Blade automatic replacement device

Abstract

To provide a blade automatic replacement device which enables automatic replacement of a blade without using a high-level mechanism such as a multijoint robot.SOLUTION: A blade automatic replacement device 1000 includes a blade fixing unit 100, a guide rail 200, a movable motor unit 400, a storage unit 300, and a movement control unit 500. A blade 10a is fixed to the blade fixing unit 100. The guide rail 200 guides the blade fixing unit 100. The movable motor unit 400 moves the blade fixing unit 100. The storage unit 300 stores a blade 10b different from the blade 10a fixed by the blade fixing unit 100. The movement control unit 500 controls the movable motor unit 400 so that the blade fixing unit 100 moves to a working area and a blade replacement position along the guide rail 200. In the working area, the movement control unit 500 cuts an object by using the blade 10a fixed by the blade fixing unit 100. In the blade replacement position, the blade 10a is removed from the blade fixing unit 100 and the blade 10b stored in the storage unit 300 is fixed to the blade fixing unit 100.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a blade automatic changing device.

Background Art

[0002] A tool changing device that enables automatic replacement of a saw blade is known (see, for example, Patent Document 1).

[0003] Patent Document 1 describes a saw blade automatic changing device including a cutting machine main body, an articulated robot, and a tool stocker. When changing a tool by the articulated robot, the spindle motor and the brake are controlled based on the rotation angle detected by the spindle stop position detection sensor to stop the spindle in a predetermined origin angle state.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the saw blade automatic changing device described in Patent Document 1 has a problem in that an advanced mechanism such as an articulated robot is required to change a tool.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a blade automatic changing device capable of automatically changing a blade without using an advanced mechanism such as an articulated robot.

Means for Solving the Problems

[0007] The automatic tool changer according to one aspect of the present invention includes a tool fixing part, a guide rail, a moving motor part, a storage part, and a movement control part. The tool fixing part fixes the tool. The guide rail guides the tool fixing part. The moving motor part moves the tool fixing part. The storage part stores a tool different from the tool fixed by the tool fixing part. The movement control part controls the moving motor so that the tool fixing part moves along the guide rail between the working area and the tool change position. In the working area, the movement control part cuts an object using the tool fixed by the tool fixing part. At the tool change position, the tool is removed from the tool fixing part, and the tool stored in the storage part is fixed to the tool fixing part.

[0008] In the automatic tool changer of the present invention, the tool fixing part includes a mounting part attached to the guide rail and a tool installation pedestal having a placement surface on which one area of the tool is placed. The tool installation pedestal is rotatable about a rotation axis along the vertical direction between a tool fixing position and a tool dropping position with respect to the mounting part. When the movement control part moves the tool fixing part to the tool change position, the tool installation pedestal may rotate from the tool fixing position to the tool dropping position.

[0009] In the automatic tool changer of the present invention, the tool fixing part further includes a pedestal rotation fixing mechanism that prevents the tool installation pedestal from rotating to the tool dropping position. When the tool fixing part moves from the working area to the tool change position, the pedestal rotation fixing mechanism may stop preventing the tool installation pedestal from rotating to the tool dropping position.

[0010] The automatic tool changer of the present invention may further include a tool exchange part that removes the tool placed on the placement surface and places the tool stored in the storage part on the placement surface, and an exchange control part that controls the tool exchange part when the tool fixing part is located at the tool change position.

[0011] In the tool automatic exchange device of the present invention, the tool exchange unit includes a holding unit that holds the tool stored in the storage unit, and a feeding motor unit that moves the holding unit. When the tool installation pedestal is located at the tool dropping position, the exchange control unit may control the feeding motor unit so that the holding unit moves between the storage position and the placement position.

[0012] In the tool automatic exchange device of the present invention, the tool exchange unit further includes a placement mechanism that is movable along the vertical direction. When the holding unit moves from the storage position to the placement position, the placement mechanism may prevent the tool from moving from the placement position to the storage position.

[0013] In the tool automatic exchange device of the present invention, the tool exchange unit further includes a tool dropping mechanism. When the tool installation pedestal is located at the tool dropping position, the tool dropping mechanism may act on other areas of the tool to drop the tool from the placement surface.

[0014] In the tool automatic exchange device of the present invention, the tool dropping mechanism is movable between an upper position and a lower position. When the holding unit moves from the placement position to the storage position, the tool dropping mechanism may move from the upper position to the lower position and then move from the lower position to the upper position.

[0015] In the tool automatic exchange device of the present invention, the movement control unit may include a measurement unit that measures the torque applied to the movement motor unit when cutting an object using the tool, and a determination unit that determines whether to exchange the tool based on the measurement result of the measurement unit.

Advantages of the Invention

[0016] According to the present invention, it is possible to provide a tool automatic exchange device that can automatically exchange tools without using a sophisticated mechanism such as an articulated robot.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and the description will not be repeated.

[0019] With reference to FIGS. 1 and 2, the blade automatic exchange device 1000 according to an embodiment of the present invention will be described. FIGS. 1 and 2 are perspective views showing the overall configuration of the blade automatic exchange device 1000 of the present embodiment. FIG. 1 shows the appearance of the blade automatic exchange device 1000 viewed from above and obliquely to the right front. Further, FIG. 2 shows the appearance of the blade automatic exchange device 1000 viewed from below and obliquely to the right rear. As shown in FIGS. 1 and 2, the blade automatic exchange device 1000 exchanges the used blade 10a and the new blade 10b.

[0020] The blade automatic exchange device 1000 includes a blade fixing portion 100 to which the blade 10a is fixed, a guide rail 200, a storage portion 300 for storing the blade 10b, a movement motor portion 400, a movement control portion 500, and a frame 900. Each of the blades 10a and 10b is not particularly limited, but for example, it is a rectangular plate-like body having a blade formed on one side, or a circular saw.

[0021] In this embodiment, the side where the tool fixing portion 100 is arranged with respect to the guide rail 200 is defined as the front side of the tool automatic changer 1000, and the opposite side is defined as the rear side of the tool automatic changer 1000. Also, the side where the storage portion 300 is arranged with respect to the tool fixing portion 100 is defined as the left side of the tool automatic changer 1000, and the opposite side is defined as the right side of the tool automatic changer 1000. Further, the side where the tool 10a is arranged with respect to the tool fixing portion 100 is defined as the lower side of the tool automatic changer 1000, and the opposite side is defined as the upper side of the tool automatic changer 1000. Note that these directions do not limit the orientation during the use of the tool automatic changer 1000. In this embodiment, the first direction D1 is the upward direction. The second direction D2 is the forward direction. The third direction D3 is the rightward direction.

[0022] The guide rail 200 guides the tool fixing portion 100. Specifically, the guide rail 200 is, for example, a linear guide. The guide rail 200 extends along the third direction D3. The left side portion of the guide rail 200 is arranged at the tool exchange position. The right side portion of the guide rail 200 is arranged in the working area. In the working area, an object is cut. Examples of the object include paper-made objects, such as a cardboard box. At the tool exchange position, the used tool 10a and the new tool 10b are exchanged. Note that in FIG. 2, the guide rail 200 is omitted for easier viewing of the lower side of the tool automatic changer 1000.

[0023] The storage unit 300 stores a blade 10b different from the blade 10a fixed by the blade fixing unit 100. The storage unit 300 is disposed near the blade replacement position of the frame 900. The storage unit 300 is fixed so as to penetrate the frame 900 in the first direction D1. Specifically, the storage unit 300 includes a first member 311, a second member 312, and a lid member 313. The first member 311 is a plate-like body perpendicular to the second direction D2. At the lower end of the first member 311, a placement portion protruding along the direction opposite to the second direction D2 is disposed. The second member 312 is a plate-like body perpendicular to the second direction D2. At the lower end of the second member 312, a placement portion protruding along the second direction D2 is disposed. The first member 311 is disposed in the second direction D2 of the second member 312. The blade 10b is placed on the upper surfaces of the placement portions of the first member 311 and the second member 312. The lid member 313 is a plate-like body perpendicular to the first direction D1. A spring extending along the first direction D1 is disposed on the lower surface of the lid member 313. The lid member 313 is disposed on the upper portions of the first member 311 and the second member 312. The storage unit 300 stores a plurality of new blades 10b. More specifically, the plurality of new blades 10b are arranged along the first direction D1.

[0024] The moving motor unit 400 is disposed near the blade replacement position of the frame 900. Specifically, the moving motor unit 400 includes a first pulley 410, a second pulley (not shown), a moving motor 430, and a belt 440. The first pulley 410 is disposed on the left side of the guide rail 200. The second pulley is disposed on the right side of the guide rail 200. The belt 440 is disposed between the first pulley 410 and the second pulley. The moving motor 430 rotates the first pulley 410.

[0025] The movement control unit 500 controls the moving motor unit 400. The movement control unit 500 includes a processor such as a CPU (Central Processing Unit), for example. Specifically, the movement control unit 500 rotates the moving motor 430.

[0026] Next, with reference to FIGS. 1 to 4, the blade fixing portion 100 according to the present embodiment will be described. FIGS. 3 and 4 are perspective views showing the configuration of the blade fixing portion 100 of the present embodiment. FIG. 3 shows the blade installation pedestal 120 when it is located at the blade fixing position. Further, FIG. 4 shows the blade installation pedestal 120 when it is located at the blade dropping position. As shown in FIGS. 3 and 4, the blade fixing portion 100 fixes the blade 10a.

[0027] The blade fixing portion 100 includes a first attachment portion 110, a second attachment portion 111, a blade installation pedestal 120, and a main body portion 115. The first attachment portion 110 is disposed above the main body portion 115. The first attachment portion 110 is movably attached to the guide rail 200. The second attachment portion 111 is disposed above the first attachment portion 110. The second attachment portion 111 is fixed to the belt 440. Specifically, the belt 440 is clamped or adhered, and the second attachment portion 111 is fixed to a region of the guide rail 200. As a result, the movement control unit 500 rotates the movement motor 430, so that the blade fixing portion 100 moves in the work area along the guide rail 200 and moves between the work area and the blade replacement position.

[0028] As described above with reference to FIGS. 1 to 4, according to the blade automatic replacement device 1000, the movement control unit 500 rotates the movement motor 430, so that the blade fixing portion 100 to which the blade 10a is fixed moves in the work area along the guide rail 200 and moves between the work area and the blade replacement position. A storage portion 300 for storing the blade 10b is disposed near the blade replacement position. As a result, the blade 10b can be automatically replaced without using a sophisticated mechanism such as an articulated robot at the blade replacement position. In particular, it is effective when the replacement frequency of the blade 10a is high.

[0029] Specifically, the blade mounting pedestal 120 is disposed below the main body 115. The blade mounting pedestal 120 is a plate-like body 122 perpendicular to the vertical direction. The blade mounting pedestal 120 has a mounting surface 121 disposed on the upper surface of the plate-like body 122. The blade 10a is placed on the mounting surface 121 in a state perpendicular to the vertical direction. Two protrusions 121a are arranged on the mounting surface 121. Two through holes 11 are formed in the blade 10a. When the blade 10a is placed on the mounting surface 121, the two through holes 11 are inserted into the two protrusions 121a. As a result, rotation of the blade 10a with respect to the mounting surface 121 can be suppressed, and the blade 10a is fixed to the mounting surface 121.

[0030] Also, one area of the blade 10a is placed on the mounting surface 121. The shape of the mounting surface 121 is, for example, a rectangle having a missing part in the shape of a triangle. As a result, the shape of one area of the blade 10a is also, for example, a rectangle having a missing part in the shape of a triangle. The other area of the blade 10a is not placed on the mounting surface 121. The shape of the other area of the blade 10a is, for example, a triangle.

[0031] The blade mounting pedestal 120 is rotatable with respect to the first mounting portion 110 about a rotation axis 115a along the vertical direction. Specifically, the blade mounting pedestal 120 is positioned at the blade dropping position by rotating in the first rotation direction from the blade fixing position. On the other hand, the blade mounting pedestal 120 is positioned at the blade fixing position by rotating in the second rotation direction from the blade dropping position. The second rotation direction is the reverse rotation direction of the first rotation direction. Note that, as a method of moving the blade mounting pedestal 120 between the blade fixing position and the blade dropping position, it may be linearly moved instead of rotated.

[0032] The blade installation pedestal 120 is located at either the blade fixing position or the blade dropping position. The blade fixing position indicates the position where the blade 10a is fixed to the blade installation pedestal 120. The blade dropping position indicates the position where the blade 10a can be removed from the blade installation pedestal 120. With the blade installation pedestal 120 located at the blade fixing position, the blade fixing unit 100 moves to the work area and cuts the object. On the other hand, the blade fixing unit 100 moves to the blade replacement position and replaces the used blade 10a with a new blade 10b with the blade installation pedestal 120 located at the blade dropping position. As a result, at the blade dropping position, the blade 10b can be automatically replaced without using a sophisticated mechanism such as an articulated robot.

[0033] Next, with reference to FIGS. 1 to 5, the pedestal rotation fixing mechanism 130 will be described. FIG. 5 is a perspective view showing the blade automatic exchange device 1000 when the blade fixing unit 100 has moved to the blade replacement position. As shown in FIGS. 1 to 5, the blade fixing unit 100 further includes a pedestal rotation fixing mechanism 130 and a pedestal rotation mechanism 116.

[0034] The pedestal rotation mechanism 116 acts on the blade installation pedestal 120 so that the blade installation pedestal 120 rotates to the blade dropping position. The pedestal rotation mechanism 116 is, for example, a mechanism that winds a spring around the rotation shaft 116a and rotates it.

[0035] The pedestal rotation fixing mechanism 130 prevents the blade installation pedestal 120 from rotating to the blade dropping position. Specifically, the pedestal rotation fixing mechanism 130 has a first protruding member 131. The first protruding member 131 is, for example, a rod-shaped body extending along the first direction D1. The first protruding member 131 is disposed on the first rotation direction side of the blade installation pedestal 120 located at the blade fixing position. As a result, the first protruding member 131 inhibits the rotation of the blade installation pedestal 120, and the blade installation pedestal 120 is fixed at the blade fixing position.

[0036] When the blade fixing unit 100 moves from the work area to the blade replacement position, the pedestal rotation fixing mechanism 130 stops preventing the blade installation pedestal 120 from rotating to the blade dropping position. Specifically, a first contact member 910 is disposed near the blade replacement position of the frame 900. The first contact member 910 is, for example, a plate-shaped body.

[0037] The pedestal rotation fixing mechanism 130 further includes a first rotating member 134, a second rotating member 132, and a second protruding member 133. The first protruding member 131 is disposed at one end of the first rotating member 134. The first rotating member 134 rotates about a rotation axis along the third direction D3. One end of the first rotating member 134 is engaged with one end of the second rotating member 132. The second protruding member 133 is disposed at the other end of the second rotating member 132. The second rotating member 132 rotates about a rotation axis along the second direction D2. When the blade fixing portion 100 moves from the working area to the blade replacement position, the second protruding member 133 abuts against the first abutting member 910, causing the second rotating member 132 to rotate. As a result, the first rotating member 134 rotates. Therefore, the first protruding member 131 is disposed above the blade installation pedestal 120. As a result, the blade installation pedestal 120 rotates to the blade dropping position by the pedestal rotation mechanism 116. Therefore, the blade installation pedestal 120 can be rotated to the blade dropping position with a simple mechanism.

[0038] Also, when the blade fixing portion 100 moves from the blade replacement position to the working area, the blade installation pedestal 120 rotates to the blade fixing position. Specifically, a second abutting member 920 is disposed near the blade replacement position of the frame 900. The second abutting member 920 is, for example, a rod-shaped body extending along the first direction D1. When the blade fixing portion 100 moves from the blade replacement position to the working area, the blade installation pedestal 120 abuts against the second abutting member 920, causing the blade installation pedestal 120 to rotate in the second rotation direction from the blade dropping position. Thereafter, when the pedestal rotation fixing mechanism 130 separates from the first abutting member 910, the first protruding member 131 is disposed on the first rotation direction side of the blade installation pedestal 120 located at the blade fixing position. As a result, the blade installation pedestal 120 is fixed at the blade fixing position.

[0039] The automatic tool changer 1000 further includes a tool exchange unit 600 and an exchange control unit 700. The tool exchange unit 600 removes the tool 10a placed on the placement surface 121 and places the tool 10b stored in the storage unit 300 on the placement surface 121. Specifically, the tool exchange unit 600 includes a holding unit 610 and a feeding motor unit 620.

[0040] The holding unit 610 holds the blade 10b stored in the storage unit 300. The holding unit 610 holds the lowermost one of the plurality of blades 10b stored in the storage unit 300. Specifically, the holding unit 610 includes a placement member 611 and a main body member 613. The placement member 611 is a plate-like body perpendicular to the first direction D1. The placement member 611 has two plate-like bodies extending along the third direction D3. The two plate-like bodies are arranged at a predetermined distance in the second direction D2. Further, the placement member 611 has a contact portion extending upward. The contact portion has the same height as the thickness of the blade 10b. One blade 10b is placed on the upper surfaces of the two plate-like bodies of the placement member 611 and is pushed out from the storage unit 300 by the contact portion. The placement member 611 is connected to the main body member 613.

[0041] The feeding motor unit 620 moves the holding unit 610. The feeding motor unit 620 moves the holding unit 610 along the third direction D3. The feeding motor unit 620 moves the holding unit 610 between the storage position and the placement position.

[0042] Specifically, the feeding motor unit 620 includes a feeding motor 621, a pinion 622, and a rack 623. The rack 623 is arranged on the main body member 613. The rack 623 extends along the third direction D3. On the other hand, the feeding motor 621 is connected to the pinion 622. The pinion 622 rotates about a rotation axis along the first direction D1. The feeding motor 621 rotates the pinion 622. As a result, the main body member 613 moves along the third direction D3, and the holding unit 610 moves along the third direction D3.

[0043] The exchange control unit 700 controls the blade exchange unit 600 when the blade fixing unit 100 is located at the blade exchange position. The exchange control unit 700 controls the feeding motor unit 620. The exchange control unit 700 includes a processor such as a CPU, for example. Specifically, the exchange control unit 700 rotates the feeding motor 621. As a result, the holding unit 610 moves to the placement position. Therefore, the blade 10b can be automatically exchanged without using a sophisticated mechanism such as an articulated robot at the blade exchange position.

[0044] Next, referring to FIGS. 1 to 6, the first placement mechanism 650 and the second placement mechanism 630 will be described. FIG. 6 is a perspective view showing the tool automatic changer 1000 when the holding part 610 moves from the storage position to the placement position. As shown in FIGS. 1 to 6, the tool changing part 600 further includes a first placement mechanism 650 and a second placement mechanism 630.

[0045] The first placement mechanism 650 is movable along the vertical direction. Specifically, when the holding part 610 moves from the storage position to the placement position, the first placement mechanism 650 moves from the lower position to the upper position in contact with the tool 10b. On the other hand, when the holding part 610 moves from the placement position to the storage position, the tool 10b is pressed toward the tool installation pedestal 120. As a result, the tool 10b moves from the holding part 610 to the tool installation pedestal 120. Therefore, the tool 10b can be placed on the tool installation pedestal 120 with a simple mechanism.

[0046] The second placement mechanism 630 is movable along the vertical direction. Specifically, when the holding part 610 moves from the placement position to the storage position, the second placement mechanism 630 prevents the tool 10b from moving from the placement position to the storage position. More specifically, when the holding part 610 moves from the storage position to the placement position, the second placement mechanism 630 moves from the lower position to the upper position. After that, when the holding part 610 is located at the placement position, the second placement mechanism 630 moves from the upper position to the lower position. As a result, when the holding part 610 moves from the placement position to the storage position, the tool 10b abuts against the second placement mechanism 630, preventing the tool 10b from moving from the placement position to the storage position. Therefore, the tool 10b can be placed on the tool installation pedestal 120 with a simple mechanism.

[0047] Next, referring to FIGS. 1 to 7, the tool dropping mechanism 640 will be described. FIG. 7 is a perspective view showing the tool automatic changer 1000 when the holding part 610 moves to the placement position. As shown in FIGS. 1 to 7, the tool changing part 600 further includes a tool dropping mechanism 640.

[0048] When the blade setting pedestal 120 is located at the blade dropping position, the blade dropping mechanism 640 acts on other areas of the blade 10a to drop the blade from the placement surface 121. Specifically, the blade dropping mechanism 640 has a rod-shaped portion 641. The rod-shaped portion 641 is rotatable about a rotation axis along the second direction D2. As a result, the tip of the rod-shaped portion 641 is movable between an upper position and a lower position. A blade dropping portion 641a is disposed at the tip of the rod-shaped portion 641. When the blade dropping portion 641a moves from the upper position to the lower position, it contacts other areas of the blade 10a placed on the placement surface 121. As a result, the blade 10a drops from the placement surface 121. Therefore, the blade 10b can be removed from the blade setting pedestal 120 with a simple mechanism.

[0049] When the holding portion 610 moves from the storage position to the placement position, the blade dropping mechanism 640 moves from the upper position to the lower position and then moves from the lower position to the upper position. Specifically, the blade dropping mechanism 640 further has a contact portion 642. More specifically, the contact portion 642 has a holding member 642a and a mounting portion 642b.

[0050] The mounting portion 642b is attached to the main body member 613. As a result, when the holding portion 610 moves from the storage position to the placement position, the contact portion 642 also moves from the storage position to the placement position.

[0051] The holding member 642a extends upward. The holding member 642a is in contact with the rod-shaped portion 641. Specifically, when the holding portion 610 is located at the storage position, the holding member 642a maintains the rod-shaped portion 641 in the upper position. When the holding portion 610 moves from the storage position to the placement position, the holding member 642a no longer contacts the rod-shaped portion 641, and the rod-shaped portion 641 moves to the lower position. When the rod-shaped portion 641 moves to the lower position, it contacts other areas of the blade 10a placed on the placement surface 121. As a result, the blade 10a drops from the placement surface 121. Thereafter, when the holding portion 610 further moves from the storage position to the placement position, the holding member 642a contacts the rod-shaped portion 641, and the rod-shaped portion 641 moves to the intermediate position. As a result, the blade 10b can be automatically exchanged with a simpler mechanism.

[0052] Also, when the holding part 610 further moves from the placement position to the storage position, the holding member 642a contacts the rod-shaped part 641, and the rod-shaped part 641 moves to the intermediate position. When the holding part 610 further moves from the placement position to the storage position, the holding member 642a no longer contacts the rod-shaped part 641, and the rod-shaped part 641 moves to the lower position. When the holding part 610 further moves from the placement position to the storage position, the holding member 642a contacts the rod-shaped part 641, and the rod-shaped part 641 moves to the upper position.

[0053] Referring to FIG. 1 again, the movement control unit 500 will be described. As shown in FIG. 1, the movement control unit 500 includes a measurement unit 510 and a determination unit 520.

[0054] The measurement unit 510 measures the torque applied to the movement motor unit 400 when cutting an object using the blade 10a. Specifically, the movement control unit 500 rotates the movement motor 430 so that the blade fixing part 100 moves in the work area along the guide rail 200 to cut the object. The measurement unit 510 measures the torque applied to the movement motor 430 when cutting the object.

[0055] The determination unit 520 determines whether to replace the blade 10a based on the measurement result of the measurement unit 510. Specifically, it determines whether the torque applied to the movement motor 430 when cutting the object is equal to or greater than a threshold value. When the torque is equal to or greater than the threshold value, the determination unit 520 determines to replace the blade 10a. On the other hand, when the torque is less than the threshold value, the determination unit 520 determines not to replace the blade 10a. As a result, the blade 10b can be automatically replaced. Furthermore, by automatically determining the blade replacement timing based on the blade movement thrust during cutting, it becomes possible to replace the blade at an appropriate timing according to the degree of blade deterioration, and it is possible to suppress variations in the blade replacement timing.

[0056] Next, with reference to FIGS. 1 to 7, a method for automatically exchanging the cutting blade of the cutting blade automatic exchange device 1000 will be described. As shown in FIG. 1, the movement control unit 500 rotates the movement motor 430, causing the blade fixing unit 100 to move along the guide rail 200 within the working area to cut the object. The measurement unit 510 measures the torque applied to the movement motor 430 when cutting the object.

[0057] The determination unit 520 determines whether to exchange the cutting blade 10a based on the measurement result of the measurement unit 510. When the torque is equal to or greater than the threshold value, the determination unit 520 determines to exchange the cutting blade 10a.

[0058] When the determination unit 520 determines to exchange the cutting blade 10a, the movement control unit 500 rotates the movement motor 430, causing the blade fixing unit 100 to move from the working area along the guide rail 200 to the blade exchange position.

[0059] As shown in FIG. 5, when the blade fixing unit 100 moves from the working area to the blade exchange position, the blade installation pedestal 120 rotates to the blade dropping position.

[0060] Next, as shown in FIG. 7, when the holding unit 610 moves from the storage position to the placement position, the holding member 642a no longer contacts the rod-shaped portion 641, and the rod-shaped portion 641 moves to the lower position. When the rod-shaped portion 641 moves to the lower position, it contacts other areas of the cutting blade 10a placed on the placement surface 121. As a result, the cutting blade 10a drops from the placement surface 121. After the cutting blade 10a drops, the blade fixing unit 100 moves from the blade dropping position to the blade exchange position.

[0061] Next, as shown in FIG. 6, when the holding unit 610 moves from the placement position to the storage position, the first placement mechanism 650 presses the cutting blade 10b toward the blade installation pedestal 120, and the second placement mechanism 630 prevents the cutting blade 10b from moving from the placement position to the storage position. As a result, the cutting blade 10b is moved from the holding unit 610 to the blade installation pedestal 120 by the first placement mechanism 650 and the second placement mechanism 630.

[0062] Next, as shown in FIG. 1, when the blade fixing portion 100 moves from the blade replacement position to the work area, the blade installation pedestal 120 rotates to the blade fixing position. Thereafter, when the pedestal rotation fixing mechanism 130 separates from the first contact member 910, the first protruding member 131 is disposed on the first rotation direction side of the blade installation pedestal 120 positioned at the blade fixing position. As a result, the blade installation pedestal 120 is fixed at the blade fixing position.

[0063] The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above-described embodiments, and can be implemented in various forms without departing from the gist thereof. Further, various inventions can be formed by appropriately combining a plurality of components disclosed in the above embodiments. For example, some components may be deleted from all the components shown in the embodiments. Furthermore, components from different embodiments may be appropriately combined. The drawings are schematically shown mainly for each component for easy understanding, and the thickness, length, number, interval, etc. of each illustrated component may be different from the actual ones for convenience of drawing preparation. Also, the materials, shapes, dimensions, etc. of each component shown in the above embodiments are examples and are not particularly limited, and various changes can be made without substantially departing from the effects of the present invention.

[0064] (1) In the above-described automatic tool changer 1000, as an example of a method of rotating the tool installation pedestal 120, the pedestal rotation mechanism 116 is a mechanism that rotates by winding a spring around the rotation shaft 116a. However, the present invention is not limited thereto. For example, as a method of rotating the tool installation pedestal 120, a mechanism that rotates using a motor as a rotation shaft, a mechanism that rotates the tool installation pedestal by pushing with a cylinder, a mechanism that repels and rotates the tool installation pedestal with a magnet, or a mechanism that pushes out the tool installation pedestal with a blower may be used. Further, as a method of moving the tool installation pedestal 120, the tool installation pedestal may be moved in the XY direction or the Z direction using a cylinder mechanism, or the tool installation pedestal may be moved in the XY direction or the Z direction using a motor mechanism.

[0065] (2) In the above-described automatic tool changer 1000, an example of a mechanism in which two protrusions 121a are arranged on the mounting surface 121 as a method of fixing the tool 10a to the mounting surface 121 has been shown, but the present invention is not limited to this. For example, as a method of fixing the tool 10a to the mounting surface 121, a mechanism that presses the tool onto the mounting surface from above, or a mechanism in which the mounting surface adheres to the tool by magnetic force or suction may be used.

[0066] (3) In the above-described automatic tool changer 1000, an example of a mechanism having a rod-shaped portion 641 as the tool dropping mechanism 640 has been shown, but the present invention is not limited to this. For example, as the tool dropping mechanism 640, a mechanism that strikes the tool upward from below, a mechanism that blows the tool away by air blow or magnetic force, a mechanism that adsorbs and drops the tool by air adsorption or magnetic force, a mechanism that turns over the tool installation pedestal to drop the tool, a mechanism that drops the tool when moving the tool installation pedestal, or a mechanism in which the tool installation portion of the tool installation pedestal slides to drop the tool may be used.

[0067] (4) In the above-described automatic tool changer 1000, an example of a mechanism having a feeding motor 621, a pinion 622, and a rack 623 as a method of moving the holding portion 610 has been shown, but the present invention is not limited to this. For example, as a mechanism for moving the holding portion 610, a mechanism that is pushed and moved by a cylinder, a mechanism that repels the tool installation pedestal with a magnet to move the holding portion, or a mechanism that pushes and moves the holding portion with an air blower may be used. Further, a mechanism in which the tool fixing portion moves and directly supplies the tool from the storage portion to the tool installation pedestal may be used.

[0068] (5) In the above-described automatic tool changer 1000, an example in which the second attachment portion 111 of the tool fixing portion 100 is fixed to the belt 440 has been shown, but the present invention is not limited to this. For example, a moving motor portion 400 may be attached to the tool fixing portion 100. In other words, the tool fixing portion 100 may move by itself.

Industrial Applicability

[0069] The present invention provides an automatic tool changer and has industrial applicability.

Explanation of Symbols

[0070] 10a, 10b: Blades 100: Blade Fixing Part 200: Guide Rail 300: Storage Part 400: Moving Motor Part 500: Movement Control Part 1000: Automatic Blade Changer

Claims

1. A blade fixing part to which a blade is fixed; A guide rail for guiding the blade fixing part; A moving motor part for moving the blade fixing part; A storage part for storing a blade different from the blade fixed by the blade fixing part; A movement control part for controlling the moving motor part so that the blade fixing part moves along the guide rail between a working area and a blade replacement position; Comprising; In the working area, the movement control part cuts an object using the blade fixed by the blade fixing part; A blade automatic replacement device that removes the blade from the blade fixing part at the blade replacement position and fixes the blade stored in the storage part to the blade fixing part.

2. The blade fixing part; A mounting part attached to the guide rail; A blade installation pedestal having a placement surface on which one area of the blade is placed; Comprising; The blade installation pedestal is rotatable about a rotation axis along the vertical direction between a blade fixing position and a blade dropping position with respect to the mounting part; The blade automatic replacement device according to claim 1, wherein when the movement control part moves the blade fixing part to the blade replacement position, the blade installation pedestal rotates from the blade fixing position to the blade dropping position.

3. The blade fixing part further comprises a pedestal rotation fixing mechanism for preventing the blade installation pedestal from rotating to the blade dropping position; The blade automatic replacement device according to claim 2, wherein when the blade fixing part moves from the working area to the blade replacement position, the pedestal rotation fixing mechanism stops preventing the blade installation pedestal from rotating to the blade dropping position.

4. A blade replacement part for removing the blade placed on the placement surface and placing the blade stored in the storage part on the placement surface; A replacement control part for controlling the blade replacement part when the blade fixing part is located at the blade replacement position; The blade automatic replacement device according to claim 2, further comprising.

5. The blade replacement part; A holding part for holding the blade stored in the storage part; A feeding motor part for moving the holding part; Comprising; The blade automatic replacement device according to claim 4, wherein when the blade installation pedestal is located at the blade dropping position, the replacement control part controls the feeding motor part so that the holding part moves between a storage position and a placement position.

6. The blade replacement part further comprises a placement mechanism movable along the vertical direction; The blade automatic replacement device according to claim 5, wherein when the holding part moves from the placement position to the storage position, the placement mechanism prevents the blade from moving from the placement position to the storage position.

7. The blade replacement part further includes a blade dropping mechanism, When the blade installation pedestal is located at the blade dropping position, the blade dropping mechanism acts on other areas of the blade to drop the blade from the placement surface. The automatic blade changer according to claim 5.

8. The blade dropping mechanism is movable between an upper position and a lower position, When the holding part moves from the storage position to the placement position, the blade dropping mechanism moves from the upper position to the lower position and then moves from the lower position to the upper position. The automatic blade changer according to claim 7.

9. The movement control unit, A measurement unit that measures the torque applied to the movement motor unit when cutting the object using the blade, A determination unit that determines whether to replace the blade based on the measurement result of the measurement unit The automatic blade changer according to claim 1, comprising.

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