of the processing system in this embodiment.

[0015] Figure 3 It is a 3D view of a grinding machine.

[0016] Figure 4 It is a three-dimensional view after excluding a part of the grinder.

[0017] Figure 5 This is a magnified view of the area near the pneumatic motor.

[0018] Figure 6 It is a three-dimensional diagram of a fixed mechanism.

[0019] Figure 7 This is a 3D view of the grinding wheel changing device.

[0020] Figure 8 This is a side view of the grinding wheel changing device.

[0021] Figure 9 This is a three-dimensional diagram of the grinding wheel judgment device.

[0022] Figure 10 This is the front view of the grinding wheel judgment device.

[0023] Figure 11 This is a 3D view of the grinding machine's changing device.

[0024] Figure 12 This is a perspective view showing other examples of grinding wheel changing devices.

[0025] Figure 13 This is an enlarged view of the upper surface of the grinding wheel setting table.

[0026] Figure 14 This is an enlarged view of the lower surface of the grinding wheel setting table.

[0027] Figure 15 This is a magnified view of the sensor.

[0028] Figure 16A This is a top view of the sensor when the grinding wheel is detected.

[0029] Figure 16B This is a top view of the sensor when no grinding wheel is detected.

[0030] Figure 17 This is a three-dimensional view of the supplementary status transmission unit. Detailed Implementation

[0031] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings described below, the same or equivalent structural elements are labeled with the same reference numerals and repeated descriptions are omitted. Figure 1 This is a perspective view showing the processing system of this embodiment. The processing system 100 includes a grinding machine 10, a robot arm 30, a grinding wheel changing device 40, a grinding wheel judging device 60, a grinding machine changing device 80, and a rotary table 90.

[0032] The robotic arm 30 has arm segments 32, 34, and 36. Preferably, the robotic arm 30 has six degrees of freedom. This allows the front arm segment 36 to be moved to any position in three-dimensional space. The grinding machine 10 is detachably mounted to the front arm segment 36 of the robotic arm 30. The robotic arm 30 can press the grinding wheel mounted on the grinding machine 10 onto the workpiece 200 placed on the rotary table 90. Figure 1 In the example shown, the impeller of the mixed-flow pump is shown as the object being processed, 200.

[0033] The grinding wheel changing device 40 is configured to replace the grinding wheel mounted on the grinding machine 10. The grinding wheel determining device 60 is configured to determine whether the grinding wheel mounted on the grinding machine 10 needs to be replaced. The grinding machine changing device 80 is used to replace the grinding machine 10 mounted on the robot arm 30. The rotary table 90 has a mounting platform 92 for placing the workpiece 200, and the mounting platform 92 is configured to rotate at any angle about a vertical axis by means of, for example, a motor (not shown).

[0034] Figure 2This is a control block diagram of the processing system 100 according to this embodiment. As shown, the processing system 100 includes a control device 120 capable of communicating with the grinding machine 10, the robot arm 30, the grinding wheel changing device 40, the grinding wheel detection device 60, the grinding machine changing device 80, and the rotary table 90. The control device 120 includes a computer-readable recording medium storing, for example, the operation programs of the grinding machine 10, the robot arm 30, the grinding wheel changing device 40, the grinding wheel detection device 60, the grinding machine changing device 80, and the rotary table 90, and a CPU (Central Processing Unit) that executes the program on the recording medium. In addition, the control device 120 may also include at least a power supply unit, a CPU, a memory storing the operation programs, and a PLC (Programmable Logic Controller) including an input / output unit.

[0035] The control device 120 controls the movements of the grinder 10 and the robot arm 30 according to an action program corresponding to the shape of the object to be processed 200, thereby enabling the processing system 100 to automatically grind the object to be processed 200 placed on the rotary table 90. Furthermore, the processing system 100 can automatically perform at least a portion of the grinding wheel replacement operation mounted on the grinder 10. Specifically, in this embodiment, by controlling the grinding wheel replacement device 40 and the grinding wheel determination device 60, the processing system 100 can automatically replace the grinding wheel mounted on the grinder 10 at appropriate times. Moreover, by controlling the grinder replacement device 80, the processing system 100 can automatically replace the grinder 10 mounted on the robot arm 30.

[0036] like Figure 2 As shown, the grinding wheel judging device 60 includes a control unit 61, a sending unit 62, and a receiving unit 63. The functions of the control unit 61, the sending unit 62, and the receiving unit 63 will be described later.

[0037] Next, the grinding machine 10, the grinding wheel replacement device 40, the grinding wheel judgment device 60, and the grinding machine replacement device 80 constituting the processing system 100 will be described in more detail.

[0038] <Grinding Machine 10>

[0039] Figure 3 This is a 3D view of the grinder 10. Figure 4 This is a three-dimensional view after excluding a portion of the grinder 10. Figure 5 This is a magnified view of the area near the pneumatic motor. Figure 6 It is a three-dimensional diagram of a fixed mechanism. For example... Figure 3As shown, the grinding machine 10 includes an arm 11, a support member 14, a cylinder assembly 13, a grinding wheel 19, and a pneumatic motor 18. The arm 11 has a first end 11a and a second end 11b, and is a rigid body, such as metal, extending in a predetermined direction. In the illustrated example, the arm 11 is a straight rigid body, but it is not limited to this; it can also be, for example, L-shaped, U-shaped, curved, etc., and may not be a rigid body but a flexible material with a predetermined elasticity.

[0040] Support member 14 has with Figure 1 The connecting portion 15 can be detachably connected to the arm segment 36 of the shown robotic arm 30. For example... Figure 3 As shown, the connecting portion 15 can have, for example, a flange shape. Furthermore, the support member 14, at its end opposite to the connecting portion 15, can be pivotally connected to the arm 11. Specifically, the support member 14 and the arm 11 are pivotally connected by a support pin 16 extending in a direction orthogonal to the extending direction of the arm 11. The support pin 16 extends from a first side portion 11c to a second side portion 11d of the arm 11. Figure 3 In the example shown, the support member 14 can be a pair of C-shaped channel steels. The support member 14 is not limited to this and can be a component of any shape and material that can be connected to the support pin 16. Furthermore, in Figure 3 In the illustrated configuration, the support member 14 extends in a direction orthogonal to the extension direction of the arm 11 and the extension direction of the support pin 16. However, since the support member 14 is pivotally connected to the arm 11, the angle of the support member 14 relative to the arm 11 can vary according to the extension and retraction of the cylinder device 13.

[0041] The cylinder assembly 13 includes, for example, a cylinder and a piston. One end of the cylinder assembly 13 is pivotally mounted via a support pin 17 to a portion of the arm 11 closer to the second end 11b than the support pin 16, and the other end is pivotally mounted to a support member 14 via a support pin (not shown). The support pin 17 and the support pin (not shown) extend in the same direction as the support pin 16, that is, in a direction orthogonal to the extending direction of the arm 11 and the support member 14.

[0042] Because the cylinder device 13 has a cylinder, the grinding wheel 19 is pressed against the object being processed 200 (see reference). Figure 1 When this occurs, cylinder device 13 can extend and retract using the elasticity of the air spring. Additionally, Figure 2 The control device 120 shown is capable of controlling the air pressure supplied to the cylinder of the cylinder assembly 13. Specifically, when the grinding wheel 19 is used to process the object 200 (see reference 120), the air pressure is controlled. Figure 1During grinding, the control device 120 controls the extension and retraction of the cylinder device 13 by controlling the air pressure of the cylinder, thereby adjusting the angle of the arm 11 relative to the support member 14. Similarly, the control device 120 controls the pressing force on the grinding wheel 19 by controlling the air pressure of the cylinder and changing the elasticity of the air spring in the cylinder. Furthermore, the cylinder device 13 is not limited to a pneumatic cylinder; a hydraulic cylinder or a hydraulic cylinder can also be used. In addition, in cases where position adjustment and pressing force adjustment are not required using a pneumatic cylinder, a spring that applies a certain force can be used instead of a pneumatic cylinder, resulting in a simpler device.

[0043] like Figure 5 As shown, the pneumatic motor 18 has a first main shaft 18a (equivalent to an example of a drive shaft) that rotates via the pneumatic motor 18 and a first pulley 24 mounted on the first main shaft 18a. Figure 4 As shown, the grinder 10 has an object 200 that is pressed against it (see reference). Figure 1 The grinding machine 10 includes a grinding wheel 19 (corresponding to a processing unit in one example), a second spindle 20 (corresponding to a rotating shaft in one example), and a second pulley 21 mounted on the second spindle 20. Although not shown, the second spindle 20 has a threaded groove on its outer circumferential surface, configured to thread-engage with the grinding wheel 19. Therefore, the grinding wheel 19 can be detachably mounted on the grinding machine 10. Specifically, the grinding wheel 19 has a threaded groove on the processing surface (…). Figure 3 The grinding wheel 19 is threaded onto the opposite side of the lower surface of the grinding wheel 19, and the grinding wheel 19 and the second spindle 20 are threaded together by screwing the second spindle 20 into the nut. Furthermore, the grinding wheel 19 mounted on the second spindle 20 can be removed from the second spindle 20 by rotating it in the opposite direction relative to the second spindle 20. In this embodiment, the grinding machine 10 includes a grinding wheel 19, but is not limited to this; it may also include a soft grinding component such as sandpaper or a grinding pad, or a cleaning component such as a sponge or a brush for cleaning the surface of the object 200 being processed.

[0044] like Figure 4 As shown, the grinding machine 10 has a tensioner 22 that maintains the tension of the belt connecting the first pulley 24 and the second pulley 21 at an appropriate level. Thus, the driving force of the pneumatic motor 18 is transmitted to the second spindle 20 via the belt (not shown), and the grinding wheel 19 rotates circumferentially. Furthermore, in this embodiment, the first pulley 24, the second pulley 21, and the belt (not shown) constitute a rotation transmission mechanism that transmits the rotation of the first spindle 18a to the second spindle 20, but the mechanism for transmitting rotation is not limited to this. For example, the grinding machine 10 could also use sprockets instead of the first pulley 24 and the second pulley 21, and a chain engaging with the sprockets instead of a belt. However, from the viewpoint of dust resistance, it is preferable to use a belt as in this embodiment.

[0045] The pneumatic motor 18 is capable of rotating the first spindle 18a in both forward and reverse directions. Therefore, depending on the direction of rotation of the first spindle 18a, the grinding wheel 19 can also rotate in both forward and reverse directions with respect to the pneumatic motor 18. The grinding machine 10 can also replace the pneumatic motor 18 with any drive source capable of rotating the spindle in both forward and reverse directions, such as an electric motor, a hydraulic motor, or a hydraulic motor.

[0046] The pneumatic motor 18 has a fixing gear 26 on the front end side of the first main shaft 18a. The fixing gear 26 is fixed to the first main shaft 18a by, for example, a locking screw or a key. In other words, the fixing gear 26 rotates together with the first main shaft 18a, and the rotation of the first main shaft 18a is also restricted by restricting the rotation of the fixing gear 26.

[0047] like Figure 3 As shown, the grinding wheel 19 is mounted on the first end 11a side of the arm 11, relative to the support pin 16. Specifically, in the illustrated example, the grinding wheel 19 is located on the lower side of the arm 11 in the figure, that is, on the opposite side of the support member 14. However, it is not limited to this, and the grinding wheel 19 can also be located on the upper side of the arm 11 in the figure, that is, on the same side as the support member 14.

[0048] The pneumatic motor 18 is constructed such that the first spindle 18a can rotate using external force even when no air is supplied. Thus, the grinding machine 10 of this embodiment... Figure 5 and Figure 6 As shown, a fixing mechanism 25 is provided to secure the first main shaft 18a of the pneumatic motor 18. The fixing mechanism 25 includes a base plate 28, a cylinder 27a and a piston 27b, a pusher 23, and a hook 29 (an example of a locking mechanism). The base plate 28 is mounted on the arm 11 of the grinding machine 10. The cylinder 27a and piston 27b are mounted on the base plate 28. One end of the hook 29 is pivotally mounted relative to a bolt 28a provided on the base plate 28, and the other end has a pawl that engages with a fixing gear 26. The pusher 23 is mounted on the front end of the piston 27b.

[0049] like Figure 6As shown, when air is supplied to cylinder 27a, piston 27b displaces, and pusher 23 presses hook 29 toward fixing gear 26. At this time, the claw of hook 29 engages with fixing gear 26, fixing fixing gear 26. As a result, the first spindle 18a, on which fixing gear 26 is mounted, can also be fixed. Hook 29 can be forced away from fixing gear 26 by a spring (not shown). Therefore, if the air supply to cylinder 27a stops, hook 29 separates from fixing gear 26 by a spring (not shown), releasing fixing gear 26 and the first spindle 18a. Alternatively, at this time, by applying negative pressure to cylinder 27a, piston 27b can be displaced in a shortening manner, thereby separating hook 29 from fixing gear 26.

[0050] Furthermore, the fixing mechanism 25 has any mechanism capable of fixing the first spindle 18a of the pneumatic motor 18, such as having a clamp for holding the first spindle 18a.

[0051] <Grinding wheel changing device 40>

[0052] Figure 7 This is a three-dimensional view of the grinding wheel changing device 40. Figure 8 This is a side view of the grinding wheel changing device 40. (Example) Figure 7 and Figure 8 As shown, the grinding wheel changing device 40 has four supports 41, a storage container 42, a hand-shaped component 43, and a collection box 44. The four supports 41 extend vertically upward, and adjacent supports 41 are connected to each other. The storage container 42 has a horizontal plate 45 located at the upper end of the supports 41, and a cylindrical component 46 extending vertically from the horizontal plate 45. The cylindrical component 46 has an opening 46a at its upper end and a cutout 46b extending between its upper and lower ends. The storage container 42 is configured to store the grinding wheel 19 for replacement within the space enclosed by the horizontal plate 45 and the cylindrical component 46.

[0053] In this embodiment, the hand-shaped component 43 extends horizontally from the horizontal plate 45 of the reservoir 42. The hand-shaped component 43 is not limited to this and can be positioned anywhere. The hand-shaped component 43 has a pair of fingers 43a branching off at its front end, designed to allow a nut for clamping the grinding wheel 19 between the fingers 43a. Figure 7 As shown, the distance between the fingers 43a of the hand-shaped component 43 is preferably designed to increase towards the front end. By clamping the nut of the grinding wheel 19 mounted on the grinder 10 between the fingers 43a of the hand-shaped component 43, the hand-shaped component 43 can restrict the movement of the grinding wheel 19 in the rotational direction. In other words, the hand-shaped component 43 functions as a wrench or lever for loosening the nut of the grinding wheel 19 from the second spindle 20. The recycling bin 44 is a bin for recycling the used grinding wheel 19 and is preferably located below the hand-shaped component 43.

[0054] The grinding wheel changing device 40 includes a changing table 47 with a changing position 47a for mounting the grinding wheel 19 to the second spindle 20 of the grinding machine 10. The changing table 47 has a support surface 48 mounted on the side of the support column 41, a pair of guide rails 49 disposed on the support surface 48, an inlet 50 formed between the pair of guide rails 49, and a pair of stops 51 disposed on the support surface 48. The support surface 48 is inclined relative to both the vertical and horizontal directions. The inlet 50 is used to insert the grinding wheel 19 stored in the storage container 42 onto the support surface 48. The pair of guide rails 49 guide the grinding wheel 19 inserted from the inlet 50 along the support surface 48 to the changing position 47a. Figure 7 The example shown illustrates a configuration where a replacement grinding wheel 19 is positioned at replacement location 47a.

[0055] A pair of stops 51 are configured to stop the replaceable grinding wheel 19, guided by the guide rail 49, at the replacement position 47a. In the illustrated example, the pair of stops 51 are respectively connected to the lower ends of the pair of guide rails 49, and are configured such that the distance between the stops 51 gradually narrows downwards. The stops 51 are not limited to this configuration and may have any structure that allows the replaceable grinding wheel 19 to be stopped at the replacement position 47a.

[0056] The grinding wheel changing device 40 also includes a magnet 52 (an example of the first magnet) that can be detachably mounted on the second spindle 20 of the grinding machine 10. In the illustrated example, the magnet 52 is positioned on the horizontal plate 45, but it can be positioned in any location. The magnet 52 has, for example, a hole on its upper surface into which the second spindle 20 can be inserted. The magnet 52 has a quick coupling or similar structure inside the hole, and is mounted on the second spindle 20 by inserting the second spindle 20 into the hole. The magnet 52 can be removed from the second spindle 20 by pulling it with a specified force. With the magnet 52 mounted on the second spindle 20, the grinding machine 10 can use the magnet 52 to attract and hold one of the replacement grinding wheels 19 stored in the storage container 42.

[0057] The grinding wheel changing device 40 has a baffle 53 for removing the changing grinding wheel 19, which is attached to the magnet 52, from the magnet 52. In the illustrated example, the baffle 53 is mounted on a pair of guide rails 49.

[0058] Next, the method for changing the grinding wheel 19 in the grinding wheel changing device 40 will be described. The control of the following parts is performed by the control device 120. First, the grinding wheel 19 installed on the grinding machine 10 is removed from the grinding machine 10. Specifically, the robot arm 30 inserts the nut of the grinding wheel 19 provided on the grinding machine 10 between a pair of fingers 43a of the hand-shaped component 43. As a result, the hand-shaped component 43 can restrict the movement of the nut and the grinding wheel 19 in the rotational direction.

[0059] Next, with the rotational direction of the nut and grinding wheel 19 restricted by the hand-shaped component 43, the robot arm 30 rotates the grinder 10 itself in a direction that loosens the grinding wheel 19. At this time, the first spindle 18a is fixed by the fixing mechanism 25, and the second spindle 20 is fixed in a manner that does not rotate relative to the grinder 10. As a result, the grinding wheel 19, which is threaded onto the second spindle 20, loosens. Then, with the grinder 10 above the collection box 44, the pneumatic motor 18 rotates the second spindle 20 in a direction that disengages the grinding wheel 19 from the second spindle 20. As a result, the grinding wheel 19 completely disengages from the second spindle 20 and falls into the collection box 44. Therefore, the hand-shaped component 43 is configured to cooperate with the robot arm 30 to remove the grinding wheel 19 mounted on the grinder 10.

[0060] The robotic arm 30 mounts the magnet 52 onto the second spindle 20 of the grinder 10. Specifically, the robotic arm 30 moves the grinder 10 such that the second spindle 20 of the grinder 10 is inserted into a hole on the upper surface of the magnet 52. Next, the robotic arm 30 uses the magnet 52 to attract and hold the replacement grinding wheel 19 stored in the storage container 42. Specifically, the robotic arm 30 inserts the first end 11a of the arm 11 of the grinder 10 through the cutout 46b, attracts the replacement grinding wheel 19 using the magnet 52, lifts it, and removes the replacement grinding wheel 19 from the opening 46a.

[0061] The robotic arm 30 moves the replaceable grinding wheel 19, which is attached to the magnet 52, toward the input port 50. In this state, the grinding wheel 19 is detached from the magnet 52 and inserted into the input port 50 by hooking a portion of the grinding wheel 19 onto the baffle 53. The grinding wheel 19 inserted into the input port 50 is guided along the support surface 48 by the guide rail 49 toward the replacement position 47a and stopped at the replacement position 47a by the stop member 51.

[0062] The robotic arm 30 returns the magnet 52 mounted on the grinder 10 to its original position on the horizontal plate 45. Specifically, for example, the robotic arm 30 locks a portion of the magnet 52 into a locking part (not shown) provided on the horizontal plate 45, pulls the second spindle 20 of the grinder 10 out of the hole on the upper surface of the magnet 52, thereby removing the magnet 52 from the second spindle 20.

[0063] Next, the robotic arm 30 inserts the second spindle 20 of the grinding machine 10 into the nut of the grinding wheel 19 positioned at the replacement position 47a, and drives the pneumatic motor 18 to rotate the second spindle 20. As a result, the grinding wheel 19 is threaded into the second spindle 20, thereby replacing the grinding wheel 19.

[0064] Furthermore, in this embodiment, the grinding wheel changing device 40 has a hand-shaped component 43 with fingers 43a to limit the movement of the nut and the grinding wheel 19 in the rotational direction, but it is not limited to this. That is, the grinding wheel changing device 40 may also replace the hand-shaped component 43 with a known mechanism such as a clamp that can limit the movement of the grinding wheel 19 in the rotational direction.

[0065] <Grinding wheel judgment device 60>

[0066] Next, the grinding wheel judgment device 60 will be described. Figure 9 This is a three-dimensional view of the grinding wheel judgment device 60. Figure 10 This is a front view of the grinding wheel judging device 60. The grinding wheel judging device 60 has a rectangular housing 64, a camera 65, and a lighting 66. The housing 64 is made of an opaque material to prevent external light from entering the housing 64. In addition, the housing 64 has an opening 64a for inserting the first end 11a of the arm 11 of the grinder 10 mounted on the robot arm 30 into the housing 64. The housing 64 can have light-shielding members such as curtains (not shown) above and below the opening 64a. Thus, the arm 11 can move in and out of the housing 64, and the interior of the housing 64 can be shielded from light.

[0067] In this embodiment, a pair of cameras 65 (equivalent to an example of a shooting device) are provided on the upper and lower sides inside the housing 64. Specifically, the camera 65 on the upper side can capture images of the upper surface of the first end 11a of the arm 11 of the grinder 10, which is located below the camera 65. The camera 65 on the lower side can capture images of the lower surface of the first end 11a of the arm 11 of the grinder 10, which is located above the camera 65. As described above, the grinding wheel 19 can be mounted on either the upper or lower side of the arm 11 of the grinder 10. Therefore, for example, when the grinding wheel 19 is mounted on the upper side of the arm 11 with the processing surface of the grinding wheel 19 facing the upper side of the arm 11, image data of the processing surface of the grinding wheel 19 can be acquired using the upper camera 65. Similarly, for example, when the grinding wheel 19 is mounted on the underside of the arm 11 with the processing surface of the grinding wheel 19 facing the underside of the arm 11, image data of the processing surface of the grinding wheel 19 can be acquired using the lower camera 65. The camera 65 may also be configured on only one of the upper and lower sides, or it may be configured at any position within the housing 64.

[0068] Lighting 66 is, for example, LED lighting, but other arbitrary lighting can also be used. In this embodiment, such as... Figure 9 and Figure 10 As shown, a pair of left and right illumination lights 66 are arranged slightly above and slightly below the vertical center of the housing 64, on the side of the opening 64a of the housing 64, and another pair of left and right illumination lights 66 are arranged on the inside of the housing 64. That is, in this embodiment, a total of eight illumination lights 66 are arranged inside the housing 64, which can illuminate the first end 11a of the arm 11 of the grinder 10 located inside the housing 64. The number and arrangement of the illumination lights 66 are arbitrary.

[0069] Next, the method for determining whether the grinding wheel 19 needs to be replaced in the grinding wheel determination device 60 will be explained. The control of the following parts is performed by the control device 120. First, for example, if the grinding machine 10 grinds the upper or lower surface of a blade of an impeller that is the object being processed 200, the robot arm 30 moves the first end 11a of the arm 11 of the grinding machine 10 into the housing 64 of the grinding wheel determination device 60. Based on the information held by the control device 120 regarding which side of the first end 11a of the arm 11 is mounted on, the grinding wheel determination device 60 activates one of the upper and lower cameras 65 to acquire image data of the processed surface of the grinding wheel 19.

[0070] Figure 2 The control unit 61 shown can also perform image processing on the image data acquired by the camera 65 as appropriate. Figure 2 The transmitting unit 62 of the grinding wheel determination device 60 shown transmits image data acquired by the camera 65 to an external analysis device. The analysis device may possess, for example, AI (Artificial Intelligence) that has learned a large amount of image data of grinding wheels 19 that need to be replaced and a large amount of image data of grinding wheels 19 that do not need to be replaced. The analysis device, for example, determines an arbitrary score for the image data received from the transmitting unit 62. Figure 2 The receiving unit 63 shown receives the analysis result of the image data from the analysis device. Specifically, for example, it receives the score determined by the analysis device. The control unit 61 determines whether the grinding wheel 19 needs to be replaced based on the received analysis result. Specifically, for example, the control unit 61 determines whether the grinding wheel 19 needs to be replaced based on whether the score received from the analysis device exceeds or falls below a predetermined threshold.

[0071] The control unit 61 sends the judgment result to the control device 120. If the control device 120 receives a result indicating that the grinding wheel 19 does not need to be replaced, it can control the robot arm 30 and the grinder 10 to continue grinding the object 200. Conversely, if the control device 120 receives a result indicating that the grinding wheel 19 needs to be replaced, it controls the robot arm 30, the grinder 10, and the grinding wheel changing device 40 to replace the grinding wheel 19 in the grinding wheel changing device 40.

[0072] <Grinding machine changing device 80>

[0073] Next, the grinding machine replacement device 80 will be explained. Figure 11 This is a perspective view of the grinder changing device 80. The grinder changing device 80 has legs 81 and a changing table 82. The legs 81 extend vertically and support the changing table 82 from below. The changing table 82 has a first position 83 and a second position 84 for setting the grinder 10. In the illustrated example, the grinder 10 for changing is set at the second position 84. In the illustrated example, the first position 83 is for setting the grinder 10 already mounted on the robot arm 30.

[0074] The grinder changing device 80 includes a cover 85 for covering the connecting portion 15 of the grinder 10 located at the first position 83 and the second position 84, and a rotary actuator 86 for opening and closing the cover 85. The cover 85 is connected to a horizontal shaft 87, which rotates about its axis via the rotary actuator 86. Rotating the horizontal shaft 87 via the rotary actuator 86 causes the cover 85 to rotate about the horizontal shaft 87. In the illustrated example, the cover 85 is shown in the open state, i.e., the cover 85 does not cover the connecting portion 15 of the grinder 10 located at the first position 83 or the second position 84.

[0075] The grinder replacement device 80 includes a sensor 88 (an example of a second sensor) for detecting the presence or absence of a grinder 10 at a first position 83 or a second position 84. The sensor 88 sends information about whether a grinder 10 is present at the first position 83 or the second position 84 to the control device 120. The sensor 88 may be, for example, a pin-shaped sensor extending from the lower surface to the upper surface of the replacement table 82, which can be pressed down when a grinder 10 is present at the first position 83 or the second position 84, thereby detecting the presence or absence of a grinder 10.

[0076] Next, the method for replacing the grinder 10 in the grinder replacement device 80 will be described. The control of the following parts is performed by the control device 120. For example, the grinder 10 can be replaced when the grinding of the negative pressure surface (back side) of the impeller blades, which is the object to be processed, is completed and grinding of the negative pressure surface (back side) of the blades begins. Specifically, in this case, the grinder 10 with the grinding wheel 19 mounted on the lower side of the arm 11 is replaced with a grinder 10 with the grinding wheel 19 mounted on the upper side of the arm 11.

[0077] First, the robotic arm 30 positions the grinder 10 to the first position 83 of the grinder changing device 80. If the control device 120 receives information from the sensor 88 indicating that the grinder 10 is positioned at the first position 83, it removes the grinder 10 from the robotic arm 30. Next, the robotic arm 30 connects to the connection portion 15 of the grinder 10 positioned at the second position 84 and lifts the grinder 10 from the changing table 82. If the control device 120 receives information from the sensor 88 indicating that the grinder 10 is not present at the second position 84, it operates the rotary actuator 86 by covering the connection portion 15 of the grinder 10 positioned at the first position 83 with a cover 85.

[0078] When the grinder 10 is replaced again, the control device 120 controls the rotary actuator 86 to open the cover 85, and the robot arm 30 sets the grinder 10 to the second position 84 of the grinder replacement device 80. Then, similarly to the above process, the robot arm 30 lifts the grinder 10 set in the first position 83 and the cover 85 covers the connecting part 15 of the grinder 10 set in the second position 84.

[0079] As explained above, the processing system 100 of this embodiment can automate at least a portion of the grinding wheel 19 replacement operation via the grinding wheel replacement device 40 or the grinding wheel determination device. More specifically, according to the processing system 100, at least one of the following operations can be automatically performed: removing the grinding wheel 19 from the grinding machine 10, installing the replacement grinding wheel 19 into the grinding machine 10, and determining whether the grinding wheel 19 needs to be replaced. Furthermore, according to the processing system 100 of this embodiment, the grinding machine 10 replacement operation can also be automatically performed.

[0080] Next, an explanation Figure 7 and Figure 8 Other examples of the grinding wheel changing device 40 shown. Figure 12 This is a perspective view showing other examples of grinding wheel changing devices. Figure 12 The grinding wheel changing device 140 shown can replace Figure 7 and Figure 8 The grinding wheel changing device 40 shown is used in Figure 1 The processing system 100 shown.

[0081] like Figure 12 As shown, the grinding wheel changing device 140 includes four supports 141, a grinding wheel mounting table 142 (equivalent to an example of a processing unit mounting table), a hand-shaped component 143, a sensor 144 (equivalent to an example of a first sensor), and a supplementary status transmission unit 145. The four supports 141 extend vertically upward. The number of grinding wheel mounting tables 142 is arbitrary, but in this embodiment, the grinding wheel changing device 140 is provided with three grinding wheel mounting tables 142. Each grinding wheel mounting table 142 is mounted on the supports 141 in a manner that they are evenly separated in the vertical direction. The hand-shaped component 143 extends horizontally, for example, from the lowermost of the three grinding wheel mounting tables 142. The hand-shaped component 143 is not limited to this and can be provided in any position. The sensor 144 is, for example, mounted on one of the four supports 141. The supplementary status transmission unit 145 can be, for example, connected to... Figure 2 The control device 120 shown is used for communication. The supplementary status transmitter 145 is installed, for example, in one of the four supports 141, preferably in a different support 141 than the support 141 where the sensor 144 is installed.

[0082] Hand-shaped component 143 and Figure 7 Similarly, the hand-shaped component 43 shown has a pair of fingers 143a branched at its front end, designed to hold a nut between the fingers 143a that can clamp the grinding wheel 19. The hand-shaped component 143, due to having a... Figure 7 The hand-shaped component 43 shown has the same function, so detailed descriptions are omitted.

[0083] Each of the grinding wheel setting tables 142 has an upper surface 142a and a lower surface 142b, which can be used to set up grinding wheels 19 respectively. Figure 13 This is an enlarged view of the upper surface 142a of the grinding wheel setting table 142. (See image below.) Figure 13 As shown, a guide 150 for positioning the grinding wheel 19 in a predetermined position is provided on the upper surface 142a of the grinding wheel setting table 142. In the illustrated example, three guides 150 form a generally circular recess that approximates the outer diameter of the grinding wheel 19, which guides the grinding wheel 19, positioned on the upper surface 142a of the grinding wheel setting table 142, to the predetermined position. The grinding wheel 19 can be positioned on the upper surface 142a of the grinding wheel setting table 142 with its processing surface facing downwards.

[0084] Figure 14 This is an enlarged view of the lower surface 142b of the grinding wheel setting table 142. (See image below.) Figure 14As shown, similarly to the upper surface 142a, the lower surface 142b of the grinding wheel setting table 142 is provided with a guide 150 for setting the grinding wheel 19 to a predetermined position. Additionally, the lower surface 142b is provided with a magnet 151 (an example of the second magnet) for attracting the grinding wheel 19, which has been set to the predetermined position on the lower surface 142b via the guide 150. The magnet 151 is attached to a recess provided approximately at the center of the three guides 150 that guide the grinding wheel 19 using an adhesive or the like. The grinding wheel 19 can be positioned on the lower surface 142b of the grinding wheel setting table 142 with its processing surface facing upwards.

[0085] like Figure 3 As shown, when the grinding wheel 19 is mounted on the side of the arm 11 opposite to the support member 14, the grinding wheel 19 provided on the upper surface 142a of the grinding wheel mounting table 142 can be mounted on the arm 11. On the other hand, when the grinding wheel 19 is mounted on the same side of the arm 11 as the support member 14, the grinding wheel 19 provided on the lower surface 142b of the grinding wheel mounting table 142 can be mounted on the arm.

[0086] Figure 15 This is an enlarged view of sensor 144. Sensor 144 can be, for example, a non-contact photoelectric sensor, configured to detect whether a grinding wheel 19 is mounted on the grinder 10. Figure 14 As shown, sensor 144 has two support beams 153 and 153b extending substantially horizontally from support column 141 and separated from each other in the vertical direction, a light-projecting part 154a, and a light-receiving part 154b. The light-projecting part 154a and the light-receiving part 154b are respectively disposed on one of the support beams 153a and 153b. In the illustrated example, the light-projecting part 154a is mounted on the upper support beam 153a, and the light-receiving part 154b is mounted on the lower support beam 153b. When there is no obstruction between the light-projecting part 154a and the light-receiving part 154b, light from the light-projecting part 154a reaches the light-receiving part 154b. The light-receiving part 154b is configured to convert the received light into an electrical signal and send it, for example... Figure 2 The control device 120 shown.

[0087] Figure 16A This is a top view of sensor 144 in the state of detecting the grinding wheel 19. Figure 16B This is a top view of sensor 144 in a state where the grinding wheel 19 is not detected. Figure 2 The control device 120 shown controls the robotic arm 30 such that the arm 11 of the grinder 10 is located near the sensor 144. For example, after a new grinding wheel 19 is installed on the arm 11 of the grinder 10, the arm 11 is moved near the sensor 144 to confirm that the grinding wheel 19 is installed on the arm 11. At this time, the control device 120 controls the light-emitting unit 154a to emit light. Figure 16A As shown, when the grinding wheel 19 is installed on the arm 11, the grinding wheel 19 blocks the light, preventing the light from the projection section 154a from reaching the light-receiving section 154b. The light-receiving section 154b sends a signal indicating that it has not received light from the projection section 154a to the control device 120. By receiving the signal indicating that no light has been received from the light-receiving section 154b, the control device 120 can confirm that the grinding wheel 19 is installed on the arm 11.

[0088] On the other hand, such as Figure 16B As shown, when the grinding wheel 19 is not installed on the arm 11, light from the projection section 154a reaches the light receiving section 154b. The light receiving section 154b sends a signal indicating that light from the projection section 154a has been received to the control device 120. By receiving the signal indicating that light has been received from the light receiving section 154b, the control device 120 can confirm that the grinding wheel 19 is not installed on the arm 11.

[0089] Sensor 144 can also be set to Figure 7 and Figure 8 The grinding wheel changing device 40 is shown. Additionally... Figure 15 The sensor 144 shown is a non-contact photoelectric sensor, but it is not limited to this. It can be any sensor, whether contact or non-contact, that can determine whether a grinding wheel 19 is installed on the arm 11.

[0090] Figure 17 This is a perspective view of the replenishment status sending unit 145. The replenishment status sending unit 145 has an upper surface switch 157a and a lower surface switch 157b. The grinding wheel 19 can be set on the grinding wheel setting table 142 by an operator, for example. If the operator sets a predetermined number of grinding wheels 19 on the upper surface 142a of the grinding wheel setting table 142 and then presses the upper surface switch 157a, the upper surface switch 157a sends a signal to the control device 120. The control device 120 receives the signal from the upper surface switch 157a, thereby confirming that grinding wheels 19 have been replenished on the upper surface 142a of the grinding wheel setting table 142. Similarly, if the operator sets a predetermined number of grinding wheels 19 on the lower surface 142b of the grinding wheel setting table 142 and then presses the lower surface switch 157b, the lower surface switch 157b sends a signal to the control device 120. The control device 120 receives a signal from the lower surface via a switch 157b, thereby confirming that a grinding wheel 19 has been added to the lower surface 142b of the grinding wheel setting table 142.

[0091] The supplementary status transmission unit 145 can also be set to Figure 7 and Figure 8The grinding wheel replacement device 40 is shown. In this case, the replenishment status sending unit 145 is configured such that when the operator replenishes the grinding wheel 19 in the storage 42, the operator can press the switch provided with the replenishment status sending unit 145 to send a signal to the control device 120.

[0092] Next, the method for changing the grinding wheel 19 in the grinding wheel changing device 140 will be described. The control of the following parts is performed by the control device 120. First, the grinding wheel 19 installed on the grinding machine 10 is removed from the grinding machine 10. Specifically, the robot arm 30 inserts the nut of the grinding wheel 19 provided on the grinding machine 10 between a pair of fingers 143a of the hand-shaped component 43, and the grinding wheel 19 is removed from the grinding machine 10 in the manner described above with respect to the hand-shaped component 43.

[0093] Then, sensor 144 can be used to confirm whether the grinding wheel 19 has been removed from the grinding machine 10. That is, the robotic arm 30, as... Figure 16B The arm 11 of the grinder 10 is moved to the vicinity of the sensor 144. The light-emitting part 154a of the sensor 144 emits light, and the light-receiving part 154b receives the light. The light-receiving part 154b sends a signal indicating that the light has been received to the control device 120. By receiving this signal, the control device 120 can confirm whether the grinding wheel has been removed from the arm 11.

[0094] The robotic arm 30 inserts the second spindle 20 of the grinding machine 10 into the nut of the grinding wheel 19 located on the upper surface 142a or lower surface 142b of the grinding wheel mounting table 142, thereby driving the pneumatic motor 18 to rotate the second spindle 20. As a result, the grinding wheel 19 engages with the second spindle 20 by thread, allowing the grinding wheel 19 to be replaced.

[0095] Next, sensor 144 can be used to confirm that the grinding wheel 19 is installed in the grinding machine 10. That is, the robotic arm 30, as... Figure 16A The arm 11 of the grinder 10 is moved to the vicinity of the sensor 144. The light-emitting part 154a of the sensor 144 emits light, which is blocked by the grinding wheel 19. The light-receiving part 154b sends a signal indicating that no light was received to the control device 120. By receiving this signal, the control device 120 can confirm that the grinding wheel is installed on the arm 11.

[0096] The embodiments of the present invention have been described above. These embodiments are provided for easy understanding of the present invention and are not intended to limit the invention. The present invention can be modified and improved without departing from its spirit, and of course, it includes equivalents. Furthermore, within the scope of solving at least some of the above-mentioned problems or achieving at least some of the effects, any combination or omission of the structural elements described in the claims and specification is possible.

[0097] The following describes several methods disclosed in this specification.

[0098] According to a first embodiment, a processing system is provided. The processing system includes: a grinder having a processing unit for processing the surface of an object to be processed detachably mounted thereon; a robot arm having the grinder mounted thereon, configured to press the processing unit mounted on the grinder onto the object to be processed; a processing unit replacement device for replacing the processing unit of the grinder; and a control device for controlling the operation of the grinder and the robot arm. The grinder includes: a rotating shaft having a threaded groove on its outer peripheral surface and threadedly engaging with the processing unit; a drive device capable of rotating the rotating shaft in both forward and reverse directions; and a fixing mechanism for fixing the rotating shaft. The processing unit replacement device includes a hand-shaped component configured to cooperate with the robot arm to detach the processing unit mounted on the grinder.

[0099] The second aspect is that, in the processing system of the first aspect, the grinding machine has a drive shaft of the drive device and a rotation transmission mechanism that transmits the rotation of the drive shaft to the rotation shaft, and the fixing mechanism includes a locking mechanism that fixes the rotation of the drive shaft.

[0100] The main idea of ​​the third method is that, in the processing system of the first or second method, the aforementioned hand-shaped component is configured to restrict the movement of the processing unit mounted on the aforementioned rotating shaft of the aforementioned grinding machine in the direction of rotation.

[0101] The fourth aspect is that, in any of the processing systems of the first to the third aspects, the processing unit replacement device includes: a storage unit configured to store the processing unit for replacement; and a replacement table having a replacement position for the processing unit when the processing unit for replacement is installed onto the rotating shaft of the grinding machine.

[0102] The fifth aspect is that, in the processing system of the fourth aspect, the aforementioned processing unit replacement device includes: a first magnet, which is detachable from the rotating shaft of the aforementioned grinding machine; and a baffle for removing the replacement processing unit adsorbed on the first magnet from the first magnet; the replacement table includes: a support surface, which is inclined relative to the vertical and horizontal directions; an inlet for inserting the replacement processing unit; a guide rail for guiding the replacement processing unit inserted into the inlet along the support surface to the replacement position; and a stop for stopping the replacement processing unit guided by the guide rail at the replacement position.

[0103] The sixth aspect is that, in any of the processing systems of the first to the third aspects, the processing unit replacement device has a processing unit mounting table, which has an upper surface and a lower surface, and a second magnet for adsorbing the processing unit is provided on the lower surface.

[0104] The main idea of ​​the seventh method is that, in any of the processing systems of the first to the sixth methods, the processing unit replacement device has a first sensor configured to detect whether the processing unit is installed in the grinding machine.

[0105] The main idea of ​​the eighth method is that, in any of the processing systems of the first to the seventh methods, the processing unit replacement device has a supplementary status transmission unit, which is configured to send a signal indicating that the processing unit has been supplemented to the processing unit replacement device to the control device.

[0106] The main idea of ​​the ninth method is that, in any of the processing systems of the first to the eighth methods, there is a processing unit determination device for determining whether the processing unit needs to be replaced. The processing unit determination device has an imaging device for acquiring image data of the processing surface of the processing unit and a control unit for determining whether the processing unit needs to be replaced. The control unit has: a transmitting unit that transmits the image data acquired by the imaging device to an analysis device; a receiving unit that receives the analysis result of the image data from the analysis device; and a determination unit that determines whether the processing unit needs to be replaced based on the analysis result received by the receiving unit.

[0107] The tenth aspect is that, in the processing system of the ninth aspect, the processing unit determination device has: a housing having an opening for inserting the processing unit mounted on the rotating shaft of the grinding machine into the housing; and an illumination disposed in the housing to illuminate the processing unit located inside the housing, wherein the imaging device is disposed inside the housing.

[0108] The essence of the 11th method is that, in any of the processing systems of the 1st to 10th methods, there is a grinder replacement device for replacing the aforementioned grinder. The grinder replacement device has a first position where the grinder is already installed on the aforementioned robot arm, a second position where a replacement grinder is to be installed on the aforementioned robot arm, and a cover for covering the connection portions of the grinders respectively installed at the first position and the second position with the aforementioned robot arm.

[0109] The essence of the 12th method is that, in the processing system of the 11th method, the aforementioned grinding machine replacement device has a second sensor that detects whether the aforementioned grinding machine is present at the aforementioned first position or the aforementioned second position.

[0110] According to the 13th embodiment, a processing system is provided. The processing system includes: a grinder having a processing unit for processing the surface of an object to be processed detachably mounted thereon; a robot arm having the grinder mounted thereon, configured to press the processing unit mounted on the grinder onto the object to be processed; a processing unit determining device for determining whether the processing unit needs to be replaced; and a control device for controlling the movements of the grinder and the robot arm. The processing unit determining device includes an imaging device for acquiring image data of the processed surface of the processing unit and a control unit for determining whether the processing unit needs to be replaced. The control unit includes: a transmitting unit for transmitting the image data acquired by the imaging device to a parsing device; a receiving unit for receiving the parsing result of the image data from the parsing device; and a determining unit for determining whether the processing unit needs to be replaced based on the parsing result received by the receiving unit.

[0111] The main idea of ​​the 14th method is that, in the processing system of the 13th method, the processing unit judgment device has: a housing having an opening for inserting the processing unit installed in the grinding machine into the housing; and an illumination disposed in the housing to illuminate the processing unit located inside the housing, and the imaging device being disposed inside the housing.

[0112] The 15th embodiment provides a processing unit replacement device for replacing the processing unit of a grinding machine. The processing unit replacement device includes: a hand-shaped member configured to restrict the rotational movement of the processing unit mounted on the rotating shaft of the grinding machine; a storage container configured to store the processing unit for replacement; and a replacement table having a replacement position for the processing unit when the replacement processing unit is mounted to the rotating shaft of the grinding machine.

[0113] The essence of the 16th embodiment is that, in the processing unit replacement device of the 15th embodiment, it includes: a first magnet that can be attached to and detached relative to the rotation axis of the grinding machine; and a baffle for removing the replacement processing unit adsorbed on the first magnet from the first magnet; the replacement table includes: a support surface that is inclined relative to the vertical and horizontal directions; an inlet for inserting the replacement processing unit; a guide rail that guides the replacement processing unit inserted into the inlet along the support surface to the replacement position; and a stop that stops the replacement processing unit guided by the guide rail at the replacement position.

[0114] According to the 17th embodiment, a processing unit replacement device for replacing the processing unit of a grinding machine is provided. The processing unit replacement device includes: a hand-shaped member configured to restrict the movement of the processing unit mounted on the rotating shaft of the grinding machine in the rotational direction; and a processing unit mounting platform having an upper surface and a lower surface. A second magnet for attracting the processing unit is provided on the lower surface.

[0115] The main idea of ​​the 18th method is that, in any of the processing unit replacement devices in the 15th to 17th methods, there is a first sensor configured to detect whether the aforementioned processing unit is installed in the aforementioned grinding machine.

[0116] The 19th method provides a processing unit determining device for determining whether a processing unit installed in a grinding machine needs to be replaced. The processing unit determining device includes an imaging device for acquiring image data of the processed surface of the processing unit and a control unit for determining 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 a parsing unit; a receiving unit that receives parsing results of the image data from the parsing unit; and a determining unit that determines whether the processing unit needs to be replaced based on the parsing results received by the receiving unit.

[0117] The main idea of ​​the 20th aspect is that, in the processing unit determination device of the 19th aspect, there is: a housing having an opening for inserting the processing unit installed in the grinding machine into the housing; an illumination device disposed in the housing to illuminate the processing unit located inside the housing; and the imaging device disposed inside the housing.

[0118] According to the 21st embodiment, a method is provided for changing the processing section of a grinding machine using any one of the processing systems from the 1st to the 12th embodiments. The hand-shaped component of the aforementioned processing section changing device restricts the rotational movement of the processing section of the grinding machine, fixes the rotating shaft of the grinding machine, and the robotic arm rotates the grinding machine about the rotating shaft in a direction that loosens the threaded engagement between the processing section and the rotating shaft. The grinding machine then rotates the rotating shaft in a direction in which the processing section disengages from the rotating shaft.

[0119] Explanation of reference numerals in the attached figures

[0120] 10: Grinding machine

[0121] 15: Connection part

[0122] 18: Pneumatic motor

[0123] 18a: First main shaft

[0124] 19: Grinding wheel

[0125] 20: Second Main Axis

[0126] 25: Fixed mechanism

[0127] 29: Hook

[0128] 30: Robotic Arm

[0129] 40, 140: Grinding wheel changing device

[0130] 42: Storage

[0131] 43, 143: Hand-shaped components

[0132] 47: Replacement station

[0133] 47a: Change position

[0134] 48: Support surface

[0135] 49: Guide rail

[0136] 50: Input port

[0137] 51: Stop component

[0138] 52: Magnet

[0139] 53: baffle

[0140] 60: Grinding wheel judgment device

[0141] 61: Control Department

[0142] 62: Sending Department

[0143] 63: Receiving Department

[0144] 64: Shell

[0145] 64a: Opening

[0146] 65: Camera

[0147] 66: Lighting

[0148] 80: Grinding machine replacement device

[0149] 83: Position 1

[0150] 84: Position 2

[0151] 85: Cover

[0152] 88: Sensors

[0153] 100: Processing System

[0154] 120: Control device

[0155] 142: Grinding wheel setting table

[0156] 142a: Upper surface

[0157] 142b: Lower surface

[0158] 144: Sensor

[0159] 145: Supplementary Status Transmission Unit

[0160] 200: Processing objects.

Claims

1. A processing system, comprising: A grinding machine having a processing unit that can be detachably installed to treat the surface of an object to be processed; A robotic arm, equipped with the grinding machine, is configured to press the processing unit mounted on the grinding machine onto the object to be processed; A processing unit replacement device for replacing the processing unit of the grinding mill; and A control device is used to control the movements of the grinding machine and the robotic arm. The grinding machine comprises: a rotating shaft having a threaded groove on its outer circumferential surface and threadedly engaging with a nut on the processing unit; a driving device capable of rotating the rotating shaft in both forward and reverse directions; and a fixing mechanism for fixing the rotating shaft. The processing unit changing device has a hand-shaped component configured to cooperate with the robotic arm to remove the processing unit mounted on the grinding machine. With the rotational direction of the processing unit restricted by the hand-shaped component, the robot arm rotates the nut of the processing unit in a loosening direction.

2. The processing system as described in claim 1, wherein, The grinding mill has the following features: The drive shaft of the drive device; and A rotary transmission mechanism that transmits the rotation of the drive shaft to the rotating shaft. The fixing mechanism includes a locking mechanism that fixes the rotation of the drive shaft.

3. The processing system as described in claim 1, wherein, The hand-shaped component is configured to restrict the movement of the processing unit mounted on the rotating shaft of the grinder in the direction of rotation.

4. The processing system as described in claim 1, wherein, The processing unit replacement device has: The storage unit, configured for storage and replacement of the processing unit; and A replacement station having a replacement position for the processing unit to be configured when the replacement processing unit is installed onto the rotating shaft of the grinding machine.

5. The processing system as described in claim 4, wherein, The processing unit replacement device has: A first magnet, which is detachable from the rotating shaft of the grinder; and A baffle is used to remove the replacement processing unit, which is attached to the first magnet, from the first magnet. The changing station has: The supporting surface is inclined relative to both the vertical and horizontal directions; The inlet is for the processing unit to be replaced; The guide rail guides the replacement processing unit, which is inserted into the inlet, along the support surface to the replacement position; and A stopper that stops the replacement processing unit, guided by the guide rail, at the replacement position.

6. The processing system as claimed in claim 1, wherein, The processing unit replacement device includes a processing unit mounting platform, which has an upper surface and a lower surface. A second magnet for adsorbing the processing unit is provided on the lower surface.

7. The processing system as claimed in claim 1, wherein, The processing unit replacement device has a first sensor configured to detect whether the processing unit is installed in the grinding mill.

8. The processing system as claimed in claim 1, wherein, The processing unit replacement device has a supplementary status transmission unit configured to send a signal indicating that the processing unit has been supplemented to the processing unit replacement device to the control device.

9. The processing system as claimed in claim 1, wherein, A processing unit determination device is provided to determine whether the processing unit needs to be replaced. The processing unit determining device has: An imaging device for acquiring image data of the processing surface of the processing unit; and Determine whether the control unit of the processing unit needs to be replaced. The control unit has: The transmitting unit sends the image data acquired by the capturing device to the parsing device; The receiving unit receives the parsing result of the image data from the parsing device; and The judgment unit determines, based on the parsing result received by the receiving unit, whether the processing unit needs to be replaced.

10. The processing system of claim 9, wherein, The processing unit determining device has: A housing having an opening for inserting the processing unit mounted on the rotating shaft of the grinding mill into the interior; and Lighting, disposed within the housing, illuminates the processing unit located inside the housing. The camera is located inside the housing.

11. The processing system as claimed in claim 1, wherein, It has a grinding machine replacement device for replacing the grinding machine. The grinding mill replacement device has the following features: Position 1, which is set up on the grinding machine of the robotic arm; The second position is to be installed on the grinding machine used for replacing the robotic arm; and A cover is provided to cover the connection portion of the grinding machine to the robotic arm, which is respectively located at the first position and the second position.

12. The processing system of claim 11, wherein, The grinding machine replacement device has a second sensor that detects whether the grinding machine is present at the first position or the second position.

13. A processing system, comprising: A grinding machine having a processing unit that can be detachably installed to treat the surface of an object to be processed; A robotic arm, equipped with the grinding machine, is configured to press the processing unit mounted on the grinding machine onto the object to be processed; A processing unit determination device determines whether the processing unit needs to be replaced. A control device that controls the movements of the grinding machine and the robotic arm; and A hand-shaped component configured to cooperate with the robotic arm to detach the processing unit mounted on the grinding machine. With the rotational direction of the processing unit restricted by the hand-shaped component, the robotic arm rotates the nut of the processing unit in a loosening direction. The processing unit determining device has: An imaging device for acquiring image data of the processing surface of the processing unit; and Determine whether the control unit of the processing unit needs to be replaced. The control unit has: The transmitting unit sends the image data acquired by the capturing device to the parsing device; The receiving unit receives the parsing result of the image data from the parsing device; and The judgment unit determines, based on the parsing result received by the receiving unit, whether the processing unit needs to be replaced.

14. The processing system of claim 13, wherein, The processing unit determining device has: A housing having an opening for inserting the processing unit mounted on the grinder into the interior; and Lighting, disposed within the housing, illuminates the processing unit located inside the housing. The camera is located inside the housing.

15. A processing unit replacement device for replacing the processing unit of a grinding mill, comprising: A hand-shaped component configured to restrict the movement of the processing unit mounted on the rotating shaft of the grinder in the direction of rotation; The storage unit is configured to store and replace the processing unit; A replacement station having a replacement position for the processing unit to be configured when the replacement processing unit is installed onto the rotating shaft of the grinding machine; A first magnet, which is detachable from the rotating shaft of the grinder; and A baffle is used to remove the replacement processing unit, which is attached to the first magnet, from the first magnet. The changing station has: The supporting surface is inclined relative to both the vertical and horizontal directions; The inlet is for the processing unit to be replaced; The guide rail guides the replacement processing unit, which is inserted into the inlet, along the support surface to the replacement position; and A stopper that stops the replacement processing unit, guided by the guide rail, at the replacement position.

16. A processing unit replacement device for replacing the processing unit of a grinding mill, comprising: A hand-shaped component configured to restrict the movement of the processing unit mounted on the rotating shaft of the grinder in the direction of rotation; and The processing unit is mounted on a platform having an upper surface and a lower surface. A second magnet is provided on the lower surface for adsorbing the processing part which is disposed at a predetermined position on the lower surface.

17. The processing unit replacement apparatus as claimed in claim 15, wherein, It has a first sensor configured to detect whether the processing unit is installed in the grinding mill.

18. A method for changing the processing section of a grinding mill using a processing system, employing the processing system according to any one of claims 1 to 12, wherein in this method, The hand-shaped component of the processing unit changing device restricts the movement of the processing unit of the grinding machine in the rotational direction. Fix the rotating shaft of the grinding machine. With the rotational direction of the processing unit restricted by the hand-shaped component, the robotic arm rotates the nut of the processing unit in a loosening direction. The grinding machine rotates the rotating axis in a direction in which the processing part disengages from the rotating axis.

Images