CN214185526U - Automatic tool changing system of slitting machine - Google Patents

Abstract

The utility model provides an automatic tool changing system of slitting machine, includes the special tool magazine of the automatic tool changing system of slitting machine, the automatic tool changing system of slitting machine is with rotatory cross arm, the automatic tool changing system of slitting machine moves back sword device, the automatic tool changing system of slitting machine is with cross arm dress unloading sword device and the automatic tool changing robot for system of slitting machine, the automatic tool changing system of slitting machine moves back sword device and includes portal frame assembly and moving frame assembly, and the portal frame assembly is including the portal frame stand of four vertical settings, and rectangular frame is installed on the top of portal frame stand. The utility model provides an automatic tool changing system of slitting machine, through including the special tool magazine of the automatic tool changing system of slitting machine, the automatic tool changing system of slitting machine is with rotatory cross arm, the automatic tool changing system of slitting machine moves back sword device, the automatic tool changing system of slitting machine is with cross arm loading and unloading sword device and the automatic tool changing system of slitting machine for the robot cooperation operation, replaces the tradition manual work and changes the cutter to solve the problem that exists among the prior art.

Description

Automatic tool changing system of slitting machine

Technical Field

The utility model belongs to the technical field of slitting machine tool changing equipment technique and specifically relates to a slitting machine automatic tool changing system.

Background

The slitting machine is also called slitting line, slitting machine and slitting machine, is used for uncoiling, slitting and coiling the metal coiled plate into a strip coil with required width, and is suitable for processing cold-rolled and hot-rolled carbon steel, silicon steel, tinplate, stainless steel and various metal materials coated and plated on the surface. The existing slitting machine needs to replace a cutter on the slitting machine when different types of sectional materials are switched, so that the shearing quality is ensured, the cutter on the existing slitting line is usually replaced manually, the requirement on an operator is high, the cutter replacing time is reduced to the greatest extent on the premise of ensuring the cutter arranging precision, so that the cutter replacing efficiency is ensured, the labor intensity and the production cost are obviously improved, meanwhile, due to manual operation, abrasion and even damage are easily generated in the cutter transferring, installing and storing processes, the service life of the cutter is prolonged, and the processing quality of the whole slitting line is influenced.

Disclosure of Invention

An object of the utility model is to provide an automatic tool changing system of slitting machine, through including the special tool magazine of the automatic tool changing system of slitting machine, the automatic tool changing system of slitting machine with rotatory cross arm, the automatic tool changing system of slitting machine indulges the shearing machine and moves back sword device, the automatic tool changing system of slitting machine is with cross arm dress and unload sword device and the automatic tool changing system of slitting machine with robot cooperation operation, replace the artifical cutter that changes of tradition to solve the problem that exists among the prior art.

The utility model provides a technical scheme that its technical problem adopted is: the utility model relates to an automatic tool changing system of slitting machine, which comprises a special tool magazine of the automatic tool changing system of the slitting machine, a rotary cross arm for the automatic tool changing system of the slitting machine, a tool retracting device of the automatic tool changing system of the slitting machine, a cross arm assembling and disassembling device for the automatic tool changing system of the slitting machine and a robot for the automatic tool changing system of the slitting machine, wherein the tool retracting device of the slitting machine comprises a portal frame assembly and a movable frame assembly, the portal frame assembly comprises four vertically arranged portal frame upright posts, a rectangular frame is arranged at the top ends of the portal frame upright posts, two portal frame cross beams which are arranged in parallel are arranged in the rectangular frame, the movable frame assembly is arranged at the bottom of the portal frame cross beams, the movable frame assembly comprises horizontally arranged frame cross beams, shifting fork back plates which are vertically arranged are arranged at both ends of the frame cross beams, a tool retracting device sliding block is arranged on the frame cross beams, the bottom of the portal frame beam is provided with a tool retracting device transverse moving slide rail matched with the tool retracting device transverse moving slide block, the frame beam is also provided with a tool retracting device rack which is arranged along the length direction of the frame beam, a tool retracting device hydraulic motor is fixedly arranged between the two portal frame beams, a tool retracting device driving gear matched with a tool retracting device rack is arranged on an output shaft of the tool retracting device hydraulic motor, wherein a first shifting fork claw is arranged on the inner side surface of the shifting fork back plate at one end, a vertically arranged shifting fork slide rail is arranged on the inner side surface of the shifting fork back plate at the other end, a U-shaped shifting fork is arranged in the shifting fork slide rail in a matching way, a second shifting fork claw is arranged on the U-shaped shifting fork, and a tool retracting device hydraulic cylinder is also arranged on the shifting fork back plate corresponding to the position of the U-shaped shifting fork, the cylinder body of the tool retracting device hydraulic cylinder is hinged on the shifting fork back plate, and the piston rod of the tool retracting device hydraulic cylinder is hinged on the U-shaped shifting fork. Corresponding to the position of U type shift fork, install the limit switch mounting groove of vertical setting on the shift fork backplate, be equipped with first limit switch and second limit switch in the limit switch mounting groove, wherein first limit switch is located the second limit switch upside, the top of U type shift fork is installed and is moved back the sword device locating piece, moves back the sword device locating piece and can be detected the discernment by first limit switch and second limit switch. The special tool magazine of the automatic tool changing system of the slitting shear comprises a tool magazine bottom plate, tool magazine side plates of vertical arrangement are installed on two sides of the tool magazine bottom plate, a tool magazine top plate covers the upper portions of the tool magazine side plates, tool magazine door plates of the vertical arrangement are installed at two ends of the tool magazine bottom plate, the tool magazine side plates, the tool magazine top plate and the tool magazine door plates can form a closed box body, a plurality of tool magazine stand columns of the vertical arrangement are installed inside each tool magazine side plate, a tool magazine cross brace is fixedly connected between every two tool magazine stand columns, a shaft seat tool magazine stand column of the vertical arrangement is installed on each tool magazine cross brace, the shaft seat tool magazine stand column is located between the tool magazine bottom plate and the tool magazine top plate, a plurality of tool rests of horizontal arrangement are installed on the shaft seat tool magazine stand column, and a tool magazine round key is. The tool magazine is characterized in that a first supporting leg assembling plate is welded between the lower end of each shaft seat tool magazine stand column and the bottom plate of the tool magazine, a second supporting leg assembling plate is welded between the upper end of each shaft seat tool magazine stand column and the top plate of the tool magazine, a side lacing wire is installed between every two shaft seat tool magazine stand columns and is perpendicular to the tool rest, a tool magazine key groove matched with a tool magazine circular key is formed in the tool rest, and a blocking ring is sleeved on the periphery of the tool rest between the tool magazine circular key and the shaft seat tool magazine stand columns. The rotary cross arm for the automatic tool changing system of the slitting machine comprises a cross arm base, cross arm transverse guide rails are arranged at the positions of two sides of the cross arm base and are arranged along the length direction of the cross arm base, cross arm transverse guide rails on the two sides are provided with cross arm transverse guide seats capable of moving along the cross arm transverse guide rails, transverse sliding blocks matched with the cross arm transverse guide rails are arranged at the bottom of the cross arm transverse guide seats, outer sleeves are arranged at the tops of the cross arm transverse guide seats, inner sleeves are arranged inside the outer sleeves in a matched mode, cross arm gear rings are arranged on the inner peripheries of the inner sleeves, a cross arm driving motor is arranged on the cross arm transverse guide seats inside the inner sleeves, a cross arm driving gear meshed with the cross arm gear rings is arranged on an output shaft of the cross arm driving motor, rotary barrels are fixedly arranged on the inner sleeves, and cross arm shafts are arranged on four side faces of each rotary barrel, and a cross arm traveling hydraulic cylinder is further installed at one end of the cross arm base, and a piston rod of the cross arm traveling hydraulic cylinder is hinged to the cross arm transverse moving seat. The cross arm shaft is provided with a cross arm round key and a cutter fixing plate, the cross arm round key and the cutter fixing plate are arranged along the length direction of the cross arm shaft, the cross arm round key is located at the upper end of the cross arm shaft, the cutter fixing plate is located on two sides of the cross arm round key, one end of the cross arm shaft is detachably connected with the rotary barrel through a shaft end flange, and a cross arm positioning pin is installed on the end face of the other end of the cross arm shaft. The cross arm knife loading and unloading device for the automatic knife changing system of the slitting shear comprises two steel pipe upright posts which are vertically arranged, a knife unloading device fixing frame which is horizontally arranged is installed on each steel pipe upright post, a knife unloading device longitudinal beam plate which is longitudinally arranged is arranged at the bottom of the knife unloading device fixing frame, a knife unloading device moving rack which can move along the length direction of the knife unloading device longitudinal beam plate is arranged at the bottom of the knife unloading device longitudinal beam plate, a knife unloading device longitudinal moving slide block is installed at the top of the knife unloading device moving rack, a knife unloading device longitudinal moving slide rail which is matched with the knife unloading device longitudinal moving slide block is arranged at the bottom of the knife unloading device longitudinal beam plate, a knife unloading device longitudinal rack is also arranged on the knife unloading device longitudinal beam plate, the knife unloading device longitudinal rack and the knife unloading device longitudinal moving slide rail are arranged in parallel, a knife unloading device driving motor is installed on the knife unloading device moving rack, and a knife unloading device driving gear which is matched with the knife unloading device longitudinal rack is installed on the output, the utility model discloses a cutter device, including unloading cutter device, unloading cutter device and removing the frame, unload to install two sets of cutter device on the interior curb plate of cutter device removal frame, every group unloads the cutter device and all includes unloads the horizontal slide rail of cutter device, unloads to install on the horizontal slide rail of cutter device and unloads cutter device sideslip slider, unloads fixed mounting and unloads cutter device shift fork curb plate on the cutter device sideslip slider, the one end of unloading the cutter device shift fork curb plate is installed and is unloaded the cutter device shift fork, and the other end installation of unloading the cutter device shift fork curb plate articulates there is the cutter device push rod of unloading, unloads the cutter device locating piece of installing on the cutter device removal frame and unloading cutter device push rod matched with, unloads the one end fixed mounting cutter device stopper of unloading the cutter device locating piece is worn out to unload the cutter device push rod. The cutter dismounting device is characterized in that the cutter dismounting device fixing frame and the cutter dismounting device longitudinal beam plate are connected through a distance adjusting device, the distance adjusting device comprises an upper bottom plate and a lower bottom plate which are arranged in parallel, the upper bottom plate is welded at the bottom of the cutter dismounting device fixing frame, the lower bottom plate is welded at the top of the cutter dismounting device longitudinal beam plate, a first bolt is arranged between the upper bottom plate and the lower bottom plate, a first nut, a second nut and a third nut are sleeved on the periphery of the first bolt, the first nut is positioned on the upper portion of the upper bottom plate, the second nut is positioned on the lower portion of the upper bottom plate, the third nut is positioned on the upper portion of the lower bottom plate, first side plates are fixedly connected with the two sides of the upper bottom plate, a first slotted hole is formed in each first side plate, the second bolt is installed in the first slotted hole in a matched mode, the end portion of a stud of the second bolt is tightly attached to the lower bottom plate, and a fourth nut is sleeved on the second bolt between each first side plate and the lower bottom plate, the fourth nut is located on the inner side of the first side plate, the two ends of the lower base plate are fixedly connected with second side plates, second slotted holes are formed in the second side plates, third bolts are installed in the second slotted holes in a matched mode, the end portions of the studs of the third bolts are tightly attached to the upper base plate, fifth nuts are sleeved on the third bolts between the second side plates and the upper base plate, and the fifth nuts are located on the inner sides of the second side plates. The robot for the automatic tool changing system of the slitting machine comprises a large bottom plate and an upper top plate which are horizontally arranged, the large bottom plate is connected with the upper top plate through a main frame upright post, a rotating frame is further arranged between the large bottom plate and the upper top plate and comprises a rotating frame upper plate and a rotating frame lower plate, the rotating frame upper plate is connected with the rotating frame lower plate through a rectangular tube, an upper rotating seat is mounted between the rotating frame upper plate and the upper top plate, a rotary driving motor is arranged in the upper rotating seat, a lower rotating seat is mounted between the rotating frame lower plate and the large bottom plate, a robot stepping motor is further mounted at one end of the rotating frame upper plate, a lead screw is mounted on an output shaft of the robot stepping motor, the lead screw is arranged in parallel to the rectangular tube, a vertical slide rail of the robot is mounted on the rectangular tube, a vertical slide block of the robot is mounted on the vertical slide rail of the robot in a matched manner, and a vertical slide plate of the robot is fixedly mounted on the vertical slide block of the robot, the robot erects to move one side of slide and installs the nut of robot with lead screw matched with, and the robot erects to move the opposite side of slide and installs the manipulator assembly, the manipulator assembly includes first electronic slip table and the electronic slip table of second, installs the robot round key on the movable plate of first electronic slip table, installs the electronic slip table of third on the movable plate of the electronic slip table of second, install pneumatic chuck on the movable plate of the electronic slip table of third, install on pneumatic chuck's the jack catch and grab the pole. The robot of manipulator assembly periphery erects to move installs the guard shield on the slide, robot motor power is installed to the one end of big bottom plate, and the bottom installation robot of big bottom plate indulges and moves the slider, and the top of going up the roof is equipped with safety arrangement, safety arrangement is equipped with the protection leading wheel including the protection bottom plate on the protection bottom plate.

The utility model has the advantages of: the utility model relates to an automatic tool changing system of a slitting machine, which comprises a special tool magazine of the automatic tool changing system of the slitting machine, a rotary cross arm for the automatic tool changing system of the slitting machine, a tool retracting device of the slitting machine for the automatic tool changing system of the slitting machine, a cross arm assembling and disassembling device for the automatic tool changing system of the slitting machine and a robot for the automatic tool changing system of the slitting machine, the labor intensity is reduced, simultaneously the cutter arrangement precision is effectively ensured, the cutter changing efficiency is improved, the quality of a cut finished product is ensured, and the cutter can also play an effective protection role in the transferring, mounting and storing processes of the cutter, also improved the life of cutter to a certain extent, compared in traditional tool changing operation and also reduced the cost of formation by a wide margin, in addition tool changing system still have the advantage that the tool changing precision is high, easy and simple to handle and the practicality is strong, be favorable to obtaining further popularization in slitting machine tool changing technical field.

Drawings

Fig. 1 is a schematic three-dimensional structure of the present invention; FIG. 2 is a front view of the slitting machine retracting device; FIG. 3 is a top view of FIG. 2; FIG. 4 is a schematic three-dimensional structure of a moving frame assembly; FIG. 5 is an enlarged view of the cross-sectional view taken along line A-A of FIG. 2; FIG. 6 is a sectional view taken along line B-B of FIG. 5; FIG. 7 is an enlarged partial view of I of FIG. 5; FIG. 8 is an enlarged partial view of II of FIG. 4; FIG. 9 is a schematic view of the slitting machine with the retracting device mounted thereon; FIG. 10 is a schematic view of the slitting machine tool retracting device using the slitting machine rotating cross arm to change tools; FIG. 11 is a schematic three-dimensional view of the retracting device of the slitting machine; FIG. 12 is a schematic three-dimensional structure of a special tool magazine; FIG. 13 is a front view of the specialized tool magazine; FIG. 14 is a cross-sectional view taken along line C-C of FIG. 13; FIG. 15 is a schematic three-dimensional view of the tool holder mounted on the upright post of the tool magazine of the spindle base; FIG. 16 is an enlarged partial view of III of FIG. 13; FIG. 17 is an enlarged partial view of IV in FIG. 13; FIG. 18 is a schematic view showing a state in which a tool is hung on a tool rest, the tool being shown by a broken line; FIG. 19 is a schematic three-dimensional structure of a rotating cross arm; FIG. 20 is a front view of the rotating cross arm; FIG. 21 is an enlarged view taken along line D-D of FIG. 20; FIG. 22 is an enlarged view taken along line E-E in FIG. 20; FIG. 23 is an enlarged partial view of V in FIG. 19; FIG. 24 is an enlarged partial view of VI of FIG. 20; FIG. 25 is a schematic three-dimensional view of the cross arm loading and unloading blade assembly; FIG. 26 is a front view of the cross arm loading and unloading blade assembly; FIG. 27 is a top view of FIG. 26; FIG. 28 is a left side view of FIG. 26; FIG. 29 is an enlarged view in section along F-F in FIG. 28; FIG. 30 is a schematic view showing the structure of the distance adjusting means; FIG. 31 is a schematic three-dimensional structure of a robot; FIG. 32 is a front view of the robot; FIG. 33 is a schematic view of the structure of the upper plate and the upper top plate of the rotating frame; FIG. 34 is a schematic view of the construction of the lower plate and large base plate of the swivel frame; FIG. 35 is an enlarged view taken along line G-G of FIG. 32; FIG. 36 is a schematic view of the construction of the robot assembly; FIG. 37 is an enlarged partial view of VII of FIG. 36; FIG. 38 is a schematic view of the robot in engagement with the rotating cross arm; fig. 39 is a schematic view of the state in which the robot is engaged with the tool post.

Detailed Description

The utility model relates to an automatic tool changing system of a slitting machine, as shown in figure 1, comprising a special tool magazine 1 for an automatic tool changing system of the slitting machine, a rotary cross arm 2 for the automatic tool changing system of the slitting machine, a retracting device 3 for the slitting machine of the automatic tool changing system of the slitting machine, a mounting and dismounting device 4 for the cross arm of the automatic tool changing system of the slitting machine and a robot 5 for the automatic tool changing system of the slitting machine, wherein the retracting device 3 for the slitting machine of the automatic tool changing system of the slitting machine is arranged on the slitting machine and can realize the mounting and dismounting of tools on the slitting machine, the special tool magazine 1 for the automatic tool changing system of the slitting machine is used for storing the tools needed by the slitting machine, the robot 5 for the automatic tool changing system of the slitting machine is arranged in the special tool magazine 1 for the automatic tool changing system of the slitting machine, the mounting, the storing or taking of the tools in the special tool magazine 1 for the automatic tool changing system of the slitting machine is realized, the mounting and dismounting device 4 for the cross arm is arranged on the special tool magazine 1 for the automatic tool changing system of the slitting machine, the automatic tool changing system is used for realizing the transfer of tools between the rotary cross arm 2 for the automatic tool changing system of the slitting machine and the robot 5 for the automatic tool changing system of the slitting machine, and the rotary cross arm 2 for the automatic tool changing system of the slitting machine can realize the transfer of the tools between the retracting device 3 of the slitting machine of the automatic tool changing system of the slitting machine and the special tool magazine 1 of the automatic tool changing system of the slitting machine.

Slitting machine tool retracting device 3 of automatic tool changing system of slitting machine, as shown in fig. 11 and fig. 2, including portal frame assembly and moving frame assembly, portal frame assembly is including four vertical portal frame stands 30 that set up, and rectangular frame 31 is installed on the top of portal frame stand 30 as supporting to portal frame stand 30, as shown in fig. 3, be equipped with two parallel arrangement's portal frame crossbeam 32 in the rectangular frame 31, the moving frame assembly is installed to the bottom of portal frame crossbeam 32, and moving frame assembly can move along the length direction of portal frame crossbeam 32.

As shown in fig. 4, the moving frame assembly includes a horizontally disposed frame beam 33, shift fork back plates 34 vertically disposed are mounted at both ends of the frame beam 33, a tool retracting device traverse sliding block 35 is mounted on the frame beam 33, a tool retracting device traverse sliding rail 36 matched with the tool retracting device traverse sliding block 35 is disposed at the bottom of the gantry beam 32, a tool retracting device rack 37 is further mounted on the frame beam 33, the tool retracting device rack 37 is arranged along the length direction of the frame beam 33, a tool retracting device hydraulic motor 38 is fixedly mounted between the two gantry beams 32, as shown in fig. 5, a tool retracting device drive gear 39 matched with the tool retracting device rack 37 is mounted on an output shaft of the tool retracting device hydraulic motor 38, and when the tool retracting device hydraulic motor 38 is started, the moving frame assembly can be driven to move along the tool retracting device traverse sliding rail 36.

As shown in fig. 9, the gantry upright 30 is fixedly mounted on the slitting machine base 319, the slitting machine main unit 320 on the slitting machine base 319 is located inside the shifting fork back plate 34, the reciprocating movement of the moving frame assembly does not interfere with the slitting machine main unit 320, the first shifting fork claw 301 is mounted on the inner side surface of the shifting fork back plate 34 at one end, the first shifting fork claw 301 is located at two sides of the slitting machine main shaft 321, and when the first shifting fork claw 301 moves along with the moving frame assembly, the cutter on the slitting machine main shaft 321 can be integrally dismounted. As shown in fig. 5 and 6, a vertically arranged shifting fork slide 302 is installed on the inner side surface of the shifting fork back plate 34 at the other end, a U-shaped shifting fork 303 is installed in the shifting fork slide 302 in a matched manner, a second shifting fork claw 304 is installed on the U-shaped shifting fork 303, a tool retracting device hydraulic cylinder 305 is further installed on the shifting fork back plate 34 corresponding to the position of the U-shaped shifting fork 303, a cylinder body of the tool retracting device hydraulic cylinder 305 is hinged to the shifting fork back plate 34, a piston rod of the tool retracting device hydraulic cylinder 305 is hinged to the U-shaped shifting fork 303, the tool retracting device hydraulic cylinder 305 is started to realize the lifting of the U-shaped shifting fork 303, and when the second shifting fork claw 304 is lowered to the positions on the two sides of the slitting machine main shaft 321, the movable frame is always assembled to move in.

The special tool magazine 1 for the automatic tool changing system of the slitting machine is shown in fig. 12 and comprises a tool magazine bottom plate 10, tool magazine side plates 11 which are vertically arranged are mounted on two sides of the tool magazine bottom plate 10, a tool magazine top plate 12 covers the upper portions of the tool magazine side plates 11, tool magazine door plates 13 which are vertically arranged are mounted at two ends of the tool magazine bottom plate 10, the tool magazine side plates 11, the tool magazine top plate 12 and the tool magazine door plates 13 can form a closed box body, and a protection effect is achieved on matched facilities such as tool sleeves and the like which are placed inside the tool magazine.

The method is characterized in that cutters are respectively placed on tool magazine side plates 11 on two sides of a special tool magazine 1 for an automatic tool changing system of a slitting shear, as shown in figure 14, a plurality of vertically arranged tool magazine stand columns 14 are respectively installed inside each tool magazine side plate 11, each tool magazine stand column 14 is located between a tool magazine bottom plate 10 and a tool magazine top plate 12, a tool magazine cross support 15 is fixedly connected between every two tool magazine stand columns 14, the tool magazine cross supports 15 are arranged along the length direction of the tool magazine side plates 11, vertically arranged shaft seat tool magazine stand columns 16 are installed on the tool magazine cross supports 15, the shaft seat tool magazine stand columns 16 are located between the tool magazine bottom plates 10 and the tool magazine top plates 12, the shaft seat tool magazine stand columns 16 are parallel to the tool magazine stand columns 14, the tool magazine side plates 11 are vertically and sequentially arranged, the distance between every two shaft seat tool magazine stand columns 16 is the same, a plurality of horizontally arranged tool rests 17 are installed on each tool magazine stand column 16, as shown in fig. 15, a tool magazine round key 18 is fittingly installed on the tool rest 17, the tool magazine round key 18 can be fittingly installed with a groove 110 inside the tool, as shown in fig. 18, to realize the stable hanging of the tool on the tool rest 17, as shown in fig. 14, the tool rest 17 is equidistantly installed in a plurality of rows and a plurality of columns on the tool magazine side plate 11, so as to realize the classified storage of different types of tools or tool cases.

The rotary cross arm 2 for the automatic tool changing system of the slitting machine is shown in fig. 19 and fig. 20 and comprises a cross arm base 20, cross arm transverse guide rails 21 are mounted at positions on two sides of the cross arm base 20, the cross arm transverse guide rails 21 are arranged along the length direction of the cross arm base 20, cross arm transverse moving seats 22 capable of moving along the cross arm transverse guide rails 21 are mounted on the cross arm transverse guide rails 21 on the two sides, and cross arm transverse sliding blocks 23 matched with the cross arm transverse guide rails 21 are arranged at the bottoms of the cross arm transverse moving seats 22. As shown in fig. 21, an outer race 24 is mounted on the top of the cross arm lateral moving seat 22, an inner race 25 is fittingly mounted inside the outer race 24, a cross arm gear ring 26 is provided on the inner circumference of the inner race 25, a cross arm driving motor 27 is mounted on the cross arm lateral moving seat 22 inside the inner race 25, a cross arm driving gear 28 engaged with the cross arm gear ring 26 is mounted on an output shaft of the cross arm driving motor 27, and the cross arm driving motor 27 is activated so that the inner race 25 can rotate inside the outer race 24. The inner ring 25 is also fixedly provided with a rotary cylinder 29, the rotary cylinder 29 is positioned at the upper part of the outer ring 24, four side surfaces of the rotary cylinder 29 are respectively provided with a cross arm shaft 201, the cross arm shafts 201 are used for mounting cutters and cutter sleeves required by different processes, the mounting angle between every two adjacent cross arm shafts 201 is 90 degrees, the four cross arm shafts 201 are arranged in a cross shape on the whole device, the selection of different cross arm shafts 201 is realized through the rotation of the rotary cylinder 29, and therefore the replacement operation of cutters with different process types is completed. A cross arm traveling hydraulic cylinder 202 is further installed at one end of the cross arm base 20, a piston rod of the cross arm traveling hydraulic cylinder 202 is hinged to the cross arm cross-sliding seat 22, and the cross arm traveling hydraulic cylinder 202 can serve as a power source to drive the cross arm cross-sliding seat 22 to move on the cross arm transverse guide rail 21.

The cross arm knife loading and unloading device 4 for the automatic knife changing system of the slitting machine comprises two steel pipe upright posts 40 which are vertically arranged, the steel pipe upright posts 40 are arranged on a special tool magazine 1 for the automatic knife changing system of the slitting machine, a knife unloading device fixing frame 41 which is horizontally arranged is arranged on the steel pipe upright posts 40, a knife unloading device longitudinal beam plate 42 which is longitudinally arranged is arranged at the bottom of the knife unloading device fixing frame 41, a knife unloading device moving rack 43 which can move along the length direction of the knife unloading device longitudinal beam plate 42 is arranged at the bottom of the knife unloading device longitudinal beam plate 42, a knife unloading device longitudinal moving slide block 44 is arranged at the top of the knife unloading device moving rack 43 as shown in figures 27 and 28, a knife unloading device longitudinal moving slide rail 45 which is matched with the knife unloading device longitudinal moving slide block 44 is arranged at the bottom of the knife unloading device longitudinal beam plate 42, a knife unloading device longitudinal rack 46 is also arranged on the knife unloading device longitudinal beam plate 42, the longitudinal rack 46 of the knife unloading device and the longitudinal rack 46 of the knife unloading device are arranged in parallel, wherein the longitudinal rack 45 of the knife unloading device and the longitudinal rack 46 of the knife unloading device are both arranged along the length direction of the longitudinal beam plate 42 of the knife unloading device, a knife unloading device driving motor 47 is arranged on the moving frame 43 of the knife unloading device, a knife unloading device driving gear 48 matched with the longitudinal rack 46 of the knife unloading device is arranged on the output shaft of the knife unloading device driving motor 47, and the knife unloading device moving frame 43 can be driven to move along the length direction of the longitudinal rack 45 of the knife unloading device relative to the longitudinal beam plate 42 of the knife unloading device when the knife unloading device driving motor 47 is started.

As shown in fig. 29, two sets of knife unloading devices are installed on the inner side plate of the knife unloading device moving frame 43, each set of knife unloading device includes a knife unloading device transverse slide rail 49, a knife unloading device transverse slide block 401 is installed on the knife unloading device transverse slide rail 49 in a matching manner, a knife unloading device shifting fork side plate 402 is fixedly installed on the knife unloading device transverse slide block 401, a knife unloading device shifting fork 403 is installed at one end of the knife unloading device shifting fork side plate 402, a knife unloading device push rod 404 is hinged to the other end of the knife unloading device shifting fork side plate 402 in an installing manner, a knife unloading device positioning block 405 matched with the knife unloading device push rod 404 is installed on the knife unloading device moving frame 43, and a knife unloading device limiting block 406 is fixedly installed at one end of the knife unloading device push rod 404, which penetrates through the knife unloading device positioning block 405. Wherein the fork side plate 402 is cylinder driven.

The robot 5 for the automatic tool changing system of the slitting machine is positioned in the tool magazine 1 special for the automatic tool changing system of the slitting machine, as shown in fig. 31 and fig. 32, the robot comprises a large bottom plate 50 and an upper top plate 51 which are horizontally arranged, the large bottom plate 50 and the upper top plate 51 are connected through a main frame upright post 52, wherein the main frame upright post 52 is positioned at one side of the rear ends of the large bottom plate 50 and the upper top plate 51, a rotating frame is further arranged at the front end between the large bottom plate 50 and the upper top plate 51 and comprises a rotating frame upper plate 53 and a rotating frame lower plate 54, the rotating frame upper plate 53 and the rotating frame lower plate 54 are connected through a rectangular pipe 55, and the rectangular pipe 55 is parallel to the main frame upright post 52.

As shown in fig. 33, an upper swivel base 56 is installed between the upper plate 53 of the swivel frame and the upper top plate 51, a swivel driving motor 57 is installed in the upper swivel base 56, as shown in fig. 34, a lower swivel base 58 is installed between the lower plate 54 of the swivel frame and the large bottom plate 50, and the swivel driving motor 57 can be activated to drive the swivel frame to rotate between the large bottom plate 50 and the upper top plate 51. A robot stepping motor 59 is further mounted at one end of the rotating frame upper plate 53, a lead screw 501 is mounted on an output shaft of the robot stepping motor 59, the lead screw 501 is arranged in parallel with the rectangular tube 55, as shown in fig. 35, a robot vertical slide rail 502 is mounted on the rectangular tube 55, a robot vertical slide block 503 is mounted on the robot vertical slide rail 502 in a matching manner, a robot vertical slide plate 504 is fixedly mounted on the robot vertical slide block 503, a robot nut 505 matched with the lead screw 501 is mounted on one side of the robot vertical slide plate 504, a manipulator assembly is mounted on the other side of the robot vertical slide plate 504, and the robot stepping motor 59 is started to drive the robot vertical slide plate 504 and the manipulator assembly thereon to vertically lift along the robot vertical slide rail 502, so that the height position of the manipulator assembly is adjusted to achieve taking or placing of a tool and a tool holder.

As shown in fig. 36, the robot assembly includes a first electric sliding table 506 and a second electric sliding table 507, a robot round key 508 is installed on a moving plate of the first electric sliding table 506, a third electric sliding table 509 is installed on a moving plate of the second electric sliding table 507, a pneumatic chuck 510 is installed on a moving plate of the third electric sliding table 509, a gripping rod 511 is installed on a jaw of the pneumatic chuck 510, wherein the robot round key 508 can be matched with a groove in a tool to transfer the tool to the moving plate of the first electric sliding table 506, the pneumatic chuck 510 can control the expansion and contraction of the gripping rod 511 to adjust the diameter range of the periphery of the gripping rod 511 to adapt to tools or tool sleeves with different diameters so as to push or pull back the tool to take or place the tool, since the pneumatic chuck 510 is driven by the second electric sliding table 507 and the third electric sliding table 509, the stroke of the gripping rod 511 is also significantly increased, the tool or the tool sleeve can be conveniently pulled back to the moving plate of the first electric sliding table 506 by extending into the tool placing position, namely the tool rest 17.

When the automatic tool changing system of the slitting machine carries out tool changing operation, the specific operation steps between the systems are as follows:

1. the automatic tool changing system of slitting machine moves back sword device 3 and the automatic tool changing system of slitting machine is changed with the dismouting of cutter between the rotatory cross arm 2:

the action of the slitting machine tool retracting device 3 of the automatic tool changing system of the slitting machine is as follows: as shown in fig. 10, the rotary cross arm 2 for the automatic tool changing system of the slitting machine is used for pre-hanging and arranging the tools, the main machine 320 of the slitting machine on the side where the U-shaped shifting fork 303 is installed is firstly removed to expose the end face of the main shaft 321 of the slitting machine, then the optical axis of the rotary cross arm 2 for the automatic tool changing system of the slitting machine is moved to be in butt joint with the main shaft 321 of the slitting machine, the hydraulic motor 38 of the tool retracting device is started to drive the moving frame to be assembled and move towards the direction of the rotary cross arm 2 for the automatic tool changing system of the slitting machine, the first shifting fork claw 301 can push the tools on the main shaft 321 of the slitting machine onto the cross arm shaft 201 during moving, and unloading of the tools is completed, in the above process, the position of the U-shaped shifting fork 303 is shown in fig. 5, and the movement of the second shifting fork claw 304 does not interfere with the tools and the cross arm shaft 201. Then the rotary cross arm 2 for the automatic tool changing system of the slitting machine is withdrawn from the movable frame assembly, the rotary cross arm 2 for the automatic tool changing system of the slitting machine is rotated to align the cross arm shaft 201 hung with the tool to be installed with the main shaft 321 of the slitting machine, the rotary cross arm 2 for the automatic tool changing system of the slitting machine is moved to be close to the main shaft 321 of the slitting machine until the cross arm shaft 201 passes through the U-shaped shifting fork 303 to be in butt joint with the main shaft 321 of the slitting machine, the tools on the cross arm shaft 201 are all positioned at the inner side position of the U-shaped shifting fork 303 at the moment, then the height position of the U-shaped shifting fork 303 is adjusted through the tool withdrawing device hydraulic cylinder 305, the second shifting fork claw 304 is lowered to be level with the first shifting fork claw 301, the second shifting fork claw 304 cannot interfere with the tools in the lowering process, then the tool withdrawing device hydraulic motor 38 is started to rotate reversely, the movable frame assembly is driven to enter the portal frame assembly, and meanwhile, the second shifting fork claw 304 pushes the tools on the cross arm shaft 201 to the main shaft 321 of the slitting machine, and (3) realizing the installation of the cutter, and finally lifting the U-shaped shifting fork 303 to the initial position shown in fig. 5, wherein the slitting machine main machine 320 is installed on the slitting machine main shaft 321.

The action of the rotary cross arm 2 for the automatic tool changing system of the slitting machine is as follows: when the tool changing operation is carried out, firstly, the cross arm driving motor 27 is started, the cross arm shaft 201 without the tool is rotated to the position corresponding to the main shaft 321 of the slitting machine, then, the cross arm walking hydraulic cylinder 202 is started, the cross arm transverse moving seat 22 and the cross arm shaft 201 on the cross arm transverse moving seat are pushed to move towards the direction close to the slitting machine until the cross arm shaft 201 without the tool is connected with the main shaft 321 of the slitting machine, the tool on the main shaft 321 of the slitting machine is pushed onto the cross arm shaft 201 after the connection, after the tool removing operation is completed, the hydraulic cylinder of the cross arm walking hydraulic cylinder 202 is retracted for a distance, the cross arm shaft 201 is separated from the main shaft 321 of the slitting machine, the cross arm driving motor 27 is started again to drive the rotary cylinder 29 to rotate, the cross arm shaft 201 with the tool required by the process is rotated to be aligned with the main shaft 321 of the slitting machine, the cross arm walking hydraulic cylinder 202 pushes out a piston rod to enable the cross arm shaft 201 to be in butt joint with the slitting machine main shaft 321, then tools needed by the process are pushed onto the slitting machine main shaft 321 from the cross arm shaft 201, then the tool changing cross arm device is reset, the cross arm shaft 201 with the tools unloaded can serve as an optical axis of next tool changing operation, and therefore tool changing operation of the slitting machine is completed.

2. Cutter between rotary cross arm 2 for automatic cutter changing system of slitting machine and cross arm loading and unloading cutter device 4 for automatic cutter changing system of slitting machineThe disassembly, the assembly and the replacement: when the tool is not removed, the unclamping device fork 403 is completely positioned at the rear side of the movable frame 43, and when the cross arm shaft 201 is rotated to a position at the side of the movable frame 43, the movable frame 43 is first advanced to the end position of the cross arm shaft 201,then the push rod 404 of the knife unloading device is positioned towards the knife unloading device positioning block The position 405 is pushed out until the groove on the shifting fork 403 of the knife unloading device is matched with the cross arm shaft 201Then, the knife discharging device moving frame 43 moves towards the other end of the cross arm shaft 201 along the knife discharging device longitudinal beam plate 42, the knife on the cross arm shaft 201 can be discharged by the knife discharging device shifting fork 403, and the knife can be sleeved on the optical axis of the cross arm by the knife discharging device shifting fork 403 moving in the opposite direction, so that the knife on the cross arm shaft 201 can be dismounted.

3. Realize through the automatic tool changing system of slitting machine with robot 5 that the dismouting of cutter is changed between automatic tool changing system of slitting machine with rotatory cross arm 2 and the automatic tool changing system special tool magazine 1 of slitting machine:

firstly, when the tools and the tool sleeves on the cross arm shaft 201 need to be unloaded and transferred to the tool rest 17 in the tool magazine 1 special for the automatic tool changing system of the slitting machine: firstly, a rotary driving motor 57 is started to drive a manipulator assembly to rotate to the position of the cross arm shaft 201 in the length direction, a moving plate of a first electric sliding table 506 extends out to be butted with the cross arm shaft 201, then a cutter, a cutter sleeve and the like on the cross arm shaft 201 are transferred to the moving plate of the first electric sliding table 506 through a cross arm loading and unloading cutter device 4 of an automatic cutter changing system of a slitting machine, then the moving plate of the first electric sliding table 506 retracts, the outer peripheral diameter of a grabbing rod 511 is smaller than the inner peripheral diameter of the cutter and the cutter sleeve at the moment, the normal retraction of the cutter moving plate is not influenced, after the retracting is in place, the rotary driving motor 57 drives the manipulator assembly to rotate for a certain angle to the position of the length direction of a cutter holder 17 in a cutter warehouse, the extending moving plate with the cutter and the cutter sleeve is butted with the cutter holder 17, after the cutter is separated from the grabbing rod 511, a pneumatic chuck 510 drives the grabbing rod 511 to extend out until the outer peripheral diameter of the grabbing rod 511 is larger than the outer peripheral diameter of the cutter, then, the moving plates on the second electric sliding table 507 and the third electric sliding table 509 drive the grabbing rod 511 to extend out together, so that the cutter and the cutter sleeve on the moving plate of the first electric sliding table 506 are pushed onto the cutter frame 17.

Secondly, when the tools, tool sleeves and the like on the tool rest 17 need to be transferred to the cross arm shaft 201: after the first electric sliding table 506 rotates to the position of the length direction of the tool rest 17, the moving plate of the first electric sliding table 506 extends to butt with the tool rest 17, at this time, the outer circumference of the grabbing rod 511 is smaller than the inner circumference of the tool to be taken, the second electric sliding table 507 drives the third electric sliding table 509 and the grabbing rod 511 to extend into the position of the tool rest 17, the pneumatic chuck 510 drives the grabbing rod 511 to extend until the outer circumference of the grabbing rod 511 is larger than the outer circumference of the tool, then the second electric sliding table 507 drives the third electric sliding table 509 and the grabbing rod 511 to be recovered, the tool and the tool sleeve on the tool rest 17 are pulled back to the moving plate of the first electric sliding table 506, after the tool is taken, the pneumatic chuck 510 drives the grabbing rod 511 to retract until the outer circumference of the grabbing rod 511 is smaller than the inner circumference of the tool, the first electric sliding table 506, the second electric sliding table 507 and the third electric sliding table 509 are all recovered to the original positions, then the rotary driving motor 57 starts to drive the manipulator assembly to rotate to the position of the length direction of the cross arm shaft 201, the moving plate of the first electric sliding table 506 extends out to be in butt joint with the cross arm shaft 201, and finally, the cross arm loading and unloading device 4 is used for transferring the cutter and the cutter sleeve to the cross arm shaft 201 through the automatic cutter changing system of the slitting machine.

To sum up: when the cutter unloading operation is carried out, firstly, a cutter to be unloaded on a cross arm shaft 201 is transferred onto the cross arm shaft 201 by a slitting machine retracting device 3 of the slitting machine automatic cutter changing system, then, the slitting machine automatic cutter changing system moves to be in butt joint with a cross arm loading and unloading device 4 for the slitting machine automatic cutter changing system by a rotary cross arm 2, the cutter disassembled on the cross arm shaft 201 is transferred onto a robot 5 for the slitting machine automatic cutter changing system by the cross arm loading and unloading device 4 for the slitting machine automatic cutter changing system, and finally, the cutter is transferred onto a cutter rest 17 in a special tool magazine 1 for the slitting machine automatic cutter changing system by the robot 5 for the slitting machine automatic cutter changing system, so that the cutter unloading is completed.

When the operation of feeding the cutter is carried out, the robot 5 for the automatic cutter changing system of the slitting machine takes out the required cutter from the special tool magazine 1 for the automatic cutter changing system of the slitting machine, the cutter on the robot is arranged on the rotary cross arm 2 for the automatic cutter changing system of the slitting machine through the cross arm assembling and disassembling device 4 for the automatic cutter changing system of the slitting machine, the rotary cross arm 2 for the automatic cutter changing system of the slitting machine is moved to be in butt joint with the spindle 321 of the slitting machine, and the cutter to be arranged is transferred to the spindle 321 of the slitting machine from the cross arm shaft 201 by the retracting device 3 for the slitting machine of the automatic cutter changing system of the slitting machine, so that the operation of feeding the cutter is completed.

In order to change the in-process of cutter, be convenient for prescribe a limit to the high position of U type shift fork 303 to realize going on smoothly of tool changing, as shown in fig. 7, corresponding to the position of U type shift fork 303, install the limit switch mounting groove 306 of vertical setting on shift fork backplate 34, be equipped with first limit switch 307 and second limit switch 308 in the limit switch mounting groove 306, wherein first limit switch 307 is located second limit switch 308 upside, tool retracting device locating piece 309 is installed at the top of U type shift fork 303, tool retracting device locating piece 309 can be detected by first limit switch 307 and second limit switch 308 and discern. As shown in fig. 7, after the first limit switch 307 recognizes the tool retracting device positioning block 309, the tool retracting device hydraulic cylinder 305 is controlled to fix the U-shaped shifting fork 303 at the height position shown in fig. 4 and 5, at this time, the second shifting fork claw 304 does not interfere with the slitting machine main shaft 321, when a tool needs to be mounted, the tool retracting device hydraulic cylinder 305 controls the U-shaped shifting fork 303 to move down to the second limit switch 308 to recognize the tool retracting device positioning block 309, at this time, the second shifting fork claw 304 is at the same height position as the first shifting fork claw 301, and when the moving frame assembly reversely enters the portal frame assembly, the second shifting fork claw 304 can push the tool onto the slitting machine main shaft 321 to implement the tool mounting operation.

Further, in order to move relative portal frame assembly at moving frame assembly, the wire on the whole device can not exert an influence on normal tool changing operation, install tool retracting device tow chain 310 on the portal frame crossbeam 32, the wire all is located tool retracting device tow chain 310, installs the tool retracting device tow chain support 311 of vertical setting on the shift fork backplate 34, and tool retracting device tow chain support 311 one end is fixed in the top position of shift fork backplate 34, and the other end and the tool retracting device tow chain 310 tip fixed connection of tool retracting device tow chain support 311, when moving frame assembly moved, tool retracting device tow chain support 311 can drive tool retracting device tow chain 310 and move thereupon.

Further, in order to improve the strength of the shifting fork back plates 34 and ensure that the shifting fork back plates 34 at two ends can move synchronously and enhance the connection performance between the shifting fork back plates 34 at two ends, reinforcing rib plates 312 are mounted on the outer side surfaces of the shifting fork back plates 34, tool retracting device side beams 313 are connected between the reinforcing rib plates 312 at two ends, two ends of the tool retracting device side beams 313 are connected with the reinforcing rib plates 312 through vertical height adjusting devices so as to adjust the mounting height positions of the tool retracting device side beams 313 on the shifting fork back plates 34, as shown in fig. 8, each vertical height adjusting device comprises a tool retracting device end block 314 fixed at the end parts of the tool retracting device side beams 313, a vertically arranged tool retracting device screw 315 is mounted in the tool retracting device end block 314, an ear plate 316 is mounted on the reinforcing rib plate 312, an adjusting disc 317 is mounted at one end of the tool retracting device screw 315, which penetrates through the ear plate 316, inner rings of the adjusting disc 317 are provided with inner threads matched with the tool retracting device screw 315, the adjusting disc 317 is rotated to lift the screw 315 of the tool retracting device, so as to adjust the height position of the side beam 313 of the tool retracting device. The outer periphery of a tool retracting device screw 315 between the tool retracting device end block 314 and the lug plate 316 is further sleeved with a tool retracting device fastening nut 318, after the height position of the tool retracting device screw 315 is adjusted, the tool retracting device fastening nut 318 is screwed to the bottom of the lug plate 316, the tool retracting device screw 315 can be clamped in the lug plate 316, the verticality of the tool retracting device screw 315 is further kept, and the situations of deformation and the like are prevented.

Further, in order to strengthen the installation strength of the shaft seat tool magazine upright post 16 on the tool magazine side plate 11, a first supporting leg assembling plate 19 is welded between the lower end of the shaft seat tool magazine upright post 16 and the tool magazine bottom plate 10, a second supporting leg assembling plate 101 is welded between the upper end of the shaft seat tool magazine upright post 16 and the tool magazine top plate 12, the supporting leg assembling plates can be existing welding angle steel, the vertical degree of the shaft seat tool magazine upright post 16 is guaranteed, and meanwhile, the connection strength between the shaft seat tool magazine upright post 16 and the tool magazine bottom plate 10 and the tool magazine top plate 12 is improved.

Further, in order to enhance the connection strength between the upright posts 16 of the tool magazine of the shaft seat and ensure that the distance between every two upright posts 16 of the tool magazine of the shaft seat is the same, as shown in fig. 15, a side tie bar 102 is installed between every two upright posts 16 of the tool magazine of the shaft seat, the length of the side tie bar 102 is equal, and the side tie bar 102 is arranged in parallel with the cross brace 15 of the tool magazine and is perpendicular to the tool rest 17.

In order to facilitate the installation of the tool magazine round key 18 on the tool rest 17, as shown in fig. 15, a tool magazine key slot 103 matched with the tool magazine round key 18 is formed in the tool rest 17, a blocking ring 104 is sleeved on the periphery of the tool rest 17 between the tool magazine round key 18 and the shaft seat tool magazine upright post 16, one end face of the blocking ring 104 is in contact with the shaft seat tool magazine upright post 16, the other end face of the blocking ring 104 is in contact with the tool magazine round key 18, and the blocking ring 104 is arranged to play a certain limiting role in the installation of the tool magazine round key 18.

Further, as shown in fig. 16 and 17, two first tool magazine slide rails 105 are installed at the middle position on the tool magazine base plate 10, the first tool magazine slide rails 105 are arranged along the length direction of the tool magazine base plate 10, a tool magazine rack 106 is arranged between the first tool magazine slide rails 105, the tool magazine rack 106 is arranged in parallel with the first tool magazine slide rails 105 and corresponds to the position of the tool magazine rack 106, a second tool magazine slide rail 107 is arranged on the tool magazine top plate 12, and a mechanical arm can be installed between the first tool magazine slide rails 105 and the second tool magazine slide rails 107 to automatically pick and place all tool pockets and tools in the tool magazine, or a trolley can be installed on the first tool magazine slide rails 105 to manually pick and place the tools.

As shown in fig. 13, in order to facilitate the operator to enter the interior of the tool magazine for maintenance or to manually take out and store the tools, an openable and closable door 108 is attached to the tool magazine door 13, and the tools placed on the tool magazine side plate 11 are easily taken out and stored by entering the interior of the tool magazine from the door 108. In order to match with the installation positions of different slitting machine systems, the hanging rings 109 are installed on the tool magazine top plate 12, the hanging rings 109 are hoisted through transport instruments such as a hoisting machine, so that the whole tool magazine can be transferred, the tool magazine is placed near the slitting machine system needing to replace tools, and tools are supplied to a plurality of systems at the same time.

In order to facilitate the tool to be tightly sleeved on the cross arm shaft 201, as shown in fig. 22, a cross arm round key 203 and a tool fixing plate 204 are installed on the cross arm shaft 201, the cross arm round key 203 and the tool fixing plate 204 are both arranged along the length direction of the cross arm shaft 201, wherein the cross arm round key 203 is located at the upper end of the cross arm shaft 201, the tool fixing plate 204 is located at both sides of the cross arm round key 203, and the cross arm round key 203 and the tool fixing plate 204 can be matched with a groove inside the tool to achieve the tight sleeving between the tool and the cross arm shaft 201.

One end of the cross arm shaft 201 is detachably connected with the rotary cylinder 29 through a shaft end flange 205, and a cross arm positioning pin 206 is installed on the end face of the other end of the cross arm shaft 201, as shown in fig. 23, the cross arm positioning pin 206 is arranged to facilitate accurate butt joint between the cross arm shaft 201 and the slitting machine main shaft 321, so as to ensure smooth proceeding of tool changing operation.

In order to be suitable for tool changing operation of the double-spindle slitting machine, two cross arm shafts 201 are mounted on each side face of the rotating cylinder 29, the two cross arm shafts 201 are arranged in an up-down position and can be respectively in butt joint with two spindles of the slitting machine, and therefore efficient tool changing of the double-spindle slitting machine is achieved.

Further, in order to prevent the rotation of the rotary cylinder 29 and ensure the accurate butt joint between the cross-arm shaft 201 and the main shaft 321 of the slitting machine when the cross-arm traverse seat 22 moves to the butt joint between the cross-arm shaft 201 and the main shaft 321 of the slitting machine, as shown in fig. 24, a positioning device of the rotary cylinder 29 is further installed on the cross-arm traverse seat 22, the positioning device includes a cross-arm support plate 207 fixed on the cross-arm traverse seat 22, a cross-arm positioning hydraulic cylinder 208 is installed on one end of the cross-arm support plate 207 away from the rotary cylinder 29, a cross-arm support block 209 matched with a piston rod of the cross-arm positioning hydraulic cylinder 208 is installed on one end of the cross-arm support plate 207 close to the rotary cylinder 29, and an end positioning sleeve 210 matched with the piston rod of the cross-arm positioning hydraulic cylinder 208 is installed on each side of the rotary cylinder 29 corresponding to the position of the cross-arm support block 209, the end positioning sleeve 210 is positioned at the lower end of the cross arm shaft 201, and a piston rod of the cross arm positioning hydraulic cylinder 208 can penetrate through the cross arm supporting block 209 and enter the end positioning sleeve 210 to position the rotary cylinder 29, so that accidental rotation in the butt joint process is avoided, wherein the cross arm supporting block 209 not only can play a role in guiding, but also reduces the torsion moment generated when the piston rod of the cross arm positioning hydraulic cylinder 208 is matched with the positioning sleeve 210 to a certain extent, and the service life of the cross arm positioning hydraulic cylinder 208 can be effectively prolonged.

The tool removing device fixing frame 41 and the tool removing device longitudinal beam plate 42 are connected through a distance adjusting device to achieve height position adjustment between the two, as shown in fig. 30, the distance adjusting device comprises an upper base plate 407 and a lower base plate 408 which are arranged in parallel, the upper base plate 407 is welded at the bottom of the tool removing device fixing frame 41, the lower base plate 408 is welded at the top of the tool removing device longitudinal beam plate 42, a first bolt 409 is installed between the upper base plate 407 and the lower base plate 408, a first nut 410, a second nut 411 and a third nut 412 are sleeved on the periphery of the first bolt 409, the first nut 410 is located on the upper base plate 407, the second nut 411 is located on the lower base plate 407, the third nut 412 is located on the upper base plate 408, and the height distance between the upper base plate 407 and the lower base plate 408 can be adjusted by adjusting the distance between the first nut 410, the second nut 411 and the third nut 412.

In order to avoid the change of the position relationship between the upper base plate 407 and the lower base plate 408, and further ensure that the first bolt 409 can vertically pass through the two base plates, the nut on the first bolt is convenient to rotate to adjust the relative height position, and prevents the relative movement of the upper plate 407 and the lower plate 408 from generating a shearing force to the first bolt 409, a first side plate 413 is fixedly connected to both sides of the upper base plate 407, a first slot 414 is formed in the first side plate 413, a second bolt 415 is fittingly installed in the first slot 414, the end of the second bolt 415 is tightly attached to the lower plate 408, a fourth nut 416 is sleeved on the second bolt 415 between the first side plate 413 and the lower plate 408, the fourth nut 416 is located on the inner side of the first side plate 413, and the second bolts 415 on both sides can be rotated to clamp the lower plate 408, so that the positions of the upper plate 407 and the lower plate 408 in the transverse direction are kept unchanged. Similarly, both ends of the lower bottom plate 408 are fixedly connected with second side plates 417, the second side plates 417 are provided with second long slots 418, third bolts 419 are fittingly installed in the second long slots 418, the ends of the studs of the third bolts 419 are tightly attached to the upper bottom plate 407, fifth nuts 420 are sleeved on the third bolts 419 between the second side plates 417 and the upper bottom plate 407, the fifth nuts 420 are located on the inner sides of the second side plates 417, and the upper bottom plate 407 can be clamped by rotating the third bolts 419 on both sides, so that the positions of the upper bottom plate 407 and the lower bottom plate 408 in the longitudinal direction are kept unchanged. Wherein the arrangement of the first and second long slots 414 and 418 allows the adjustment of the height position in a state where the upper and lower plates 407 and 408 are clamped to each other.

Further, in order that when unloading the relative unloading device stringer board 42 of knife device movable rack 43 and carrying out longitudinal movement, the wire on the device can not exert an influence to the normal tool changing operation on the cross arm axle 201, unload the bottom of one side of knife device mount 41 and install unloading device backup pad 421, unload and be equipped with unloading device tow chain groove 422 on the unloading device backup pad 421, unload one side position department that knife device tow chain groove 422 is located unloading device stringer board 42, the cooperation is installed in unloading device tow chain groove 422 and is unloaded knife device tow chain 423, and the wire all is located unloading device tow chain 423, unloads and installs unloading device tow chain connecting plate 424 on the knife device movable rack 43, unloads one end of knife device tow chain connecting plate 424 and unloads knife device tow chain 423 fixed connection.

Further, in order to limit the distance range of the longitudinal movement of the cutter unloading device moving frame 43 relative to the cutter unloading device longitudinal beam plate 42, the cutter unloading device longitudinal moving slide block 44 and the cutter unloading device longitudinal moving slide rail 45 are prevented from being separated, channel steel stoppers 425 are mounted at the front end portion and the rear end portion of the cutter unloading device longitudinal beam plate 42, buffer connecting plates 426 matched with the channel steel stoppers 425 are mounted at the front end portion and the rear end portion of the cutter unloading device moving frame 43, and rubber blocks 427 are mounted on the end faces of the buffer connecting plates 426 in order to prevent hard contact between the channel steel stoppers 425 and the buffer connecting plates 426.

In order to realize automatic operation, a photoelectric switch bracket 428 is fixedly arranged at the rear end position of the knife unloading device longitudinal beam plate 42, a photoelectric sensor 429 is arranged on the photoelectric switch bracket 428, an induction plate 430 is arranged on the side surface of the knife unloading device moving rack 43, the induction plate 430 can be detected by the photoelectric sensor 429, when the knife unloading device moving rack 43 moves to the position of the photoelectric sensor 429 at the rear end of the knife unloading device longitudinal beam plate 42, the command can be expressed as a knife unloading completion command, at the moment, the photoelectric sensor 429 generates an electric signal to a control center, the control center controls the knife unloading device driving motor 47 to rotate reversely, and the knife unloading device moving rack 43 returns to the initial position to facilitate the next knife unloading operation.

Further, in order to protect the manipulator assembly in the robot and the tools and tool holders thereon, a shield 512 is mounted on the robot vertical sliding plate 504 on the periphery of the manipulator assembly. In order to facilitate the robot 5 for the automatic tool changing system of the slitting machine to move in the special tool magazine 1 for the automatic tool changing system of the slitting machine to correspond to different tool rests 17, a robot power motor 513 is installed at one end of the large bottom plate 50, a robot longitudinal moving sliding block 514 is installed at the bottom of the large bottom plate 50, the robot longitudinal moving sliding block 514 is matched with a first tool magazine sliding rail 105, a gear meshed with a tool magazine rack 106 can be installed on an output shaft of the robot power motor 513, the robot power motor 513 can be started to drive the large bottom plate 50 to move along the first tool magazine sliding rail 105, in order to prevent collision between an upper top plate 51 of the robot and devices in the special tool magazine 1 for the automatic tool changing system of the slitting machine, a safety protection device is arranged at the top of the upper top plate 51, the safety protection device comprises a protection bottom plate 515, a protection guide wheel 516 is arranged on the protection bottom plate 515, and the protection guide wheel 516 is matched with a second tool magazine sliding rail 107, the protection guide wheel 516 can also play a role in guiding the movement of the whole robot besides playing a role in avoiding collision.

Due to the precision of the pneumatic chuck 510, in order to ensure the accuracy of the pneumatic chuck 510 in controlling the stretching of the grabbing bar 511, as shown in fig. 37, an annular cover 517 is arranged on the periphery of the pneumatic chuck 510, and in order to ensure that the grabbing bar 511 can be stretched in the same direction along the moving direction of the grabbing jaws, a guide sleeve 518 matched with the grabbing bar 511 is arranged on the annular cover 517.

Technical scheme of the utility model not be restricted to the utility model the within range of embodiment. The technical contents not described in detail in the present invention are all known techniques.

Claims (10)

1. The utility model provides an automatic tool changing system of slitting machine which characterized in that: the automatic tool changing system of the slitting machine comprises a special tool magazine (1) for an automatic tool changing system of the slitting machine, a rotary cross arm (2) for the automatic tool changing system of the slitting machine, a slitting machine retracting device (3) for the automatic tool changing system of the slitting machine, a cross arm assembling and disassembling device (4) for the automatic tool changing system of the slitting machine and a robot (5) for the automatic tool changing system of the slitting machine, wherein the slitting machine retracting device of the automatic tool changing system of the slitting machine comprises a portal frame assembly and a movable frame assembly, the portal frame assembly comprises four vertically arranged portal frame columns (30), a rectangular frame (31) is installed at the top ends of the portal frame columns (30), two parallel portal frame beams (32) are arranged in the rectangular frame (31), the movable frame assembly is installed at the bottom of the portal frame beams (32), the movable frame assembly comprises horizontally arranged frame beams (33), and vertically arranged shifting fork back plates (34) are installed at two ends of the frame beams (33), a tool retracting device transverse sliding block (35) is installed on a frame cross beam (33), a tool retracting device transverse sliding rail (36) matched with the tool retracting device transverse sliding block (35) is arranged at the bottom of a portal frame cross beam (32), a tool retracting device rack (37) is further installed on the frame cross beam (33), the tool retracting device rack (37) is arranged along the length direction of the frame cross beam (33), a tool retracting device hydraulic motor (38) is fixedly installed between the two portal frame cross beams (32), a tool retracting device driving gear (39) matched with the tool retracting device rack (37) is installed on an output shaft of the tool retracting device hydraulic motor (38), a first shifting fork claw (301) is installed on the inner side surface of a shifting fork back plate (34) at one end, a shifting fork slide (302) vertically arranged is installed on the inner side surface of the shifting fork back plate (34) at the other end, and a U-shaped shifting fork (303) is installed in the slide (302) in a matching manner, install second shift fork claw (304) on U type shift fork (303), corresponding to the position of U type shift fork (303), still install tool retracting device pneumatic cylinder (305) on shift fork backplate (34), the cylinder body of tool retracting device pneumatic cylinder (305) articulates on shift fork backplate (34), and the piston rod of tool retracting device pneumatic cylinder (305) articulates on U type shift fork (303).

2. An automatic tool changing system for slitting machines according to claim 1, characterized in that: corresponding to the position of U type shift fork (303), install limit switch mounting groove (306) of vertical setting on shift fork backplate (34), be equipped with first limit switch (307) and second limit switch (308) in limit switch mounting groove (306), wherein first limit switch (307) are located second limit switch (308) upside, tool retracting device locating piece (309) is installed at the top of U type shift fork (303), and tool retracting device locating piece (309) can be detected the discernment by first limit switch (307) and second limit switch (308).

3. An automatic tool changing system for slitting machines according to claim 1, characterized in that: the special tool magazine (1) for the automatic tool changing system of the slitting shear comprises a tool magazine bottom plate (10), wherein vertically arranged tool magazine side plates (11) are respectively installed on two sides of the tool magazine bottom plate (10), a tool magazine top plate (12) covers the upper parts of the tool magazine side plates (11), vertically arranged tool magazine door plates (13) are respectively installed at two ends of the tool magazine bottom plate (10), the tool magazine side plates (11), the tool magazine top plate (12) and the tool magazine door plates (13) can form a closed box body, a plurality of vertically arranged tool magazine stand columns (14) are respectively installed inside each tool magazine side plate (11), a tool magazine cross support (15) is fixedly connected between every two tool magazine stand columns (14), a vertically arranged shaft seat tool magazine stand column (16) is installed on each tool magazine cross support (15), and each tool magazine stand column (16) is located between the tool magazine bottom plate (10) and the tool magazine top plate (12), a plurality of tool rests (17) which are horizontally arranged are arranged on the shaft seat tool magazine upright post (16), and a tool magazine round key (18) is arranged on each tool rest (17) in a matching way.

4. An automatic tool changing system for slitting machines according to claim 3, wherein: the welding has first landing leg equipment board (19) between lower extreme and tool magazine bottom plate (10) of axle bed tool magazine stand (16), and the welding has second landing leg equipment board (101) between upper end and tool magazine roof (12) of axle bed tool magazine stand (16), all installs side lacing wire (102) between per two axle bed tool magazine stands (16), and side lacing wire (102) are arranged with knife rest (17) are perpendicular, offer on knife rest (17) with tool magazine circular key (18) matched with tool magazine keyway (103), knife rest (17) periphery cover between tool magazine circular key (18) and axle bed tool magazine stand (16) is equipped with shelves ring (104).

5. An automatic tool changing system for slitting machines according to claim 1, characterized in that: the rotary cross arm (2) for the automatic tool changing system of the slitting machine comprises a cross arm base (20), cross arm transverse guide rails (21) are mounted at positions on two sides of the cross arm base (20), the cross arm transverse guide rails (21) are arranged along the length direction of the cross arm base (20), cross arm transverse guide rails (22) capable of moving along the cross arm transverse guide rails (21) are mounted on the cross arm transverse guide rails (21) on the two sides, a transverse sliding block (23) matched with the cross arm transverse guide rails (21) is arranged at the bottom of each cross arm transverse guide rail (22), an outer ferrule (24) is mounted at the top of each cross arm transverse guide rail (22), an inner ferrule (25) is mounted inside the outer ferrule (24) in a matched mode, a cross gear ring (26) is arranged on the inner circumference of the inner ferrule (25), and a cross arm driving motor (27) is mounted on the cross arm transverse guide rails (22) inside the inner ferrule (25), the cross arm driving gear (28) meshed with the cross arm gear ring (26) is installed on an output shaft of the cross arm driving motor (27), the inner ring (25) is further fixedly provided with a rotary cylinder body (29), four side faces of the rotary cylinder body (29) are respectively provided with a cross arm shaft (201), a cross arm walking hydraulic cylinder (202) is further installed at one end of the cross arm base (20), and a piston rod of the cross arm walking hydraulic cylinder (202) is hinged to a cross arm transverse moving seat (22).

6. An automatic tool changing system for slitting machines according to claim 5, wherein: install cross arm circle key (203) and cutter fixing plate (204) on cross arm axle (201), cross arm circle key (203) and cutter fixing plate (204) all set up along the length direction of cross arm axle (201), and wherein cross arm circle key (203) are located cross arm axle (201) upper end position, and cutter fixing plate (204) are located the both sides of cross arm circle key (203), the one end of cross arm axle (201) is passed through axle end flange (205) and can be dismantled with rotatory barrel (29) and be connected, installs cross arm locating pin (206) on the terminal surface of the other end of cross arm axle (201).

7. An automatic tool changing system for slitting machines according to claim 1, characterized in that: the cross arm loading and unloading device (4) for the automatic tool changing system of the slitting shear comprises two steel pipe upright posts (40) which are vertically arranged, a horizontally arranged unloading device fixing frame (41) is arranged on each steel pipe upright post (40), a longitudinally arranged unloading device longitudinal beam plate (42) is arranged at the bottom of the unloading device fixing frame (41), an unloading device moving rack (43) which can move along the length direction of the unloading device longitudinal beam plate (42) is arranged at the bottom of the unloading device longitudinal beam plate (42), an unloading device longitudinal moving sliding block (44) is arranged at the top of the unloading device moving rack (43), an unloading device longitudinal moving sliding rail (45) matched with the unloading device longitudinal moving sliding block (44) is arranged at the bottom of the unloading device longitudinal beam plate (42), an unloading device longitudinal rack (46) is further arranged on the unloading device longitudinal beam plate (42), and the unloading device longitudinal rack (46) and the unloading device longitudinal moving sliding rail (45) are arranged in parallel, a knife unloading device driving motor (47) is installed on a knife unloading device moving rack (43), a knife unloading device driving gear (48) matched with a knife unloading device longitudinal rack (46) is installed on an output shaft of the knife unloading device driving motor (47), two groups of knife unloading devices are installed on an inner side plate of the knife unloading device moving rack (43), each group of knife unloading devices comprises a knife unloading device transverse sliding rail (49), a knife unloading device transverse sliding block (401) is installed on the knife unloading device transverse sliding rail (49) in a matched mode, a knife unloading device shifting fork side plate (402) is fixedly installed on the knife unloading device transverse sliding block (401), a knife unloading device shifting fork (403) is installed at one end of the knife unloading device shifting fork side plate (402), a knife unloading device push rod (404) is hinged to the other end of the knife unloading device shifting fork side plate (402), a knife unloading device positioning block (405) matched with the knife unloading device push rod (404) is installed on the knife unloading device moving rack (43), one end of the knife unloading device push rod (404) penetrating through the knife unloading device positioning block (405) is fixedly provided with a knife unloading device limiting block (406).

8. An automatic tool changing system for slitting machines according to claim 7, wherein: the cutter unloading device fixing frame (41) is connected with a cutter unloading device longitudinal beam plate (42) through a distance adjusting device, the distance adjusting device comprises an upper bottom plate (407) and a lower bottom plate (408) which are arranged in parallel, the upper bottom plate (407) is welded at the bottom of the cutter unloading device fixing frame (41), the lower bottom plate (408) is welded at the top of the cutter unloading device longitudinal beam plate (42), a first bolt (409) is installed between the upper bottom plate (407) and the lower bottom plate (408), a first nut (410), a second nut (411) and a third nut (412) are sleeved on the periphery of the first bolt (409), the first nut (410) is positioned on the upper portion of the upper bottom plate (407), the second nut (411) is positioned on the lower portion of the upper bottom plate (407), the third nut (412) is positioned on the upper portion of the lower bottom plate (408), first side plates (413) are fixedly connected with two side positions of the upper bottom plate (407), and first long slotted holes (414) are formed in the first side plates (413), the second bolt (415) is installed in the first slotted hole (414) in a matched mode, the end portion of a stud of the second bolt (415) is tightly attached to the lower bottom plate (408), a fourth nut (416) is sleeved on the second bolt (415) between the first side plate (413) and the lower bottom plate (408), the fourth nut (416) is located on the inner side of the first side plate (413), the two ends of the lower bottom plate (408) are fixedly connected with second side plates (417), a second slotted hole (418) is formed in the second side plate (417), a third bolt (419) is installed in the second slotted hole (418) in a matched mode, the end portion of the stud of the third bolt (419) is tightly attached to the upper bottom plate (407), a fifth nut (420) is sleeved on the third bolt (419) between the second side plate (417) and the upper bottom plate (407), and the fifth nut (420) is located on the inner side of the second side plate (417).

9. An automatic tool changing system for slitting machines according to claim 1, characterized in that: the robot (5) for the automatic tool changing system of the slitting machine comprises a large bottom plate (50) and an upper top plate (51) which are horizontally arranged, the large bottom plate (50) is connected with the upper top plate (51) through a main frame upright post (52), a rotating frame is further arranged between the large bottom plate (50) and the upper top plate (51), the rotating frame comprises a rotating frame upper plate (53) and a rotating frame lower plate (54), the rotating frame upper plate (53) is connected with the rotating frame lower plate (54) through a rectangular pipe (55), an upper rotating seat (56) is mounted between the rotating frame upper plate (53) and the upper top plate (51), a rotary driving motor (57) is arranged in the upper rotating seat (56), a lower rotating seat (58) is mounted between the rotating frame lower plate (54) and the large bottom plate (50), and a robot stepping motor (59) is further mounted at one end of the rotating frame upper plate (53), the output shaft of the robot stepping motor (59) is provided with a lead screw (501), the lead screw (501) is arranged in parallel with the rectangular pipe (55), the rectangular pipe (55) is provided with a vertical slide rail (502) of the robot, the vertical slide rail (502) of the robot is matched with a vertical slide block (503) of the robot, the vertical slide block (503) of the robot is fixedly provided with a vertical slide plate (504) of the robot, one side of the vertical slide plate (504) of the robot is provided with a robot nut (505) matched with the lead screw (501), the other side of the vertical slide plate (504) of the robot is provided with a manipulator assembly, the manipulator assembly comprises a first electric sliding table (506) and a second electric sliding table (507), a circular key (508) of the robot is arranged on the movable plate of the first electric sliding table (506), and a third electric sliding table (509) is arranged on the movable plate of the second electric sliding table (507), and a movable plate of the third electric sliding table (509) is provided with a pneumatic chuck (510), and clamping claws of the pneumatic chuck (510) are provided with a grabbing rod (511).

10. An automatic tool changing system for slitting machines according to claim 9, wherein: install guard shield (512) on the robot of manipulator assembly periphery erects moving slide (504), robot motor power (513) are installed to the one end of big bottom plate (50), and the bottom installation robot of big bottom plate (50) indulges and moves slider (514), and the top of going up roof (51) is equipped with safety arrangement, safety arrangement is equipped with protection leading wheel (516) including protection bottom plate (515) on protection bottom plate (515).

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