Automatic grinding wheel replacement device and grinding system

Abstract

An automatic grinding wheel replacement device and grinding system that can prevent damage to parts caused by collisions with grinding wheels. [Solution] The grinding machine is equipped with a grinding wheel storage unit that includes a grinding wheel holder capable of storing grinding wheels used in the grinding machine. The grinding wheel storage unit further includes a collision detection unit that detects a collision between the grinding wheel of the grinding machine and the grinding wheel holder when the grinding wheel mounted on the grinding machine is transferred to the grinding wheel holder. The system is configured to perform damage avoidance processing when the collision detection unit detects a collision.

Description

Technical Field

[0001] The present invention relates to an automatic grinding wheel changing device and a grinding system.

Background Art

[0002] Conventionally, there is an automatic processing robot having a processing device with a tool unit and a drive unit at the tip of a robot arm, and the tool unit is detachably coupled to the drive unit via a coupling means (for example, Patent Document 1). The tool unit includes a tool (for example, a grinding wheel) having a rotating shaft member.

[0003] The drive unit includes a driving means having an output shaft member, a slide shaft member provided slidably with respect to the output shaft member, and a spring member interposed between the slide shaft member and the output shaft member and constantly biasing the slide shaft member in a direction protruding with respect to the output shaft member. Further, in the automatic processing robot described in Patent Document 1, an engagement pin member is provided at the tip of the slide shaft member, and an engaged member with which the engagement pin member can be engaged and disengaged is provided on the rotating shaft member.

[0004] And, when the automatic processing robot described in Patent Document 1 engages the engagement pin member with the recess of the engaged member for exchanging the tool unit or the like, the spring member is configured to absorb and relieve the shock caused by the collision between the engagement pin member and the engaged member.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the automated machining robot described in Patent Document 1, when the engaging pin member and the recess of the engaged member engage properly, the spring member absorbs the shock caused by the collision between the engaging pin member and the engaged member. Therefore, if the tool unit is attempted to be connected to the drive unit when the engaging pin member and the recess of the engaged member are not properly facing each other, the engaging pin member will collide with the periphery of the recess of the engaged member, etc., which may put a load on the components of the automated machining robot and cause them to break.

[0007] If a part is damaged, the automated machining robot will need repairs, such as replacing the part. This not only incurs repair costs, but also halts factory production because the robot cannot be operated until the repairs are completed. Furthermore, because it requires procuring (remanufacturing) and replacing the damaged part, as well as repositioning the tool unit to accurately reset its position when replacing it, recovery may take several months.

[0008] One aspect of the present invention is an automatic grinding wheel replacement device and grinding system that can prevent damage to parts due to collisions with grinding wheels. [Means for solving the problem]

[0009] An automatic grinding wheel changing device according to one aspect of the present invention includes a grinding wheel storage unit that includes a grinding wheel holder capable of storing grinding wheels used in a grinding machine, and the grinding wheel storage unit further includes a collision detection unit that detects a collision between the grinding wheel of the grinding machine and the grinding wheel holder when the grinding wheel mounted on the grinding machine is transferred to the grinding wheel holder, and is configured to perform damage avoidance processing when the collision detection unit detects a collision.

[0010] A grinding system according to one aspect of the present invention comprises a grinding machine that detachably holds a grinding wheel, and an automatic grinding wheel replacement device that replaces the grinding wheel on the grinding machine, wherein the automatic grinding wheel replacement device includes a grinding wheel holder capable of storing the grinding wheel used in the grinding machine, and a collision detection unit that detects a collision between the grinding wheel of the grinding machine and the grinding wheel holder when the grinding wheel mounted on the grinding machine is transferred to the grinding wheel holder, and is configured to perform damage avoidance processing when the collision detection unit detects a collision.

[0011] According to one aspect of the present invention, an automatic grinding wheel replacement device and grinding system detects the collision of the grinding wheel in the collision detection unit, and the control unit performs damage avoidance processing, thereby preventing damage to parts due to the collision of the grinding wheel. [Effects of the Invention]

[0012] According to one aspect of the present invention, an automatic grinding wheel replacement device and grinding system can prevent damage to parts caused by collisions with grinding wheels. [Brief explanation of the drawing]

[0013] [Figure 1] Figure 1 is a block diagram showing a grinding system according to an embodiment of the present invention. [Figure 2] Figure 2 is a schematic diagram showing the grinding system of this embodiment. [Figure 3] Figure 3 shows a part of the grinding machine of this embodiment. [Figure 4] Figure 4 shows a part of the grinding machine of this embodiment. [Figure 5] Figure 5 is a schematic diagram showing the automatic grinding wheel replacement device of this embodiment. [Figure 6] Figure 6 shows the state in which grinding wheels are stored in the automatic grinding wheel replacement device of this embodiment. [Figure 7] Figure 7 is a schematic diagram showing the grinding wheel and grinding wheel storage section of this embodiment. [Figure 8] Figure 8 is a schematic diagram showing the state in which grinding wheels are stored in the grinding wheel storage section of this embodiment. [Figure 9] FIG. 9 is a cross-sectional view showing the grindstone storage unit of the present embodiment. [Figure 10] FIG. 10 is a schematic view showing the engaging recess of the grindstone holder of the present embodiment. [Figure 11] FIG. 11 is a view showing the transfer of the grindstone mounted on the grinding machine of the present embodiment. [Figure 12A] FIG. 12A is a view showing how the grindstone mounted on the grinding machine of the present embodiment is transferred to the grindstone holder. [Figure 12B] FIG. 12B is a view showing how the grindstone mounted on the grinding machine of the present embodiment is transferred to the grindstone holder. [Figure 13A] FIG. 13A is a view showing how the grindstone of the grinding machine collides with the grindstone holder of the present embodiment. [Figure 13B] FIG. 13B is a view showing the detection of the collision of the grindstone by the collision detection unit of the present embodiment. [Figure 14] FIG. 14 is a schematic view showing the storage unit moving mechanism and the storage unit rotating mechanism of the present embodiment. [Figure 15] FIG. 15 is a flowchart showing an example of the processing executed by the control unit of the grinding machine and the automatic grindstone changer of the present embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION

[0014] Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings. Note that the following embodiments do not limit the invention according to each claim, and not all combinations of the features described in the embodiments are essential for the solution means of the invention.

[0015] [Overall Configuration of Grinding System According to Present Embodiment] FIG. 1 is a block diagram showing a grinding system according to an embodiment of the present invention. FIG. 2 is a schematic view showing the grinding system of the present embodiment. First, with reference to Figure 1, a grinding system 1 according to an embodiment of the present invention will be outlined. The grinding system 1 according to this embodiment, as shown in Figure 1, generally comprises a grinding machine 10 that detachably holds a grinding wheel 50, and an automatic grinding wheel replacement device 100 that replaces the grinding wheel 50 with the grinding machine 10. In this embodiment, the grinding machine 10 is a cylindrical grinding machine, but is not limited to this. Furthermore, as shown in Figure 2, the grinding system 1 includes a housing 2, and the grinding machine 10 and the automatic grinding wheel replacement device 100 are covered by the housing 2.

[0016] Figures 3 and 4 show a part of the grinding machine of this embodiment. As shown in Figure 1, the grinding machine 10 includes a control unit 90 for controlling the grinding machine 10. The grinding machine 10 also includes a grinding wheel support unit 20 for detachably holding the grinding wheel 50, as shown in Figure 3. Furthermore, the grinding machine 10 includes a blower 80 for removing foreign matter adhering to the grinding wheel 50 by blowing air. In this embodiment, as shown in Figures 3 and 4, the blower 80 is configured to blow compressed air toward the engagement projection 54 of the grinding wheel 50, which will be described later, held by the grinding wheel support unit 20. Note that the basic configuration of the grinding machine 10 can employ various known configurations, so a detailed explanation is omitted.

[0017] Figure 7 is a schematic diagram showing the grinding wheel and grinding wheel storage section of this embodiment. As shown in Figures 3 and 4, the grinding wheel 50 is configured in a substantially disc shape. As shown in Figures 3 and 7, the grinding wheel 50 is rotatably held on the grinding wheel support section 20 of the grinding machine 10 via a grinding wheel shaft 52 attached to the center of one of its surfaces 50a. The grinding wheel 50 also has an engaging projection 54 at the center of the surface 50b (in this embodiment, the surface opposite to the surface 50a to which the grinding wheel shaft 52 is attached) that faces the grinding wheel holder 120 of the grinding wheel storage section 110 of the automatic grinding wheel changing device 100, which will be described later.

[0018] The engaging projection 54 is configured to fit with the engaging recess 124 of the grinding wheel holder 120 of the grinding wheel storage section 110, which will be described later. The engaging projection 54 also has a recess 55 on its side surface. In this embodiment, the engaging projection 54 is a pull stud bolt.

[0019] In this embodiment, the control unit 90 is configured to also control the automatic grinding wheel replacement device 100. Specifically, the control unit 90 is configured to control the storage unit moving mechanism 160 and the storage unit rotating mechanism 180 of the automatic grinding wheel replacement device 100, which will be described later.

[0020] Furthermore, in this embodiment, as shown in Figure 1, the control unit 90 is configured to send a stop command to the storage unit moving mechanism 160 to stop the approach movement of the grinding wheel storage unit 110 of the automatic grinding wheel changing device 100 (described later) to the grinding machine 10 when it receives a collision detection signal from the collision detection unit 140 of the automatic grinding wheel changing device 100 (described later). In addition, the control unit 90 may be configured to send a retraction command to move the grinding wheel storage unit 110 away from the grinding machine 10 instead of a stop command.

[0021] Figure 5 is a schematic diagram showing the automatic grinding wheel replacement device of this embodiment. Figure 6 is a diagram showing the state in which grinding wheels are stored in the automatic grinding wheel replacement device of this embodiment. As shown in Figure 1, the automatic grinding wheel changing device 100 includes a grinding wheel storage section 110. Furthermore, as shown in Figure 5, the automatic grinding wheel changing device 100 includes a base plate 102 and a table 104 provided on the upper part of the base plate 102, to which the grinding wheel storage section 110 is mounted. In this embodiment, as shown in Figure 6, the automatic grinding wheel changing device 100 is configured to store multiple grinding wheels 50 used in the grinding machine 10.

[0022] In this embodiment, only the transfer of grinding wheels 50 from the grinding machine 10 to the automatic grinding wheel changer 100 will be described. However, the grinding system 1 according to this embodiment can also transfer grinding wheels 50 stored in the automatic grinding wheel changer 100 to the grinding machine 10.

[0023] Figure 14 is a schematic diagram showing the storage unit movement mechanism and storage unit rotation mechanism of this embodiment. Furthermore, as shown in Figure 14, the automatic grinding wheel replacement device 100 includes a storage unit moving mechanism 160 that can move the grinding wheel storage unit 110 closer to and further away from the grinding machine 10, and a storage unit rotating mechanism 180 that can rotate the grinding wheel storage unit 110 relative to the table 104. In this embodiment, the grinding wheel storage unit 110 stores the grinding wheel 50 at a position away from the grinding machine 10, and moves closer to the grinding machine 10 by the storage unit moving mechanism 160 when the grinding wheel 50 is being handed over.

[0024] As shown in Figure 5, the table 104 is attached to the base plate 102 via a linear motion mechanism 162, which will be described later. Furthermore, as shown in Figure 14, the table 104 is provided with a first opening 105 for rotating the base portion 112 of the grinding wheel storage section 110, which will be described later, by the storage section rotation mechanism 180, and a second opening 106 for attaching the rotation motor 182 of the storage section rotation mechanism 180, which will be described later.

[0025] Figure 9 is a cross-sectional view showing the grinding wheel storage section of this embodiment. As shown in Figure 5, the grinding wheel storage unit 110 is attached to the surface 104a of the table 104. As shown in Figures 5 and 9, the grinding wheel storage unit 110 includes a grinding wheel holder 120 and a collision detection unit 140. The grinding wheel storage unit 110 also includes a base unit 112 that is attached to the table 104, and the grinding wheel holder 120 and the collision detection unit 140 are attached to the base unit 112.

[0026] The base portion 112 is erected on the first opening 105 of the table 104. Specifically, the base portion 112 is configured in a hollow cylindrical shape and has a first frame portion 114 with flange portions at both ends, and a second frame portion 116 attached to the first flange portion 114a provided on the tip side of the first frame portion 114. The second flange portion 114b provided on the other end side of the first frame portion 114 is rotatably attached to a rotary bearing (not shown) attached to the first opening 105 of the table 104. In other words, the first frame portion 114 is configured to be rotatable relative to the table 104.

[0027] A sensor bracket 117, which supports the collision detection sensor 146 of the collision detection unit 140 (described later), is mounted inside the first frame portion 114 and the second frame portion 116. The sensor bracket 117 extends to the outside of the second flange portion 114b of the first frame portion 114, and the portion protruding from the second flange portion 114b is inserted through the first opening 105 of the table 104 and extends to the back surface 104b of the table 104.

[0028] As shown in Figures 5 and 9, the second frame portion 116 is configured in a substantially rectangular shape and is attached to the first flange portion 114a of the first frame portion 114. The second frame portion 116 is also hollow and has holes 116a on at least four sides through which the detection rods 144 of the collision detection unit 140 (described later) can be inserted.

[0029] Figure 8 is a schematic diagram showing the state in which grinding wheels are stored in the grinding wheel storage section of this embodiment. As shown in Figures 7 and 8, the grinding wheel holder 120 is configured to store the grinding wheel 50 used in the grinding machine 10. Specifically, the grinding wheel holder 120 has a holder shaft 122 attached to the side surface of the second frame portion 116 of the base portion 112, and an engaging recess 124 attached to the holder shaft 122.

[0030] In this embodiment, the grinding wheel storage section 110 includes four grinding wheel holders 120, as shown in Figure 5, and the four grinding wheel holders 120 are arranged on each side of the second frame section 116 (i.e., at 90-degree intervals). However, it is not limited to this, and various arbitrary configurations can be adopted for the number and arrangement of the grinding wheel holders 120.

[0031] As shown in Figure 9, the holder shaft 122 is configured in a hollow cylindrical shape, and the impact detection unit 140's damage prevention spring 142 (described later) and the engagement recess 124 are mounted inside.

[0032] Figure 10 is a schematic diagram showing the engagement recess of the grinding wheel holder in this embodiment. As shown in Figure 8, the engaging recess 124 is configured to fit with the engaging projection 54 of the grinding wheel 50. In this embodiment, as shown in Figure 10, the engaging recess 124 is configured in a substantially cylindrical shape and has a fitting hole 124a at its tip that can fit with the engaging projection 54 of the grinding wheel 50. As shown in Figure 9, the outer diameter of the engaging recess 124 is configured to be a diameter that can engage with the hollow portion of the holder shaft 122.

[0033] Furthermore, the engaging recess 124 is inserted after the spring 142 for preventing damage to the collision detection unit 140 is inserted into the hollow portion of the holder shaft 122. Therefore, when the engaging projection 54 of the grinding wheel 50 collides with the tip surface of the engaging recess 124, the engaging recess 124 moves in the direction of mounting the grinding wheel 50 to the grinding wheel holder 120 by the amount of contraction of the spring 142 for preventing damage (in this embodiment, the direction in which the tip of the engaging projection 54 is inserted into the fitting hole 124a).

[0034] Furthermore, as shown in Figure 10, the engaging recess 124 has a groove 125 on its outer circumferential surface, and grease is sealed in the groove 125. This configuration has the advantage that when the damage prevention spring 142 is compressed and the engaging recess 124 moves, the inner surface (guide surface) of the holder shaft 122 and the outer circumferential surface of the engaging recess 124 slide well together, allowing the engaging recess 124 to move smoothly.

[0035] Furthermore, a keyway 126 is provided in a part of the groove 125 along the longitudinal direction of the engaging recess 124. The holder shaft 122 is provided with a positioning hole at a position corresponding to the keyway 126, and a positioning pin 123 for positioning the holder shaft 122 and the engaging recess 124 is inserted through the positioning hole and the keyway 126, as shown in Figure 9. The insertion of the positioning pin 123 through the positioning hole and the keyway 126 prevents the engaging recess 124 from rotating relative to the holder shaft 122 when the engaging projection 54 of the grinding wheel 50 is fitted with the engaging recess 124 or when the engaging recess 124 moves.

[0036] Figure 11 shows the transfer of the grinding wheel mounted on the grinding machine of this embodiment. Furthermore, the rear end of the engaging recess 124 is provided with a mounting hole into which the rear end of the detection rod 144 can be fitted. In addition, as shown in Figure 9, the engaging recess 124 has a plunger 128 that can engage with the recess 55 of the engaging projection 54. The tip of the plunger 128 is configured to move back and forth relative to the recess 55, and as shown in Figure 11, it is configured to engage with the recess 55 when the engaging projection 54 is inserted into the fitting hole 124a of the engaging recess 124. In this embodiment, the plunger 128 has a steel ball at its tip and a spring 128a, and the steel ball at its tip is configured to move back and forth relative to the recess 55 by the spring 128a. However, it is not limited to this, and the plunger 128 may have a pin at its tip that can engage with the recess 55 instead of a steel ball.

[0037] Furthermore, the axial insertion force of the engaging projection 54 (engaging recess 124) acting on the tip of the plunger 128 when the engaging projection 54 is inserted into the fitting hole 124a of the engaging recess 124 is set to be smaller than the spring force of the damage prevention spring 142. In this embodiment, the insertion force is the force acting on the tip of the plunger 128 in a direction perpendicular to the axial direction of the plunger 128 (thrust direction), or in other words, the force acting in a direction perpendicular to the force acting on the spring 128a when the engaging projection 54 is inserted. In this embodiment, the engaging recess 124 is provided with three plungers 128 along the circumferential direction of the engaging recess 124. However, it is not limited to this, and various arbitrary numbers of plungers 128 can be adopted.

[0038] Figure 13B shows the detection of a grinding wheel collision by the collision detection unit of this embodiment. The collision detection unit 140 detects the collision of the grinding wheel 50 of the grinding machine 10 with the grinding wheel holder 120 when the grinding wheel 50 mounted on the grinding machine 10 is transferred to the grinding wheel holder 120. In this embodiment, as shown in Figures 9 and 13B, the collision detection unit 140 has a damage prevention spring 142 that contracts in the direction of mounting the grinding wheel 50 when the grinding wheel 50 of the grinding machine 10 collides with the grinding wheel holder 120, and is configured to detect the collision of the grinding wheel 50 of the grinding machine 10 with the grinding wheel holder 120 by detecting the contraction of the damage prevention spring 142.

[0039] Specifically, the collision detection unit 140 further includes a detection rod 144 that moves in conjunction with the expansion and contraction of the damage prevention spring 142, and a collision detection sensor 146 that detects the movement of the detection rod 144. The collision detection sensor 146 detects the movement of the detection rod 144 due to the contraction of the damage prevention spring 142, thereby detecting the collision of the grinding wheel 50 of the grinding machine 10 with the grinding wheel holder 120. The damage prevention spring 142 has a spring force greater than the thrust force acting on the tip of the plunger 128 when the engaging projection 54 is inserted into the fitting hole 124a of the engaging recess 124.

[0040] The detection rod 144 is attached to the rear end of the engagement recess 124 of the grinding wheel holder 120 and is configured to move together with the engagement recess 124 in the direction of attaching and detaching the grinding wheel 50 when the damage prevention spring 142 is extended or retracted. In this embodiment, at least the tip portion 144a of the detection rod 144 is made of a metal material that can be detected as a detection object by the proximity sensor described later. Specifically, in this embodiment, the detection rod 144 is a hexagon socket head bolt, with the threaded portion screwed into a threaded hole provided at the rear end of the engagement recess 124, and the head portion being detected by the proximity sensor as the tip portion 144a. However, it is not limited to this, and the detection rod 144 can be configured in various arbitrary configurations to match the configuration of the collision detection sensor 146.

[0041] For example, the detection rod 144 may be a round bar or a square bar. Also, the detection rod 144 is not limited to a rod shape, but may be a flat plate or the like. When a socket head cap screw is used for the detection rod 144, there is the advantage that the collision detection unit 140 can be constructed inexpensively. In addition, the socket head cap screw has the advantage that the tip portion 144a detected by the proximity sensor, i.e., the head, is large, which prevents detection failures during collisions. Furthermore, since the threaded portion is screwed into the threaded hole provided at the rear end of the engagement recess 124, the length of the detection rod 144, and thus the position of the tip portion 144a, can be easily adjusted simply by rotating the socket head cap screw, which has the advantage that setting is easy and the detection accuracy of the collision detection unit 140 can be improved in a short time.

[0042] Furthermore, in this embodiment, since one detection rod 144 is attached to each of the four grinding wheel holders 120's engaging recesses 124, the collision detection unit 140 has four detection rods 144. However, it is not limited to this, and various arbitrary numbers of detection rods 144 can be adopted depending on the number and arrangement of the grinding wheel holders 120.

[0043] In this embodiment, the collision detection sensor 146 is a proximity sensor and is supported by a sensor bracket 117. Specifically, the collision detection sensor 146 is supported such that its detection surface 146a is located at the tip of the sensor bracket 117. Furthermore, the detection surface 146a of the collision detection sensor 146 is oriented in a direction intersecting the direction of movement of the detection rod 144. With this configuration, the detection area of ​​the proximity sensor extends three-dimensionally from the detection surface 146a, which has the advantage that a single collision detection sensor 146 can detect all of the tip portions 144a of the four detection rods 144.

[0044] The number and arrangement of the collision detection sensors 146 are not limited to those shown, and any number and arrangement can be used as long as the configuration is capable of detecting the movement of the detection rod 144.

[0045] Figure 13A shows how the grinding wheel of the grinding machine collides with the grinding wheel holder of this embodiment. Furthermore, in this embodiment, the amount of movement d until the detection rod 144 enters the detection area of ​​the collision detection sensor 146 is shorter than the amount of deflection of the damage prevention spring 142, as shown in Figure 13A. In other words, the collision detection sensor 146 detects the movement of the detection rod 144 due to the contraction of the damage prevention spring 142 before the damage prevention spring 142 is fully compressed.

[0046] Figure 12A shows how the grinding wheel mounted on the grinding machine of this embodiment is transferred to the grinding wheel holder. Figure 12B shows how the grinding wheel mounted on the grinding machine of this embodiment is transferred to the grinding wheel holder. As shown in Figure 12A, when the grinding wheel storage unit 110, which has the above configuration, approaches the grinding wheel 50 with the tip of the engaging projection 54 of the grinding wheel 50 facing the fitting hole 124a of the engaging recess 124 of the grinding wheel holder 120, that is, when the center of the tip of the engaging projection 54 and the center of the fitting hole 124a are roughly aligned, the engaging projection 54 is inserted into the fitting hole 124a, as shown in Figure 12B. Then, the plunger 128 of the engaging recess 124 engages with the recess 55 of the engaging projection 54, and the grinding wheel holder 120 holds the grinding wheel 50.

[0047] In this case, the collision detection unit 140 does not contract because the spring 142 for preventing damage to the collision detection unit 140 does not contract, or because the tip 144a of the detection rod 144 contracts to such an extent that it does not enter the detection area of ​​the collision detection sensor 146. Therefore, the collision detection unit 140 does not detect the collision of the grinding wheel 50 of the grinding machine 10 with the grinding wheel holder 120.

[0048] On the other hand, as shown in Figure 13A, when the grinding wheel storage section 110 approaches the grinding wheel 50 in a state where the engaging projection 54 and the fitting hole 124a of the engaging recess 124 are not facing each other, that is, when the tip of the engaging projection 54 and the peripheral edge of the fitting hole 124a of the engaging recess 124 are facing each other, the engaging projection 54 will collide with the tip surface of the engaging recess 124 (the peripheral edge of the fitting hole 124a).

[0049] Subsequently, as shown in Figure 13B, the spring 142 for preventing damage to the collision detection unit 140 contracts in the direction that mounts the grinding wheel 50 to the grinding wheel holder 120, causing the engagement recess 124 of the grinding wheel holder 120 to move. As the engagement recess 124 moves, the detection rod 144 of the collision detection unit 140 moves toward the detection area of ​​the collision detection sensor 146. When the tip 144a of the detection rod 144 enters the detection area of ​​the collision detection sensor 146, the collision detection sensor 146 detects the movement of the detection rod 144, and consequently, the collision detection unit 140 detects the collision of the grinding wheel 50 of the grinding machine 10 with the grinding wheel holder 120.

[0050] As shown in Figure 14, the storage unit moving mechanism 160 includes a linear motion mechanism 162, a ball screw 164, and a moving motor 166. The linear motion mechanism 162 is provided between the base plate 102 and the table 104. Specifically, the slide unit 162a of the linear motion mechanism 162 is positioned between the base plate 102 and the table 104 and is attached to the surface of the base plate 102 facing the back surface 104b of the table 104. The track rail 162b of the linear motion mechanism 162 is provided on the back surface 104b of the table 104 along the longitudinal direction of the table 104. With this configuration, the table 104 is configured to be movable relative to the base plate 102.

[0051] Specifically, the linear motion mechanism 162 moves in a direction that moves the table 104 closer to and further away from the grinding machine 10. As the table 104 moves closer to and further away from the grinding machine 10, the grinding wheel storage section 110 provided on the table 104 also moves closer to and further away from the grinding machine 10.

[0052] In this embodiment, as shown in Figures 5 and 14, one linear motion mechanism 162 is provided at each end of the table 104 in the short direction. However, it is not limited to this configuration. As long as the table 104 can be moved in the direction of moving closer to and further away from the grinding machine 10, various arbitrary configurations can be adopted for the number and arrangement of the linear motion mechanisms 162.

[0053] The moving motor 166 is located at one end of the table 104 in the longitudinal direction (in this embodiment, the end opposite to the grinding machine 10). However, it is not limited to this, and the moving motor 166 can be located at various arbitrary positions. For example, the moving motor 166 may be located at the end of the table 104 on the grinding machine 10 side.

[0054] As shown in Figure 14, the ball screw 164 is provided on the back surface 104b of the table 104, and one end of the screw shaft 164a is connected to the mobile motor 166 via a coupling (not shown). The connection between the ball screw 164 and the mobile motor 166 can be configured in any way necessary, as long as it can transmit the drive of the mobile motor 166 to the screw shaft 164a of the ball screw 164.

[0055] Furthermore, the nut 164b of the ball screw 164 is attached via the housing to the portion of the base plate 102 facing the back surface 104b of the table 104. This configuration allows the table 104 to move relative to the base plate 102. Specifically, by driving the moving motor 166, the drive of the moving motor 166 is transmitted to the screw shaft 164a of the ball screw 164, causing the table 104 to move relative to the base plate 102 to which the nut 164b of the ball screw 164 is attached.

[0056] Furthermore, since the ball screw 164 is provided along the longitudinal direction of the table 104, the table 104, and consequently the grinding wheel storage section 110, is configured to move closer to and further away from the grinding machine 10 by driving the moving motor 166. The storage section moving mechanism 160, having the above configuration, moves the grinding wheel storage section 110 closer to the grinding machine 10 so that the grinding wheel 50 mounted on the grinding machine 10 is transferred to the grinding wheel holder 120 when transferring the grinding wheel 50.

[0057] The storage unit moving mechanism 160 according to this embodiment has the advantage that the table 104 moves smoothly and quickly in accordance with the drive of the moving motor 166, because the ball screw 164 and two linear motion mechanisms 162 are mounted in parallel.

[0058] Furthermore, the storage unit movement mechanism 160 is not limited to the configuration described above, and various arbitrary configurations can be adopted as long as they allow the grinding wheel storage unit 110 to move closer to and further away from the grinding machine 10.

[0059] As shown in Figure 14, the storage section rotation mechanism 180 includes a rotation motor 182, a motor-side pulley 184, a storage section-side pulley 186, and a belt 188. The rotation motor 182 is provided at one end of the table 104 in the longitudinal direction (in this embodiment, the end opposite to the grinding machine 10). Specifically, as shown in Figures 5 and 14, a second opening 106 is provided at one end of the table 104, and the shaft (not shown) of the rotation motor 182 is inserted through the second opening 106 from the front side to the back side of the table 104, so that the rotation motor 182 is erected on the surface 104a of the table 104 via a housing (not shown).

[0060] However, the rotary motor 182 can be installed at any position as long as it can transmit the drive of the rotary motor 182 to the storage-side pulley 186.

[0061] The motor-side pulley 184 is attached to the shaft of the rotating motor 182. The storage-side pulley 186 is attached to the rear end of a pulley shaft (not shown). The pulley shaft is positioned in the first opening 105 of the table 104, and its tip is attached to a rotating bearing. In this embodiment, the motor-side pulley 184 and the storage-side pulley 186 are geared pulleys. However, the storage-side rotation mechanism 180 is not limited to this, and may include a motor-side sprocket and a storage-side sprocket instead of the motor-side pulley 184 and the storage-side pulley 186.

[0062] In this embodiment, the belt 188 is a toothed belt and is worn on the teeth of the motor-side pulley 184 and the teeth of the storage-side pulley 186. If the motor-side sprocket and storage-side sprocket are included instead of the motor-side pulley 184 and storage-side pulley 186, the storage-side rotating mechanism 180 includes a roller chain instead of the belt 188.

[0063] The storage unit rotation mechanism 180 drives the rotation motor 182 to rotate the motor-side pulley 184, which in turn rotates the storage unit-side pulley 186 via the belt 188. This causes the pulley shaft to which the storage unit-side pulley 186 is attached and the rotating bearing to which the pulley shaft is attached to rotate, thereby rotating the grinding wheel storage unit 110. With this configuration, the automatic grinding wheel changing device 100 according to this embodiment can, for example, transfer a grinding wheel 50 held by the grinding machine 10 to a grinding wheel holder 120 facing the grinding machine 10, and then rotate the grinding wheel storage unit 110 to face the grinding wheel holder 120 already holding another grinding wheel 50, thereby transferring that grinding wheel 50 to the grinding machine 10.

[0064] Furthermore, the storage unit rotation mechanism 180 is not limited to the configuration described above, and various arbitrary configurations can be adopted as long as they allow at least the grinding wheel storage unit 110 to rotate.

[0065] The automatic grinding wheel changing device 100, having the above configuration, is configured to perform damage avoidance processing when the collision detection unit 140 detects a collision. Specifically, in the damage avoidance processing, the collision detection unit 140 is configured to output a collision detection signal to the grinding machine 10 to stop the relative movement between the grinding wheel holder 120 and the grinding wheel 50 of the grinding machine 10. In addition, in the damage avoidance processing, the storage unit moving mechanism 160 is configured to receive a stop command from the control unit 90 of the grinding machine 10 and stop the movement of the grinding wheel holder 120 approaching the grinding wheel 50 of the grinding machine 10.

[0066] In this embodiment of the grinding system 1, the grinding wheel 50 is transferred to the grinding wheel holder 120 as the grinding wheel holder 120 approaches the grinding wheel 50 mounted on the grinding machine 10. Therefore, in the damage avoidance process, the storage unit moving mechanism 160 stops the movement of the grinding wheel holder 120 approaching the grinding wheel 50 on the grinding machine 10 in order to stop the relative movement between the grinding wheel holder 120 and the grinding wheel 50 on the grinding machine 10, but the system is not limited to this.

[0067] The grinding system 1 can also employ a configuration in which the grinding wheel 50 mounted on the grinding machine 10 is transferred to the grinding wheel holder 120 when the grinding wheel 50 approaches the grinding wheel holder 120. In the damage avoidance process, the grinding machine 10 may stop the approaching movement of the grinding wheel 50 in order to stop the relative movement between the grinding wheel holder 120 and the grinding wheel 50 on the grinding machine 10. Furthermore, in the damage avoidance process, it is also possible to stop the relative movement between the grinding wheel holder 120 and the grinding wheel 50 on the grinding machine 10 by stopping the operation of both the storage unit moving mechanism 160 and the grinding machine 10.

[0068] Furthermore, in the damage avoidance process, the automatic grinding wheel replacement device 100 may be configured to move the grinding wheel storage unit 110 in a direction away from the grinding machine 10. Specifically, the storage unit moving mechanism 160 may receive a retraction command from the control unit 90 of the grinding machine 10, drive the moving motor 166, and move the table 104 in a direction away from the grinding machine 10, thereby retracting the grinding wheel storage unit 110, which is provided on the table 104, from the grinding wheel 50 held by the grinding wheel support unit 20 of the grinding machine 10.

[0069] Figure 15 is a flowchart showing an example of the processing performed by the control unit and automatic grinding wheel changer of the grinding machine in this embodiment. A series of processes performed by the control unit 90 and the automatic grinding wheel changer 100 of the grinding machine 10, which have the above configuration, will be explained with reference to Figures 1 and 15. First, the storage unit moving mechanism 160 of the automatic grinding wheel changer 100 brings the grinding wheel storage unit 110 closer to the grinding machine 10. The grinding machine 10 transfers the grinding wheel 50, which is held by the grinding wheel support unit 20 of the grinding machine 10, to the grinding wheel storage unit 110 of the automatic grinding wheel changer 100. The collision detection unit 140 of the automatic grinding wheel changer 100 detects the collision of the grinding wheel 50 (S10 in Figure 15: collision detection process).

[0070] In this embodiment, the collision detection unit 140 of the automatic grinding wheel changer 100 detects a collision when the grinding wheel 50 of the grinding machine 10 collides with the grinding wheel holder 120 of the grinding wheel storage unit 110 of the automatic grinding wheel changer 100. Specifically, when the grinding machine 10 transfers the grinding wheel 50 to the grinding wheel storage unit 110, as shown in Figure 13A, if the tip of the engaging projection 54 of the grinding wheel 50 collides with the tip surface of the engaging recess 124 of the grinding wheel holder 120 (the peripheral edge of the fitting hole 124a), the damage prevention spring 142 of the collision detection unit 140 contracts, as shown in Figure 13B.

[0071] Furthermore, as the damage prevention spring 142 contracts, the engagement recess 124 of the grinding wheel holder 120 moves in the direction in which the grinding wheel 50 is mounted. At this time, the detection rod 144 of the collision detection unit 140, which is attached to the rear end of the engagement recess 124, also moves in the direction in which the grinding wheel 50 is mounted. When the detection rod 144 moves and its tip 144a enters the detection area of ​​the proximity sensor, which is the collision detection sensor 146 of the collision detection unit 140, the collision detection sensor 146 detects the tip 144a of the detection rod 144.

[0072] Then, when the collision detection sensor 146 detects the tip 144a of the detection rod 144, the collision detection unit 140 detects a collision of the grinding wheel 50. If the collision detection unit 140 detects a collision (YES in S10 of Figure 15), the automatic grinding wheel changer 100 performs damage avoidance processing (S11 in Figure 15). Specifically, first, as shown in Figure 1, the collision detection unit 140 of the automatic grinding wheel changer 100 outputs a collision detection signal to the control unit 90 of the grinding machine 10 to stop the relative movement between the grinding wheel holder 120 of the grinding wheel storage unit 110 and the grinding wheel 50 held by the grinding wheel support unit 20 of the grinding machine 10 (S12 in Figure 15: collision detection signal output processing).

[0073] When the control unit 90 of the grinding machine 10 receives a collision detection signal (YES in S1 of Figure 15), it sends a stop command to the storage unit moving mechanism 160 of the automatic grinding wheel changer 100 (S2 of Figure 15). The storage unit moving mechanism 160 stops the approach operation that brings the grinding wheel holder 120 of the grinding wheel storage unit 110 of the automatic grinding wheel changer 100 closer to the grinding wheel 50 held by the grinding wheel support unit 20 (S13 of Figure 15: approach operation stop process).

[0074] Furthermore, if the collision detection unit 140 of the automatic grinding wheel changer 100 does not detect a collision with the grinding wheel 50 of the grinding machine 10 (NO in S10 of Figure 15), that is, if the engaging projection 54 of the grinding wheel 50 is properly fitted into the engaging recess 124 of the grinding wheel holder 120, the grinding wheel support unit 20 of the grinding machine 10 releases its hold on the grinding wheel 50, and the grinding wheel 50 is transferred to the grinding wheel storage unit 110. Through the above steps, a series of processes performed by the grinding machine 10 and the automatic grinding wheel changer 100 are executed.

[0075] [Advantages of the automatic grinding wheel replacement device and grinding system according to this embodiment] As described above, the automatic grinding wheel changing device 100 in this embodiment includes a grinding wheel storage unit 110 which includes a grinding wheel holder 120 capable of storing grinding wheels 50 used in the grinding machine 10. The grinding wheel storage unit 110 further includes a collision detection unit 140 which detects a collision between the grinding wheel 50 of the grinding machine 10 and the grinding wheel holder 120 when the grinding wheel 50 mounted on the grinding machine 10 is transferred to the grinding wheel holder 120. The device is configured to perform damage avoidance processing when the collision detection unit 140 detects a collision.

[0076] Furthermore, the automatic grinding wheel replacement device 100 according to this embodiment has the advantage that, when the grinding wheel 50 collides with the grinding wheel holder 120, the collision detection unit 140 detects the collision of the grinding wheel 50 and performs damage avoidance processing before the grinding wheel 50 or the automatic grinding wheel replacement device 100 is damaged, thereby preventing damage to the components of the automatic grinding wheel replacement device 100 due to the collision of the grinding wheel 50.

[0077] Furthermore, since the only work required after the damage prevention process is to check the assembly accuracy of the automatic grinding wheel replacement device 100 and the transfer position of the grinding wheel 50, recovery can be completed in a short time, which reduces the impact on factory production and the repair costs of the automatic grinding wheel replacement device 100, etc.

[0078] Furthermore, in the automatic grinding wheel changing device 100 according to this embodiment, the collision detection unit 140 has a damage prevention spring 142 that contracts in the direction of mounting the grinding wheel 50 when the grinding wheel 50 of the grinding machine 10 collides with the grinding wheel holder 120, and is configured to detect the collision of the grinding wheel 50 of the grinding machine 10 with the grinding wheel holder 120 by detecting the contraction of the damage prevention spring 142. With this configuration, the impact of the collision of the grinding wheel 50 is absorbed by the contraction of the damage prevention spring 142 while detecting the collision, so that the parts are less likely to be damaged by the impact of the collision, and the time between the collision and the damage of the parts is extended, during which damage avoidance processing can be performed, which has the advantage of further preventing damage to the parts of the automatic grinding wheel changing device 100 due to collision of the grinding wheel 50. Furthermore, by detecting the impact of the grinding wheel 50 through the contraction of the damage prevention spring 142, it has the added advantage that damage prevention processing can be performed even if the grinding wheel 50 collides with the grinding wheel holder 120 or is about to be attached to the grinding wheel holder 120 at an angle when the user manually inserts the grinding wheel 50 into the grinding wheel holder 120.

[0079] Furthermore, in the automatic grinding wheel changer 100 according to this embodiment, the collision detection unit 140 further includes a detection rod 144 that moves in conjunction with the expansion and contraction of the damage prevention spring 142, and a collision detection sensor 146 that detects the movement of the detection rod 144. The collision detection sensor 146 detects the movement of the detection rod 144 due to the contraction of the damage prevention spring 142, thereby detecting the collision of the grinding wheel 50 of the grinding machine 10 with the grinding wheel holder 120. With this configuration, the structure is simple, which has the further advantage of detecting collisions at low cost and preventing damage to the parts of the automatic grinding wheel changer 100.

[0080] Furthermore, in the automatic grinding wheel replacement device 100 according to this embodiment, the collision detection sensor 146 is a proximity sensor. This configuration has the advantage of detecting collisions at low cost and in a small space, and preventing damage to the parts of the automatic grinding wheel replacement device 100. In addition, since the movement of the detection rod 144 can be detected without contact, it has the further advantage of being usable for collision detection over a long period of time.

[0081] Furthermore, in the automatic grinding wheel changing device 100 according to this embodiment, the grinding wheel 50 has either an engaging projection 54 or an engaging recess 124 at the center of the surface 50b facing the grinding wheel holder 120, and the grinding wheel holder 120 has the other of the engaging projection 54 or the engaging recess 124, and the engaging projection 54 and the engaging recess 124 are configured to fit together. This configuration has the advantage that the grinding wheel 50 can be transferred to the grinding wheel holder 120 even if there is a slight misalignment of the center (misalignment).

[0082] Furthermore, in the automatic grinding wheel changing device 100 according to this embodiment, the engaging projection 54 has a recess 55 on its side surface, and the engaging recess 124 has a plunger 128 that can engage with the recess 55 of the engaging projection 54. The tip of the plunger 128 is configured to move back and forth relative to the recess 55, and is configured to engage with the recess 55 when the engaging projection 54 is inserted into the engaging recess 124. By having such a configuration, the plunger 128 engages with the recess 55 of the engaging projection 54, which has the further advantage of preventing the grinding wheel 50 from being stored in a tilted position in the grinding wheel holder 120 due to the gap between the engaging recess 124 and the engaging projection 54, and also prevents the grinding wheel 50 from falling out of the grinding wheel holder 120.

[0083] Furthermore, in the automatic grinding wheel changing device 100 according to this embodiment, the axial insertion force acting on the tip of the plunger 128 when the engaging projection 54 is inserted into the engaging recess 124 is configured to be smaller than the spring force of the damage prevention spring 142. This configuration has the further advantage of preventing the plunger 128 from acting as resistance when the engaging projection 54 is inserted into the engaging recess 124, causing the damage prevention spring 142 to contract and the engaging recess 124 to move, which would prevent the grinding wheel holder 120 from being able to hold the grinding wheel 50, and also prevents the collision detection unit 140 from falsely detecting a collision of the grinding wheel 50.

[0084] Furthermore, the automatic grinding wheel changer 100 according to this embodiment is configured to output a collision detection signal in the damage avoidance process to stop the relative movement between the grinding wheel holder 120 and the grinding machine 10. This configuration has the advantage that at least one of the grinding wheel holder 120 and the grinding machine 10 can be decelerated and stopped, preventing damage to the components of the automatic grinding wheel changer 100 due to collision with the grinding wheel 50.

[0085] Furthermore, the automatic grinding wheel replacement device 100 according to this embodiment is equipped with a storage unit moving mechanism 160 that can move the grinding wheel storage unit 110 closer to and further away from the grinding machine 10, and is configured to move the grinding wheel storage unit 110 away from the grinding machine 10 in the damage avoidance process. By having such a configuration, the grinding wheel holder 120 can be retracted from the colliding grinding wheel 50, which has the advantage of preventing damage to the components of the automatic grinding wheel replacement device 100 due to the collision of the grinding wheel 50.

[0086] Furthermore, in the grinding system 1 according to this embodiment, at least one of the grinding machine 10 and the automatic grinding wheel changer 100 includes a blower 80 that removes foreign matter adhering to the grinding wheel 50 by blowing air. This configuration has the further advantage of preventing damage to the grinding wheel holder 120 due to foreign matter adhering to the grinding wheel 50 getting caught, or preventing the grinding wheel 50 from getting stuck when being transferred to the grinding wheel holder 120 because the gap in the grinding wheel holder 120 is eliminated by foreign matter.

[0087] [Differentiation] Although preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the embodiments described above. Various modifications or improvements can be made to the embodiments described above.

[0088] For example, in the embodiment described above, the collision detection unit 140 was described as having a damage prevention spring 142 that contracts in the direction of mounting the grinding wheel 50 when the grinding wheel 50 of the grinding machine 10 collides with the grinding wheel holder 120, and is configured to detect the collision of the grinding wheel 50 of the grinding machine 10 with the grinding wheel holder 120 by detecting the contraction of the damage prevention spring 142, but is not limited to this. The collision detection unit 140 may also be configured to directly detect the collision from the impact at the time of collision using, for example, a pressure sensor or a vibration sensor.

[0089] In the embodiment described above, the collision detection unit 140 further includes a detection rod 144 that moves in conjunction with the expansion and contraction of the damage prevention spring 142, and a collision detection sensor 146 that detects the movement of the detection rod 144. The collision detection unit 140 is configured to detect the collision of the grinding wheel 50 of the grinding machine 10 with the grinding wheel holder 120 by the collision detection sensor 146 detecting the movement of the detection rod 144 due to the contraction of the damage prevention spring 142. However, it is not limited to this configuration. The collision detection unit 140 may also be configured to detect the collision of the grinding wheel 50 with the grinding wheel holder 120 by detecting the movement of the grinding wheel holder 120.

[0090] In the embodiments described above, the collision detection sensor 146 was described as a proximity sensor, but it is not limited to this. The collision detection sensor 146 may be, for example, a photoelectric sensor, a laser sensor, a displacement sensor, an image sensor, a microswitch, a limit switch, or the like.

[0091] In the embodiments described above, the grinding wheel 50 has either an engaging projection 54 or an engaging recess 124 at the center of the surface 50b facing the grinding wheel holder 120, and the grinding wheel holder 120 has the other of the engaging projection 54 or the engaging recess 124, and the engaging projection 54 and the engaging recess 124 are configured to be fitted together. However, the invention is not limited to these embodiments. The grinding wheel 50 and the grinding wheel holder 120 do not necessarily have an engaging projection 54 or an engaging recess 124. For example, the grinding wheel holder 120 may have an air chuck or a hydraulic chuck, etc. Furthermore, in the embodiments described above, the grinding wheel 50 was described as having an engaging projection 54 at the center of the surface 50b facing the grinding wheel holder 120, and the grinding wheel holder 120 was described as having an engaging recess 124. However, the invention is not limited to this, and the grinding wheel 50 may have an engaging recess 124 at the center of the surface 50b facing the grinding wheel holder 120, and the grinding wheel holder 120 may have an engaging projection 54.

[0092] In the embodiments described above, the engaging projection 54 has a recess 55 on its side surface, and the engaging recess 124 has a plunger 128 that can engage with the recess 55 of the engaging projection 54, and the tip of the plunger 128 is configured to move back and forth relative to the recess 55 and to engage with the recess 55 when the engaging projection 54 is inserted into the engaging recess 124. However, the embodiments are not limited to this. The engaging projection 54 does not have to have a recess 55 on its side surface. Also, the engaging recess 124 does not have to have a plunger 128.

[0093] In the embodiments described above, the force acting on the tip of the plunger 128 in a direction perpendicular to the axial direction of the plunger 128 when the engaging projection 54 is inserted into the engaging recess 124 was described as being smaller than the spring force of the breakage prevention spring 142, but this is not limited to this. The axial force acting on the tip of the plunger 128 may be set to be greater than or equal to the spring force of the breakage prevention spring 142.

[0094] In the embodiments described above, the automatic grinding wheel changer 100 is configured to output a collision detection signal to stop the relative movement between the grinding wheel holder 120 and the grinding machine 10 during the damage avoidance process, but it is not limited to this.

[0095] In the embodiments described above, the automatic grinding wheel replacement device 100 is provided with a storage unit moving mechanism 160 that can move the grinding wheel storage unit 110 closer to and further away from the grinding machine 10, and is configured to move the grinding wheel storage unit 110 away from the grinding machine 10 during the damage avoidance process. However, the device is not limited to this configuration. The automatic grinding wheel replacement device 100 may not be provided with a storage unit moving mechanism 160, and the grinding machine 10 may be configured to move the grinding wheel 50 closer to and further away from the grinding wheel storage unit 110. Furthermore, the automatic grinding wheel replacement device 100 does not need to move the grinding wheel storage unit 110 away from the grinding machine 10 during the damage avoidance process.

[0096] In the embodiments described above, at least one of the grinding machine 10 and the automatic grinding wheel changing device 100 was described as including a blower 80 for removing foreign matter adhering to the grinding wheel 50 by blowing air, but this is not limited to this. The grinding machine 10 and the automatic grinding wheel changing device 100 do not have to include the blower 80. Also, in the embodiments described above, the grinding machine 10 was described as including the blower 80, but this is not limited to this, and the automatic grinding wheel changing device 100 may also include the blower 80.

[0097] In the embodiments described above, the automatic grinding wheel changer 100 was described as being equipped with a storage unit rotation mechanism 180, but it is not limited to this. The automatic grinding wheel changer 100 does not need to be equipped with a storage unit rotation mechanism 180. Also, if the grinding wheel storage unit 110 includes a plurality of grinding wheel holders 120, the automatic grinding wheel changer 100 may be equipped with other mechanisms instead of the storage unit rotation mechanism 180. In other words, the automatic grinding wheel changer 100 can adopt various arbitrary configurations depending on the number and arrangement of the grinding wheel holders 120.

[0098] In the embodiments described above, the control unit 90 of the grinding machine 10 was described as being configured to also control the automatic grinding wheel changer 100, but the invention is not limited to this. The control unit 90 of the grinding machine 10 may be configured to control only the grinding machine 10, and the automatic grinding wheel changer 100 may further include a control unit. In the embodiments described above, the collision detection unit 140 was described as being configured to output a collision detection signal to the grinding machine 10 to stop the relative movement of the grinding machine 10 with respect to the grinding wheel 50 with respect to the grinding wheel holder 120, but if the automatic grinding wheel changer 100 includes a control unit, the collision detection unit 140 may output a collision detection signal to the control unit of the automatic grinding wheel changer 100. In the damage avoidance process, after receiving the collision detection signal, the control unit of the automatic grinding wheel changer 100 sends a stop command or a retraction command to the storage unit moving mechanism 160. Furthermore, if the grinding machine 10 is configured to move the grinding wheel 50 closer to and further away from the grinding wheel storage unit 110, the control unit of the automatic grinding wheel changing device 100 may be configured to send a stop command or a retraction command to the grinding machine 10. [Explanation of Symbols]

[0099] 1. Grinding System 2 cabinets 10 Grinding machine 20 Grinding wheel support section 50 whetstones 52 Grinding wheel shaft 54 Engagement protrusion 55 indentation 80 Blower 90 Control Unit 100 Automatic grinding wheel changer 102 Base Plate 104 Tables 105 First opening 106 Second opening 110 Sharpening Stone Storage Section 112 Base part 114 First frame section 114a First flange section 114b Second flange section 116 Second Frame Section 116a hole 117 Sensor Bracket 120 Grinding Wheel Holder 122 Holder Shaft 123 Positioning pins 124 Engagement recess 124a Fitting hole 125 Groove 126 keyways 128 Plunger 128a Spring 140 Collision detection unit 142 Damage prevention spring 144 detection rod 146 Collision detection sensor 146a Detection surface 160 Storage section moving mechanism 162 Linear motion mechanism 162a Slide Unit 162b Track Rail 164 Ball screw 164a Screw shaft 164b Nut 166 Mobile Motor 180 Rotating mechanism for storage section 182 Rotary motor 184 Motor-side pulley 186 Storage side pulley 188 belt

Claims

1. It is equipped with a grinding wheel storage section that includes a grinding wheel holder capable of storing grinding wheels used in the grinding machine, The grinding wheel storage unit further includes a collision detection unit that detects a collision between the grinding wheel of the grinding machine and the grinding wheel holder when the grinding wheel mounted on the grinding machine is transferred to the grinding wheel holder, The collision detection unit is configured to execute damage avoidance processing when it detects a collision. Automatic grinding wheel changer.

2. The collision detection unit has a damage prevention spring that contracts in the direction of mounting the grinding wheel when the grinding wheel of the grinding machine collides with the grinding wheel holder, and is configured to detect the collision of the grinding wheel of the grinding machine with the grinding wheel holder by detecting the contraction of the damage prevention spring. The automatic grinding wheel replacement device according to claim 1.

3. The collision detection unit, A detection rod that moves in conjunction with the expansion and contraction of the aforementioned spring for preventing damage, A collision detection sensor that detects the movement of the aforementioned detection rod and It further possesses, The collision detection sensor is configured to detect the collision of the grinding wheel of the grinding machine with the grinding wheel holder by detecting the movement of the detection rod due to the contraction of the spring that prevents damage. The automatic grinding wheel replacement device according to claim 2.

4. The collision detection sensor is a proximity sensor. The automatic grinding wheel replacement device according to claim 3.

5. The grinding wheel has either an engaging projection or an engaging recess at the center of the surface facing the grinding wheel holder. The grinding wheel holder has the other of either the engaging projection or the engaging recess, The engaging projection and the engaging recess are configured to be able to fit together. An automatic grinding wheel replacement device according to any one of claims 2 to 4.

6. The aforementioned engaging projection has a recess on its side, The engagement recess has a plunger that can engage with the recess of the engagement projection, The tip of the plunger is configured to move back and forth within the recess, and is configured to engage with the recess when the engaging projection is inserted into the engaging recess. The automatic grinding wheel replacement device according to claim 5.

7. The force acting on the tip of the plunger in a direction perpendicular to the axial direction of the plunger when the engaging projection is inserted into the engaging recess is configured to be smaller than the spring force of the breakage prevention spring. The automatic grinding wheel replacement device according to claim 6.

8. In the damage avoidance process, the system is configured to output a collision detection signal to stop the relative movement between the grinding wheel holder and the grinding machine. An automatic grinding wheel replacement device according to any one of claims 1 to 4.

9. The grinding wheel storage section is equipped with a storage section movement mechanism that allows it to move closer to and further away from the grinding machine. In the damage avoidance process, the grinding wheel storage unit is configured to move in a direction away from the grinding machine. An automatic grinding wheel replacement device according to any one of claims 1 to 4.

10. A grinding machine that holds grinding wheels in a detachable manner, An automatic grinding wheel replacement device for replacing the grinding wheel on the grinding machine, Equipped with, The automatic grinding wheel changing device includes a grinding wheel holder capable of storing the grinding wheels used in the grinding machine, and a grinding wheel storage unit having a collision detection unit that detects a collision between the grinding wheel of the grinding machine and the grinding wheel holder when the grinding wheel mounted on the grinding machine is transferred to the grinding wheel holder, and is configured to perform damage avoidance processing when the collision detection unit detects a collision. Grinding system.

11. At least one of the grinding machine and the automatic grinding wheel changing device includes a blower for removing foreign matter adhering to the grinding wheel by blowing air. The grinding system according to claim 10.

Images