Storage shaft, blade set cart and blade replacement system

Abstract

An object of the present invention is to provide a storage shaft that enables faster blade replacement. [Solution] The storage shaft 1 of the present invention comprises a storage support part 2, a temporary holding part 3 which protrudes from one end of the storage support part 2 in the axial direction D2 and temporarily holds an annular tool, a moving member 4 which has a pressing part 41 capable of pressing the end face of the annular tool and moves the annular tool in the axial direction D2 from the temporary holding part 3 to the storage support part 2, a driving source 5 which drives the moving member 4, and a driving force transmission member 6 which connects the driving source 5 and the moving member 4, the driving source 5 being provided at a position on the storage support part 2 side relative to the temporary holding part 3, and the driving force transmission member 6 is configured to move the moving member 4 in the axial direction D2 from the temporary holding part 3 toward the storage support part 2, thereby moving the annular tool temporarily held in the temporary holding part 3 to the storage support part 2.

Description

[Technical field]

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

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

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

[0004] [Patent Document 1] JP 2004-66426 A Summary of the Invention [Problem to be solved by the invention]

[0005] On the other hand, in recent years, there has been a demand for a wide variety of products in small lots, which has resulted in more frequent blade changes, and there is a demand for faster blade changes.

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

[0007] The storage shaft of the present invention is used in a cutting device that cuts a plate-shaped cutting object, and is a storage shaft for temporarily storing a plurality of annular tools held by a handling robot, the storage shaft including a storage support portion extending in a predetermined direction to store the plurality of annular tools, a temporary holding portion protruding from one end in the axial direction of the storage support portion and temporarily holding the annular tool, and a pressing portion capable of pressing an end face of the annular tool, and comprising a moving member that moves the annular tool in the axial direction from the temporary holding portion to the storage support portion, a driving source that drives the moving member, and a driving force transmission member that connects the driving source and the moving member, the driving source being provided at a position on the storage support portion side relative to the temporary holding portion, and the driving force transmission member being configured to move the moving member in the axial direction in a direction from the temporary holding portion to the storage support portion, thereby moving the annular tool temporarily held in the temporary holding portion to the storage support portion.

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

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

[0010] The storage shaft, blade set cart, and blade replacement system of the present invention make it possible to speed up blade replacement. [Brief description of the drawings]

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

[0012] Hereinafter, a storage shaft, a blade set cart, and a blade changing system according to an 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 storage shaft, the blade set cart, and the blade changing system of the present invention are not limited to the following embodiment.

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

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

[0015] The cutting device CD is configured to cut a plate-shaped cutting target W. The cutting device CD includes a pair of arbors A (only the upper arbor is shown in FIG. 1) arranged above and below the cutting target W and rotating around a horizontal axis. The cutting device CD is configured to cut the cutting target W with an annular tool T (round blade) attached to the pair of arbors A. In this embodiment, the arbor A is formed in a cylindrical shape, and annular round blades and spacers are arranged in a predetermined pattern on the outer periphery of the cylindrical arbor A to cut the steel plate in the predetermined pattern. The annular tool T is an annular member, such as an annular round blade and an annular spacer, that is attached to the arbor A when cutting the plate-shaped cutting target W in the cutting device CD. The bearing part B provided on one side in the axial direction of the arbor A of the cutting device CD is configured to be movable so that the annular tool T attached to the arbor A can be exchanged between the blade replacement system S and the blade replacement system S. This makes it possible to transfer a set of the annular tool T between the arbor A and the storage shaft 1 (blade assembly shaft 1A) of the blade replacement system S. Therefore, a set of annular tools T that has been used can be retrieved from the arbor A to the storage shaft 1, and a set of annular tools T for a new cutting pattern can be attached from the storage shaft 1 to the arbor A. Note that the configuration of the cutting device CD is not limited to the configuration shown in the figure.

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

[0017] In this embodiment, as shown in FIG. 1, the blade replacement system S includes a blade set cart V equipped with a conveying mechanism TR for conveying the blade set shafts 1A arranged in a vertical direction D1 to a position where the blade set shafts 1A can be connected to an arbor A of a cutting device CD that cuts a plate-shaped cutting object W (see the two-dot chain line in FIG. 1), and a plurality of storage shafts 1B arranged adjacent to the blade set shaft 1A of the blade set cart V and approximately parallel to the blade set shaft 1A. In this embodiment, the blade replacement system S includes a handling robot R. As described above, the plurality of storage shafts 1B are arranged adjacent to the blade set shaft 1A and in the vicinity of the blade set shaft 1A, thereby improving the movement efficiency of the handling robot R and greatly increasing the amount of blade replacement processing. In this embodiment, the storage shaft 1B is arranged approximately parallel to the blade set shaft 1A (parallel or nearly parallel), but may be arranged perpendicular or inclined to the extension direction of the blade set shaft 1A.

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

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

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

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

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

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

[0024] In this embodiment, a plurality of storage shafts 1 (blade set shafts 1A and storage shafts 1B) are arranged adjacent to each other in the horizontal direction D3 so that the positions of the ends are substantially aligned in the axial direction D2. Therefore, in the above-mentioned blade replacement process, the handling robot R can perform the blade replacement by moving mainly in two directions, the up-down direction D1 and the horizontal direction D3, in the space on the removal direction D22 side of the storage shaft 1 in the axial direction D2 (when the annular tool T is attached to the storage shaft 1 or removed from the storage shaft 1, it moves in the axial direction D2). Therefore, the operating direction and operating range of the handling robot R can be simplified, and the blade replacement operation can be speeded up.

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

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

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

[0028] The storage support part 2 is configured to support the annular tool T. In this embodiment, the storage support part 2 extends in the horizontal direction, but the direction in which the storage support part 2 extends is not particularly limited as long as the storage support part 2 extends so as to be able to store the annular tool T. For example, the storage support part 2 may extend at an incline with respect to the horizontal direction (at an incline with respect to both the horizontal direction and the vertical direction D1). In this specification, the term "storage" includes not only storing an unused annular tool T (when the storage shaft 1 is used as the storage shaft 1B) but also temporarily storing an annular tool T (annular tool T attached to the arbor A of the cutting device CD) that will be used in the future (when the storage shaft 1 is used as the blade assembly shaft 1A). In this embodiment, the storage support part 2 is configured to be able to support a plurality of annular tools T. Specifically, the storage support part 2 is made long enough to be able to attach a number of annular tools T corresponding to the number of tools attached to the arbor A of the cutting device CD.

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

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

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

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

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

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

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

[0036] In this embodiment, as shown in Fig. 10, the moving member 4 is configured to move between an operating position (see the position of the solid line in Fig. 10) where the pressing portion 41 can abut against the end face of the annular tool T in the axial direction D2, and a storage position (see the position of the two-dot chain line in Fig. 10) where the pressing portion 41 does not abut against the end face of the annular tool T in the axial direction D2. Although details will be described later, when the moving member 4 is located at the operating position, the moving member 4 moves in the axial direction D2 (storing direction D21) with the pressing portion 41 abutting against the end face of the annular tool T, so that the annular tool T can be moved from the temporary holding portion 3 to the storage support portion 2. In addition, although details will be described later, when the moving member 4 is located at the storage position, it is possible to move the set of annular tools T together in the axial direction D2 from the storage shaft 1 to the arbor A of the cutting device CD, for example.

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

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

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

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

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

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

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

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

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

[0046] In this embodiment, as shown in FIG. 8, the driving source 5 is provided at a position on the side of the storage support part 2 (storage direction D21 side) with respect to the temporary holding part 3, and the driving force transmission member 6 moves the moving member 4 in the axial direction D2 from the temporary holding part 3 to the storage support part 2 (storage direction D21), so that the annular tool T temporarily held by the temporary holding part 3 is moved to the storage support part 2. With this configuration, after the handling robot R places the annular tool T on the temporary holding part 3, the moving member 4 moves the annular tool T from the temporary holding part 3 to the storage support part 2. Therefore, the handling robot R only needs to place the annular tool T on the temporary holding part 3, and does not need to move the annular tool T to the storage support part 2. Therefore, the handling robot R can immediately perform another operation (for example, move to the location of another annular tool T) without performing an operation to move the annular tool T from the temporary holding part 3 to the storage support part 2 in the axial direction D2. Therefore, it is possible to quickly perform the storage work of the annular tool T. In addition, when the annular tool T is moved from the temporary holding part 3 to the storage support part 2, the moving member 4 is driven from the storage support part 2 side (the storage direction D21 side) relative to the temporary holding part 3, so that there is no component of the storage shaft 1 on the take-out direction D22 side relative to the temporary holding part 3. Therefore, while the moving member 4 moves from the temporary holding part 3 to the storage support part 2, the handling robot R can freely move in the space on the take-out direction D22 side relative to the temporary holding part 3 (for example, if the moving member extends in the take-out direction D22 side relative to the temporary holding part 3, it will interfere with the handling robot R, and the movement of the handling robot R will be restricted). Therefore, it is possible to further speed up the blade replacement work. In particular, in the case where multiple handling robots R and multiple storage shafts 1 are provided as in this embodiment, in this embodiment, while the multiple moving members 4 are moving the annular tool T from the temporary holding part 3 to the storage support part 2, the multiple handling robots R can also move, so that the work efficiency can be greatly improved.

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

[0048] First, in order to prepare a set of annular tools T of a predetermined pattern, the handling robot R moves the annular tool T from another storage site, such as the storage shaft 1B, to the storage shaft (blade assembly shaft) 1 based on a command from the control device of the blade replacement system S. Specifically, the handling robot R moves to the front of the storage shaft 1B in which the target annular tool T is provided, among the multiple storage shafts 1B. Next, the handling robot R grips and removes the target annular tool T, and then moves to the storage shaft 1, which is the blade assembly shaft, as shown in FIG. 11, and places the annular tool T on the temporary holding unit 3. In this embodiment, only one annular tool T is placed on the temporary holding unit 3, but multiple annular tools T may be gripped in a single operation and placed on the temporary holding unit 3.

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

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

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

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

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

[0054] As shown in FIG. 17 and FIG. 18, the storage shaft 1 of the second embodiment includes a storage support part 2, a temporary holding part 3, a moving member 4, a driving source 5, and a driving force transmission member 6, similar to the first embodiment. In addition, in this embodiment, the storage shaft 1 includes a push-out mechanism 7, similar to the first embodiment. The push-out mechanism 7 includes a push-out member 71 and a push-out drive part 72 (in FIG. 17 and FIG. 18, a screw shaft 721 and a rotation drive part 722 are shown, but the driven part 723 is omitted from the illustration), similar to the first embodiment. In this embodiment, the push-out mechanism 7 is driven when the handling robot R takes out the annular tool T stored in the storage shaft 1. Specifically, the push-out mechanism 7 pushes out the annular tool T stored in the storage shaft 1 in the take-out direction D22, thereby pushing out the annular tool T from the storage support part 2 to the temporary holding part 3, and the handling robot R can take out the annular tool T.

[0055] In this embodiment, unlike the first embodiment, the storage support part 2 includes a pair of shaft members 21. More specifically, as shown in Fig. 19, the storage support part 2 is configured to suspend the annular tool T from the pair of shaft members 21 (the inner surface of the annular tool T, shown by a two-dot chain line, abuts against the pair of shaft members 21, shown by a broken line in Fig. 19, to suspend the annular tool T). The shaft members 21 are supported by a predetermined base, such as a rigid pillar, and are fixed so as to extend in the horizontal direction. The storage support part 2 may be a cylindrical body, as in the first embodiment.

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

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

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

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

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

[0061] In this embodiment, as shown in FIG. 19, the pair of abutment parts 31, 31 are provided in the circumferential direction of the annular tool T so as to sandwich the guide part 32 therebetween. Thus, in this embodiment, the temporary holding part 3 supports the annular tool T at two points near the top by the pair of abutment parts 31, 31 described above. In addition, the pressing part 41 is configured to press the top of the annular tool T located between the pair of abutment parts 31, 31. In this case, the pressing part 41 of the moving member 4 presses the end face of the annular tool T in the axial direction D2 at the intermediate part between the contact points between the inner surface of the annular tool T and the two abutment parts 31, 31. Therefore, when the suspended annular tool T is pressed in the axial direction D2, the annular tool T is prevented from tilting, making it difficult for the annular tool T to move. Therefore, the heavy annular tool T can be easily moved in the axial direction D2.

[0062] In this embodiment, similarly to the first embodiment, the driving source 5 is provided at a position on the storage support part 2 side (storage direction D21 side) with respect to the temporary holding part 3, and the driving force transmission member 6 moves the moving member 4 in the axial direction D2 from the temporary holding part 3 to the storage support part 2 (storage direction D21), so that the annular tool T temporarily held by the temporary holding part 3 is moved to the storage support part 2. With this configuration, after the handling robot R places the annular tool T on the temporary holding part 3, the moving member 4 moves the annular tool T from the temporary holding part 3 to the storage support part 2. Therefore, the handling robot R only needs to place the annular tool T on the temporary holding part 3, and does not need to move the annular tool T to the storage support part 2. Therefore, the handling robot R can immediately perform another operation (for example, move to the location of another annular tool T) without performing an operation to move the annular tool T from the temporary holding part 3 to the storage support part 2 in the axial direction D2. Therefore, it is possible to quickly perform the storage work of the annular tool T. In addition, when the annular tool T is moved from the temporary holding part 3 to the storage support part 2, the moving member 4 is driven from the storage support part 2 side (the storage direction D21 side) relative to the temporary holding part 3, so that there is no component of the storage shaft 1 on the take-out direction D22 side relative to the temporary holding part 3. Therefore, while the moving member 4 moves from the temporary holding part 3 to the storage support part 2, the handling robot R can freely move in the space on the take-out direction D22 side relative to the temporary holding part 3 (for example, if the moving member extends in the take-out direction D22 side relative to the temporary holding part 3, it will interfere with the handling robot R, and the movement of the handling robot R will be restricted). Therefore, it is possible to further speed up the blade replacement work. In particular, in the case where multiple handling robots R and multiple storage shafts 1 are provided as in this embodiment, in this embodiment, while the multiple moving members 4 are moving the annular tool T from the temporary holding part 3 to the storage support part 2, the multiple handling robots R can also move, so that the work efficiency can be greatly improved.

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

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

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

[0066] Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment. Note that the above embodiment mainly describes the invention having the following configuration.

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

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

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

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

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

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

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

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

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

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

Claims

1. A storage shaft for temporarily storing a plurality of annular tools held by a handling robot in a cutting device for cutting a plate-shaped cutting object, the storage shaft comprising: a storage support portion extending in a predetermined direction to store the plurality of annular tools; a temporary holding portion that protrudes in an axial direction from one end of the storage support portion and temporarily holds the annular tool; a moving member having a pressing portion capable of pressing an end surface of the annular tool, the moving member moving the annular tool in the axial direction from the temporary holding portion to the storage support portion; A drive source that drives the moving member; a driving force transmission member that connects the driving source and the moving member; Equipped with the driving source is provided at a position on the storage support part side with respect to the temporary holding part, and the driving force transmission member is configured to move the moving member in the axial direction in a direction from the temporary holding part to the storage support part, so that the annular tool temporarily held in the temporary holding part is moved to the storage support part, The moving member is The pressing portion is configured to move between an operating position in which the pressing portion can abut against an end face of the annular tool in the axial direction and protrudes radially outward from an inner surface of the annular tool stored in the storage shaft, and a storage position in which the pressing portion does not abut against the end face of the annular tool in the axial direction and is radially inward from an inner surface of the annular tool stored in the storage shaft, A storage shaft, wherein the driving force transmission member connected to the moving member is a shaft extending in the axial direction radially inward of the inner surface of the annular tool stored in the storage shaft, and the driving force transmission member rotates in an axial direction to move the moving member between the operating position and the storage position.

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

3. The moving member is a first axial position at which the pressing portion is capable of contacting an end surface of the annular tool held by the temporary holding portion; A second axial position, which is a position where the temporary holding portion transitions to the storage support portion; a third axial position in which the pressing portion has moved a predetermined distance from the boundary between the temporary holding portion and the storage support portion toward the storage support portion; It is movable between 2. A storage shaft according to claim 1.

4. The storage support portion is formed in a cylindrical shape, The temporary holding portion protrudes in the axial direction from one end surface of the storage support portion, The temporary holding portion is provided so as to contact the inner surface of the annular tool at at least two points on both sides in a circumferential direction of the storage support portion with respect to a top portion in a vertical direction of the storage support portion as a center, The storage shaft has a pair of the moving members, 4. The storage shaft of claim 3, wherein the drive force transmission member is configured to move the movable member between the first axial position, the second axial position, and the third axial position by moving in the axial direction.

5. A storage shaft for temporarily storing a plurality of annular tools held by a handling robot in a cutting device for cutting a plate-shaped cutting object, the storage shaft comprising: a storage support portion extending in a predetermined direction to store the plurality of annular tools; a temporary holding portion that protrudes in an axial direction from one end of the storage support portion and temporarily holds the annular tool; a moving member having a pressing portion capable of pressing an end surface of the annular tool, the moving member moving the annular tool in the axial direction from the temporary holding portion to the storage support portion; A drive source that drives the moving member; a driving force transmission member that connects the driving source and the moving member; Equipped with the driving source is provided at a position on the storage support part side with respect to the temporary holding part, and the driving force transmission member is configured to move the moving member in the axial direction in a direction from the temporary holding part to the storage support part, so that the annular tool temporarily held in the temporary holding part is moved to the storage support part, the temporary holding portion has a guide portion that guides the moving member along the axial direction, A storage shaft, wherein the movable member has a guided portion that is guided by the guide portion, and the pressing portion of the movable member protrudes upward relative to the guided portion and is configured to press an end face of the annular tool when the guided portion moves along the guide portion in the axial direction toward the storage support portion.

6. The storage shaft according to claim 5, wherein the temporary holding portion has a pair of abutment portions arranged in a circumferential direction of the annular tool so as to sandwich the guide portion therebetween, and the pressing portion is configured to press a top portion of the annular tool located between the pair of abutment portions.

7. A plurality of blade assembly shafts arranged in parallel; and A blade set cart including a transport mechanism for transporting the plurality of blade set shafts to a position where the blade set shafts can be connected to an arbor of a cutting device that cuts a plate-shaped cutting object, A blade set cart, wherein at least one of the plurality of blade set shafts is constituted by the storage shaft according to any one of claims 1 to 4.

8. a blade assembly carriage including a plurality of blade assembly shafts arranged in parallel and a transport mechanism for transporting the plurality of blade assembly shafts to a position where the blade assembly shafts can be connected to an arbor of a cutting device that cuts a plate-shaped cutting object; A plurality of storage shafts are arranged adjacent to the blade set shaft of the blade set carriage and substantially parallel to the blade set shaft; A blade changing system comprising: A blade replacement system, wherein at least one of the plurality of storage shafts is constituted by the storage shaft according to any one of claims 1 to 6.

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