Steel production enterprises in the bar plant round bar workshop production of various types of high-quality round steel profiles. The production of round bars need to be cut into standard lengths in sections according to the requirements of users. With the increase of round bar line output year by year, the original cold shearing machine shearing bar capacity has been insufficient, accompanied by serious round steel end "horseshoe mark", end section burr and shear end cracking and other problems, will directly affect the quality of products. For this reason, the enterprise has added grinding wheel sawing equipment (hereinafter referred to as grinding wheel saw). The large grinding wheel used is a consumable part, which needs to be replaced after 70 minutes of full load work. Traditional manual replacement of grinding wheel pieces, due to the large weight (>= 50kg) and diameter (1250mm) of grinding wheel pieces, on-site operation is affected by high temperature (>= 400 ℃) and metal dust, resulting in low manual replacement efficiency (it takes at least 30 minutes, the production line must be shut down during replacement) and high cost, and long-term high temperature environment and dust pollution cause chronic damage to workers' bodies. At the same time, due to the poor tightening of the shaft head lock nut by manual replacement, the bursting phenomenon may occur during the high-speed rotation of the grinding wheel. The bursting of the high-speed rotating grinding wheel not only affects the quality of the round bar being cut, but also endangers the life safety of the staff and the safety of the grinding wheel saw equipment. The cracked grinding wheel fragments will inevitably lead to the interruption of the normal operation of the whole production line. The team aims to solve the problems of safety, efficiency and economy in the traditional replacement of large grinding wheel blades (used for sawing various types of high-quality round steel materials produced in the round bar workshop of the bar factory of large steel production enterprises) used in grinding wheel cutting machine equipment. Through the three key technologies of spatial displacement compensation algorithm, machine deep learning memory and six-dimensional degree of freedom manipulator, the first intelligent replacement system of grinding wheel blades in China has been built. Compared with manual replacement, it realizes unattended intelligent replacement within 7 minutes. Significantly increase the safety performance of the production line at the same time improve the considerable production efficiency.