Scraping tool, scraping tool changing device, and scraping tool changing method

Abstract

To provide a technique of exchanging a blade part of a scraping tool with a low cost and a small space by using a scraping tool exchange device.SOLUTION: A scraping tool 10 comprises: a blade part; a blade holding part 12 which has a first surface and a second surface opposite to the first surface and holds the blade part; a handle part 13 which comes into contact with the second surface; and a pressing part which has a fixed part fixed to the handle part, a rotary shaft part 16 connected to the fixed part and a rotary part 14 rotatably supported to the rotary shaft part 16, wherein the blade holding part is exchanged by a scraping tool exchange device. A pressing surface 14a which can press the first surface and in which a distance to the first surface changes as the rotary part 14 rotates is provided in the rotary part 14. With the rotation of the rotary part 14, a state can be switched between a pressing state in which the pressing surface 14a presses the first surface and the pressing part and the handle part 13 sandwich the blade holding part 12, and a non-pressing state in which the pressing surface 14a does not press the first surface.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a technique for automatically replacing the cutting edge of a scraping tool. [Background technology]

[0002] Scraping (also called "scraping") is performed on the sliding surfaces of machine tools and other devices with moving parts in order to increase their flatness and reduce the coefficient of sliding friction. Scraping is a type of metalworking in which workers traditionally apply red lead or pigment to the surface of the workpiece to be machined, and then use a scraping tool with a wide, chisel-like (spatula-like) tip to manually scrape away any protruding parts while checking the color difference.

[0003] A scraping tool generally has a cutting edge, a blade holder that holds the cutting edge, and a flexible handle connected to the blade holder. Scraping is a very delicate process, and the condition of the cutting edge of the scraping tool greatly affects the finished condition of the sliding surface. Therefore, when scraping is performed repeatedly and the cutting edge of the cutting edge of the blade wears out, the blade needs to be replaced.

[0004] On the other hand, manual scraping by an operator requires skill and is very hard work, so there is a demand for a device that automates scraping. For example, Patent Document 1 discloses the configuration of a scraping device in which scraping is performed by a robot. In this configuration, multiple tool units, each with a tool changer attached to a scraping tool, are prepared in advance, and the entire tool unit can be replaced when the cutting edge wears out. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-58975 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the above-mentioned configuration, the entire tool unit needs to be replaced every time the cutting blade wears out, so multiple tool changers and scraping tool handles must be prepared for each cutting blade, which increases the cost of preparing the tool unit and requires a large space for storing the tools.

[0007] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a technique for replacing the cutting edge of a scraping tool at low cost and in a small space using a scraping tool replacement device. [Means for solving the problem]

[0008] (Aspect 1) In order to solve the above-mentioned problems, a scraping device according to a first aspect of the present invention is a scraping tool comprising: a blade holding part having a blade part, a first surface, and a second surface facing the opposite side to the first surface and holding the blade part; a handle part abutting the second surface, a fixed part fixed to the handle part, a rotating shaft part connected to the fixed part, and a pressing part having a rotating part rotatably supported on the rotating shaft part, the blade holding part being replaced by a scraping tool exchange device, wherein the rotating part is provided with a pressing surface that can press the first surface and whose distance to the first surface changes as the rotating part rotates, and the rotation of the rotating part causes the pressing surface to press the first surface and the blade holding part to be sandwiched between the pressing part and the handle part; The pressing surface is switchable between a non-pressing state and a non-pressing state in which the pressing surface does not press the first surface.

[0009] (Aspect 2) In the above-mentioned aspect 1, the rotating part is a lever that is rotatable around a rotation axis extending in a direction parallel to the first surface and is operated by the scraping tool changer, and the pressing surface may be eccentric around the rotation axis.

[0010] (Aspect 3) In the above-mentioned aspect 1, the rotating part is a cam part that is rotatable around a rotation axis that extends in a direction perpendicular to the first surface and is operated by the scraping tool changer, and the pressing surface may include a convex part that is convex in a direction approaching the first surface and a concave part that is concave in a direction away from the first surface.

[0011] (Aspect 4) In any one of the above aspects 1 to 3, the pressing portion may further include a shaft portion extending in a direction perpendicular to the first surface and connecting the fixed portion and the rotating shaft portion, the blade holding portion may have an elongated hole portion that opens at one end side in a direction parallel to the first surface and penetrates from the first surface to the second surface, and the blade holding portion may be pressed by the pressing portion with the shaft portion abutting against the end face of the other end side opposite the one end side of the elongated hole portion.

[0012] (Aspect 5) In the above-mentioned aspect 4, the blade holding portion may have a first engagement portion provided on the one end side and engaging with the handle portion, and a second engagement portion provided on the other end side and engaging with the blade portion.

[0013] (Aspect 6) In the above-mentioned fifth aspect, the end face on the other end side of the elongated hole may have a curved shape that is convex toward the other end side, and the width of the end face in the blade width direction of the blade portion may be greater than the width of the shank, and when viewed in a direction perpendicular to the first surface, the shank may be switchable between a first state in which the shank abuts the end face at a position where the angle formed by the center line of the blade portion in the blade width direction and the center line of the handle in a lateral direction perpendicular to the longitudinal direction is a first angle, and a second state in which the shank abuts the end face at a position where the angle is a second angle different from the first angle.

[0014] (Aspect 7) In any one of the above aspects 4 to 6, the pressing portion may further include a washer through which the shaft portion is inserted and which abuts against the first surface, and the first surface may be pressed against the pressing surface of the pressing portion via the washer.

[0015] (Aspect 8) In the above-mentioned aspect 7, the pressing portion may further include a spacer through which the shaft portion is inserted and which is provided between the handle portion and the washer, and the thickness of the spacer in a direction perpendicular to the first surface may be smaller than the width from the first surface to the second surface of the blade holding portion.

[0016] (Aspect 9) In the above-mentioned aspect 8, the blade holding portion further has a slope located at the end of the one end side where the long hole portion of the first surface opens, and the slope slopes in a direction approaching the second surface as it moves from the other end side to the one end side, and the width of the slope in the blade width direction of the blade portion may be greater than the width of the washer.

[0017] (Aspect 10) In order to solve the above problems, a scraping tool changer according to a tenth aspect of the present invention is provided with a blade holding portion having a blade portion, a first surface, and a second surface facing the opposite side to the first surface and holding the blade portion, a handle portion abutting the second surface, a fixed portion fixed to the handle portion, a rotating shaft portion connected to the fixed portion, and a pressing portion having a rotating portion rotatably supported on the rotating shaft portion, wherein the rotating portion is provided with a pressing surface that can press the first surface and whose distance to the first surface changes as the rotating portion rotates, and the scraping tool changer is configured to replace the blade holding portion of a scraping tool that is switchable between a pressing state in which the pressing surface presses the first surface and the blade holding portion is sandwiched between the pressing portion and the handle portion and a non-pressing state in which the pressing surface does not press the first surface by rotating the rotating portion, The scraping tool includes an operating jig for operating the pressing portion of the scraping tool, a processing robot that holds and operates the operating jig, a control unit that controls the operation of the processing robot, a tool support unit that supports the scraping tool, and an attachment / detachment device that holds the blade holding portion and attaches / detaches the blade holding portion to / from the handle portion, and the control unit operates the processing robot so that the operating jig held by the processing robot rotates the rotating portion, thereby switching between the pressing state and the non-pressing state of the pressing portion of the scraping tool held by the tool support unit.

[0018] (Aspect 11) In the above-mentioned aspect 10, the machining robot may further include a force sensor that detects a load acting on the machining robot when the operating jig rotates the rotating part by the machining robot, and the control unit may determine whether the load detected by the force sensor is within a normal range.

[0019] (Aspect 12) In the above-mentioned aspect 10 or 11, the scraping tool is switchable between a first state in which the blade holding part is clamped between the pressing part and the handle part at a position where an angle formed by a center line of the blade part in the blade width direction and a center line of the handle part in the short direction perpendicular to the longitudinal direction thereof is a first angle when viewed from a direction perpendicular to the first surface, and a second state in which the blade holding part is clamped between the pressing part and the handle part at a position where the angle is a second angle different from the first angle, and the tool support part has a first support part that supports the blade holding part, and a second support part that supports the handle part and is rotatable relative to the first support part around a rotation axis extending in a direction perpendicular to the first surface, and the first state and the second state can be switched by rotating the second support part.

[0020] (Aspect 13) In order to solve the above problems, a scraping tool changing method according to a thirteenth aspect of the present invention is a scraping tool changing method using a scraping tool changing device that changes the blade holding part of a scraping tool that is switchable between a pressing state in which the pressing surface presses the first surface and the blade holding part is sandwiched between the pressing part and the handle part by rotating the rotating part, and a non-pressing state in which the pressing surface does not press the first surface, a scraping tool changing device including an operation jig for operating the pressing portion of the scraping tool, a processing robot that holds and operates the operation jig, a tool support portion that supports the scraping tool, and an attachment / detachment device that holds the blade holding portion and attaches / detaches the blade holding portion to / from the handle portion, a tool setting step of supporting the scraping tool held by the processing robot on the tool support part, and a step of setting the scraping tool on the tool support part by the operation jig held by the processing robot. The method includes a first switching step of switching the pressing portion of the supported scraping tool from the pressed state to the non-pressed state, a removal step of removing the blade holding portion from the scraping tool by the attachment / detachment device when the pressing portion is in the non-pressed state, an attachment step of attaching a replacement blade holding portion that holds a replacement blade portion to the scraping tool by the attachment / detachment device, and a second switching step of switching the pressing portion of the scraping tool supported by the tool support portion from the non-pressed state to the pressed state by the operating jig held by the processing robot.

[0021] (Aspect 14) In the above-mentioned aspect 13, the scraping tool changer may further include a force sensor that detects a load acting on the operating jig when the operating jig rotates the rotating part by the processing robot, and may further include a determination step of determining whether the load detected by the force sensor in the second switching step is within a normal range.

[0022] (Aspect 15) In the above-mentioned aspect 13 or 14, the scraping tool is switchable between a first state in which the blade holding part is clamped by the pressing part and the handle part at a position where an angle formed by a center line of the blade part in the cutting width direction and a center line of the handle part in the short direction perpendicular to the longitudinal direction thereof is a first angle when viewed from a direction perpendicular to the first surface, and a second state in which the blade holding part is clamped by the pressing part and the handle part at a position where the angle is a second angle different from the first angle, and the tool support part has a first support part that supports the blade holding part, and a second support part that supports the handle part and is rotatable relative to the first support part around a rotation axis that extends in a direction perpendicular to the first surface, and may further include an angle changing step of rotating the second support part after the first switching step and before the second switching step. [Effects of the Invention]

[0023] According to the present invention, a scraping tool changer can be used to provide a technique for changing the cutting edge of a scraping tool at low cost and in a small space. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a perspective view showing a schematic configuration of a scraping device according to a first embodiment. [Figure 2] 1 is a block diagram showing an example of the configuration of a control device according to a first embodiment. [Figure 3] 2 is a block diagram showing an example of a functional configuration of a control device according to the first embodiment; FIG. [Figure 4] FIG. 2 is a diagram showing a tip of a scraper according to the first embodiment. [Figure 5] FIG. 2 is a cross-sectional view of the scraper according to the first embodiment. [Figure 6] FIG. 2 is a diagram showing a blade holding part according to the first embodiment. [Figure 7] FIG. 2 is a perspective view showing a schematic configuration of a tool exchange unit according to the first embodiment. [Figure 8] FIG. 2 is a perspective view of an operating jig according to the first embodiment. [Figure 9] 5A and 5B are diagrams illustrating a method of switching the scraper to a non-pressing state according to the first embodiment. [Figure 10] 5A and 5B are diagrams illustrating a method of switching the scraper to a pressing state according to the first embodiment. [Figure 11] 5A to 5C are diagrams illustrating a method for removing a blade holding unit according to the first embodiment. [Figure 12] 4 is a flowchart of a tool changing operation according to the first embodiment. [Figure 13] FIG. 10 is a diagram showing a blade holding part according to a second embodiment. [Figure 14] FIG. 10 is a diagram showing a scraper in a first state according to a second embodiment. [Figure 15] FIG. 10 is a diagram showing a scraper in a second state according to the second embodiment. [Figure 16] FIG. 10 is a perspective view showing a schematic configuration of a tool exchange unit according to a second embodiment. [Figure 17] FIG. 10 is a view showing a tool support part according to a second embodiment. [Figure 18] FIG. 10 is a cross-sectional view of a scraper according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0025] Hereinafter, with reference to the drawings, a detailed description will be given of an embodiment of the present invention. Note that the dimensions, materials, shapes, and relative positions of the components described in the embodiment may be changed as appropriate depending on the configuration of the device to which the invention is applied and various conditions. In other words, the scope of the present invention is not limited to the following embodiment.

[0026] The present invention is suitable for a scraping device that automatically performs scraping using a scraping tool such as a scraper. The present invention can also be understood as a scraping tool changer that is provided in the scraping device or is independent of the scraping device and automatically changes the scraping tool. The present invention can also be understood as a scraping tool that can be automatically changed by the scraping tool changer, or a scraping tool change method using the scraping tool changer.

[0027] Example 1 (Scrap processing equipment 100) First, a general configuration of a scraping apparatus 100 according to an embodiment of the present invention will be described. Fig. 1 is a schematic diagram showing the general configuration of the scraping apparatus 100 according to the embodiment. The scraping apparatus 100 includes a robot arm 20 that holds and operates a scraper 10, a control device 30 that controls the robot arm 20 according to instruction data, and a tool exchange unit 110.

[0028] The scraping device 100 is a device that automatically performs scraping on the surface to be machined (surface to be machined) of a workpiece 90, which is a workpiece. The workpiece 90 is, for example, a metallic sliding member that constitutes a machine tool or the like, and its sliding surface is processed by scraping as the surface to be machined. Scraping is a type of metal processing in which a scraper 10, which is a scraping tool (cutting tool), is used to scrape off convex portions of the surface to be machined, thereby increasing the flatness of the surface to be machined and achieving straightness, and further reducing the coefficient of sliding friction by providing depressions for oil reservoirs.

[0029] The surface to be machined in scraping is generally a flat surface with a certain degree of flatness, such as a cut surface, a ground surface, or a cast surface, and has minute irregularities. The original purpose of scraping is to finish the sliding surface to a highly accurate flat surface. Furthermore, in order to prevent the occurrence of wringing during sliding of the sliding surface, the scraping finish process forms numerous minute micron-sized depressions on the sliding surface as reservoirs for lubricating oil, thereby improving the lubricity of the sliding surface. The scraping device 100 in this embodiment performs a flattening process in which convex portions of the surface to be machined are cut so that the flatness of the surface to be machined meets a predetermined target flatness, and a finishing process in which depressions for oil reservoirs are formed on the surface to be machined after the flattening process.

[0030] The tool changer 110 is provided to automatically change tools when, for example, the cutting edge of the scraper 10 reaches the end of its life. The tool changer 110 includes a jig storage unit 50 that stores the operating jig 40, a tool support unit 60 that supports the scraper 10, a replacement tool storage unit 70 that stores replacement tools, and an attachment / detachment device 80 that attaches and detaches cutting edges to and from the scraper 10. Some of the replacement operations performed by the tool changer 110 are performed by operating the robot arm 20 in accordance with instruction data. In other words, the scraping device 100 can be considered to include a scraping tool changer configured by the tool changer 110 and the robot arm 20.

[0031] The scraper 10 has a blade portion 11, a blade holder portion 12 that holds the blade portion 11, and a handle portion 13 that is connected to the blade holder portion 12. The handle portion 13 is connected to an adapter 21 and is held by a robot arm 20 via the adapter 21.

[0032] The robot arm 20 is, for example, a six-axis articulated robot arm, and is a processing robot controlled by the control device 30. The robot arm 20 has a robot hand 23 at its tip end. The robot hand 23 can detachably hold (grasp) an adapter 21 attached to the scraper 10 or the like. That is, the robot arm 20 can hold not only the scraper 10 but also other jigs via the adapter 21. The robot arm 20 can move the robot hand 23 to any position in an XYZ three-dimensional Cartesian coordinate system by driving each joint (for example, the first to sixth axes) with a servo motor or the like. That is, the scraper 10 and other jigs held by the robot hand 23 can be freely operated by the robot arm 20.

[0033] The robot arm 20 also includes a force sensor (not shown). The force sensor is a sensor that detects the load (resistance) acting on the scraper 10 and the like during scraping. The control device 30 monitors the load state output by the force sensor during scraping or tool replacement, and, if necessary, performs feedback control based on the strength of the load or determines whether the operation is normal. Note that the above-described robot arm 20 is an example of a scraping robot according to the present invention, and scraping robots are not limited to the robot arm 20. The scraping robot according to the present invention is not particularly limited as long as it is configured to automatically perform scraping and tool replacement by operating the scraper 10 or the like that it holds.

[0034] The scraping of the surface of the workpiece 90 to be machined is performed, for example, by fixing the workpiece 90 to a machining stand 95 and controlling the robot arm 20 with the control device 30 while the robot hand 23 holds the scraper 10. The surface of the machining stand 95 is formed into a horizontal plane, and the surface to be machined may or may not be parallel to that surface.

[0035] Furthermore, in scraping, three-dimensional shape data (convexo-concave shape data) of the surface to be processed is acquired in advance using a three-dimensional shape measuring instrument. The three-dimensional shape measuring instrument may be of either a contact or non-contact type, but since measurement accuracy has a significant effect on the finished surface accuracy, it is preferable that the three-dimensional shape data be measured with high accuracy.

[0036] (Control device 30) Next, the control device 30 of the scraping device 100 will be described. The control device 30 controls the robot arm 20 in accordance with the processing instruction data, and as a result, scraping is performed on the surface of the workpiece 90 to be processed in accordance with the processing instruction data. The control device 30 also controls the robot arm 20 in accordance with the tool change instruction data, and can perform tool change in accordance with the tool change instruction data. The control device 30 generates processing instruction data and tool change instruction data for controlling the robot arm 20. That is, the control device 30 functions not only as a device for controlling the robot arm 20 but also as an information processing device (processing instruction data generating device) for generating instruction data used to control the robot arm 20. However, the instruction data for controlling the robot arm 20 may be generated by an information processing device (instruction data generating device) separate from the control device 30. In this case, the control device 30 acquires the instruction data generated by the information processing device (instruction data generating device), and controls the robot arm 20 in accordance with the acquired instruction data. Note that the instruction data may be transmitted from the information processing device (instruction data generating device) to the control device 30 via either wired communication or wireless communication.

[0037] 2 is a block diagram showing an example of the configuration of the control device 30. The control device 30 is, for example, a general-purpose computer. The computer constituting the control device 30 includes a communication interface (communication I / F) 31, a storage device 32, an input / output device 33, and a processor 34, which are connected via a communication bus 35.

[0038] The communication I / F 31 may be, for example, a network card or a communication module, and communicates with other computers, devices, etc. based on a predetermined protocol. For example, the control device 30 receives three-dimensional shape information of the surface to be machined of the workpiece 90 from a three-dimensional shape measuring device via the communication I / F 31.

[0039] The storage device 32 includes, for example, a main storage device such as a random access memory (RAM) or a read-only memory (ROM), and an auxiliary storage device (secondary storage device) such as a hard-disk drive (HDD), a solid-state drive (SSD), or a flash memory. The main storage device temporarily stores programs read by the processor 34 and information exchanged with other computers, and secures a working area for the processor 34. The auxiliary storage device stores programs executed by the processor 34 and information exchanged with other computers. The auxiliary storage device may also include removable media (portable recording media). Removable media is, for example, a USB memory, an SD card, or a disc recording media such as a CD-ROM, a DVD disc, or a Blu-ray disc. The storage device 32 (e.g., the auxiliary storage device) stores an operating system (OS), various programs, various information tables, and the like.

[0040] The input / output device 33 is a user interface, such as an input device such as a keyboard or a mouse, an output device such as a monitor, an input / output device such as a touch panel, etc. Through the input / output device 33, an operator can input control parameters for setting the machining path for scraping and for changing tools.

[0041] The processor 34 is an arithmetic processing device such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), and performs various processes according to this embodiment by executing programs. For example, the processor 34 loads a program stored in the auxiliary storage device of the storage device 32 into the main storage device and executes it, thereby realizing various processes such as an instruction data generation process for generating instruction data, which will be described later.

[0042] The control device 30 does not necessarily have to be realized by a single physical configuration, but may be configured by a plurality of computers that cooperate with each other.

[0043] Next, the functional configuration of the control device 30 will be described with reference to FIG. 3. FIG. 3 is a block diagram showing an example of the functional configuration of the control device 30. The control device 30 has an instruction data generation unit 36 ​​and a control unit 37 as functional units. The processor 34 of the control device 30 loads a program stored in the auxiliary storage device of the storage device 32 into the main storage device and executes it, thereby realizing each of the functional units described above. The instruction data generation unit 36 ​​executes an instruction data generation process that generates instruction data. The control unit 37 acquires the instruction data generated by the instruction data generation unit 36, and controls the robot arm 20 in accordance with the instruction data to perform scraping and tool replacement.

[0044] (Scraper 10) Next, the configuration of the scraper 10 will be described in more detail. Fig. 4(a) is a top view showing the tip of the scraper 10, and Fig. 4(b) is a side view showing the tip of the scraper 10. The scraper 10 further has a lever 14 that is rotatably mounted on the handle 13, and a washer 15 that abuts against the upper surface 12a of the blade holder 12 and is located between the blade holder 12 and the lever 14.

[0045] The cutting portion 11 is a tip formed of, for example, cemented carbide, and is capable of cutting the surface of a metal workpiece 90. The cutting edge holding portion 12 is a tip holder that holds the cutting edge 11 from both sides in the cutting edge width direction of the cutting edge 11 using screw parts.

[0046] The handle 13 is generally strip-shaped and made of a flexible metal material, with a replaceable blade holder 12 attached to one longitudinal end. In this embodiment, the longitudinal direction of the handle 13 is generally perpendicular to the width direction of the blade 11, and the lateral direction perpendicular to the longitudinal direction of the handle 13 is generally parallel to the width direction of the blade 11. The handle 13 also detachably holds the blade holder 12. That is, when the blade 11 wears after repeated cutting or when a blade 11 with a different cutting edge width or radius of curvature is used, the blade 11 and the blade holder 12 can be replaced as a single unit with the handle 13. Note that the configuration of the scraper used in the present invention is not limited to that described above. For example, the blade may be inseparable from the blade holder, or the blade and blade holder may be integrally formed.

[0047] Fig. 5(a) is a cross-sectional view taken along line AA in Fig. 4(b), showing the scraper 10 in a non-pressing state where the lever 14 is not pressing the blade holding part 12. Fig. 5(b) is a cross-sectional view taken along line AA in Fig. 4(b), showing the scraper 10 in a pressing state where the lever 14 is pressing the blade holding part 12.

[0048] The scraper 10 has a pressing part for pressing and holding the blade holding part 12. The pressing part is provided at the tip of the scraper 10, is connected to the handle part 13, and presses the blade holding part 12 toward the handle part 13. In other words, the blade holding part 12 is attached to the scraper 10 by being sandwiched between the handle part 13 and the pressing part.

[0049] The pressing portion includes a lever 14 having an eccentric surface 14a serving as a pressing surface, a washer 15 positioned between the blade holder 12 and the lever 14, and a rotation shaft 16 that rotatably holds the lever 14. In this embodiment, the lever 14 rotates about a rotation axis that is parallel to the upper surface 12a and approximately parallel to the longitudinal direction of the handle 13. The pressing portion further includes an axial connecting portion 17 that connects the handle 13 and the rotation shaft 16, and a spacer 18 positioned between the handle 13 and the washer 15.

[0050] A washer 15 abuts against the upper surface 12a of the blade holding part 12, and a lever 14 is located further above the washer 15. Furthermore, the handle part 13 abuts against the lower surface 12b, which faces the opposite side to the upper surface 12a of the blade holding part 12. In other words, the blade holding part 12 is located between the washer 15 and the handle part 13.

[0051] Eccentric surface 14a of lever 14 is eccentric about the rotation axis of lever 14 and faces washer 15. When lever 14 rotates about rotation shaft 16, the distance from eccentric surface 14a to washer 15 and upper surface 12a changes, and the state of contact between eccentric surface 14a and washer 15 changes. When lever 14 assumes a predetermined position, eccentric surface 14a comes into contact with washer 15, and blade holder 12 is pressed against lever 14 via washer 15.

[0052] Furthermore, connecting portion 17 includes shank 17a extending in a direction perpendicular to top surface 12a between handle 13 and rotating shaft 16, male thread portion 17b that engages with handle 13, and male thread portion 17c that engages with rotating shaft 16. Connecting portion 17 is arranged so that shank 17a is inserted through elongated hole 12e provided in blade holding portion 12. Male thread portion 17b, which serves as a fixing portion, is connected to female thread portion 13a of handle 13, and male thread portion 17c is connected to female thread portion 16a of rotating shaft 16, thereby fixing rotating shaft 16 to handle 13 via connecting portion 17.

[0053] With the rotating shaft 16 fixed to the handle 13, the lever 14 presses the upper surface 12a of the blade holder 12 via the washer 15, and the blade holder 12 is rotated by the lever 14 and the handle 13. The scraper 10 is in a non-pressed state (state shown in FIG. 5(a)) in which the blade holding portion 12 is not pressed, and when the eccentric surface 14a comes into contact with the washer 15 due to the rotation of the lever 14, the scraper 10 changes to a pressed state (state shown in FIG. 5(b)) in which the blade holding portion 12 is pressed.

[0054] In the non-pressurized state, the eccentric surface 14a is separated from the washer 15, and no pressing force acts on the blade holding part 12, so that the blade holding part 12 can be removed from the handle part 13. That is, when replacing the blade part 11 with a new one, the scraper 10 is placed in the non-pressurized state, and the blade holding part 12 is attached to and detached from the handle part 13. On the other hand, when scraping is performed, the scraper 10 is placed in the pressed state, and the blade part 11, blade holding part 12, and handle part 13 are operated integrally by the robot arm 20.

[0055] The spacer 18 is located inside the elongated hole 12e of the blade holding part 12 when the blade holding part 12 is attached to the handle 13. The spacer 18 supports the washer 15 when the blade holding part 12 is detached from the handle 13 and helps the washer 15 to move smoothly onto the blade holding part 12 when the blade holding part 12 is attached to the handle 13. The thickness of the spacer 18 in a direction perpendicular to the upper surface 12a is smaller than the width from the upper surface 12a to the lower surface 12b of the blade holding part 12. Therefore, when the blade holding part 12 is attached to the handle 13, the spacer 18 does not abut against the washer 15 and does not interfere with the lever 14 pressing the blade holding part 12.

[0056] Fig. 6(a) is a top view of the blade holding portion 12, and Fig. 6(b) is a cross-sectional view taken along the line B-B of Fig. 6(a). As described above, the blade holding portion 12 has an upper surface (first surface) 12a, a lower surface (second surface) 12b facing the opposite side to the upper surface 12a, and an elongated hole 12e that opens at one end of the blade holding portion 12 parallel to the upper surface 12a and penetrates the blade holding portion 12 in the vertical direction. The shank 17a of the connecting portion 17 is inserted into the elongated hole 12e, and the shank 17a abuts against an end face 12e1 (the end face on the other end opposite to the one end) of the elongated hole 12e, thereby determining the position of the blade holding portion 12 relative to the handle portion 13. In this embodiment, the open end of the elongated hole 12e is the side that engages with the handle portion 13, opposite the side that engages with the blade portion 11. In addition, when applying the present invention, instead of abutting the shaft portion 17a against the end surface 12e1 of the elongated hole portion 12e, a positioning portion may be provided on the first support portion 61 to position the blade holding portion 12 relative to the handle portion 13.

[0057] The blade holding portion 12 has a handle arrangement portion 12d at one end of the blade holding portion 12 and a blade arrangement portion 12c at the other end of the blade holding portion 12. The handle arrangement portion 12d is a first engagement portion where the handle portion 13 is arranged and engages with the handle portion 13, and the blade arrangement portion 12c is a second engagement portion where the blade portion 11 is arranged and engages with the blade portion 11. The lower surface 12b that abuts the handle portion 13 is a surface that constitutes the handle arrangement portion 12d. Furthermore, a slope 12f is formed on the upper surface 12a at the end of the blade holding portion 12 where the elongated hole portion 12e opens. The slope 12f slopes in a direction approaching the lower surface 12b as it moves from the other end toward the one end. In the blade width direction of the blade portion 11, the slope 12f is formed across the elongated hole portion 12e, and the width of the slope 12f is greater than the width of the washer 15. The slope 12f guides the washer 15 so that the washer 15 supported by the spacer 18 smoothly rests on the upper surface 12a when the blade holder 12 is attached to the handle 13. With this configuration, the blade holder 12 can be automatically attached to the handle 13 without the need for a dedicated device to lift the washer 15.

[0058] In applying the present invention, the scraper 10 is not limited to the above-described configuration, and various modifications are possible. For example, the lever 14 may be configured to directly press the blade holder 12 without using the washer 15, or may be configured to rotate about a rotation axis extending in a direction intersecting the longitudinal direction of the handle 13. Also, for example, the pressing part may be configured by another rotating part instead of the lever 14. A configuration in which the rotating part has a groove, the operating jig has a protrusion that engages with the groove, and the rotating part is rotated by the operating jig with the groove and the protrusion engaged may also be used. The scraping tool can be switched between a pressed state and a non-pressed state.

[0059] (Tool change section 110) Next, the tool exchange unit 110 will be described in detail. In the tool exchange unit 110, the blade holding unit 12 that holds the blade portion 11 of the scraper 10 is replaced. When replacing the blade holding unit 12, the robot arm 20 holds the operating jig 40 and operates the pressing portion of the scraper 10. In other words, the scraping tool replacement device for replacing the blade holding unit 12 is made up of the robot arm 20 and the tool exchange unit 110.

[0060] FIG. 7 is a perspective view showing a schematic configuration of the tool changer 110. As described above, the tool changer 110 is composed of the jig storage unit 50, the tool support unit 60, the replacement tool storage unit 70, and the attachment / detachment device 80. In the following description, when the scraper 10 is installed on the tool support unit 60, the blade width direction of the blade portion 11 is defined as the x direction, the horizontal direction perpendicular to the blade width direction is defined as the y direction, and the vertical direction perpendicular to the x and y directions is defined as the z direction. In this embodiment, when the scraper 10 is installed on the tool support unit 60, the longitudinal direction of the handle portion 13 is parallel to the y direction, and the lateral direction of the handle portion 13 is parallel to the x direction.

[0061] The jig storage section 50 is provided with a plurality of columnar supports 51 that support the operating jig 40 for operating the pressing portion of the scraper 10. When the operating jig 40 is not held by the robot arm 20, it is placed on the supports 51 in the jig storage section 50 and stored.

[0062] The tool support part 60 supports the scraper 10 when the blade holder 12 is attached to or detached from the handle 13. The tool support part 60 includes a first support part 61 that supports the blade holder 12, a second support part 62 that supports the handle 13, and a third support part 63 that supports the adapter 21. The first support part 61 is provided with hands 61a that grip the blade holder 12 from both sides in the x direction. Similarly, the second support part 62 is provided with hands 62a that grip the handle 13 from both sides in the x direction. Furthermore, the third support part 63 is provided with a plurality of columnar supports 63a that support the adapter 21 attached to the scraper 10.

[0063] The replacement tool storage section 70 is provided with a support base 71 that supports replacement blades 72 and replacement blade holders 73. The replacement blades 72 are, for example, new blades or blades having a cutting edge shape different from that of the blades 11. All replacement blades 72 are stored in the replacement tool storage section 70 while held by the replacement blade holders 73. The replacement blade holders 73 are supported in a state where they are positioned relative to the support base 71. To position the replacement blade holders 73, the support base 71 is provided with a known positioning mechanism such as a positioning pin or abutment surface. Although two support bases 71 are shown in FIG. 7, the number of support bases 71 is not limited. The replacement blade holders 73 have the same configuration as the blade holder 12.

[0064] The attachment / detachment device 80 includes an attachment / detachment unit 81 having a hand 81a that grips the blade holding unit 12, and a rail unit 82 that movably supports the attachment / detachment unit 81. The attachment / detachment unit 81 moves on the rail unit 82, thereby transporting the blade holding unit 12 between the tool support unit 60 and the replacement tool storage unit 70 and attaching / detaching the blade holding unit 12 to / from the handle unit 13. In this embodiment, the tool support unit 60 and the replacement tool storage unit 70 are disposed adjacent to each other in the x direction, and the attachment / detachment unit 81 is configured to be movable in the x and y directions. When attaching / detaching the blade holding unit 12 to / from the handle unit 13 supported by the tool support unit 60, the attachment / detachment unit 81 moves in the y direction, and when transporting the blade holding unit 12 between the tool support unit 60 and the replacement tool storage unit 70, the attachment / detachment unit 81 moves in the x direction. It should be noted that when applying the present invention, the above-described arrangement is not necessarily required, and it is sufficient if the detachable part 81 can grip the blade holding part 12 and transport the blade holding part 12 between the tool support part 60 and the replacement tool storage part 70. For example, the present invention can also be applied to a configuration in which multiple detachable parts are provided and the blade holding part 12 is transported between the tool support part 60 and the replacement tool storage part 70 via the multiple detachable parts.

[0065] Next, an operating jig 40 for operating lever 14 will be described. Fig. 8 is a perspective view of operating jig 40. Operating jig 40 includes an operating unit 41 and an adapter 43 connected to operating unit 41. Adapter 43 is an adapter similar to adapter 21 connected to handle 13, and is held by robot arm 20. That is, lever 14 can be operated by operating jig 40 using robot arm 20 controlled by control device 30.

[0066] The operating unit 41 has a shaft 41a, a flange 41b, and an escape prevention portion 41c. When the operating jig 40 operates the lever 14, the shaft 41a is positioned to extend along the rotation axis direction of the lever 14 and abuts against the lever 14. The flange 41b guides the lever 14 so that the lever 14 abuts against the shaft 41a when the operating jig 40 is operated to abut the shaft 41a against the lever 14. The escape prevention portion 41c prevents the lever 14 from moving in an unintended direction during replacement of the blade holder 12.

[0067] (Tool replacement method) Next, a method for changing the tool of the scraper 10 using the operating jig 40 will be described. First, a method for switching the scraper 10 between a pressed state and a non-pressed state will be described. FIGS. 9(a) and 9(b) are cross-sectional views showing how the scraper 10 is changed from a pressed state to a non-pressed state. FIGS. 10(a) and 10(b) are cross-sectional views showing how the scraper 10 is changed from a non-pressed state to a pressed state. In this embodiment, the state of the scraper 10 is switched while the scraper 10 is supported by the tool support part 60.

[0068] FIG. 9(a) shows the state immediately before the shank 41a of the operating jig 40 abuts against the lever 14 of the scraper 10 in the pressed state, switching the scraper 10 from the pressed state to the non-pressed state. In FIG. 9(a), the direction of movement of the operating jig 40 and the lever 14 when switching the scraper 10 from the pressed state to the non-pressed state is indicated by a black arrow. At this time, the eccentric surface 14a of the lever 14 abuts against the washer 15, and the lever 14 presses the blade holder 12 via the washer 15. With the shank 41a abutting the lever 14, the operating jig 40 moves so that the shank 41a presses the lever 14 from below, causing the lever 14 to rotate. As the lever 14 rotates, the eccentric surface 14a moves away from the washer 15, switching the scraper 10 to the non-pressed state shown in FIG. 9(b).

[0069] The blade holder 12 is replaced when the scraper 10 is in the non-pressed state (the state shown in FIG. 9(b)). At this time, when viewed from the direction of the rotation axis of the lever 14, the lever 14 is positioned between the shaft 41a and the stopper 41c. In other words, during the blade holder 12 replacement operation, the shaft 41a and the stopper 41c restrict unintentional rotation of the lever 14, preventing malfunction of the lever 14.

[0070] FIG. 10(a) shows the state immediately before the shaft 41a of the operating jig 40 abuts against the lever 14 of the scraper 10, which is in the non-pressed state, and the scraper 10 switches from the non-pressed state to the pressed state. In FIG. 10(a), the direction of movement of the operating jig 40 and the lever 14 when the scraper 10 switches from the non-pressed state to the pressed state is indicated by a black arrow. At this time, the eccentric surface 14a of the lever 14 is separated from the washer 15, and no pressing force is applied by the lever 14 to press the blade holder 12. With the shaft 41a separated from the lever 14, the operating jig 40 moves so that the shaft 41a presses the lever 14, causing the lever 14 to rotate. Then, as the lever 14 rotates, the eccentric surface 14a abuts against the washer 15, and the scraper 10 switches to the pressed state shown in FIG. 10(b).

[0071] As described above, according to the configuration of this embodiment, the lever 14 is operated by the operating jig 40, whereby the scraper 10 can be switched between a pressing state and a non-pressing state. Since the lever 14 can be rotated by a simple operation of the operating jig 40, the blade holder 12 can be replaced reliably without requiring the robot arm 20 to perform complex movements.

[0072] Next, a method for removing the blade holder 12 from the scraper 10 in an unpressured state will be described. Figures 11(a) and 11(b) are diagrams illustrating a method for removing the blade holder 12. The process of removing the blade holder 12 from the scraper 10 is performed while the scraper 10 is supported by the tool support 60. In this embodiment, the adapter 21 is supported by the support 63a of the third support 63 and positioned in the x and y directions. The handle 13 is supported by the hand 62a of the second support 62 and positioned in the x direction, and the blade holder 12 is supported by the hand 61a of the first support 61 and positioned in the x direction.

[0073] Prior to the step of removing the blade holding part 12, the scraper 10 is switched to a non-pressing state while being supported by the tool support part 60. Next, as shown in FIG. 11(a), the detachable part 81 moves and the hand 81a grips the blade holding part 12. Then, as shown in FIG. 11(b), the detachable part 81 gripping the blade holding part 12 moves in the y direction, and the blade holding part 12 is removed from the scraper 10. The removed blade holding part 12 is transported to the replacement tool storage part 70 by the detachable part 81.

[0074] When attaching the blade holder 12 to the scraper 10, the above-described removal process is performed in reverse. When attaching the blade holder 12, the attachment / detachment unit 81 grips the blade holder 12 and moves it in the y direction. Then, the shaft 17a of the pressing unit abuts against the end face 12e1 of the elongated hole 12e of the blade holder 12, positioning the blade holder 12 relative to the handle 13 and the pressing unit. When the blade holder 12 moves in the y direction, the washer 15 resting on the spacer 18 is guided by the inclined surface 12f of the blade holder 12 and rests on the upper surface 12a of the blade holder 12. Then, the operating jig 40 switches the scraper 10 from the non-pressing state to the pressing state, and the blade holder 12 is clamped between the handle 13 and the lever 14 and attached to the scraper 10.

[0075] Next, a series of steps will be described regarding a tool replacement method for the scraper 10. Fig. 12 is a flowchart of the tool replacement operation. In tool replacement, in which the blade portion 11 and blade holder portion 12 of the scraper 10 are replaced as a unit, the robot arm 20 and the attachment / detachment device 80 are operated under the control of the control device 30.

[0076] When tool replacement is started (S100), first, as a tool setting step, the robot arm 20 sets the scraper 10 on the tool support part 60 (S101). At this time, the scraper 10 is held by the hand 61a or the like.

[0077] Next, the robot arm 20 releases the scraper 10 and holds the operating jig 40 instead (S102). Then, in a first switching step, the lever 14 of the pressing portion is operated by the operating jig 40, and the scraper 10 is switched from the pressed state to the non-pressed state (S103). In this way, the blade holding portion 12 is no longer clamped between the lever 14 and the handle portion 13, and the blade holding portion 12 becomes removable.

[0078] Next, in a removal step, the attachment / detachment unit 81 of the attachment / detachment device 80 removes the used blade holder 12, whose blade portion 11 has worn out, from the scraper 10 (S104). The removed blade holder 12 is then transported to the replacement tool storage unit 70 and placed on the support base 71 (S105). After transporting the used blade holder 12, the attachment / detachment unit 81 grasps the replacement blade holder 73, which holds the replacement blade portion 72, and transports the replacement blade holder 73 from the replacement tool storage unit 70 to the tool support unit 60 (S106).

[0079] Next, in the attachment process, the scraper supported by the tool support part 60 is attached by the attachment / detachment part 81. The replacement blade holder 73 is attached to the scraper 10 (S107). Then, as a second switching step, the lever 14 of the pressing portion is operated by the operating jig 40 to switch the scraper 10 from the non-pressing state to the pressing state (S108). In this way, the replacement blade 72 and the replacement blade holder 73 are attached to the scraper 10, and the replacement blade holder 73 is clamped between the handle 13 and the lever 14.

[0080] Furthermore, in this embodiment, a force sensor provided on the robot arm 20 monitors the load acting on the robot arm 20 when the lever 14 is pressed in the second switching step. Then, a determination step is performed to determine whether the monitored load is within a normal range (S109). The normal range of the load is determined by the configuration of the pressing unit, etc., and is input in advance to the control device 30. The control device 30 then makes a determination based on the normal range. Note that the determination step may also be performed on the load in the first switching step (S103). Furthermore, the determination step may be performed simultaneously with the second switching step, and the replacement operation may be interrupted midway through the second switching step when it is detected that the pressing force is not within the normal range.

[0081] If the determination process determines that the pressing force is not within the normal range (NO in S109), an alarm is issued (S110) to notify the operator that a malfunction has occurred, and the replacement operation is interrupted. The method of notifying the operator is not limited to issuing an alarm; other methods, such as displaying a notice screen on the screen displaying the monitoring status of the scraping device 100, may also be used. The operator, noticing that some abnormality has occurred during the replacement operation, checks the condition of the pressing unit, resolves the problem that caused the malfunction (S111), and returns the pressing unit to its normal state. Then, the second switching process is performed again, and the pressing unit is operated (S108). With this configuration, for example, if the lever 14 is worn and the pressing unit is not being operated properly, an error can be detected and the lever 14 can be replaced with a new one, preventing damage to the device.

[0082] On the other hand, if it is determined in the determination step that the pressing force is within the normal range (YES in S109), the control device 30 recognizes that the scraper 10 has switched to the pressing state normally, and proceeds to the next step. When the scraper 10 switches to the pressing state and the blade holder 12 is clamped between the lever 14 and the handle 13 via the washer 15, the robot arm 20 releases the operating jig 40 and holds the scraper 10 instead (S112). The operating jig 40 is placed by the robot arm 20 on the support 51 of the jig storage unit 50, and is stored in the jig storage unit 50 until the next tool change. In this way, the tool change is completed (S113).

[0083] As described above, according to the configuration of this embodiment, the blade portion 11 can be automatically replaced together with the blade holder 12 without manual intervention. Furthermore, because only the blade portion 11 and the blade holder 12 can be replaced without removing the handle portion 13 from the adapter 21, there is no need to prepare a complete set of replacement scrapers 10, which reduces the cost of preparing a tool unit and enables a reduction in the storage space required for replacement tools.

[0084] <Example 2> Next, a second embodiment of the present invention will be described. The second embodiment differs from the first embodiment in that the blade holder 12 can be attached to the scraper 10 by changing the angle formed between the center line of the blade portion 11 in the blade width direction and the center line of the handle portion 13 in the short direction. This configuration makes it possible to extend the life of the blade portion 11 of the scraper 10. In the following description of the second embodiment, the same components as those in the first embodiment will be assigned the same reference numerals and their description will be omitted, and only the characteristic components of the second embodiment will be described.

[0085] (Blade holding part 12) First, the blade holding portion 12 according to Example 2 will be described. FIG. 13(a) is a top view of the blade holding portion 12 according to Example 2, and FIG. 13(b) is a cross-sectional view taken along CC in FIG. 13(a). The blade holding portion 12 of this Example differs from that of Example 1 in the shape of the elongated hole 12g. The elongated hole 12g opens at one end of the blade holding portion 12 parallel to the top surface 12a and penetrates the blade holding portion 12 in the vertical direction. The elongated hole 12g extends from the open end toward the other end and then extends toward both sides of the blade width direction of the blade portion 11 at the other end. That is, when viewed perpendicular to the top surface 12a, the elongated hole 12g is substantially T-shaped. In this Example, the end surface 12g1 at the other end of the elongated hole 12g has a curved shape that is convex toward the other end. In this embodiment, the end side where the elongated hole portion 12g opens is the side that engages with the handle portion 13.

[0086] The shank 17a of the connecting portion 17 is inserted into the elongated hole 12g, and the shank 17a abuts against the end face 12g1 of the elongated hole 12g, thereby determining the position of the blade holder 12 relative to the handle 13 in a direction perpendicular to the blade width direction. Meanwhile, as described above, the other end of the elongated hole 12g extends in the blade width direction. Therefore, the abutment position of the shank 17a relative to the end face 12g1 in the blade width direction can be changed. This configuration allows the blade holder 12 to be attached to the scraper 10 by changing the angle between the center line of the blade 11 in the blade width direction and the center line of the handle 13 in the short-side direction.

[0087] (Scraper 10) Next, a state in which the blade holding unit 12 according to the second embodiment is attached to the scraper 10 will be described. As described above, in the second embodiment, the blade holding unit 12 can be attached to the scraper 10 by changing the angle formed between the center line of the blade portion 11 in the blade width direction and the center line of the handle portion 13 in the short direction. Here, the center line of the blade portion 11 in the blade width direction is a line that is perpendicular to the blade width direction of the blade portion 11 and extends in a direction parallel to the top surface 12a when attached to the blade holding unit 12. Furthermore, the center line of the handle portion 13 in the short direction is a line that is perpendicular to the longitudinal direction of the handle portion 13 and extends in a direction parallel to the top surface 12a when the blade holding unit 12 is attached.

[0088] 14(a) to 14(c) show the scraper 10 in a first state in which the first angle θa formed between the center line of the cutting edge 11 in the blade width direction and the center line of the handle 13 in the short direction is 0 degrees. Fig. 14(a) is a top view of the tip of the scraper 10, Fig. 14(b) is a bottom view of the tip of the scraper 10, and Fig. 14(c) is a view of the scraper 10 when scraping is being performed, as viewed from a direction perpendicular to the surface of the workpiece 90 to be processed.

[0089] As shown in Figure 14(a), the first angle θa is 0 degrees, and the center line of the cutting edge 11 in the cutting width direction is parallel to the center line of the handle 13 in the short direction. When cutting is performed in this state, the first contact portion 11a located in the center of the cutting edge 11 in the cutting width direction comes into contact with the workpiece 90. In other words, when scraping is repeatedly performed in this state, only the first contact portion 11a of the cutting edge 11 is worn.

[0090] 14(b), when the scraper 10 is in the first state, the handle 13 is located in the center of the handle placement portion 12d of the blade holder 12, and the connecting portion 17 having the shaft 17a is located in the center of the elongated hole 12g in the blade width direction. At this time, the handle 13 is located with a gap between it and the side surface of the handle placement portion 12d.

[0091] In addition, the cutting edge of the blade portion 11 in this embodiment has a convex arc shape at the center in the blade width direction. As shown in Fig. 14(c), when the scraper 10 is in a position to process the workpiece 90, the arc of the cutting edge of the blade portion 11 has a radius Ra when viewed from a direction perpendicular to the surface to be processed.

[0092] As described above, when cutting is performed with the center line of the cutting portion 11 in the cutting width direction and the center line of the handle portion 13 in the short direction parallel, only the first contact portion 11a, which is the center of the cutting portion 11, wears. The cutting edge of the cutting portion 11 has both a portion that has been used in cutting and a portion that has not been used in cutting and remains unworn. Therefore, the inventors of the present application came up with a technology for effectively utilizing the cutting edge of the tool and extending its lifespan by devising a scraping tool configuration that allows the cutting edge contact position with the workpiece to be shifted, and by dividing a single cutting edge into multiple portions that can be used individually for cutting.

[0093] 15(a) to 15(c) show the scraper 10 in a second state in which the angle formed between the center line of the blade portion 11 in the blade width direction and the center line of the handle portion 13 in the short direction is a second angle θb. The second angle θb is a predetermined value greater than 0 degrees. That is, in the second state, the blade portion 11 and the blade holder 12 are attached at an angle relative to the handle portion 13 compared to the first state. FIG. 15(a) is a top view of the tip of the scraper 10, FIG. 15(b) is a bottom view of the tip of the scraper 10, and FIG. 15(c) is a view of the scraper 10 when scraping is being performed, viewed from a direction perpendicular to the surface to be processed of the workpiece 90.

[0094] 15(a), the angle formed by the center line of the blade portion 11 in the blade width direction and the center line of the handle portion 13 in the short direction is a second angle θb. When cutting is performed in this state, the second contact portion 11b, which is located closer to the end of the blade portion 11 in the blade width direction than the first contact portion 11a, comes into contact with the workpiece 90. In other words, when scraping is repeatedly performed in this state, the first contact portion 11a does not come into contact with the workpiece 90, and only the second contact portion 11b wears.

[0095] 15(b), when the scraper 10 is in the second state, the handle 13 is located at the end of the handle placement portion 12d of the blade holding portion 12, and the connecting portion 17 having the shaft portion 17a is located at the end of the elongated hole 12g in the blade width direction. The width of the handle placement portion 12d in the blade width direction and the width of the elongated hole 12g in the blade width direction are determined taking into account the maximum angle at which the blade holding portion 12 can be tilted relative to the handle 13.

[0096] 15(c), the components are arranged so that the intersection of the center line of the blade portion 11 in the blade width direction and the center line of the handle portion 13 in the short direction coincides with the center of the arc of the cutting edge of the blade portion 11. With this configuration, when the scraper 10 is in a position to machine the workpiece 90, the arc of the cutting edge of the blade portion 11 has a radius Ra when viewed from a direction perpendicular to the surface to be machined. Therefore, the cutting edge of the blade portion 11 abuts against the workpiece 90 in the same position in the state shown in FIG. 14(c) and the state shown in FIG. 15(c). In other words, the same machining can be performed whether the first contact portion 11a of the blade portion 11 is used for machining or the second contact portion 11b is used for machining.

[0097] According to this embodiment, when the first contact portion 11a of the blade portion 11 becomes worn, the angle of the blade holder 12 relative to the handle portion 13 can be changed, and processing can be performed using the unworn second contact portion 11b. Furthermore, when the second contact portion 11b becomes worn, processing can be continued using a portion of the blade portion 11 located on the end side opposite the second contact portion 11b from the first contact portion 11a. That is, in this embodiment, the cutting edge of the blade portion 11 is divided into three regions, and different regions are used for processing as the wear of each region progresses.

[0098] In this way, by using different positions of the cutting edge for machining, the cutting edge 11 can be effectively utilized and the life of the tool can be extended compared to when only the same part of the cutting edge is continuously used. In the above-mentioned embodiment, the first abutment portion 11a is configured to be located at the center of the cutting edge in the cutting edge width direction, but the extension of the life of the cutting edge 11 is not limited to this configuration. For example, the cutting edge of the cutting edge 11 can be divided into two regions so that the first abutment portion 11a is located at one end side of the cutting edge and the second abutment portion 11b is located at the other end side opposite to the one end side of the cutting edge in the cutting edge width direction of the cutting edge. In the above embodiment, the first angle θa is set to 0°, but it is also possible to set both the first angle θa and the second angle θb to acute angles.

[0099] (Tool change section 110) Next, a tool exchange unit 110 according to Example 2 will be described. This example differs from Example 1 in the configuration of the tool support unit 60 of the tool exchange unit 110. Fig. 16 is a perspective view showing a schematic configuration of the tool exchange unit 110 according to Example 2.

[0100] The tool support unit 60 of this embodiment includes a first support unit 61 that supports the blade holder 12, a second support unit 62 that supports the handle 13, a third support unit 63 that supports the adapter 21, and a rotating stage 64 that supports the second support unit 62 and the third support unit 63. The second support unit 62 and the third support unit 63 are supported by a support base 64a of the rotating stage 64. The rotating stage 64 can rotate the support base 64a about a rotation axis extending in the z direction. That is, the tool support unit 60 of this embodiment can rotate the second support unit 62 and the third support unit 63 on the support base 64a relative to the first support unit 61. With this configuration, the blade holder 12 can be attached to the scraper 10 by changing the angle of the blade holder 12 with respect to the handle 13.

[0101] 17(a) is a top view showing the scraper 10 in a first state supported by the tool support part 60, and FIG. 17(b) is a top view showing the scraper 10 in a second state supported by the tool support part 60. The rotating stage 64 can rotate the support base 64a in the direction of arrow D shown in FIG. 17(a) to change the attitudes of the second support part 62 and the third support part 63 relative to the first support part 61. FIG. 17(b) shows a state of the tool support part 60 in which the support base 64a of the rotating stage 64 has rotated relative to the state shown in FIG. 17(a), changing the attitudes of the second support part 62 and the third support part 63.

[0102] The tool support portion 60 in this embodiment is rotatable relative to the first support portion 61 of the second support portion 62 and the third support portion 63, and therefore can support the scraper 10 whether the scraper 10 is in the first state or the second state, as shown in Figures 17(a) and (b).

[0103] When switching the scraper 10 from the first state to the second state, first, as a first switching step, a cam lever release operation is performed in the first state (the state in FIG. 17(a)) in which the scraper 10 is supported by the tool support portion 60. Next, as an angle changing step, the support base 64a of the rotating stage 64 is rotated, and the orientation of the second support portion 62 and the third support portion 63 relative to the first support portion 61 changes. This step changes the angle of the blade holder portion 12 relative to the handle portion 13 in the scraper 10, which is in the non-pressured state. Then, as a second switching step, a cam lever fixing operation is performed on the scraper 10, switching the scraper 10 to the second state (the state in FIG. 17(b)). Note that even when tool replacement and angle change are performed in parallel, the angle changing step may be performed after the first switching step and before the second switching step. In this case, the angle changing step may be performed at any timing, either before the detaching step, or after the detaching step, and before the attaching step, or after the attaching step.

[0104] As described above, according to the configuration of this embodiment, the angle formed by the center line of the cutting portion 11 in the cutting width direction and the center line of the handle portion 13 in the short direction can be changed, and the blade holder 12 can be automatically attached to the scraper 10. Therefore, in this embodiment, the cutting portion 11 can be used more effectively, and the life of the tool can be extended, compared to when only the same portion of the cutting edge of the cutting portion 11 is continuously used.

[0105] Furthermore, according to the configuration of this embodiment, the angle of the blade portion 11 and the blade holder portion 12 relative to the handle portion 13 can be changed by using a single tool support portion 60, and the blade holder portion 12 can be attached to the handle portion 13. Therefore, for example, a tool support portion for holding the scraper 10 in the first state and a tool support portion for holding the scraper 10 in the second state can be used. In comparison with the case where a tool support part for holding the scraper 10 in this state is provided, the tool exchange part 110 can be made smaller in space.

[0106] Example 3 Next, a third embodiment of the present invention will be described. The third embodiment differs from the first embodiment in the configuration of the pressing portion. In the following description of the third embodiment, the same components as those in the first embodiment will be denoted by the same reference numerals and will not be described again, and only the characteristic components of the third embodiment will be described.

[0107] The configuration of the pressing portion according to Example 3 will be described with reference to Fig. 18. Figs. 18(a) and (b) are cross-sectional views showing the configuration of the pressing portion of the scraper 10 according to Example 3. Fig. 18(a) is a cross-sectional view of the scraper 10 in a non-pressed state in which the blade holding portion 12 is not pressed by the pressing portion, and Fig. 18(b) is a cross-sectional view of the scraper 10 in a pressed state in which the blade holding portion 12 is pressed by the pressing portion.

[0108] The pressing portion of the third embodiment is composed of a rotating shaft portion 25, an upper cam portion 26, a lower cam portion 27, and a retaining portion 28. The rotating shaft portion 25 is connected to the handle portion 13 and extends in a direction perpendicular to the upper surface 12a of the blade holding portion 12. The lower cam portion 27, the upper cam portion 26, and the retaining portion 28 are engaged with the rotating shaft portion 25. The upper cam portion 26 is a rotating portion located above the blade holding portion 12 and rotatably supported by the rotating shaft portion 25. In this embodiment, the scraper 10 is switched between a pressing state and a non-pressing state as the upper cam portion 26 rotates. The lower cam portion 27 is located between the blade holding portion 12 and the upper cam portion 26, and transmits the pressing force of the upper cam portion 26 to the blade holding portion 12. The anti-slip portion 28 is located further above the upper cam portion 26 and is provided to restrict the upward movement of the upper cam portion 26, prevent the upper cam portion 26 from slipping off the rotating shaft portion 25, and generate a pressing force that causes the upper cam portion 26 to press against the blade holding portion 12.

[0109] Upper cam portion 26 has an eccentric surface facing toward lower cam portion 27, and the eccentric surface includes convex portion 26a that is convex in a direction approaching lower cam portion 27, concave portion 26b that is concave in a direction away from lower cam portion 27, and a slope portion connecting convex portion 26a and concave portion 26b. Similarly, lower cam portion 27 has an eccentric surface facing toward upper cam portion 26, and the eccentric surface includes convex portion 27a that is convex in a direction approaching upper cam portion 26, concave portion 27b that is concave in a direction away from upper cam portion 26, and a slope portion connecting convex portion 27a and concave portion 27b.

[0110] The upper cam portion 26 is configured to be rotatable about a rotation axis extending in a direction perpendicular to the upper surface 12a. The lower cam portion 27 engages with a groove provided in the blade holding portion 12 so as not to rotate following the rotation of the upper cam portion 26. In the third embodiment, the rotation of the upper cam portion 26 changes the contact state between the eccentric surface of the upper cam portion 26 and the eccentric surface of the lower cam portion 27, thereby switching the scraper 10 between a pressing state and a non-pressing state.

[0111] As shown in FIG. 18(a), when the scraper 10 is in the non-pressed state, the protrusion 26a abuts against the recess 27b, and the recess 26b abuts against the protrusion 27a. For the upper cam portion 26 of the scraper 10 in the non-pressed state to rotate, the protrusion 26a must move up the slope of the lower cam portion 27. Therefore, when the protrusion 26a attempts to rotate, a force acts on the upper cam portion 26 in a direction that inhibits the rotation of the upper cam portion 26. Therefore, unless an external force is applied by an operating tool or the like, the upper cam portion 26 does not rotate, and the non-pressed state of the scraper 10 is maintained. Furthermore, a gap is provided between the upper cam portion 26 and the retaining portion 28, so no pressing force is generated against the blade holder 12. The scraper 10 is switched from the non-pressed state shown in FIG. 18(a) to the pressed state shown in FIG. 18(b) by the rotation of the upper cam portion 26.

[0112] As shown in FIG. 18(b), when the scraper 10 is in the pressing state, the protrusion 26a 27a, and recess 26b faces recess 27b at a distance. When scraper 10 is switched from the non-pressing state to the pressing state, as upper cam portion 26 rotates, protrusion 26a slides on the eccentric surface of lower cam portion 27 and comes into contact with protrusion 27a. Then, upper cam portion 26 moves upward relative to lower cam portion 27, and the gap between upper cam portion 26 and retaining portion 28 becomes smaller. In other words, as upper cam portion 26 rotates, the distance between protrusion 26a and upper surface 12a of blade holder 12 changes. In other words, as upper cam portion 26 rotates, the distance between the abutting surface of upper cam portion 26 against retaining portion 28 and the abutting surface of lower cam portion 27 against blade holder 12 changes.

[0113] After moving upward a predetermined distance, upper cam portion 26 comes into contact with retaining portion 28, restricting further upward movement. This generates a pressing force that causes upper cam portion 26 to press blade holding portion 12 via lower cam portion 27, with convex portion 26a of upper cam portion 26 functioning as a pressing surface. Furthermore, because rotating shaft 25 is connected to retaining portion 28 and handle portion 13, blade holding portion 12 is sandwiched between the pressing portion and handle portion 13. At this time, a force acting on upper cam portion 26 to sandwich it between lower cam portion 27 and retaining portion 28 acts, and therefore upper cam portion 26 will not rotate unless operated by an operating tool or the like.

[0114] As described above, according to the configuration of this embodiment, the robot arm 20 grips an operating jig or the like and rotates the upper cam portion 26, thereby moving the upper cam portion 26 in the vertical direction, thereby switching between the pressing state and the non-pressing state of the scraper 10. In other words, also in this embodiment, there is no need for the robot arm 20 to perform complex movements when replacing tools, and the blade holding portion 12 can be replaced reliably.

[0115] In the configuration of Example 3, the upper cam portion 26 presses the blade holding portion 12 via the lower cam portion 27, but it is also possible to configure the blade holding portion 12, for example, to have an eccentric surface so that the upper cam portion 26 directly presses the blade holding portion 12.

[0116] <Other Examples> The above-described embodiment is merely an example, and the present disclosure may be modified as appropriate within the scope of its gist. Furthermore, the processes and means described in the present disclosure may be freely combined as long as no technical contradictions arise. For example, while the above-described embodiment is configured such that scraping and tool replacement are performed by a single robot arm, the scraping device may be provided with a robot arm for scraping and a robot arm for tool replacement.

[0117] Furthermore, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be executed by a single device. In a computer system, the hardware configuration that realizes each function can be flexibly changed. [Explanation of symbols]

[0118] 10... scraper (scraping tool), 11... blade portion, 12... blade holding portion, 12a... upper surface (first surface), 12b... lower surface (second surface), 13... handle portion, 14... lever (rotating portion), 14a... eccentric surface (pressing surface), 16... rotating shaft portion, 17b... male thread portion (fixing portion)

Claims

1. The blade and a blade holder having a first surface and a second surface facing the opposite side to the first surface, the blade holder holding the blade; a handle portion abutting the second surface; a pressing portion including a fixed portion fixed to the handle portion, a rotating shaft portion connected to the fixed portion, and a rotating portion rotatably supported on the rotating shaft portion; A scraping tool in which the blade holding part is replaced by a scraping tool replacement device, the rotating part is provided with a pressing surface that can press against the first surface and whose distance to the first surface changes as the rotating part rotates; A scraping tool characterized in that, by rotating the rotating part, it is possible to switch between a pressing state in which the pressing surface presses the first surface and the pressing part and the handle part clamp the blade holding part, and a non-pressing state in which the pressing surface does not press the first surface.

2. the rotating part is a lever that is rotatable about a rotation axis extending in a direction parallel to the first surface and is operated by the scraping tool changer, 2. The scraping tool according to claim 1, wherein the pressing surface is eccentric to the rotation axis.

3. the rotating portion is a cam portion that is rotatable about a rotation axis extending in a direction perpendicular to the first surface and is operated by the scraping tool changer, 2. The scraping tool according to claim 1, wherein the pressing surface includes a convex portion that is convex in a direction approaching the first surface and a concave portion that is concave in a direction away from the first surface.

4. the pressing portion further includes a shaft portion extending in a direction perpendicular to the first surface and connecting the fixed portion and the rotation shaft portion, the blade holding portion has an elongated hole portion that opens at one end side in a direction parallel to the first surface and penetrates from the first surface to the second surface, 2. The scraping tool according to claim 1, wherein the blade holding portion is pressed against the pressing portion with the shaft portion abutting against an end face on the other end side opposite to the one end side of the elongated hole portion.

5. 5. The scraping tool according to claim 4, wherein the blade holding portion has a first engaging portion provided on the one end side and engaging with the handle portion, and a second engaging portion provided on the other end side and engaging with the blade portion.

6. the end surface of the elongated hole portion on the other end side has a curved shape that is convex toward the other end side, and the width of the end surface in the blade width direction of the blade portion is larger than the width of the shank portion, When viewed from a direction perpendicular to the first surface, a first state in which the shank abuts the end surface at a position where a center line of the blade in the blade width direction and a center line of the handle in a lateral direction perpendicular to the longitudinal direction form a first angle; a second state in which the shaft portion abuts against the end surface at a position where the angle is a second angle different from the first angle; 6. The scraping tool according to claim 5, wherein the cutting force is switchable between the cutting force and the cutting force.

7. the pressing portion further includes a washer through which the shaft portion is inserted and which abuts against the first surface, The scraping tool according to claim 4, wherein the first surface is pressed against the pressing surface of the pressing portion via the washer.

8. the pressing portion further includes a spacer through which the shaft portion is inserted and which is provided between the handle portion and the washer, 8. The scraping tool according to claim 7, wherein the thickness of the spacer in a direction perpendicular to the first surface is smaller than the width of the blade holder from the first surface to the second surface.

9. the blade holding portion further includes an inclined surface located at an end of the first surface on the one end side where the elongated hole portion is opened, the inclined surface inclining in a direction approaching the second surface as it moves from the other end side to the one end side, 9. The scraping tool according to claim 8, wherein the width of the inclined surface in the cutting width direction of the cutting edge is greater than the width of the washer.

10. a blade holding portion having a blade portion, a first surface, and a second surface facing the opposite side to the first surface and holding the blade portion; a pressing portion having a handle portion abutting the second surface, a fixed portion fixed to the handle portion, a rotating shaft portion connected to the fixed portion, and a rotating portion rotatably supported on the rotating shaft portion, wherein the rotating portion is provided with a pressing surface that can press the first surface and whose distance to the first surface changes as the rotating portion rotates, and a scraping tool changing device that changes, by rotating the rotating portion, between a pressing state in which the pressing surface presses the first surface and the blade holding portion is sandwiched between the pressing portion and the handle portion, and a non-pressing state in which the pressing surface does not press the first surface, an operating jig for operating the pressing portion of the scraping tool; a processing robot that holds and operates the operation jig; a control unit for controlling the operation of the processing robot; a tool support portion that supports the scraping tool; an attachment / detachment device that holds the blade holding portion and attaches / detaches the blade holding portion to / from the handle; Equipped with the control unit operates the processing robot so that the operating jig held by the processing robot rotates the rotating unit, thereby switching between the pressing state and the non-pressing state of the pressing unit of the scraping tool held by the tool support unit.

11. a force sensor that detects a load acting on the processing robot when the operating jig rotates the rotating part by the processing robot, 11. The scraping tool changer according to claim 10, wherein the control unit determines whether the load detected by the force sensor is within a normal range.

12. The scraping tool is switchable between a first state in which the blade holding portion is clamped between the pressing portion and the handle portion at a position where an angle formed between a center line of the blade portion in a blade width direction and a center line of the handle portion in a short direction perpendicular to a longitudinal direction thereof is a first angle when viewed from a direction perpendicular to the first surface, and a second state in which the blade holding portion is clamped between the pressing portion and the handle portion at a position where the angle is a second angle different from the first angle, the tool support portion includes a first support portion that supports the blade holding portion, and a second support portion that supports the handle portion and is rotatable relative to the first support portion around a rotation axis that extends in a direction perpendicular to the first surface, The scraping tool changing device according to claim 10, wherein the second support portion rotates to switch between the first state and the second state, thereby making it possible to change the blade holding portion of the scraping tool.

13. The tool has a blade, a first surface, and a second surface facing the opposite side to the first surface, and includes a blade holder that holds the blade, a handle that abuts against the second surface, a fixed part that is fixed to the handle, a rotating shaft that is connected to the fixed part, and a rotating part that is rotatably supported on the rotating shaft. a pressing unit configured to press the first surface, the rotating unit being provided with a pressing surface that can press the first surface and whose distance to the first surface changes as the rotating unit rotates, and the scraping tool is switchable between a pressing state in which the pressing surface presses the first surface and the pressing unit and the handle portion clamp the blade holding unit by rotating the rotating unit, and a non-pressing state in which the pressing surface does not press the first surface, an operating jig for operating the pressing portion of the scraping tool; a processing robot that holds and operates the operation jig; a tool support portion that supports the scraping tool; an attachment / detachment device that holds the blade holding portion and attaches / detaches the blade holding portion to / from the handle; In the scraping tool changing method using the scraping tool changing device, a tool setting step of supporting the scraping tool held by the processing robot on the tool support part; a first switching step of switching the pressing portion of the scraping tool supported by the tool support portion from the pressing state to the non-pressing state by the operating jig held by the processing robot; a detaching step of detaching the blade holding portion from the scraping tool by the attaching / detaching device when the pressing portion is in the non-pressing state; an attachment step of attaching a replacement blade holding part that holds a replacement blade part to the scraping tool by the attachment / detachment device; a second switching step of switching the pressing portion of the scraping tool supported by the tool support portion from the non-pressing state to the pressing state by the operating jig held by the processing robot; A scraping tool changing method comprising:

14. the scraping tool changer further includes a force sensor that detects a load acting on the operating jig when the operating jig rotates the rotating part by the processing robot, 14. The scraping tool changing method according to claim 13, further comprising a determining step of determining whether the load detected by the force sensor in the second switching step is within a normal range.

15. The scraping tool is switchable between a first state in which the blade holding portion is clamped between the pressing portion and the handle portion at a position where an angle formed between a center line of the blade portion in a blade width direction and a center line of the handle portion in a short direction perpendicular to a longitudinal direction thereof is a first angle when viewed from a direction perpendicular to the first surface, and a second state in which the blade holding portion is clamped between the pressing portion and the handle portion at a position where the angle is a second angle different from the first angle, the tool support portion includes a first support portion that supports the blade holding portion, and a second support portion that supports the handle portion and is rotatable relative to the first support portion around a rotation axis that extends in a direction perpendicular to the first surface, The scraping tool changing method according to claim 13, further comprising an angle changing step of rotating the second support portion after the first switching step and before the second switching step.

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