Cutting tool gripping device

Abstract

To provide a cutting tool gripping device capable of taking out a cutting tool without deforming the cutting tool, even when the cutting tool to be taken out by a handling robot is thin.SOLUTION: There is provided a cutting tool gripping device for separating one or more substantially circular cutting tools from a storage stand that supports the cutting tools. The cutting tool gripping device comprises: a suction section which is provided on a handling robot, and holds the cutting tool by suctioning the cutting tool supported on the storage stand; and a separation mechanism which separates the cutting tool held by the suction section from the adjacent cutting tool supported on the storage stand. The separation mechanism is configured to move the suction section relative to the adjacent cutting tool along an end surface of the adjacent cutting tool.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a cutting tool gripping device. [Background technology]

[0002] Conventionally, circular blade separating devices have been used to store and separate circular blades and spacers (hereinafter collectively referred to as cutting tools) attached to the arbor of a circular blade shear-type slitter (see, for example, Patent Document 1). The circular blade separating device described in Patent Document 1 uses a handling robot to separate a desired number of cutting tools from a plurality of cutting tools lined up in a row on a storage shelf and attach them to the arbor of the circular blade shear-type slitter. Specifically, fingers attached to the tips of two finger frames grasp the cutting tools from their inner diameter sides and lift the cutting tools upward from the storage shelf, thereby separating the removed cutting tools from the remaining cutting tools. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-66427 Summary of the Invention [Problem to be solved by the invention]

[0004] Adjacent cutting tools are arranged in series in the axial direction of the cutting tools on the storage shelf, with the end faces of the cutting tools in contact with each other. These cutting tools often become coated with anti-rust oil or other liquid from the handling robot or the steel plate being cut by the cutting tool, and the anti-rust oil or other liquid may seep into the small gaps between multiple cutting tools that are in contact with each other. When anti-rust oil or other liquid seeps in between two cutting tools, the adhesive force between the two end faces increases.

[0005] In such a case, when a handling robot tries to separate, for example, one cutting tool, the increased adhesive force between the first and second cutting tools causes not only the cutting tool being removed but also the adjacent cutting tools to be lifted up. Furthermore, because the adjacent cutting tools are not grasped from the inner diameter side of the cutting tool by the fingers of the handling robot, the cutting tools may be lifted up and then fall down or fall toward the handling robot.

[0006] Furthermore, when the cutting tool is thin and is gripped by the fingers of a handling robot, the cutting tool may be deformed by the pressing force from the fingers.

[0007] In view of the above problems, the present invention aims to provide a cutting tool holding device that allows a handling robot to remove only the desired number of cutting tools, that allows cutting tools that do not require separation to be left in a storage location, and that allows the cutting tools to be removed without deforming the cutting tools even if they are thin. [Means for solving the problem]

[0008] The cutting tool holding device of the present invention is a cutting tool holding device for separating one or more approximately circular cutting tools from a storage stand on which the cutting tools are supported, and the cutting tool holding device comprises an adsorption unit provided on a handling robot that holds the cutting tool by adsorbing the cutting tool supported on the storage stand, and a separation mechanism that separates the cutting tool held by the adsorption unit from an adjacent cutting tool supported on the storage stand, and the separation mechanism is configured to move the adsorption unit relative to the adjacent cutting tool along the end face of the adjacent cutting tool. [Effects of the Invention]

[0009] According to the present invention, a cutting tool holding device can be provided that allows a handling robot to remove only the desired number of cutting tools, that allows cutting tools that do not need to be separated to be reliably left in a storage location, and that allows the cutting tools to be removed without deforming the cutting tools even if they are thin. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view schematically illustrating a configuration of a tool changing system in which a cutting tool holding device according to an embodiment of the present invention is used. [Figure 2] 1 is a perspective view schematically illustrating a cutting tool holding device according to an embodiment of the present invention. [Figure 3] 1 is a perspective view schematically illustrating an example of a storage table according to an embodiment of the present invention. [Figure 4] FIG. 3 is a diagram schematically illustrating an example of the operation of the arm part of the separation mechanism in the cutting tool holding device shown in FIG. 2, viewed from the axial direction of an adjacent tool (a cutting tool adjacent to a separation tool that is the cutting tool to be held). [Figure 5] 3 is a diagram schematically showing an example of the operation of an arm portion of a separation mechanism in the cutting tool holding device shown in FIG. 2, as viewed from the axial direction of an adjacent tool. FIG. [Figure 6] FIG. 6 is a diagram showing a schematic view, viewed from a direction perpendicular to the axial direction of the adjacent tool, of the suction portion shown in FIG. 5 starting to move in a direction along the end face of the adjacent tool and the arm portion contacting the adjacent tool and starting to press against it. [Figure 7] FIG. 7 is a diagram showing a schematic view of the arm portion moving relative to the adjacent tool in a direction along the end face of the adjacent tool, as viewed from a direction perpendicular to the axial direction of the adjacent tool, as a result of changing from the state shown in FIG. [Figure 8]FIG. 8 is a diagram schematically illustrating a state in which the separation tool adsorbed to the adsorption part is separated from the adjacent tool, as viewed from a direction perpendicular to the axial direction of the adjacent tool, which state changes from the state shown in FIG. 7. [Figure 9] 2 is a diagram schematically illustrating a state in which a separation tool is removed from a storage table by a handling robot of the tool changing system shown in FIG. 1. FIG. [Figure 10] 2 is a diagram schematically showing how a handling robot of the tool changing system shown in FIG. 1 attaches a separation tool to a temporary assembly shaft device. FIG. [Figure 11] FIG. 10 is a diagram schematically showing a first modified example of a separation mechanism, as viewed from the axial direction of an adjacent tool. [Figure 12] FIG. 10 is a diagram schematically showing a second modified example of the separation mechanism, as viewed from the axial direction of the adjacent tools. [Figure 13] FIG. 10 is a diagram schematically showing a second modified example of the separation mechanism, as viewed in a direction perpendicular to the axial direction of the adjacent tool. [Figure 14] FIG. 10 is a diagram schematically showing a third modified example of the separation mechanism, as viewed from the axial direction of the adjacent tools. [Figure 15] FIG. 10 is a diagram schematically showing a third modified example of the separation mechanism, as viewed from a direction perpendicular to the axial direction of the adjacent tool. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a cutting tool holding device according to one embodiment of the present invention will be described with reference to the drawings. Note that the embodiment described below is merely an example, and the cutting tool holding device of the present invention is not limited to the following embodiment.

[0012] The cutting tool holding device 1 (hereinafter also referred to as the tool holding device 1) according to this embodiment is a device that separates one or more substantially circular cutting tools T from a storage stand 203 (see FIGS. 1 and 3 ) on which the cutting tools T are supported. The cutting tool T is a member that cuts an object to be cut, such as a metal plate. In this embodiment, the cutting tool T includes a blade that cuts the object to be cut, such as a metal plate, and an intermediate member, such as a spacer, that maintains spacing between the blades in the cutting device. The cutting tool T is formed in a cylindrical shape having a through hole that penetrates in the axial direction D1 (see FIGS. 3 and 4 ). As will be described later, the inner circumferential surface of the cutting tool T facing the through hole can be gripped by a finger 202d (see FIG. 2 ) of a handling robot 202, which will be described later. As will be described later, the end surface of the cutting tool T in the axial direction can be held by a suction unit 2 of the tool holding device 1.

[0013] In this embodiment, the tool holding device 1 is provided on a handling robot 202. The tool holding device 1 separates a desired number of cutting tools T (for example, one) from a plurality of cutting tools T arranged in succession on a storage table 203 by the handling robot 202, and attaches them to a shaft portion 201a (see FIG. 10) that is an arbor for a round blade shear-type slitter. Specifically, as will be described later, fingers 202d provided at the tips of two finger frames 202c (see FIG. 2) hold a thick cutting tool T from the inner diameter side of the cutting tool T, and lift the cutting tool T upward from the storage table 203, thereby separating the removed cutting tool T from the remaining cutting tools T. As will be described later, the suction units 2 provided on the two finger frames 202c suction and hold a thin cutting tool T, and by lifting the cutting tool T upward from the storage table 203, the removed cutting tool T is separated from the remaining cutting tools T. Hereinafter, the cutting tool T to be grasped and separated by the fingers 202d or the suction units 2 to be suctioned and separated will also be referred to as a separation tool T1. In addition, the cutting tool T adjacent to the separation tool T1 will also be referred to as an adjacent tool T2.

[0014] The handling robot 202 is configured to grip a thick cutting tool T (for example, a round blade) from the inner diameter side with the fingers 202d shown in Fig. 2 and transport the cutting tool T. The handling robot 202 is also configured to suck and hold the end face of a thin cutting tool T (for example, an intermediate member such as a spacer) with the suction unit 2 shown in Fig. 2 and transport the cutting tool T.

[0015] As shown in FIG. 10, the handling robot 202 includes a base 202a, an arm 202b having a plurality of joints and rotatably fixed to the base 202a, and a plurality of fingers 202d provided at the tip of the arm 202b for gripping a thick cutting tool T. The handling robot 202 also includes a finger frame 202c for supporting the fingers 202d (see FIG. 2). The handling robot 202 grips a thick cutting tool T with the plurality of fingers 202d and transports the cutting tool T by operating the arm 202b. A tool gripping device 1 is also provided at the tip of the handling robot 202. The handling robot 202 sucks and holds a thin cutting tool T with a suction unit 2 of the tool gripping device 1, and transports the cutting tool T by operating the arm 202b.

[0016] As shown in FIG. 2, the handling robot 202 has three fingers 202d. Each finger 202d is arranged to extend substantially horizontally from the tip of the arm 202b via a finger frame 202c. In this embodiment, the handling robot 202 has two fingers 202d that abut the upper part of the inner circumferential surface of the cutting tool T and one finger 202d that abuts the lower part. The three fingers 202d approach the storage table 203 or the shaft 201a to transfer the cutting tool T between the storage table 203 or the shaft 201a. The three fingers 202d are arranged within the through hole of the cutting tool T, and the upper two fingers 202d and the lower finger 202d move in directions away from each other to press the inner circumferential surface of the cutting tool T facing the through hole, thereby gripping a thick cutting tool T. Furthermore, when transferring the cutting tool T, the three fingers 202d are placed inside the through hole of the cutting tool T, and the two upper fingers 202d and the one lower finger 202d move in a direction approaching each other, thereby releasing the pressure on the inner surface of the cutting tool T facing the through hole, thereby releasing the grip on the cutting tool T (releasing the cutting tool T).

[0017] The handling robot 202, for example, takes out the cutting tool T attached to the shaft portion 201a of the temporary shaft assembly device 201 (see FIG. 10) and stores the taken-out cutting tool T on the storage table 203 (see FIG. 9). The handling robot 202 also takes out the cutting tool T stored on the storage table 203 (see FIG. 9) and attaches it to the shaft portion 201a of the temporary shaft assembly device 201 (see FIG. 10).

[0018] In the storage table 203, adjacent cutting tools T are arranged consecutively in the axial direction of the cutting tools T, and the end faces of the cutting tools T are in contact with each other. Rust-preventive oil and the like often adheres to the cutting tools T from the handling robot 202 or the steel plate cut by the cutting tool T, and liquid such as rust-preventive oil may seep into the small gaps between the multiple cutting tools T that are in contact with each other. When liquid such as rust-preventive oil seeps between two cutting tools T, the adhesive force between the two end faces increases.

[0019] In such a case, when the handling robot 202 attempts to separate, for example, one cutting tool T, there is a possibility that not only the cutting tool T being removed but also the adjacent cutting tool T will be lifted up due to the increased adhesive force between the first cutting tool T and the second cutting tool T. Furthermore, since the adjacent cutting tool T is not gripped from the inner diameter side of the cutting tool T by the fingers 202d of the handling robot 202, there is a possibility that the cutting tool T will be lifted up once and then fall down or fall toward the handling robot 202.

[0020] Furthermore, if the cutting tool T is thin, when the cutting tool T is gripped by the fingers 202d of the handling robot 202, the cutting tool T may be deformed by the pressing force from the fingers 202d. For example, intermediate members such as spacers have various thicknesses in order to maintain various distances between multiple blades in the cutting device. Thin intermediate members have low strength and are therefore easily deformed. Therefore, thin intermediate members are easily deformed when gripped from the inner diameter side by the fingers 202d of the handling robot 202.

[0021] In view of this problem, the tool holding device 1 is configured so that the handling robot 202 can take out only the desired number of cutting tools T to be taken out, and so that cutting tools T that do not need to be separated can be reliably left in a storage location. Furthermore, the tool holding device 1 is configured so that even if the cutting tool T to be taken out is thin, the cutting tool T can be taken out without deforming the cutting tool T. This will be explained in detail below.

[0022] The tool gripping device 1 includes a suction unit 2 and a separation mechanism 3. The suction unit 2 is provided on a handling robot 202. In this embodiment, the handling robot 202 is a robot constituting a tool exchange device that exchanges a cutting tool T of a cutting device. Specifically, the handling robot 202 is a tool exchange device configured to move the cutting tool T between a shaft 201a (see FIG. 10) to which the cutting tool T of the cutting device is attached and a storage unit 203 that stores the cutting tool T detached from the shaft 201a. In this embodiment, the handling robot 202 is configured to be able to move the cutting tool T between the shaft 201a and the storage unit 203 (see FIGS. 1, 3, and 9). In this manner, the handling robot 202 is configured to perform an exchange operation of the cutting tool T within a work area.

[0023] The suction unit 2 is configured to hold the cutting tool T by suctioning the cutting tool T supported by the storage table 203. The shape of the suction unit 2 is not particularly limited as long as it can suction the cutting tool T. In this embodiment, the suction unit 2 is configured to suction the cutting tool T by vacuum suction. Vacuum suction is a method of suctioning an object by utilizing a pressure difference with atmospheric pressure generated by creating a negative pressure state (e.g., a state close to a vacuum) in the space near the surface of the cutting tool T. Specifically, the suction unit 2 is, for example, a suction pad, and is configured to suction the cutting tool T by generating a negative pressure (vacuum) inside the suction pad. The configuration of the suction pad is not particularly limited as long as it can suction the cutting tool T by generating a negative pressure inside the suction pad. In this embodiment, the suction pad has, for example, a peripheral wall portion formed so that the inner diameter gradually increases from the base end toward the tip end (see FIG. 5). The inner peripheral surface of the peripheral wall portion is formed in a truncated cone shape, such as a circular truncated cone. The base end and the tip end of the suction pad are open. The tip of the peripheral wall portion is formed as an adsorption surface that adsorbs the cutting tool T. When the air inside the suction pad is sucked, the pressure inside the suction pad drops below atmospheric pressure. This differential pressure is applied from the outside of the suction pad, generating a force that presses the cutting tool T against the suction pad. A vacuum generator (not shown) is connected to the base end of the suction pad. With the adsorption surface of the suction pad in contact with the cutting tool T, the vacuum generator creates a pressure (vacuum) in the space between the suction pad and the cutting tool T that is lower than the ambient air pressure, thereby adsorbing the cutting tool T to the suction pad. The suction pad is preferably made of an elastic material such as rubber to enhance its adsorption force to the cutting tool T. By making the suction pad out of an elastic material, the suction pad can be elastically deformed so that the adsorption surface of the suction pad comes into close contact with the end face of the cutting tool T when pressed against the cutting tool T. This allows the tip (adsorption surface) of the suction pad to come into close contact with the end face of the cutting tool T, thereby increasing the holding force.

[0024] The suction unit 2 may suction any portion of the cutting tool T, for example, the end face of the cutting tool T in the axial direction D1. The size of the suction unit 2 is not particularly limited as long as it can suction the cutting tool T. In this embodiment, the suction unit 2 has a size that can suction the end face of the cutting tool T. Specifically, the suction unit 2 has a width that is smaller than the radial width of the end face of the cutting tool T and a predetermined length along the circumferential direction of the end face of the cutting tool T. The number and arrangement of the suction units 2 are not particularly limited as long as it can suction the cutting tool T. In this embodiment, multiple suction units 2 (14 in the example shown in FIG. 2) are arranged in a row along the circumferential direction of the cutting tool T. In this embodiment, the suction units 2 are provided in recesses provided in the frame unit 4, which will be described later. The frame unit 4 has multiple recesses, and one or more suction units 2 (two in the example shown in FIG. 2) are provided in each recess. With this configuration, the plurality of suction portions 2 can generate suction force on the cutting tool T evenly in the circumferential direction of the cutting tool T, thereby increasing the holding force on the cutting tool T.

[0025] The suction unit 2 is also configured to be able to release the suction applied to the cutting tool T. Specifically, for example, when the suction unit 2 is a suction pad, the suction unit 2 is configured to release the suction applied by the suction unit 2 by returning the internal space thereof to a positive pressure. That is, when air is supplied into the suction unit 2, the pressure inside the suction unit 2 rises above atmospheric pressure, and this differential pressure is applied from inside the suction unit 2, generating a force that pulls the suction unit 2 away from the cutting tool T. A compressor (not shown) is connected to the suction unit 2. With the suction surface of the suction unit 2 in contact with the cutting tool T, the pressure in the space between the suction unit 2 and the cutting tool T can be increased by the compressor to be higher than the ambient air pressure, thereby causing the suction unit 2 to detach from the cutting tool T.

[0026] In this embodiment, the tool gripping device 1 includes a frame portion 4 that supports the suction unit 2 (see FIGS. 2 and 4). The configuration of the frame portion 4 is not particularly limited as long as it can support the suction unit 2. In the example shown in FIGS. 2 and 4, the frame portion 4 extends along the circumferential direction of the cutting tool T. That is, the frame portion 4 has a shape that, when it comes into contact with the cutting tool T, overlaps with the cutting tool T along the circumferential direction of the cutting tool T. This allows the frame portion 4 to press the cutting tool T along the circumferential direction of the cutting tool T when it comes into contact with the cutting tool T. Therefore, even if the end face of the cutting tool T stored in the storage table 203 is inclined with respect to the frame portion 4, the orientation of the cutting tool T can be adjusted to an orientation suitable for suction by the suction unit 2. That is, by the frame part 4 coming into contact with the end face of the cutting tool T and pressing the cutting tool T, the posture of the cutting tool T can be adjusted so that the end face of the cutting tool T is parallel to the opposing surface of the frame part 4 (the surface opposing the end face of the cutting tool T). Therefore, the posture of the cutting tool T can be adjusted to a posture suitable for suction by the suction parts 2. Furthermore, when multiple suction parts 2 are arranged side by side along the circumferential direction of the frame part 4, all of the suction parts 2 can be made to face the end face of the cutting tool T and pressed against the end face of the cutting tool T. Therefore, the cutting tool T can be suctioned by all of the suction parts 2, and the holding force for the cutting tool T can be increased.

[0027] As long as the suction portion 2 generates a sufficient suction force to the cutting tool T, there is no particular limitation on how the suction portion 2 is provided on the frame portion 4. In this embodiment, the suction portion 2 is provided in a recess 41 formed on the opposing surface of the frame portion 4. By providing the suction portion 2 in the recess, the suction portion 2 can suction the cutting tool T and the frame portion 4 can support the cutting tool T. Therefore, the suction portion 2 can hold the cutting tool T and the frame portion 4 can stabilize the posture of the cutting tool T. The tip of the suction portion 2 may be located outside (outside in the depth direction) the opening of the recess 41, inside (inside in the depth direction) the opening of the recess 41, or at the boundary between the outside and inside of the opening (at the same height as the opening position). When the tip of the suction portion 2 is located outside the opening of the recess 41, the tip of the suction portion 2 bends in the depth direction of the recess 41 when pressed against the cutting tool T. As a result, the cutting tool T can be held by suction by the suction part 2, and the posture of the cutting tool can be stabilized by the pressing force of the frame part 4.

[0028] Furthermore, the frame portion 4 is configured to be movable relative to the shaft portion 201a (see FIG. 10) of the temporary shaft assembly device 201 in the radial direction of the shaft portion 201a (approaching and moving away from the shaft portion 201a). Specifically, the frame portion 4 has a shape in which one side in the radial direction of the shaft portion 201a is open (see FIGS. 2, 4, 11, 12, and 14). Furthermore, the frame portion 4 has a shape that follows the outer periphery of the shaft portion 201a. In the example shown in FIG. 2 and other figures, the frame portion 4 has an arc-like shape that follows the outer periphery of the shaft portion 201a. As described above, the arc has a shape that is open on one side in the radial direction of the shaft portion 201a, and is, for example, approximately semicircular. By having such a shape, the frame portion 4 can move from a position along the outer periphery of the shaft portion 201a toward the radially outer side of the shaft portion 201a and be separated from the shaft portion 201a. As a result, as will be described later, the frame part 4 can detach the cutting tool T, which is sucked by the suction part 2, from the shaft part 201a after the cutting tool T is attached to the shaft part 201a.

[0029] In this embodiment, the frame unit 4 is provided on the finger frame 202c (see FIG. 2). Specifically, the tool holding device 1 includes a movement mechanism 5 (see FIGS. 5 to 8) that moves the frame unit 4 relative to the finger frame 202c along the length direction of the fingers 202d (parallel to the axial direction D1 of the cutting tool T sucked by the suction unit 2). Note that the movement mechanism 5 is not shown in FIG. 2 for the sake of simplicity. The tool holding device 1 is provided on the finger frame 202c via the movement mechanism 5. The configuration of the movement mechanism 5 is not particularly limited as long as it can move the frame unit 4 relative to the finger frame 202c along the length direction of the fingers 202d. The movement mechanism 5 is configured by a linear driving device such as a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder. The frame unit 4 is configured to be moved by the movement mechanism 5 between a forward position where it is located forward of the tips of the fingers 202d (to the right in FIG. 2) and a retracted position where it is located rearward of the tips of the fingers 202d (to the left in FIG. 2). When the frame unit 4 is located in the forward position (see FIGS. 2 and 5), the suction unit 2 is located forward of the tips of the fingers 202d. This allows the suction unit 2 to come into contact with the cutting tool T without interfering with the fingers 202d. Therefore, the tool gripping device 1 can suction and hold the cutting tool T with the suction unit 2 (see FIGS. 5 to 8).

[0030] The separation mechanism 3 is configured to separate the cutting tool T held by the suction unit 2 from the adjacent tool T2 supported by the storage table 203. The configuration of the separation mechanism 3 is not particularly limited as long as it can separate the separation tool T held by the suction unit 2 from the adjacent tool T2. In this embodiment, the separation mechanism 3 is configured to move the suction unit 2 relative to the adjacent tool T2 along the end face of the adjacent tool T2 (see FIGS. 2 and 4 to 7). By configuring the separation mechanism 3 in this manner, the contact area between the end face of the separation tool T and the end face of the adjacent tool T2 is reduced by the amount of movement. The reduced contact area between the separation tool T and the adjacent tool T2 can reduce the adhesive force between the end face of the separation tool T and the end face of the adjacent tool T2, thereby reducing the force required to separate the separation tool T from the adjacent tool T2 and allowing the separation tool T to be separated smoothly. The movement amount of the separation tool T is not particularly limited as long as it can reduce the adhesive force between the end face of the separation tool T and the end face of the adjacent tool T2.

[0031] In this embodiment, the separation mechanism 3 is configured to press the adjacent tool T2 in a predetermined direction different from the moving direction of the suction unit 2 when the suction unit 2 moves along the end face of the adjacent tool T2 (see FIGS. 2, 4 to 7). That is, when the separation tool T1 moves due to the operation of the handling robot 203, the separation mechanism 3 presses the adjacent tool T2 so that the adjacent tool T2 does not follow the movement of the separation tool T1. By pressing the adjacent tool T2 in a predetermined direction different from the moving direction of the suction unit 2, the separation tool T1 adsorbed to the suction unit 2 and the adjacent tool T2 move in directions different from each other. Therefore, the relative movement amount between the separation tool T1 and the adjacent tool T2 increases. This reduces the contact area between the end face of the separation tool T1 and the end face of the adjacent tool T2, thereby reducing the adhesive force between the end face of the separation tool T1 and the end face of the adjacent tool T2. Therefore, the separation tool T1 can be separated more smoothly. The "predetermined direction different from the moving direction of the suction unit 2" is not particularly limited as long as it is a direction different from the moving direction of the suction unit 2. The "predetermined direction different from the moving direction of the suction unit 2" is preferably a direction in which the component opposite to the moving direction of the suction unit 2 is large. Therefore, the "predetermined direction D2 different from the moving direction of the suction unit 2" is preferably a direction directly opposite to the moving direction of the suction unit 2. As long as the separation mechanism 3 can press the adjacent tool T2 in the predetermined direction different from the moving direction of the suction unit 2, there is no particular limitation on which part of the adjacent tool T2 it presses. In this embodiment, the separation mechanism 3 is configured to press the outer peripheral surface of the adjacent tool T2. Note that the separation mechanism 3 may also be configured to press the inner peripheral surface of the adjacent tool T2.

[0032] In this embodiment, the separation mechanism 3 is configured to strike the adjacent tool T2 in a predetermined direction D2 (see FIGS. 2, 4 to 7). "Striking the adjacent tool T2" means striking the adjacent tool T2, i.e., applying an instantaneous force to the adjacent tool T2. By configuring the separation mechanism 3 in this manner, the adhesive force between the end face of the separation tool T1 and the end face of the adjacent tool T can be reduced. Therefore, the force required to separate the separation tool T1 from the adjacent tool T can be reduced.

[0033] The position and number of the separation mechanisms 3 are not particularly limited as long as they can separate the separation tool T1 held by the suction unit 2 from the adjacent tool T2. In the example shown in FIGS. 4 and 5, the separation mechanism 3 is provided at a position where it can press the adjacent tool T2. Specifically, the arm unit 31 of the separation mechanism 3 is provided at a position where it can press the outer circumferential surface of the adjacent tool T2 when rotated. The arm unit 31 is also provided so as to be located further forward (to the left in FIG. 5) than the suction unit 2 with respect to the tip of the finger 202d. The position of the arm unit 31 can be set at a position according to the thickness and outer diameter of the adjacent tool T2. The position of the arm unit 31 may also be configured to be changeable by a moving mechanism (not shown) so as to accommodate changes in the thickness and outer diameter of the adjacent tool T2. In the example shown in FIGS. 2 and 4, multiple (specifically, two) separation mechanisms 3 are provided. Some of the separation mechanisms 3 (specifically, one separation mechanism 3) and the other of the separation mechanisms 3 (specifically, one separation mechanism 3) are arranged symmetrically with respect to a line L1 (see FIG. 4) passing through the radial center of the adjacent tool T2. By arranging the multiple separation mechanisms 3 symmetrically with respect to each other, the direction of the resultant pressing force of the multiple separation mechanisms 3 can be aligned, for example, along the line. Therefore, for example, when the moving direction D3 of the separation tool T1 is aligned with the line, the direction of the resultant pressing force of the multiple separation mechanisms 3 can be set to be opposite to the moving direction D3 of the separation tool T1. Note that the number of separation mechanisms 3 may be one. When the number of separation mechanisms 3 is one, the separation mechanism 3 can be arranged, for example, on the line L1 along the moving direction D3 of the separation tool T1. This allows the direction of the pressing force of one separation mechanism 3 to be opposite to the moving direction D3 of the separation tool T1.

[0034] The configuration for striking the adjacent tool T2 is not particularly limited as long as it can reduce the adhesive force between the end face of the separation tool T1 and the end face of the adjacent tool T2. In this embodiment, the separation mechanism 3 includes an arm unit 31 that strikes the adjacent tool T2 in a predetermined direction D2 and a drive unit (not shown) that rotates the arm unit 31 so that the arm unit 31 strikes the adjacent tool T2 (see FIGS. 2, 4, 5, 6, 7, 8). The configuration for striking the adjacent tool T2 by rotating the arm unit 31 allows the size of the separation mechanism 3 radially outward from the adjacent tool T2 to be more compact than when a linear-acting pressing device (e.g., a cylinder device, see FIG. 11) that is driven linearly along the radial direction of the adjacent tool T2 is provided. This is because the rotation shaft 32 of the arm unit 31 can be arranged along the axial direction D1 of the adjacent tool T2, and a drive source such as a motor can be provided on the rotation shaft 32. Therefore, when the tool holding device 1 takes out the cutting tool T from the storage table 203 or stores the cutting tool T in the storage table 203, the driving source is less likely to interfere with the storage table 203 or the cutting tool T stored in the storage table 203.

[0035] The configuration of the separation mechanism 3 is not limited to the example shown in FIGS. 2 and 4. For example, instead of the rotary pressing device shown in FIGS. 2 and 4, the separation mechanism 3 may be configured to include a linear pressing device 33 that is driven linearly in the radial direction of the adjacent tool T2 relative to the adjacent tool T2 (see FIG. 11). The linear pressing device 33 is, for example, a cylinder device driven by air pressure or hydraulic pressure. In the example shown in FIG. 11, the pressing direction D4 of the linear pressing device 33 against the adjacent tool T2 is oblique to the moving direction D3 of the suction unit 2 (moving direction of the separation tool) when the suction unit 2 separates the separation tool T1, but is not limited to this. For example, the pressing direction D3 of the linear pressing device 32 against the adjacent tool T2 may be parallel to and opposite (direction opposite) to the moving direction D4 of the suction unit 2 when the suction unit 2 separates the separation tool T1.

[0036] 2 and 4, the separation mechanism 3 may be configured to include a rotary pressing device that presses an adjacent tool T2 having approximately the same diameter as the separation tool T1 (see FIGS. 12 and 13). The arm portion 31 of the rotary pressing device shown in FIGS. 12 and 13 is shorter than the arm portion 31 shown in FIGS. 2 and 4. The arm portion 31 shown in FIGS. 12 and 13 is provided at a position where it presses the adjacent tool T2 having approximately the same diameter as the separation tool T1. Specifically, the arm portion 31 shown in FIGS. 12 and 13 has a rotation axis 32 located outside the outer periphery of the adjacent tool T2 having approximately the same diameter as the separation tool T1 and near the outer periphery. The arm portion 31 shown in Figures 12 and 13 is shorter in length than the arm portion 31 shown in Figures 2 and 4, and therefore can press the adjacent tool T2 with a smaller driving force (rotational force) than when using the arm portion 31 shown in Figures 2 and 4, thereby separating the separation tool T1.

[0037] 2 and 4, the separation mechanism 3 may be a rotary pressing device that presses an adjacent tool T2 having approximately the same diameter as the separation tool T1 and that is configured to move the arm unit 31 along the axial direction D1 of the separation tool T1 (see FIGS. 14 and 15). The separation mechanism 3 shown in FIGS. 14 and 15 includes a moving unit 34 that moves the arm unit 31 along the axial direction D1 of the separation tool T1 held by the suction unit 2. Specifically, the moving unit 34 is configured to move the arm unit 31 between a first position (position indicated by a two-dot chain line) where the arm unit 31 hits the adjacent tool T2 and a second position (position indicated by a solid line) retracted from the first position (see FIG. 15). By configuring the separation mechanism 3 in this manner, the separation mechanism 3 can rotate the arm portion 31 at the first position, press against an adjacent tool T2 having approximately the same diameter as the separation tool T1, separate the separation tool T1, and attach the separation tool T1 to the shaft portion 201a of the temporary assembly shaft device 201. In detail, when attaching the separation tool T1 to the shaft portion 201a of the temporary assembly shaft device 201, even if a cutting tool T having a larger diameter than the separation tool T1 is already attached to the shaft portion 201a (see FIG. 15), by retracting the arm portion 31 to the second position, the arm portion 31 can be prevented from interfering with the cutting tool T having a larger diameter. Therefore, the separation tool T1 can be easily attached to the shaft portion 201a while preventing the arm portion 31 from interfering with the cutting tool T already attached to the shaft portion 201a.

[0038] Next, the operation of the handling robot 202 and the tool gripping device 1 will be described with reference to the drawings. Here, an operation of separating one cutting tool T from multiple cutting tools T stored on the storage table 203 will be described. It is assumed that a thin cutting tool T and a thick cutting tool T are stored adjacent to each other on the storage table 203 (see FIG. 3). In the example shown in FIG. 3, the storage table 203 has a rod 204 protruding horizontally. The multiple cutting tools T are stored while suspended from the rod 204. Note that FIG. 3 shows a state in which multiple cutting tools T of the same diameter are stored, but the following description will assume that one small-diameter and thin cutting tool T (e.g., a spacer) is the cutting tool T to be separated (separation tool T1), and one large-diameter and thick cutting tool T (e.g., a round blade) is the cutting tool T adjacent to the separation tool T1 (adjacent tool T2). In the following description, it is assumed that the initial state of the tool gripping device 1 is one in which the tool gripping device 1 is approaching the storage table 203 due to the operation of the handling robot 202. However, the following operation can also be applied to a case in which a plurality of cutting tools T are stored on another type of storage table (not shown) in which the cutting tools T are placed upright. In this type of storage table, the cutting tools T are stored in an upright state adjacent to each other in the axial direction of the cutting tools T. The following operation is an example, and the operation of the tool gripping device 1 is not limited to the following example.

[0039] The handling robot 202 moves the tool gripping device 1 closer to the storage table 203. In the process of moving the tool gripping device 1 closer to the storage table 203, the movement mechanism 5 moves the suction unit 2 forward of the tips of the fingers 202d (to the right in FIG. 2). Specifically, the movement mechanism 5 moves the frame unit 4, on which the suction unit 2 is provided, forward of the tips of the fingers 202d (to the right in FIG. 2). Because the suction unit 2 is positioned forward of the tips of the fingers 202d, interference between the fingers 202d and the separation tool T1 can be prevented when the suction unit 2 suctions the separation tool T1. Therefore, the suction unit 2 can smoothly suction the separation tool T1. Furthermore, because the frame unit 4 is positioned forward of the tips of the fingers 202d, interference between the fingers 202d and the separation tool T1 can be prevented when the suction unit 2 suctions the separation tool T1. Therefore, the posture of the cutting tool T can be adjusted so that the end face of the cutting tool T is parallel to the opposing surface of the frame part 4. As a result, the posture of the cutting tool T is adjusted to a posture suitable for suction by the suction part 2, and the suction part 2 can smoothly suction the separation tool T1.

[0040] By the operation of the handling robot 202, the suction unit 2 and the frame unit 4 press against the end face of the separation tool T1 (see FIG. 5). The suction unit 2 suctions the end face of the separation tool T1. Specifically, when the suction unit 2 is a suction pad, the suction surface of the suction unit 2 is brought into contact with the end face of the separation tool T1, and the pressure in the space between the suction unit 2 and the separation tool T1 is made lower (vacuum) than the ambient air pressure by a vacuum generator, thereby causing the suction unit 2 to suction the separation tool T1. Note that FIG. 5 illustrates multiple suction units 2 provided in the recess 41 of the frame unit 4 for convenience, so that it can be seen that the multiple suction units 2 are pressing against the separation tool T1. In FIG. 5, the arm unit 31 of the separation mechanism 3 is positioned corresponding to the adjacent tool T2 in the axial direction of the cutting tool T. However, this is a state before the arm unit 31 presses against the adjacent tool T2.

[0041] Next, the handling robot 202 moves the suction unit 2 and the frame unit 4 along the end face of the adjacent tool T2 (see FIGS. 6 and 7). In the example shown in FIGS. 6 and 7, the handling robot 202 moves the suction unit 2 and the frame unit 4 in a direction D3 along the end face of the adjacent tool T2 (upward in the example shown in FIGS. 6 and 7). In synchronization with the movement of the suction unit 2 and the frame unit 4 in the movement direction D3, the tool gripping device 1 moves the suction unit 2 and the frame unit 4 relative to the adjacent tool T2 along the end face of the adjacent tool T2 using the separation mechanism 3 (see FIGS. 6 and 7). In the example shown in FIGS. 6 and 7, when the suction unit 2 and the frame unit 4 move along the end face of the adjacent tool T2, the separation mechanism 3 presses the adjacent tool T2 in a predetermined direction D2 different from the movement direction D3 of the suction unit 2 and the frame unit 4. Specifically, the separation mechanism 3 presses the outer peripheral surface of the adjacent tool T2 in a predetermined direction D2 (downward in the example shown in FIGS. 6 and 7). In the example shown in FIGS. 6 and 7, the separation mechanism 3 strikes the adjacent tool T2 in the predetermined direction D2 using the arm unit 31, which is rotated by the drive unit. The separation mechanism 3 moves the suction unit 2 and the frame unit 4 relative to the adjacent tool T2 along the end face of the adjacent tool T2, thereby reducing the contact area between the end face of the separation tool T1 and the end face of the adjacent tool T2 and reducing the adhesive force between the end face of the separation tool T1 and the end face of the adjacent tool T2. This allows the separation tool T1 to be separated more smoothly. Furthermore, the separation mechanism 3 strikes the adjacent tool T2 in the predetermined direction D2, thereby further reducing the adhesive force between the end face of the separation tool T1 and the end face of the adjacent tool T2. This allows the separation tool T1 to be separated more smoothly.

[0042] Next, the handling robot 202 moves the suction part 2 and the frame part 4 in a direction D5 in which they are pulled away from the end face of the adjacent tool T2 (see FIG. 8). The "pull-away direction D5" is not particularly limited as long as it is a direction in which the suction part 2 and the frame part 4 are pulled away from the end face of the adjacent tool T2. The "pull-away direction D5" includes, for example, a component along the axial direction of the adjacent tool T2. By including a component along the axial direction of the adjacent tool T2 in the pull-away direction D5, the separation tool T1 sucked by the suction part 2 can be reliably pulled away from the adjacent tool T2. Then, by repeating the steps shown in FIGS. 5 to 8, only the desired multiple cutting tools T can be taken out.

[0043] As described above, according to the tool holding device 1, the handling robot 202 can take out only the desired number of cutting tools T to be taken out, and cutting tools T that do not need to be separated can be reliably left in the storage location. Even if the thickness of the cutting tool T to be taken out is thin, the cutting tool T can be taken out without deforming the cutting tool T. [Explanation of symbols]

[0044] 1 Tool gripping device 2 Adsorption part 3 Separation mechanism 31 Arm section 32 Rotation axis 33 Direct acting pressing device 34 Moving Section 4 Frame section 41 Recess 5 Moving mechanism 201 Temporary assembly shaft device 201a Shaft 202 Handling Robot 202a Pedestal 202b Arm part 202c Finger Frame 202d Finger 203 Storage stand 204 Rod D1 Axial direction of cutting tool D2 Pressing direction (hitting direction) D3 Separation tool movement direction D4 Pressing direction (hitting direction) D5 Pulling direction T Cutting Tool T1 Separation Tool T2 Adjacent Tool

Claims

1. 1. A cutting tool gripping device for separating one or more generally circular cutting tools from a storage base on which the cutting tools are supported, comprising: The cutting gripping device is a suction unit provided on the handling robot, the suction unit suctioning the cutting tool supported on the storage table to hold the cutting tool; a separation mechanism that separates the cutting tool held by the suction unit from an adjacent cutting tool supported by the storage table, The cutting tool holding device, wherein the separation mechanism is configured to move the suction part relative to the adjacent cutting tool along an end surface of the adjacent cutting tool.

2. 2. The cutting tool holding device according to claim 1, wherein the separation mechanism is configured to press the adjacent cutting tool in a predetermined direction different from the moving direction of the suction part when the suction part moves along the end surface of the adjacent cutting tool.

3. The cutting tool gripping device according to claim 2 , wherein the separating mechanism is configured to strike the adjacent cutting tools in the predetermined direction.

4. The separation mechanism includes: an arm portion that strikes the adjacent cutting tool in the predetermined direction; The cutting tool holding device according to claim 3 , further comprising: a drive unit that rotates the arm unit so that the arm unit strikes the cutting tool.

5. The separation mechanism includes: a moving unit that moves the arm unit along an axial direction of the cutting tool held by the suction unit, 5. The cutting tool holding device according to claim 4, wherein the moving unit is configured to move the arm unit between a first position where the arm unit strikes the adjacent cutting tool and a second position where the arm unit is retracted from the first position.

6. The cutting tool holding device according to claim 1 , wherein a plurality of the suction portions are arranged in a line along the circumferential direction of the cutting tool.

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