Storage shaft, blade assembly carriage and blade replacement system

Abstract

To provide a storage shaft which can increase the speed of blade replacement.SOLUTION: A storage shaft 1 includes: a storage support part 2; a temporary holding part 3 which projects in an axial direction D2 from one end in an axial direction D2 of the storage support part 2, and temporarily holds an annular tool; a moving member 4 which has a pressing part 41 capable of pressing an end face of the annular tool, and moves the annular tool in the axial direction D2 to the storage support part 2 from the temporary holding part 3; a driving source 5 which drives the moving member 4; and a driving force transmission member 6 which connects the driving source 5 and the moving member 4, wherein the driving source 5 is provided at a position closer to the storage support part 2 side with respect to the temporary holding part 3, the driving force transmission member 6 moves the moving member 4 in a direction toward the storage support part 2 from the temporary holding part 3, in the axial direction D2, and thereby moves the annular tool temporarily held on the temporary holding part 3 to the storage support part 2.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a storage shaft, a blade set carriage, and a blade changing system. [Background technology]

[0002] For example, in a cutting device for cutting a cutting object such as steel, a plurality of annular tools such as round blades and spacers are attached to the arbor of the cutting device using a handling robot (see Patent Document 1). When cutting the cutting object in a different pattern, the annular tools are removed from the arbor of the cutting device and a set of annular tools with a different pattern is attached.

[0003] In this way, when attaching sets of annular tools of different patterns to the arbor of a cutting device, in Patent Document 1, a handling robot moves between the arbor and a storage shelf on which the lower parts of the annular tools are placed in contact, attaching a set of annular tools of a predetermined pattern and using the set of annular tools on the storage shelf. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-66426 Summary of the Invention [Problem to be solved by the invention]

[0005] On the other hand, in recent years, there has been a demand for a wide variety of products and small lots, which has led to an increase in the frequency of blade changes, and there is a demand for faster blade changes.

[0006] Therefore, an object of the present invention is to provide a storage shaft, a blade set cart, and a blade changing system that enable faster blade changing. [Means for solving the problem]

[0007] The storage shaft of the present invention is used in a cutting device that cuts plate-shaped cutting objects, and is a storage shaft for temporarily storing a plurality of annular tools held by a handling robot. The storage shaft comprises a storage support portion extending in a predetermined direction to store the plurality of annular tools, a temporary holding portion that protrudes axially from one end of the storage support portion in the axial direction and temporarily holds the annular tools, a moving member having a pressing portion that can press the end face of the annular tool and moves the annular tool in the axial direction from the temporary holding portion to the storage support portion, a drive source that drives the moving member, and a drive force transmission member that connects the drive source and the moving member. The drive source is located at a position on the storage support portion side, and the drive force transmission member is configured to move the moving member in the axial direction from the temporary holding portion toward the storage support portion, thereby moving the annular tool temporarily held in the temporary holding portion to the storage support portion.

[0008] Furthermore, the blade set cart of the present invention is a blade set cart that is equipped with a plurality of blade set shafts arranged in parallel and a transport mechanism that transports the plurality of blade set shafts to a position where they can be connected to the arbor of a cutting device that cuts a plate-like cutting object, and at least one of the plurality of blade set shafts is configured as the storage shaft.

[0009] The blade replacement system of the present invention is a blade replacement system comprising a blade set cart equipped with a plurality of blade set shafts arranged in parallel and a transport mechanism for transporting the plurality of blade set shafts to a position where they can be connected to the arbor of a cutting device that cuts a plate-like cutting object, and a plurality of storage shafts arranged adjacent to the blade set shafts of the blade set cart and approximately parallel to the blade set shafts, and at least one of the plurality of storage shafts is constituted by the storage shaft. [Effects of the Invention]

[0010] The storage shaft, blade set carriage, and blade replacement system of the present invention enable faster blade replacement. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic diagram of a cutting system including a storage shaft, a blade set carriage, and a blade changing system. [Figure 2] FIG. 2 is a front view of a blade changing system including a storage shaft and a blade set carriage, viewed in the axial direction of the storage shaft. [Figure 3] FIG. 10 is a diagram showing a part of a handling robot holding a circular blade. [Figure 4] FIG. 10 is a schematic view showing a state in which an annular tool is assembled into a blade assembly shaft. [Figure 5] 10 is a schematic view showing a state in which the annular tool is retrieved from the arbor of the cutting device to the blade set shaft. FIG. [Figure 6] 10 is a schematic diagram showing the state in which an annular tool is attached from a blade set shaft to an arbor of a cutting device. FIG. [Figure 7] FIG. 10 is a schematic view showing a state in which the annular tool is being removed from the blade set shaft. [Figure 8] FIG. 1 is a schematic side view of an embodiment of a storage shaft. [Figure 9] FIG. 9 is a top view of the tip portion of the storage shaft of FIG. 8. [Figure 10] FIG. 9 is a view of the storage shaft of FIG. 8 as seen in the axial direction. [Figure 11] 10 is a side view showing a state in which an annular tool is placed on a temporary holding portion by a handling robot in a storage shaft of one embodiment. FIG. [Figure 12] 1 is a view of a storage shaft of an embodiment, showing a state in which an annular tool is placed on a temporary holding portion, as viewed in the axial direction of the storage shaft. FIG. [Figure 13] 12 is a side view showing a state in which the annular tool is moved from the temporary holding part to the storage support part by the moving member, from the state shown in FIG. 11. FIG. [Figure 14] 14 is a view of the storage shaft shown in FIG. 13 as seen from the axial direction of the storage shaft. [Figure 15] FIG. 10 is a side view showing the storage shaft and the arbor of the cutting device docked together. [Figure 16] 16 is a side view showing a state in which the set of annular tools has been moved from the storage shaft to the arbor of the cutting device, following the state shown in FIG. 15. [Figure 17]FIG. 10 is a schematic side view of a storage shaft according to another embodiment. [Figure 18] FIG. 18 is a top view of the storage shaft of FIG. 17. [Figure 19] 18 is a view of the storage shaft of FIG. 17 as seen in the axial direction. [Figure 20] 18 is a side view showing a state in which the annular tool is moved from the temporary holding part to the storage support part by the moving member in the storage shaft of FIG. 17.

[0033] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a storage shaft, a blade set carriage, and a blade changing system according to one embodiment of the present invention will be described with reference to the drawings. Note that the embodiment shown below is merely an example, and the storage shaft, blade set carriage, and blade changing system of the present invention are not limited to the following embodiment.

[0013] In this specification, the expressions "perpendicular to A" and similar expressions do not refer only to a direction that is completely perpendicular to A, but also refer to a direction that is approximately perpendicular to A. In this specification, the expressions "parallel to B" and similar expressions do not refer only to a direction that is completely parallel to B, but also refer to a direction that is approximately parallel to B. In this specification, the expressions "C-shape" and similar expressions do not refer only to a perfect C-shape, but also refer to a shape that visually resembles a C-shape (approximately a C-shape).

[0014] First, referring to Fig. 1, a schematic configuration of an example of a cutting system CS including a blade changing system S, a blade set cart V, a storage shaft 1, etc. The cutting system CS is a system that cuts a plate-shaped cutting object W (for example, a metal plate such as a steel plate). In this embodiment, as shown in Fig. 1, the cutting system CS has a blade changing system S and a cutting device CD, which will be described later, and is configured so that the pattern of an annular tool T, such as a round blade, provided on the cutting device CD can be changed by the blade changing system S according to a desired cutting pattern.

[0015] The cutting device CD is configured to cut a plate-shaped workpiece W. The cutting device CD includes a pair of arbors A (only the upper arbor is shown in FIG. 1 ) that rotate around a horizontal axis and are arranged above and below the workpiece W. The cutting device CD is configured to cut the workpiece W using annular tools T (circular blades) attached to the pair of arbors A. In this embodiment, the arbors A are cylindrical, and annular circular blades and spacers are arranged in a predetermined pattern on the outer periphery of the cylindrical arbor A to cut the steel plate in the predetermined pattern. The annular tools T, such as annular circular blades and annular spacers, are annular members attached to the arbor A when the cutting device CD cuts the plate-shaped workpiece W. A bearing B, provided on one side of the arbor A in the axial direction of the cutting device CD, is configured to be movable so that the annular tools T attached to the arbor A can be exchanged between the blade change system S and the arbors A. This allows the set of annular tools T to be transferred between the arbors A and the storage shaft 1 (blade set shaft 1A) of the blade change system S. Therefore, a set of annular tools T that has been used can be retrieved from the arbor A to the storage shaft 1, and a set of annular tools T with a new cutting pattern can be attached from the storage shaft 1 to the arbor A. Note that the configuration of the cutting device CD is not limited to the configuration shown in the figure.

[0016] In this specification, with regard to the directions of each component, the vertical direction is referred to as the up-down direction D1. The direction in which the storage shaft 1 extends is referred to as the axial direction D2. In this embodiment, the axial direction D2 extends in a horizontal direction perpendicular to the up-down direction D1. However, the storage shaft 1 does not necessarily have to extend horizontally (for example, it may extend at an angle relative to the horizontal direction). In this embodiment, the axial direction D2 is also a direction perpendicular to the end face of the annular tool T attached to the storage shaft 1 and also a direction in which multiple annular tools T are lined up on the storage shaft 1. In the axial direction D2, the direction in which the annular tool T is stored (the direction in which the annular tool T is attached) is referred to as the storage direction D21, and the direction in which the annular tool T is removed from the storage shaft 1 is referred to as the removal direction D22. The direction perpendicular to the up-down direction D1 and the axial direction D2 is referred to as the lateral direction D3. In this embodiment, the lateral direction D3 is also a direction in which a blade set shaft 1A and a storage shaft 1B, which will be described later, are adjacent to each other. The lateral direction D3 is also the radial direction of the annular tool T attached to the storage shaft 1 among the horizontal directions.

[0017] In this embodiment, as shown in FIG. 1 , the blade replacement system S includes a blade set carriage V equipped with a transport mechanism TR that transports the blade set shafts 1A aligned in the vertical direction D1 to a position (see the two-dot chain line in FIG. 1 ) where the blade set shafts 1A can be coupled to an arbor A of a cutting device CD that cuts a plate-like cutting object W; and a plurality of storage shafts 1B arranged adjacent to the blade set shafts 1A of the blade set carriage V and substantially parallel to the blade set shafts 1A. In this embodiment, the blade replacement system S also includes a handling robot R. As described above, by arranging the plurality of storage shafts 1B adjacent to the blade set shafts 1A and in close proximity to the blade set shafts 1A, the movement efficiency of the handling robot R is improved, significantly increasing the blade replacement throughput. In this embodiment, the storage shafts 1B are arranged substantially parallel (parallel or nearly parallel) to the blade set shafts 1A, but they may also be arranged perpendicular or inclined relative to the extension direction of the blade set shafts 1A.

[0018] In this embodiment, as shown in FIGS. 1 and 2, the blade replacement system S includes a blade set shaft unit U1 in which multiple blade set shafts 1A (four blade set shafts 1A in this embodiment) are arranged in parallel, and a storage shaft unit U2 in which multiple storage shafts 1B (six storage shafts 1B in this embodiment) are arranged in parallel. In this embodiment, a pair of storage shaft units U2 is provided on both sides of the blade set shaft unit U1 in the horizontal direction D3. In addition, in this embodiment, the blade replacement system S includes a pair of handling robots R that sandwich the pair of storage shaft units U2 and the blade set shaft unit U1 in the horizontal direction D3 (only one handling robot R is visible in FIG. 1; see FIG. 2). The blade set cart V is movable in the axial direction D2 (removal direction D22) toward the arbor A of the cutting device CD by a transport mechanism TR. The transport mechanism TR may have any structure that can move the blade set cart V.

[0019] The positions of the blade set shaft 1A, blade set carriage V, and storage shaft 1B in the blade replacement system S are not limited to those shown in the drawings. For example, a pair of storage shafts 1B may be adjacent to each other in the horizontal direction D3, and the blade set shaft 1A may be adjacent to the pair of storage shafts 1B in the horizontal direction D3. The number and arrangement of the blade set shafts 1A in the blade set shaft unit U1 are not particularly limited. For example, in the blade set shaft unit U1, multiple blade set shafts 1A may be provided not only in the vertical direction D1 but also in the horizontal direction D3. Similarly, the number and arrangement of the storage shafts 1B in the storage shaft unit U2 are not particularly limited. For example, in the storage shaft unit U2, multiple storage shafts 1B may be provided not only in the vertical direction D1 but also in the horizontal direction D3. In addition to the blade set shafts 1A and the storage shafts 1B, the blade replacement system S may also have another storage structure capable of storing the annular tool T (such as, but not limited to, a storage shelf SH (see FIG. 1) on which the annular tool T is placed).

[0020] In this specification, the term "blade assembly shaft 1A" refers to a shaft on which a plurality of annular tools T are attached in order to assemble a set of annular tools T to be attached to the arbor A of the cutting device CD, or a shaft for retrieving a set of annular tools T attached to the arbor A of the cutting device CD. The term "storage shaft 1B" refers to a shaft on which unused annular tools T are stored. In this embodiment, the storage shaft 1B is a shaft on which an annular tool T is attached that is moved between the blade assembly shaft 1A and the blade assembly shaft 1A by the handling robot R. In this specification, the term "storage shaft 1" refers to any shaft capable of storing annular tools T, and in this embodiment, the term is a concept that includes both the blade assembly shaft 1A and the storage shaft 1B.

[0021] As shown in FIG. 3, the handling robot R grasps the annular tool T and transports the annular tool T to a predetermined destination location. In this embodiment, the handling robot R transports the annular tool T between one storage shaft 1 (blade set shaft 1A) and another storage shaft 1 (storage shaft 1B). The handling robot R is controlled by a control device (not shown). For example, the handling robot R is controlled by the control device to incorporate a set of annular tools T of a predetermined pattern into the storage shaft 1, or to remove a set of annular tools T of a predetermined pattern from the storage shaft 1 and store it in a predetermined location. In this embodiment, a plurality of (two) handling robots R are provided, and these handling robots R are controlled so as not to interfere with each other.

[0022] The shape and structure of the handling robot R are not particularly limited. In this embodiment, as shown in FIG. 2, the handling robot R includes a base R1, an arm R2 having multiple joints and rotatably fixed to the base R1, and a robot hand R3 attached to the tip of the arm R2. The robot hand R3 includes multiple fingers F1, F2, and F3 (see FIG. 3) that grip the annular tool T. Specifically, as shown in FIG. 3, the robot hand R3 includes two finger frames R31 and R32. The upper finger frame R31 has two fingers F1 and F2, and the lower finger frame R32 has one finger F3. The handling robot R grips the inner surface of the annular tool T with the multiple fingers F1, F2, and F3, and transports the annular tool T by operating the arm R2. Note that the handling robot R may also be configured to grip the outer surface of the annular tool T.

[0023] An example of the blade changing process of the blade changing system S will be described with reference to FIGS. 4 to 7. FIG. 4 shows a process in which a handling robot R installs a set of newly used annular tools T. Specifically, the handling robot R installs predetermined annular tools T in a predetermined order from the storage shaft 1B (or another storage structure such as a storage shelf SH) into the blade set shaft 1A. In this embodiment, of the blade set shaft unit U1 having four blade set shafts 1A, the upper two blade set shafts 1A are shafts for installing new blades, and the lower two blade set shafts 1A are shafts for recovering used old blades, and the set of annular tools T is installed only into the upper two blade set shafts 1A. Once the set of annular tools of a predetermined pattern has been installed into the blade set shafts 1A, the transport mechanism TR moves the blade set carriage V to the position of the arbor A of the cutting device CD. Next, as shown in Fig. 5, the blade assembly shaft unit U1 is raised so that the two lower recovery blade assembly shafts 1A are at the same height as the arbor A of the cutting device CD, and the used blades are moved to the recovery blade assembly shafts 1A. Next, as shown in Fig. 6, the blade assembly shaft unit U1 is lowered so that the two upper blade assembly shafts 1A, to which a new set of circular tools T is attached, are at the same height as the arbor A of the cutting device CD, and the new set of circular tools T is moved to the arbor A of the cutting device CD. Once the new set of circular tools T has been attached to the arbor A of the cutting device CD, the blade assembly cart V is returned to its original position, and the used circular tools T attached to the two lower recovery blade assembly shafts 1A are stored in the storage shaft 1B by the handling robot R, as shown in Fig. 7.

[0024] In this embodiment, multiple storage shafts 1 (blade set shafts 1A and storage shafts 1B) are arranged adjacent to each other in the horizontal direction D3 so that the positions of their ends are substantially aligned in the axial direction D2. Therefore, in the above-mentioned blade changing process, the handling robot R can perform blade changing by moving mainly in two directions, the up-down direction D1 and the horizontal direction D3, in the space on the removal direction D22 side of the storage shafts 1 in the axial direction D2 (when attaching or detaching the annular tool T to or from the storage shaft 1, it moves in the axial direction D2). This simplifies the operating direction and operating range of the handling robot R, and enables the blade changing operation to be performed at a higher speed.

[0025] Next, a storage shaft according to one embodiment of the present invention will be described.

[0026] 8 to 10 show a storage shaft 1 according to one embodiment. In this embodiment, the storage shaft 1 shown in Figs. 8 to 10 is used as a blade set shaft 1A. Note that the storage shaft 1 shown in Figs. 8 to 10 may also be used as a storage shaft 1B.

[0027] 8 and 9, the storage shaft 1 includes a storage support part 2 extending in a predetermined direction so as to store a plurality of annular tools T, a temporary holding part 3 protruding in the axial direction D2 from one end (the removal direction D22 side) of the storage support part 2 in the axial direction D2 and temporarily holding the annular tool T, a moving member 4 having a pressing part 41 capable of pressing the end face of the annular tool T and moving the annular tool T from the temporary holding part 3 to the storage support part 2 in the axial direction D2, a driving source 5 that drives the moving member 4, and a driving force transmission member 6 that connects the driving source 5 and the moving member 4. In this embodiment, the storage shaft 1 also includes a pushing mechanism 7 that pushes the annular tool T from the storage support part 2 toward the temporary holding part 3 (the removal direction D22).

[0028] The storage support unit 2 is configured to support an annular tool T. In this embodiment, the storage support unit 2 extends horizontally. However, the direction in which the storage support unit 2 extends is not particularly limited as long as the storage support unit 2 is capable of storing the annular tool T. For example, the storage support unit 2 may extend at an angle relative to the horizontal direction (at an angle relative to both the horizontal direction and the vertical direction D1). In this specification, the term "storage" includes not only storing an unused annular tool T (when the storage shaft 1 is used as the storage shaft 1B) but also temporarily storing an annular tool T to be used (annular tool T attached to the arbor A of the cutting device CD) (when the storage shaft 1 is used as the blade set shaft 1A). In this embodiment, the storage support unit 2 is configured to support multiple annular tools T. Specifically, the storage support unit 2 has a length that allows the attachment of a number of annular tools T corresponding to the number of annular tools T attached to the arbor A of the cutting device CD.

[0029] The shape and structure of the storage support part 2 are not particularly limited as long as it can stably store the annular tool T. In this embodiment, the storage support part 2 is formed in a cylindrical shape (see FIG. 10), but the storage support part 2 may be semi-cylindrical as long as it can stably store the annular tool T, or may be configured to support the annular tool T by suspending it from multiple shaft members, as in other embodiments described later.

[0030] The temporary holding unit 3 is a part that temporarily holds the annular tool T. "Temporary holding" refers to temporarily holding the annular tool T before it is moved to the storage support unit 2, or temporarily holding the annular tool T that is being carried away from the storage shaft 1 by the handling robot R. In this embodiment, the temporary holding unit 3 is configured to abut against the inner surface of the annular tool T and support the annular tool T in a suspended state. More specifically, as shown in FIG. 10 , the temporary holding unit 3 is configured to have an abutment portion 31 that abuts against the inner surface of the annular tool T above the center of the annular tool T in the up-down direction D1.

[0031] In this embodiment, as shown in FIGS. 8 and 9 , the temporary holding unit 3 protrudes in the axial direction D2 from one end face of the storage support unit 2. In this embodiment, the temporary holding unit 3 extends from the storage support unit 2 so that the handling robot R can place the annular tool T on the temporary holding unit 3 and can remove the annular tool T from the temporary holding unit 3. In this embodiment, the fingers F1 and F2 of the handling robot R do not interfere with the temporary holding unit 3 when the handling robot R places the annular tool T on the temporary holding unit 3 or removes the annular tool T from the temporary holding unit 3. More specifically, as shown in FIGS. 11 and 12 , the temporary holding unit 3 is configured to be positioned between the pair of fingers F1 and F2 (see the two-dot chain line in FIG. 12 ) when the handling robot R places the annular tool T on the storage shaft 1 or removes the annular tool T from the temporary holding unit 3.

[0032] The temporary holding unit 3 is configured so that the annular tool T can move without getting caught when the annular tool T placed on the temporary holding unit 3 is moved to the storage support unit 2, and when the annular tool T supported by the storage support unit 2 is moved to the temporary holding unit 3. In this embodiment, the temporary holding unit 3 is provided continuously with no steps relative to the storage support unit 2. More specifically, as shown in FIG. 10 , the temporary holding unit 3 is provided so as to contact the inner surface of the annular tool T at at least two locations on both sides of the circumferential direction of the storage support unit 2, centered on the top of the storage support unit 2 in the up-down direction D1. In this way, the inner surface of the annular tool T contacts the top of the storage support unit 2 at two or more locations on both sides, allowing the annular tool T to move smoothly between the storage support unit 2 and the temporary holding unit 3. In this embodiment, the temporary holding unit 3 extends in a curved manner along the outer periphery of the storage support unit 2. More specifically, the outer surface of the temporary holding unit 3 is curved with the same curvature as the outer periphery of the cylindrical storage support unit 2. In this case, the annular tool T can move more smoothly between the storage support part 2 and the temporary holding part 3. The temporary holding part 3 may be composed of, for example, two (or more) rod-shaped or plate-shaped bodies extending in the axial direction D2 from two positions on both sides in the circumferential direction of the storage support part 2.

[0033] The moving member 4 is a member that moves the annular tool T held by the temporary holding unit 3 to the storage support unit 2. In this embodiment, the moving member 4 moves the annular tool T from the temporary holding unit 3 to the storage support unit 2 by pressing the annular tool T in the axial direction D2 toward the storage support unit 2 while abutting against the end face of the annular tool T.

[0034] The moving member 4 is configured to move in the axial direction D2 by being driven by the driving source 5. Specifically, the moving member 4 is connected to the driving source 5 via a driving force transmission member 6. When the driving source 5 moves the driving force transmission member 6 in the axial direction D2, the moving member 4 moves in the axial direction D2 (see the solid line and the two-dot chain line in FIG. 9 ). In this embodiment, as shown in FIG. 8 , the driving source 5 includes a first driving source 51 that moves the moving member 4 in the axial direction D2 and a second driving source 52 that rotates the moving member 4 about its axis. More specifically, the first driving source 51 is a cylinder that moves the driving force transmission member 6 in the axial direction D2, and the second driving source 52 is a rotary actuator that rotates the driving force transmission member 6 about its axis. The structure of the driving source is not particularly limited as long as it can rotate the driving force transmission member 6. For example, the driving source may be configured to rotate the driving force transmission member 6 by a known guide mechanism having a spiral groove along which a pin or the like provided on the driving force transmission member 6 is guided, or by a known crank mechanism. In this embodiment, the driving force transmission member 6 connected to the moving member 4 is configured by a shaft extending in the axial direction D2.

[0035] In this embodiment, as shown in FIGS. 8 to 10 , the moving member 4 has a pressing portion 41 that can press the annular tool T placed on the temporary holding portion 3 in the axial direction D2 (storing direction D21). The shape and structure of the pressing portion 41 are not particularly limited as long as it can press the end face of the annular tool T and apply a force to the annular tool T in the axial direction D2 when the moving member 4 moves in the axial direction D2. In this embodiment, the pressing portion 41 is configured by a plate-like piece that extends radially outward with respect to the axis of the driving force transmission member 6. In this embodiment, the pressing portion 41 is formed in an elongated polygonal shape when viewed in the axial direction D2 as shown in FIG. 10 , but the pressing portion may have other shapes, such as a substantially fan shape, a rectangular shape, or an oval shape.

[0036] In this embodiment, as shown in Fig. 10 , the movable member 4 is configured to move between an operating position (see the position indicated by the solid line in Fig. 10 ) in which the pressing portion 41 can contact the end face of the annular tool T in the axial direction D2, and a storage position (see the position indicated by the two-dot chain line in Fig. 10 ) in which the pressing portion 41 does not contact the end face of the annular tool T in the axial direction D2. As will be described in detail later, when the movable member 4 is located at the operating position, the movable member 4 moves in the axial direction D2 (storing direction D21) with the pressing portion 41 in contact with the end face of the annular tool T, thereby moving the annular tool T from the temporary holding portion 3 to the storage support portion 2. Furthermore, as will be described in detail later, when the movable member 4 is located at the storage position, it becomes possible to move the set of annular tools T together in the axial direction D2 from the storage shaft 1 to the arbor A of the cutting device CD or the like.

[0037] The operating position of the movable member 4 is a position where the pressing portion 41 faces the annular tool T in the axial direction D2 and can move the annular tool T in the axial direction D2. In FIG. 10, the annular tool T is shown by a two-dot chain line, and the inner surface of the annular tool T is in contact with the abutting portion 31 of the temporary holder 3, so the pressing portion 41 shown by a solid line in FIG. 10 is in a position facing the end face of the annular tool T in the axial direction D2. In this embodiment, the operating position of the movable member 4 is a position where it protrudes radially outward from the inner surface of the annular tool T (in this embodiment, a position where it protrudes from the outer periphery of the temporary holder 3). In addition, the retracted position of the movable member 4 is a position where it is radially inward from the inner surface of the annular tool T and does not contact the annular tool T.

[0038] In this embodiment, the movement of the movable member 4 between the operating position and the retracted position is performed by the above-mentioned second drive source 52. Specifically, the second drive source 52 rotates the driving force transmission member 6 about its axis, causing the movable member 4 to rotate about the axis of the driving force transmission member 6. This causes the movable member 4 to move between the operating position and the retracted position.

[0039] In this embodiment, the movable member 4 is configured to be movable between a first axial position (see the solid lines in FIGS. 8 and 9) where the pressing portion 41 can contact the end face of the annular tool T held by the temporary holding portion 3, and a second axial position (see the position indicated by the two-dot chain line in FIG. 13) where the pressing portion 41 transitions from the temporary holding portion 3 to the storage support portion 2. In this embodiment, the movable member 4 is also configured to be further movable to a third axial position (see the position indicated by the two-dot chain line in FIG. 9) where the pressing portion 41 has moved a predetermined distance from the boundary between the temporary holding portion 3 and the storage support portion 2 toward the storage support portion 2 (storage direction D21).

[0040] The first axial position is a preparation position before the pressing unit 41 moves the annular tool T to the storage support unit 2, and is a position on the removal direction D22 side of the end face (the end face facing away from the storage support unit 2) of the placed annular tool T when the handling robot R places the annular tool T on the temporary holding unit 3. The second axial position is a position at which the annular tool T transitions from the temporary holding unit 3 to the storage support unit 2. Specifically, the second axial position is a position at which the entire annular tool T, pressed in the storage direction D21 by the pressing unit 41, moves from the temporary holding unit 3 to the storage support unit 2. In this embodiment, the position at which the pressing unit 41 abuts against the end face of the storage support unit 2 is the second axial position. By moving the moving member 4 from the first axial position to the second axial position, the annular tool T temporarily held by the temporary holding unit 3 can be moved to the storage support unit 2, and the annular tool T can be stored.

[0041] The third axial position is a position where the pressing portion 41 of the movable member 4 is shifted a predetermined distance from the boundary between the temporary holder 3 and the storage support unit 2 (in this embodiment, the end face of the storage support unit 2) toward the storage support unit 2 (the storage direction D21 side). The predetermined distance is set so that the pressing portion 41 located at the third axial position does not interfere with the fingers F1, F2, and F3 of the handling robot R. In this embodiment, as shown in FIG. 11, when the handling robot R places the annular tool T on the temporary holder 3, the tips of the fingers F1, F2, and F3 do not go beyond the end face of the storage support unit 2. Therefore, by moving the movable member 4 to the third axial position (and the storage position), interference with the fingers F1, F2, and F3 of the handling robot R is suppressed. Note that in this embodiment, when the storage shaft 1 is docked with the arbor A of the cutting device CD, the end of the arbor A enters the interior of the storage support unit 2 (see FIG. 15). In this embodiment, the position of the movable member 4 in the third axial direction is set to a position where it does not interfere with the end of the arbor A in the docked state. Therefore, when the storage shaft 1 is docked with the arbor A, the movable member 4 does not get in the way.

[0042] The movable member 4 is configured to move between the operating position and the storage position as the driving force transmission member 6 rotates around the axis, and to move between the first axial position, the second axial position and the third axial position as the driving force transmission member 6 moves in the axial direction D2.

[0043] The number of movable members 4 is not particularly limited. In this embodiment, the storage shaft 1 has a pair of movable members 4, as shown in FIG. 10 . In this embodiment, the pressing portions 41 of the movable members 4 are configured to contact the end face of the annular tool T on both sides of one abutting portion 31 of the temporary holding portion 3 in the circumferential direction of the annular tool T. In this case, the pressing portions 41 of the movable members 4 press the end face of the annular tool T in the axial direction D2 near the contact point between the inner surface of the annular tool T and the abutting portion 31, and at both sides of the contact point in the circumferential direction. Therefore, when the suspended annular tool T is pressed in the axial direction D2, the annular tool T is prevented from being dragged in a tilted state, making it difficult to move. (If the contact point between the inner surface of the annular tool T and the abutting portion 31 and the point pressing the end face of the annular tool T are separated, or if there is only one pressing point, the annular tool T will tilt and be difficult to move.) Therefore, the heavy annular tool T can be easily moved in the axial direction D2. Furthermore, the storage shaft 1 of this embodiment may be configured so that when moving the annular tool T in the axial direction D2, the annular tool T is moved while being sandwiched in the axial direction D2 between a push-out member 71 and a moving member 4 (pressing portion 41) described later. In this case, the annular tool T sandwiched between the moving member 4 and the push-out member 71 is prevented from tilting when moving in the axial direction D2, making it easier to move in the axial direction D2. In this case, the number of moving members 4 may be one.

[0044] The push-out mechanism 7 is a mechanism that moves the annular tool T supported by the storage support part 2 toward the temporary holding part 3 (in the removal direction D22). The push-out mechanism 7 is used when the annular tool T supported by the storage support part 2 is moved by the handling robot R to another location (for example, a storage location such as another storage shaft 1 or a storage shelf SH) or when the annular tool T supported by the storage support part 2 is moved to the arbor A of the cutting device CD.

[0045] The shape and structure of the pushing mechanism 7 are not particularly limited as long as it can move the annular tool T supported by the storage support unit 2 toward the temporary holder 3 (in the removal direction D22). In this embodiment, the pushing mechanism 7 is configured to be able to move in the axial direction D2 relative to the storage support unit 2 and abut against the end face of the annular tool T. More specifically, as shown in FIG. 8 , the pushing mechanism 7 includes a pushing member 71 that is provided on the outer periphery of the cylindrical storage support unit 2 and can abut against the end face of the annular tool T, and a pushing driver 72 that drives the pushing member 71. The shape of the pushing member 71 is not particularly limited as long as it can push and move the annular tool T in the axial direction D2, but in this embodiment, it is approximately cylindrical. The pushing driver 72 is not particularly limited as long as it can move the pushing member 71 in the axial direction D2 and move the annular tool T in the axial direction D2. In this embodiment, the push-out driving unit 72 includes a screw shaft 721 that passes through the inside of the cylindrical storage support unit 2, a rotation driving unit (servo motor) 722 that rotationally drives the screw shaft 721, and a driven unit 723 that is movable in the axial direction D2 along the screw shaft 721 as the screw shaft 721 rotates about its axis. The driven unit 723 is connected to the push-out member 71 through a slit-shaped opening (not shown) provided in the storage support unit 2. As a result, as the driven unit 723 moves in the axial direction D2, the push-out member 71 moves in the axial direction D2, moving the contacting annular tool T in the axial direction D2 (see FIGS. 15 and 16).

[0046] In this embodiment, as shown in FIG. 8 , the drive source 5 is provided at a position on the storage support unit 2 side (storage direction D21 side) with respect to the temporary holder 3, and the drive force transmission member 6 moves the moving member 4 in the axial direction D2 from the temporary holder 3 toward the storage support unit 2 (storage direction D21), thereby moving the annular tool T temporarily held in the temporary holder 3 to the storage support unit 2. With this configuration, after the handling robot R places the annular tool T on the temporary holder 3, the moving member 4 moves the annular tool T from the temporary holder 3 to the storage support unit 2. Therefore, the handling robot R only needs to place the annular tool T on the temporary holder 3 and does not need to move the annular tool T to the storage support unit 2. Therefore, the handling robot R can immediately perform another operation (e.g., move to the location of another annular tool T) without performing an operation to move the annular tool T from the temporary holder 3 to the storage support unit 2 in the axial direction D2. This enables the storage work of the annular tool T to be performed quickly. Furthermore, when moving the annular tool T from the temporary holding unit 3 to the storage support unit 2, the moving member 4 is driven from the storage support unit 2 side (the storage direction D21 side) relative to the temporary holding unit 3. Therefore, no components of the storage shaft 1 are present on the removal direction D22 side relative to the temporary holding unit 3. Therefore, while the moving member 4 moves from the temporary holding unit 3 to the storage support unit 2, the handling robot R can freely move in the space on the removal direction D22 side relative to the temporary holding unit 3 (for example, if the moving member extends in the removal direction D22 side relative to the temporary holding unit 3, it may interfere with the handling robot R, restricting the movement of the handling robot R). This allows for faster blade replacement work. In particular, when multiple handling robots R and multiple storage shafts 1 are provided as in this embodiment, the multiple handling robots R can also move while the multiple moving members 4 are moving the annular tool T from the temporary holding unit 3 to the storage support unit 2, greatly improving work efficiency.

[0047] Next, the storage shaft 1 of this embodiment used as a blade assembly shaft will be used as an example to explain the effects of the storage shaft 1. Note that the following explanation is merely an example, and the present invention is not limited to the following explanation.

[0048] First, to prepare a set of annular tools T of a predetermined pattern, the handling robot R moves the annular tool T from another storage location, such as the storage shaft 1B, to the storage shaft (blade assembly shaft) 1 based on a command from the control device of the blade changing system S. Specifically, the handling robot R moves to the front of the storage shaft 1B, among the multiple storage shafts 1B, in which the target annular tool T is provided. Next, the handling robot R grasps and removes the target annular tool T, and then, as shown in FIG. 11 , moves to the storage shaft 1, which is the blade assembly shaft, and places the annular tool T on the temporary holder 3. Note that in this embodiment, only one annular tool T is placed on the temporary holder 3; however, multiple annular tools T may be grasped and placed on the temporary holder 3 in a single operation.

[0049] At this time, as shown in FIG. 11, the movable member 4 is in a stored state in which it is located at the storage position and the third axial position, and interference with the fingers F1, F2, and F3 of the handling robot R is suppressed (as shown by the two-dot chain line in FIG. 12, the fingers F1 and F2 are located on both sides of the temporary holder 3 in the circumferential direction, so when the movable member 4 is located at the second axial position, the movable member 4 and the fingers F1 and F2 will interfere with each other). Also, in storage shafts 1 other than the storage shaft 1 shown in FIG. 11, the movable member 4 is in a stored state except during the retraction operation of the annular tool T, which will be described later, and therefore does not interfere with the movement of the handling robot R (when moving in front of multiple storage shafts). This enables faster processing by the handling robot R.

[0050] The handling robot R places the annular tool T on the temporary holder 3. When the handling robot R retreats from the temporary holder 3, the movable member 4 moves the annular tool T to the storage support unit 2. Specifically, as shown in FIGS. 13 and 14 , the movable member 4, which was in a stored state, is driven by the first drive unit 51 and the second drive unit 52, and the pressing unit 41 of the movable member 4 moves to the first axial position and the operating position, becoming an operating state. In this operating state, the pressing unit 41 faces the end face of the annular tool T, as shown in FIGS. 13 and 14 . From this state, the movable member 4 moves in the storage direction D21 toward the storage support unit 2, and the annular tool T moves from the temporary holder 3 to the storage support unit 2, as shown by the two-dot chain line in FIG. 13 . By repeating this operation, multiple annular tools T move to the storage support unit 2, and a set of annular tools T in a predetermined pattern is completed. As described above, in this embodiment, the drive source 5 and drive force transmission member 6 that drive the movable member 4 are located on the storage support unit 2 side (storage direction D21 side) of the movable member 4, and therefore do not obstruct the movement path of the handling robot R. Furthermore, the handling robot R does not need to move the annular tool T from the temporary holding unit 3 to the storage support unit 2. Therefore, when the movable member 4 moves the annular tool T in the axial direction D2, the handling robot R can perform other operations, such as moving to another storage axis 1. In this way, by using the storage axis 1 of this embodiment, it is possible to speed up the blade replacement operation.

[0051] Once a predetermined set of annular tools T is attached to the storage shaft 1, the set of annular tools T is moved to the arbor A of the cutting device CD. Specifically, as shown by the two-dot chain line in FIG. 1 , a blade assembly carriage V having a blade assembly shaft unit U1 moves to the vicinity of the arbor A of the cutting device CD. Then, to move the set of annular tools T on the storage shaft 1 to the arbor A of the cutting device CD, the storage shaft 1 and the arbor A of the cutting device CD are docked. At this time, as shown in FIG. 15 , the shaft end A1 provided at one end of the arbor A in the axial direction D2 enters the inside of the storage support part 2 of the storage shaft 1 from below the temporary holding part 3. However, the movable member 4 is positioned in a third axial position. This third axial position is set so that it does not interfere with the shaft end A1 of the arbor A when the storage shaft 1 and the arbor A of the cutting device CD are docked. Therefore, even if the movable member 4 is attached to the storage shaft 1, the docking of the storage shaft 1 and the arbor A is not hindered.

[0052] As shown in FIG. 15, when docking between the storage shaft 1 and the arbor A is completed, the push-out mechanism 7 moves the set of annular tools T toward the arbor A of the cutting device CD. Specifically, the push-out drive unit 72 of the push-out mechanism 7 is driven, and the push-out member 71 moves the set of annular tools T together in the removal direction D22. At this time, as shown in FIG. 16, the moving member 4 is in a stored state and does not protrude from the outer periphery of the storage shaft 1, so it does not interfere with the movement of the set of annular tools T in the axial direction D2. As described above, in this embodiment, not only is the retraction operation of the annular tools T shown in FIG. 13 possible, but docking with the arbor A of the cutting device CD is also possible, and the set of annular tools T can be moved together in the axial direction D2 from the storage shaft 1 to the arbor A of the cutting device CD (and from the arbor A of the cutting device CD to the storage shaft 1). Therefore, the storage shaft 1 of this embodiment enables the attachment and docking of the set of annular tools T and the movement of the annular tools T to be accelerated.

[0053] Next, a second embodiment of the storage shaft 1 will be described with reference to Figs. 17 to 20. Unlike the first embodiment described above, the storage shaft 1 of the second embodiment is configured so that the movable member 4 is not stored. Note that, with regard to each configuration of the second embodiment, the points described in the first embodiment are also applicable to the second embodiment, and therefore description thereof will be omitted.

[0054] As shown in FIGS. 17 and 18 , the storage shaft 1 of the second embodiment includes a storage support unit 2, a temporary holder 3, a movable member 4, a drive source 5, and a drive force transmission member 6, similar to the first embodiment. Furthermore, in this embodiment, the storage shaft 1 includes a push-out mechanism 7, similar to the first embodiment. Similarly to the first embodiment, the push-out mechanism 7 includes a push-out member 71 and a push-out driver 72 (FIGS. 17 and 18 show a screw shaft 721 and a rotation driver 722, but do not show the driven member 723). In this embodiment, the push-out mechanism 7 is driven when the handling robot R retrieves the annular tool T stored in the storage shaft 1. Specifically, the push-out mechanism 7 pushes the annular tool T stored in the storage shaft 1 in the retrieval direction D22, pushing the annular tool T from the storage support unit 2 to the temporary holder 3, thereby enabling the handling robot R to retrieve the annular tool T.

[0055] In this embodiment, unlike the first embodiment, the storage support unit 2 includes a pair of shaft members 21. More specifically, as shown in FIG. 19, the storage support unit 2 is configured to suspend an annular tool T from the pair of shaft members 21 (the inner surfaces of the annular tool T, shown by the two-dot chain line, abut against the pair of shaft members 21, shown by the dashed lines in FIG. 19, to suspend the annular tool T). The shaft members 21 are supported by a predetermined base, such as a rigid pillar, and are fixed so as to extend horizontally. Note that the storage support unit 2 may be a cylindrical body, as in the first embodiment.

[0056] As in the first embodiment, the temporary holding unit 3 is configured to suspend and support the annular tool T. In this embodiment, as will be described later, the movable member 4 is configured to move in the axial direction D2 while being guided relative to the temporary holding unit 3. As shown in FIGS. 18 and 19 , the temporary holding unit 3 has a guide unit 32 that guides the movable member 4 along the axial direction D2. In this embodiment, the temporary holding unit 3 also has a pair of abutment units 31. In this embodiment, the pair of abutment units 31 of the temporary holding unit 3 are configured with curved surfaces that curve along the inner surface of the annular tool T. Note that the abutment units of the temporary holding unit may have a configuration other than a curved surface, for example, an inclined surface, as long as they can temporarily hold the annular tool T. The shape and structure of the guide unit 32 are not particularly limited as long as they can guide the movable member 4 to move in the axial direction D2. In this embodiment, the guide unit 32 is configured with a recessed groove extending between the pair of abutment units 31 in the axial direction D2 along which the movable member 4 moves. More specifically, the guide portion 32 is configured by a bottom portion 321 extending in the axial direction D2 and a pair of side walls 322 extending perpendicular to the bottom portion 321, as shown in FIG.

[0057] In this embodiment, as shown in Figures 17 and 19, the movable member 4 has a guided portion 42 that is guided by the guide portion 32, and the pressing portion 41 of the movable member 4 protrudes upward relative to the guided portion 42 and is configured to press the end face of the annular tool T when the guided portion 42 moves along the guide portion 32 in the axial direction D2 toward the storage support portion 2 (storage direction D21).

[0058] As in the first embodiment, the moving member 4 is connected to a driving force transmission member 6, and is moved in the axial direction D2 by the driving force transmission member 6 to which the driving force of the driving source 5 is transmitted. In this embodiment, the moving member 4 only moves in the axial direction D2, and the driving source 5 is configured to generate a driving force in the axial direction D2, such as a cylinder.

[0059] The guided portion 42 of the moving member 4 moves in the axial direction D2 by being guided by the guide portion 32. As the guided portion 42 of the moving member 4 is guided by the guide portion 32, the moving member 4 moves stably in the axial direction D2. Therefore, even when multiple annular tools T are placed on the temporary holding portion 3, the annular tools T can be moved stably. In this embodiment, the guided portion 42 is configured to slide in the axial direction D2 on the bottom portion 321 while its movement in the lateral direction D3 is restricted between a pair of side walls 322 of the guide portion 32. The shape of the guided portion 42 is not particularly limited, but in this embodiment, it is formed in a substantially rectangular parallelepiped shape.

[0060] The pressing portion 41 of the moving member 4 protrudes upward relative to the guided portion 42 so as to face the end face of the annular tool T in the axial direction D2 (see FIGS. 17 and 19). As a result, when the moving member 4 moves in the axial direction D2, the annular tool T can be moved to the storage support portion 2. In this embodiment, the pressing portion 41 protrudes upward at the end of the guided portion 42 on the removal direction D22 side, and is configured to press the vicinity of the top of the end face of the annular tool T.

[0061] In this embodiment, as shown in FIG. 19 , the pair of abutment portions 31, 31 are arranged in the circumferential direction of the annular tool T, sandwiching the guide portion 32 therebetween. As described above, in this embodiment, the temporary holding unit 3 supports the annular tool T at two locations near the top by the pair of abutment portions 31, 31 described above. The pressing portion 41 is configured to press the top of the annular tool T located between the pair of abutment portions 31, 31. In this case, the pressing portion 41 of the moving member 4 presses the end face of the annular tool T in the axial direction D2 at a portion intermediate the contact points between the inner surface of the annular tool T and the two abutment portions 31, 31. Therefore, when the suspended annular tool T is pressed in the axial direction D2, tilting of the annular tool T, which makes it difficult to move the annular tool T, is suppressed. Therefore, the heavy annular tool T can be easily moved in the axial direction D2.

[0062] Furthermore, in this embodiment, as in the first embodiment, the drive source 5 is provided at a position on the storage support unit 2 side (storage direction D21 side) with respect to the temporary holding unit 3, and the drive force transmission member 6 moves the moving member 4 in the axial direction D2 from the temporary holding unit 3 toward the storage support unit 2 (storage direction D21), thereby moving the annular tool T temporarily held in the temporary holding unit 3 to the storage support unit 2. With this configuration, after the handling robot R places the annular tool T on the temporary holding unit 3, the moving member 4 moves the annular tool T from the temporary holding unit 3 to the storage support unit 2. Therefore, the handling robot R only needs to place the annular tool T on the temporary holding unit 3 and does not need to move the annular tool T to the storage support unit 2. Therefore, the handling robot R can immediately perform another operation (e.g., move to the location of another annular tool T) without performing an operation to move the annular tool T from the temporary holding unit 3 to the storage support unit 2 in the axial direction D2. This enables the storage work of the annular tool T to be performed quickly. Furthermore, when moving the annular tool T from the temporary holding unit 3 to the storage support unit 2, the moving member 4 is driven from the storage support unit 2 side (the storage direction D21 side) relative to the temporary holding unit 3. Therefore, no components of the storage shaft 1 are present on the removal direction D22 side relative to the temporary holding unit 3. Therefore, while the moving member 4 moves from the temporary holding unit 3 to the storage support unit 2, the handling robot R can freely move in the space on the removal direction D22 side relative to the temporary holding unit 3 (for example, if the moving member extends in the removal direction D22 side relative to the temporary holding unit 3, it may interfere with the handling robot R, restricting the movement of the handling robot R). This allows for faster blade replacement work. In particular, when multiple handling robots R and multiple storage shafts 1 are provided as in this embodiment, the multiple handling robots R can also move while the multiple moving members 4 are moving the annular tool T from the temporary holding unit 3 to the storage support unit 2, greatly improving work efficiency.

[0063] Next, the storage shaft 1 of this embodiment used as the storage shaft 1B will be used as an example to explain the operation and effect of the storage shaft 1 of the second embodiment. Note that the following explanation is merely an example, and the present invention is not limited to the following explanation.

[0064] First, in order to store a set of annular tools T of a predetermined pattern used in the cutting device CD, the handling robot R moves the annular tools T from the blade assembly shaft 1A to the storage shaft (storage shaft) 1 based on a command from the control device of the blade changing system S. Specifically, the handling robot R moves to the front of the blade assembly shaft 1A on which the annular tool T to be stored is provided. Next, the handling robot R grips and removes the annular tool T from the blade assembly shaft 1A, and then, as shown in FIG. 20 , moves to the storage shaft 1, which is the storage shaft, and places the annular tool T on the temporary holder 3. Note that in this embodiment, only one annular tool T is placed on the temporary holder 3; however, multiple annular tools T may be gripped in a single operation and placed on the temporary holder 3.

[0065] The handling robot R places the annular tool T on the temporary holding unit 3. When the handling robot R retreats from the temporary holding unit 3, the moving member 4 moves the annular tool T to the storage support unit 2. As shown in FIGS. 19 and 20, the pressing unit 41 faces the end face of the annular tool T. From this state, the moving member 4 is driven by the driving unit 5 to move in the storage direction D21 toward the storage support unit 2, thereby moving the annular tool T from the temporary holding unit 3 to the storage support unit 2, as shown by the two-dot chain line in FIG. 20. The handling robot R sorts the removed annular tools T according to their type and moves them to each of the multiple storage shafts 1 provided corresponding to the multiple types of annular tools T. By repeating this operation, the annular tools T attached to the blade assembly shaft 1A are stored in the storage shafts (storage shafts) 1. As described above, in this embodiment, the drive source 5 and drive force transmission member 6 that drive the movable member 4 are located on the storage support unit 2 side (storage direction D21 side) of the movable member 4, and therefore do not obstruct the movement path of the handling robot R. Furthermore, the handling robot R does not need to move the annular tool T from the temporary holding unit 3 to the storage support unit 2. Therefore, when the movable member 4 moves the annular tool T in the axial direction D2, the handling robot R can perform other operations, such as moving to another storage axis 1. In this way, by using the storage axis 1 of this embodiment, it is possible to speed up the blade replacement operation.

[0066] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. Note that the above-described embodiments mainly describe the invention having the following configurations.

[0067] (1) A storage shaft used in a cutting device for cutting a plate-shaped cutting object, for temporarily storing a plurality of annular tools held by a handling robot, the storage shaft comprising: a storage support portion extending in a predetermined direction to store the plurality of annular tools; a temporary holding portion that protrudes in the axial direction from one end of the storage support portion and temporarily holds the annular tool; a moving member having a pressing portion capable of pressing an end surface of the annular tool, the moving member moving the annular tool in the axial direction from the temporary holding portion to the storage support portion; a drive source that drives the moving member; a driving force transmission member that connects the driving source and the moving member; Equipped with The drive source is provided at a position on the storage support part side relative to the temporary holding part, and the drive force transmission member is configured to move the moving member in the axial direction from the temporary holding part toward the storage support part, thereby moving the annular tool temporarily held in the temporary holding part to the storage support part.

[0068] (2) The storage shaft according to (1), wherein the storage support portion extends horizontally.

[0069] (3) The moving member is The pressing portion is configured to move between an operating position where it can abut against the end surface of the annular tool in the axial direction and a storage position where it does not abut against the end surface of the annular tool in the axial direction. A storage shaft as described in (1) or (2).

[0070] (4) The moving member is a first axial position at which the pressing portion is capable of contacting an end surface of the annular tool held by the temporary holding portion; a second axial position at which the temporary holding portion transitions to the storage support portion; a third axial position where the pressing portion has moved a predetermined distance from the boundary between the temporary holding portion and the storage support portion toward the storage support portion; It is movable between The storage shaft according to any one of (1) to (3).

[0071] (5) The storage support portion is formed in a cylindrical shape, the temporary holding portion protrudes in the axial direction from one end surface of the storage support portion, the temporary holding portion is provided so as to come into contact with the inner surface of the annular tool at at least two locations on both sides in the circumferential direction of the storage support portion, with the top of the storage support portion in the up-down direction as the center, The storage shaft has a pair of the moving members, The storage shaft described in any one of (1) to (4), wherein the driving force transmission member connected to the moving member is a shaft extending in the axial direction, and the driving force transmission member is configured to rotate around the axis to move the moving member between the operating position and the storage position, and to move in the axial direction to move the moving member between the first axial position, the second axial position, and the third axial position.

[0072] (6) The temporary holding portion has a guide portion that guides the moving member along the axial direction, The storage shaft described in any one of (1) to (5), wherein the moving member has a guided portion that is guided by the guide portion, and the pressing portion of the moving member protrudes upward relative to the guided portion and is configured to press the end face of the annular tool when the guided portion moves along the guide portion in the axial direction toward the storage support portion.

[0073] (7) A storage shaft described in any one of (1) to (6), wherein the temporary holding portion has a pair of abutment portions arranged in the circumferential direction of the annular tool so as to sandwich the guide portion therebetween, and the pressing portion is configured to press the top of the annular tool located between the pair of abutment portions.

[0074] (8) Multiple blade assembly shafts arranged in parallel, and A blade set cart including a transport mechanism that transports the plurality of blade set shafts to a position where they can be connected to an arbor of a cutting device that cuts a plate-shaped cutting object, A blade set carriage, wherein at least one of the plurality of blade set shafts is configured by the storage shaft according to any one of (1) to (7).

[0075] (9) A blade assembly carriage including a plurality of blade assembly shafts arranged in parallel and a transport mechanism for transporting the plurality of blade assembly shafts to a position where they can be connected to an arbor of a cutting device that cuts a plate-shaped cutting object; a plurality of storage shafts arranged adjacent to the blade set shaft of the blade set carriage and substantially parallel to the blade set shaft; A blade changing system comprising: A blade changing system, wherein at least one of the plurality of storage shafts is configured by the storage shaft according to any one of (1) to (7). [Explanation of symbols]

[0076] 1 Storage axis 1A Blade shaft 1B Storage axis 2 Storage support part 21 Shaft member 3 Temporary holding section 31 Contact part 32 Guide section 321 Bottom 322 Side wall 4 Moving parts 41 Pressing section 42 Guided part 5. Drive source 51 First driving source 52 Second driving source 6. Driving force transmission member 7 Extrusion mechanism 71 Extrusion member 72 Extrusion drive unit 721 Screw shaft 722 Rotation drive unit 723 Driven part A Arbor A1 shaft end B Bearing part CD cutting device CS Cutting System D1 Vertical direction D2 Axial direction D21 Storage direction D22 Extraction direction D3 Horizontal F1, F2, F3 fingers R Handling Robot R1 base R2 arm part R3 Robot Hand R31, R32 finger frame S Blade Change System SH Storage Shelf T Circular Tool TR transport mechanism U1 Blade shaft unit U2 Storage axis unit V blade assembly trolley W Cutting target

Claims

1. A storage shaft used in a cutting device that cuts a plate-shaped cutting object, for temporarily storing a plurality of annular tools that are gripped by a handling robot, the storage shaft comprising: a storage support portion extending in a predetermined direction to store the plurality of annular tools; a temporary holding portion that protrudes in the axial direction from one end of the storage support portion and temporarily holds the annular tool; a moving member having a pressing portion capable of pressing an end surface of the annular tool, the moving member moving the annular tool in the axial direction from the temporary holding portion to the storage support portion; a drive source that drives the moving member; a driving force transmission member that connects the driving source and the moving member; Equipped with The drive source is provided at a position on the storage support part side relative to the temporary holding part, and the drive force transmission member is configured to move the moving member in the axial direction from the temporary holding part toward the storage support part, thereby moving the annular tool temporarily held in the temporary holding part to the storage support part.

2. The storage shaft of claim 1 , wherein the storage supports extend horizontally.

3. The moving member is The pressing portion is configured to move between an operating position where it can abut against the end surface of the annular tool in the axial direction and a storage position where it does not abut against the end surface of the annular tool in the axial direction.

2. The storage shaft of claim 1.

4. The moving member is a first axial position at which the pressing portion is capable of contacting an end surface of the annular tool held by the temporary holding portion; a second axial position at which the temporary holding portion transitions to the storage support portion; a third axial position where the pressing portion has moved a predetermined distance from the boundary between the temporary holding portion and the storage support portion toward the storage support portion; It is movable between 4. The storage shaft according to claim 3.

5. The storage support portion is formed in a cylindrical shape, the temporary holding portion protrudes in the axial direction from one end surface of the storage support portion, the temporary holding portion is provided so as to come into contact with the inner surface of the annular tool at at least two locations on both sides in the circumferential direction of the storage support portion, with the top of the storage support portion in the up-down direction as the center, The storage shaft has a pair of the moving members, 5. The storage shaft according to claim 4, wherein the drive force transmission member coupled to the movable member is a shaft extending in the axial direction, and the drive force transmission member is configured to rotate about the axis to move the movable member between the operating position and the storage position, and to move in the axial direction to move the movable member between the first axial position, the second axial position, and the third axial position.

6. the temporary holding portion has a guide portion that guides the moving member along the axial direction, 2. The storage shaft according to claim 1, wherein the movable member has a guided portion that is guided by the guide portion, and the pressing portion of the movable member protrudes upward relative to the guided portion and is configured to press an end face of the annular tool when the guided portion moves along the guide portion in the axial direction toward the storage support portion.

7. 7. The storage shaft according to claim 6, wherein the temporary holding portion has a pair of abutment portions arranged in a circumferential direction of the annular tool so as to sandwich the guide portion therebetween, and the pressing portion is configured to press a top portion of the annular tool located between the pair of abutment portions.

8. A plurality of blade assembly shafts arranged in parallel; and A blade set cart including a transport mechanism that transports the plurality of blade set shafts to a position where they can be connected to an arbor of a cutting device that cuts a plate-shaped cutting object, A blade set cart, wherein at least one of the plurality of blade set shafts is constituted by the storage shaft according to any one of claims 1 to 5.

9. a blade assembly carriage including a plurality of blade assembly shafts arranged in parallel and a transport mechanism that transports the plurality of blade assembly shafts to a position where they can be connected to an arbor of a cutting device that cuts a plate-like cutting object; a plurality of storage shafts arranged adjacent to the blade set shaft of the blade set carriage and substantially parallel to the blade set shaft; A blade changing system comprising: A blade changing system, wherein at least one of the plurality of storage shafts is constituted by the storage shaft according to any one of claims 1 to 7.

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