JP2020055079A - End-cut strip material processing device and slitter line - Google Patents

Abstract

To provide an end-cut strip material processing device which can effectively remove a side end cut strip material generated by cutting a band plate base material without using wasteful materials.SOLUTION: An end-cut strip material processing device includes: a scrap winder 34 which takes up a side end cut strip material Ls1 from a band plate base material BM; and a robot device 31 which sets the tip of the side end cut strip material Ls1 on the scrap winder. The scrap winder 34 includes a receiver 349a. The robot device 31 includes: pinching mechanisms 314a, 314b which pinch the tip of the side end cut strip material Ls1; a movement mechanism 31a which moves the pinching mechanisms 314a, 314b to a delivery position in accordance with the movement of the band plate base material BM; and set mechanisms 316, 317 which deliver and set the tip of the side end cut strip material Ls1 from the pinching mechanisms 314a, 314b to the receiver 349a of the scrap winder 34 at the delivery position.SELECTED DRAWING: Figure 1

Description

  The present invention provides an end strip processing apparatus for processing a side cut strip generated by cutting along a longitudinal direction while moving a strip base material unwound from a base material roll in the longitudinal direction, and such an apparatus. The present invention relates to a slitter line provided with a strip material processing apparatus.

  2. Description of the Related Art Conventionally, there has been proposed a side trimmer device (end strip material processing device) used for a slitter line (Patent Document 1). In the slitter line, a strip material (a strip material: for example, a steel material) is continuously cut in the longitudinal direction by a slitter while being transported in the longitudinal direction. Of the plurality of strips generated by cutting the strip, each of the strips located on both side ends is removed as strip-shaped cutting waste (side end cut strip) by a side trimmer device.

  The side trimmer device has a scrap winder and a wire winding mechanism, and a wire whose one end is fixed in advance to the tip of the band-shaped cutting waste is wound by the winding mechanism. Then, the strip-shaped cutting waste is moved toward the scrap winder while being guided by the pulling of the wire wound by the winding mechanism, in accordance with the transfer of the strip plate material, and the leading end of the strip-shaped cutting waste is moved to the scrap winder. After being locked by the locking metal, the wire is cut by the winding mechanism. Then, as the scrap winder rotates, the band-shaped cutting waste (side end strip material) extending in accordance with the transfer of the band plate material is wound up by the scrap winder.

JP 2005-125422 A

  In the above-mentioned conventional side trimmer device (cut end strip material processing apparatus), every time a strip-shaped cutting waste (side cut end strip material) is wound around a scrap winder, the wire is wasted, and the wire is used in advance. Must be joined to the tip of the band-shaped cutting waste, which hinders efficient processing.

  The present invention has been made in view of the above circumstances, and a cut end strip material processing capable of efficiently removing a side cut end piece generated by cutting a strip base material without using waste material. An apparatus is provided.

  An edge strip processing apparatus according to the present invention is configured to process a side edge strip generated by cutting along a longitudinal direction while moving a strip base material unwound from a base material roll in the longitudinal direction. A processing apparatus, comprising: a scrap winder that winds the side edge strip extending along with the movement of the strip base material; and a robot device that sets a tip end of the side edge strip to the scrap winder. Wherein the scrap winder has a receiving portion on which a tip of the side edge strip is set, and the robot apparatus grips the tip of the side edge strip in a releasable manner; A delivery position for delivering the leading end of the side end strip to the receiving portion of the scrap winder with the gripping mechanism in a state where the end of the side end cut is pinched; A moving mechanism for moving the strip in accordance with the movement of the base material; and releasing the tip of the side end cut strip by the picking mechanism at the delivery position to release the side end strip. And a setting mechanism for transferring and setting the tip of the scrap winder to the receiving portion of the scrap winder.

  With such a configuration, the leading end of the side edge cut strip produced by cutting the strip base material unwound from the base material roll in the longitudinal direction is pinched by the pinching mechanism of the robot device. The picking mechanism that picks up the tip of the side edge strip is moved by the moving mechanism to the transfer position in accordance with the movement of the strip base material. At the delivery position, the tip of the side edge cut strip from which the picking by the picking mechanism has been released is transferred to the receiving portion of the scrap winder and set by the setting mechanism of the robot device. When the front end of the side cut strip is set in the receiving portion of the scrap winder, the side cut strip extending along with the movement of the strip base material is wound up by the scrap winder.

  In the cut strip processing apparatus according to the present invention, the scrap winder includes a rotatable winding shaft, and one or a plurality of rod-shaped arms extending outward from the winding shaft. At least one distal end of the plurality of rod-shaped arms may be formed as the receiving portion.

  According to such a configuration, at the delivery position, the tip of the side edge cut strip from which the picking by the picking mechanism is released is set by the setting mechanism at the tip as the receiving portion of the rod-shaped arm of the scrap winder. Is done. Then, the side end cut strip, the tip of which is set at the tip of the rod-shaped arm, is wound around the rotating winding shaft of the scrap winder.

  In the cut end strip processing apparatus according to the present invention, the picking mechanism is disposed with a gap, and a picking position for picking a tip end of the side end cut strip inserted into the gap, and a release for releasing the picking. And a block reciprocating drive mechanism for reciprocating the pair of blocks between the picking position and the release position. .

  With such a configuration, when the distal end portions of the side edge cut strips are inserted into the gap between the pair of block bodies at the release position, the pair of block bodies can be moved to the picking position by the block reciprocating drive mechanism. . As a result, the tip of the side end strip is pinched by the pair of blocks.

  In the cut-off strip processing apparatus according to the present invention, the pair of blocks are rotated by a predetermined angle in a state where the pair of blocks pinch the distal ends of the side cut-off strips, and the It is possible to adopt a configuration having a block rotating mechanism for winding the part cut strip material around the pair of block bodies.

  With such a configuration, the pair of blocks in a state where the front end portions of the side end cut strips are pinched are rotated by a predetermined angle by a block turning mechanism, and the pair of blocks where the front end portions are pinched. The side strip is wrapped around the body. In this state, the pick mechanism (the pair of block bodies and the block reciprocating mechanism) can be moved to the delivery position.

  In the scrap strip processing apparatus according to the present invention, the scrap winder includes a rotatable winding shaft and one or a plurality of rod-shaped arms extending outward from the winding shaft. Alternatively, at least one end of the plurality of rod-shaped arms, a groove into which the end of the side end cut strip can be inserted is formed as the receiving portion, and the setting mechanism of the robot device has A tip portion of the side edge cut strip is pushed out from the pair of block bodies together with the tip portion, while a wound portion of the side edge cut strip wound around the pair of block bodies is inserted into the gap. An extruding mechanism for moving the rod-shaped arm into the groove at the end of the rod-shaped arm of the scrap winder and fitting the wound portion of the side end strip into the end of the rod-shaped arm. A, it can be configured.

  With such a configuration, at the delivery position, the winding portions of the side end strips wound around the pair of blocks with the tip portions inserted into the gaps, together with the tip portions, are formed by the pushing mechanism by the extrusion mechanism. The rod is pushed out of the body, the tip of the side end strip is moved to the groove of the bar-shaped arm of the scrap winder, and the wound portion of the side end strip is fitted into the end of the bar-shaped arm. In this way, the tip of the side edge cut strip is set to the tip of the rod arm of the scrap winder. Then, in this state, the side edge cut strip is wound around the rotating winding shaft of the scrap winder.

  In the end strip material processing apparatus according to the present invention, the scrap winder may be configured to move each of the one or a plurality of bar-shaped arms outwardly from the winding shaft portion to a first position, and downward from the winding shaft portion. A configuration having an operation mechanism for reciprocating between the second posture and the extended second posture can be adopted.

  With such a configuration, after the plurality of rod-shaped arms of the scrap winder are wound around the winding shaft portion in a state where each of the plurality of bar-shaped arms is in the first posture extending outward from the winding shaft portion, When the operating mechanism operates each of the plurality of rod-shaped arms to a second position extending downward from the winding shaft, the side end strip material wound on the winding shaft is moved from the winding shaft to the rod-shaped member. It can slide down while being guided by the arm. Thereby, collection | recovery of a side edge cut strip material becomes easy.

  In the trimmed strip processing apparatus according to the present invention, the trimmed strip processing apparatus has a camera that moves together with the picking mechanism, and the picking mechanism is configured to recognize the side cut strips based on image information obtained by photographing with the camera. The tip may be configured to be pinched, and the moving mechanism is provided at the delivery position recognized based on image information on the receiving portion of the scrap winder obtained by photographing with the camera. It is also possible to adopt a configuration in which the knob mechanism is moved.

  Further, the slitter line according to the present invention is produced by a slitter that is unwound from a base material roll and cuts a strip base material moving in a longitudinal direction into a plurality of strips, and a cutting of the moving strip base material by the slitter. Any of the above-described end strip processing apparatuses for processing the side cut strip is provided.

  With such a configuration, the side edge strips that are unwound from the base material roll and are moved by the slitter from the strip base material that moves in the longitudinal direction are wound up by the scrap winder in the trimming device.

  In the slitter line according to the present invention, a cutting start position of the strip base material by the slitter is a position where it enters from a tip of the strip base material, and a cutting start of the strip base material passing through the slitter is started. An edge cutter which cuts the position or a predetermined side portion upstream of the cutting start position in a direction crossing the longitudinal direction to generate the side end cut strips may be provided.

  With such a configuration, after the slitter starts cutting the strip base material unwound from the base material roll from the cutting start position, which is a position entered from the leading end, the edge cutter moves the cutting start position or the cutting start position. The strip base material is cut in a direction crossing the longitudinal direction at a predetermined position on a side portion upstream of the cutting start position. Thus, the side edge cut strips are separated from the leading end of the strip base material and extend with the movement of the strip base material.

  According to the present invention, the tip of the side edge cut strip produced by cutting the strip base material unwound from the base material roll in the longitudinal direction is received by the robot device (pinch mechanism, moving mechanism, setting mechanism) to receive the scrap winder. Since it is set in the part, it becomes possible to efficiently remove the side edge cut strip generated by cutting the strip base material without using waste material.

FIG. 1 is a plan view showing an overall configuration of a slitter line according to an embodiment of the present invention, and showing a path from a slitter to a scrap winder from a side end strip. FIG. 2 is a side view showing the configuration of the slitter line near the slitter and showing the path from the slitter to the scrap winder from the slitter. FIG. 3 is a diagram showing a slitter line including a slitter in a moving direction of a strip base material. FIG. 4A is a diagram showing a strip base material (steel plate) in which a plurality of (five) cuts are made by a slitter. FIG. 4B is a diagram showing side edge cut strips cut out from both edges of a strip base material having a plurality of (five) cuts. FIG. 5 is a side view showing the robot hand fixed to the tip of the arm unit of the robot device. FIG. 6 is a front view showing a pair of knob blocks (a knob mechanism) and an extruding block at the distal end of the robot hand. FIG. 7A is a front view showing a state in which a pair of picking blocks have picked the distal end portion of the side edge cut strip. FIG. 7B is a front view showing a state where the side edge cut strip is wound around a pair of knob blocks. FIG. 8 is a side view showing an extruding mechanism (moving mechanism) for extruding the side end strip from a pair of knob blocks. FIG. 9A is a front view showing a divisible guide roller machine. FIG. 9B is a front view showing the guide roller machine in a divided state. FIG. 10 is a front view showing a traverse machine having a divisible guide roller machine. FIG. 11 is a side view showing a scrap winder. FIG. 12 is a front view showing a scrap winder. FIG. 13A is a flowchart showing an operation procedure (part 1) of the slitter line. FIG. 13B is a flowchart showing an operation procedure (part 2) of the slitter line. FIG. 13C is a flowchart showing an operation procedure (part 3) of the slitter line. FIG. 13D is a flowchart showing an operation procedure (part 4) of the slitter line. FIG. 14 is a side view showing a state in which the picking mechanism (head unit) of the robot hand faces the leading end surface of the winding arm of the scrap winder at the delivery position. FIG. 15 is a bottom view showing a state in which the picking mechanism (head unit) of the robot hand faces the leading end surface of the winding arm of the scrap winder at the delivery position. FIG. 16A is an enlarged side view showing a state in which the picking mechanism (head unit) of the robot hand faces the leading end surface of the winding arm of the scrap winder at the delivery position. FIG. 16B is an enlarged bottom view showing a state in which the picking mechanism (head unit) of the robot hand faces the leading end surface of the winding arm of the scrap winder at the delivery position. FIG. 17A is an enlarged side view showing a state in which the distal end portion and the winding portion of the side end cut strip are pushed out from the gripping mechanism of the robot hand and are delivered to and set on the distal end portion of the winding arm of the scrap winder. FIG. FIG. 17B is a bottom view showing, in an enlarged manner, a state in which the tip portion and the winding portion of the side end strip are pushed out from the gripping mechanism of the robot hand and delivered to and set at the tip portion of the winding arm of the scrap winder. FIG. FIG. 18 is an enlarged side view showing a state where the side edge cut strip is wound on a winder (winding shaft) of a scrap winder. FIG. 19 is a side view showing, in an enlarged manner, a state in which a side end cut strip wound around a winding machine (winding shaft) of a scrap winder falls downward from the winding machine (winding shaft). is there.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  A slitter line according to an embodiment of the present invention is configured as shown in FIGS. FIG. 1 is a plan view showing the overall configuration of the slitter line and showing a path from the slitter to the scrap winder from which the side cut ends are cut. FIG. 2 shows a configuration near the slitter of the slitter line, and FIG. It is a side view which shows the path | route which a side edge cut strip material reaches to a scrap winder, FIG. 3: is the figure which looked at the slitter line containing a slitter in the moving direction of a strip base material. In FIG. 2, a robot device that is a component of the cut strip processing apparatus is omitted.

  In FIG. 1, the slitter line 1000 has an uncoiler 11 installed at the start end of the line and a recoiler 18 installed at the end of the line, and a transfer path 20 is provided between the uncoiler 11 and the recoiler 18. Has been laid. The uncoiler 11 is set with a base material roll BR formed by winding a strip-shaped steel plate (strip base material) in a roll shape. The rotation of the uncoiler 11 causes the strip base material BM (steel plate) to be fed from the base material roll BR. Then, the strip base material BM moves on the transfer path 20 toward the recoiler 18.

  A slitter 13 is provided at a predetermined position between the uncoiler 11 and the recoiler 18. The slitter 13 converts the strip base material BM (steel plate) unwound from the base material roll BR set on the uncoiler 11 and moves on the transfer path 20 into a plurality of strips having a designated width. Cut into pieces. The slitter 13 is provided with a pair of arbors, an upper arbor 131 and a lower arbor 132, which are arranged vertically so as to extend across the transfer path 20, as shown in FIGS. Both ends of each of the upper arbor 131 and the lower arbor 132 are rotatably supported by a first support frame 133 and a second support frame 134 having a lifting function. The first support frame 133 and the second support frame 134 are connected by a connection bar 135 such that a predetermined interval is maintained. The second support frame 134 can release the connection with the connection bar 135, and in the state where the connection is released, the operating position for supporting the upper arbor 131 and the lower arbor 132 (see the solid line portion in FIG. 3). ) And a retracted position (see a two-dot chain line in FIG. 3) away from the upper arbor 131 and the lower arbor 132.

  A plurality of upper round blades 136 are attached to the upper arbor 131 in a state where the upper arbor 131 is partitioned by spacers (not shown) corresponding to the width of the strip to be cut out. ), A plurality of lower round blades 137 are mounted so as to correspond to the upper round blades 136. The upper arbor 131 and the lower arbor 132 are attached to the upper arbor 131 and the lower arbor 132, and the upper arbor 131 is raised by the lifting function of the first support frame 133 and the second support frame 134 connected by the connection bar 135. And the connection between the first support frame 133 and the second support frame 134 by the connection bar 135 is released, and the second support frame 134 is moved to the retracted position (see the two-dot chain line portion). Done. When the mounting of the upper circular blade 136 and the lower circular blade 137 to the upper arbor 131 and the lower arbor 132 is completed, the second support frame 134 is returned to the operating position, and the upper arbor 131 to which the upper circular blade 136 is mounted is connected to the upper arbor 131. The lower arbor 132 to which the lower round blade 137 is attached is rotatably supported by the first support frame 133 and the second support frame 134. After that, the first support frame 133 and the second support frame 134 are connected by the connection bar 135, and the upper arbor 131 is connected to the upper circular blade 136 by the lifting function of the first support frame 133 and the second support frame 134. The strip 137 is lowered by the round blade 137 to a position where the strip base material BM can be cut. In this state, the upper arbor 131 and the lower arbor 132 are rotated by a rotation driving mechanism (not shown), and the strip base material BM passing through the slitter 13 is formed by a plurality of upper round blades 136 and corresponding lower round blades 137. It is cut into a plurality of strips along the longitudinal direction.

  In the vicinity of the upstream side of the slitter 13, the feed roller unit 12 is installed, as shown in FIG. The strip base material BM unwound from the base material roll BR is supplied to the slitter 13 through the feed roller machine 12, and cut into a plurality of strips as described above.

  Here, the slitter 13 does not start cutting by the upper round blade 136 and the lower round blade 137 from the leading edge of the moving strip base material BM, but according to control by a control device described later (see FIG. 13A). As shown in FIG. 4A, the cutting is started from the cutting start position Pc entered from the leading edge. For this reason, the strip base material BM having a plurality of (for example, four) cuts formed by the slitter 13 is transported in a state where the leading end portion T is not cut off. For example, as shown in FIG. 4A, by forming four cuts, the strip base material BM is cut into five strips LS1, S1, S2, S3, and LS2, the tip end portions T of which are not separated. Go. When there is a remainder in the cutout dimension in the width direction (a direction orthogonal to the longitudinal direction) of the strip base material BM, both side edges extending in the longitudinal direction of the strip base material BM through the slitter 13 corresponding to the remainder are formed. The end strips (side end strips) Ls1 and Ls2 are cut out.

  Near the downstream side of the slitter 13, a pair of lateral guide rollers 14a and 14b are provided so as to sandwich the transfer path 20. The pair of lateral guide rollers 14a and 14b guide both side edges of the strip base material BM passing through the slitter 13. Further, these lateral guide rollers 14a, 14b can be moved in the width direction according to the width of the moving strip base material BM, and the distance between the pair of lateral guide rollers 14a, 14b can be adjusted.

  Further, two edge cutters 15a and 15b are provided near the downstream side of the horizontal guide rollers 14a and 14b so as to sandwich the transfer path 20. As described above (see FIG. 4A), these two edge cutters 15a and 15b are cut off strip members located on both side ends of the strip base material BM having a plurality of cuts (four cuts) passing through the slitter 13. (Side Cut Edges) Ls1 and Ls2 are cut in the width direction (the direction crossing the longitudinal direction) at the leading end portions, specifically, at the cutting start position Pc or a predetermined position upstream thereof. Thereby, as shown in FIG. 4B, the side edge cut strips Ls1, Ls2 are separated from the plurality (three) of strips S1, S2, S3 joined at the tip end portion T of the strip base material BM. Further, like the lateral guide rollers 14a, 14b, the two opposing edge cutters 15a, 15b can move in the width direction according to the width of the strip base material BM, and the opposing edge cutters 15a, 15b The spacing can be adjusted. As described above, the side end cut strips Ls1 and Ls2 separated from the strip base material BM having a plurality of cuts are not moved to the recoiler 18 located at the end of the slitter line 1000, and the slitter 13 is not moved. Is processed by the cut-off strip processing devices 30 (1) and 30 (2) provided on both sides of the transfer path 20 on the downstream side of. The details of the cut strip processing apparatuses 30 (1) and 30 (2) will be described later.

  An exit cutting machine 16 and a roller machine 17 are installed near the upstream side of the recoiler 18. The strip base material BM having a plurality of slits formed by the slitter 13 is transported in a state where the leading end portion T is not separated as described above (see FIG. 4B). Then, the tip portion T is cut by the outlet cutting machine 16, and the plurality of strips S 1, S 2, S 3 cut by the strip cutting rolls SR 1, SR 2 are applied to the recoiler 18 in a state where tension is applied by the roller machine 17. , SR2.

  Here, the above-mentioned cut-off strip processing apparatus 30 (1), 30 (2) will be described. Since the two end processing apparatuses 30 (1) and 30 (2) have the same structure, only one of the end processing apparatuses 30 (1) will be described.

  The trimming processing device 30 (1) includes a robot device 31, a guide roller device 32, a traverse device 33, and a scrap winder (SW) 34. The robot device 31 has an articulated arm 31a (moving mechanism) and a robot hand 31b attached to the tip of the articulated arm 31a. A multi-joint arm 31a (moving mechanism) driven by a driving mechanism (including a motor and the like: not shown) provided at the base and each joint moves the robot hand 31b from the standby position P0 and the strip base material BM into a slitter. 13 is moved along a route passing through a position P1 for picking the tip of the side edge strip Ls1 cut out by the cutter 13 and a position P2 for passing the tip of the side edge strip Ls1 to the scrap winder 34. .

  Although the robot device 31 is omitted in FIG. 2, as shown in FIG. 2, the robot hand 31 b does not interfere with the transfer path 20 when picking the tip of the side edge strip Ls1. The table 201 at the portion of the transfer path 20 corresponding to the position (position P1: see FIG. 1) at which the robot hand 31b is expected to pick the tip of the side cut strip Ls1 is transferred by the forward and backward movement of the rod of the cylinder 21. It is swingable between a road surface position and a retracted position (see a two-dot chain line portion in FIG. 2).

  As shown in FIG. 5, the robot hand 31b has a support 311, a head 312, and a motor 313 connected in series. The support 311 is attached to the distal end of the articulated arm 31a, and the head 312 is rotatable around an axis extending in the connection direction of the support 311, the head 312, and the motor 313. It is connected to the support 311. The motor 313 is fixed to the opposite side of the support 311 from the side connected to the head 312, and is coupled to the head 312 via a transmission system (not shown) in the support 311. As a result, the rotation of the motor 313 is transmitted to the head 312 via the transmission system in the support 311, and the head 312 supported by the support 311 rotates.

  As shown in FIG. 6 together with FIG. 5, the head portion 312 is configured such that a pair of knob blocks (block bodies) 314 a and 314 b facing each other with a gap G therebetween and the knob blocks 314 a and 314 b are arranged at a narrow grip position of the gap G. And an actuator 315 (solenoid valve or the like: block reciprocating mechanism) for reciprocating between a release position where the gap G is wide as a knob mechanism for pinching the front end of the side end cut strip Ls1. When the picking blocks 314a, 314b are at the release position, the tip end E of the side edge cut strip Ls1 inserted into the gap G is as shown in FIG. 7A by the moving of the picking blocks 314a, 314b to the picking position. Then, they are picked by the picking blocks 314a and 314b. In this state, when the head unit 312 (knob blocks 314a and 314b) is rotated by the motor 313 and the transmission system in the support body 311 as shown in FIG. 7B, the outer ends of the knob blocks 314a and 314b are cut off to the side. The strip Ls1 is wound (see R). The knob blocks 314a and 314b are rotated by, for example, an angle of 270 degrees (block rotation mechanism). Further, in this state, when the knob blocks 314a, 314b return to the release position, the leading end portion E of the side edge cut strip Ls1 sandwiched between the knob blocks 314a, 314b and the winding portion wound around the knob blocks 314a, 314b. R can escape from the knob blocks 314a and 314b as they are.

  Although not shown in FIG. 5, the head unit 312 includes, as shown in FIGS. 6 and 8, an extruding block 316 provided to be able to advance and retreat along a pair of knob blocks 314a and 314b, and an actuator 315. And an air cylinder machine 317 that is fixed to the outer wall of the and moves the pushing block 316 forward and backward. The extrusion block 316 is formed by an extrusion plate portion 316a that enters the gap G between the pair of knob blocks 314a and 314b from the side, and a block portion 316b that is integrated with the extrusion plate portion 316a and protrudes outside the knob blocks 314a and 314b. Has become. The air cylinder machine 317 is connected to the block portion 316b, and acts on the block portion 316b to move between the retracted position (see the solid line portion in FIG. 8) and the advanced position (see the two-dot chain line portion in FIG. 8). Then, the pushing plate portion 316a in the gap G between the knob blocks 314a and 314b is moved forward and backward together with the block portion 316b.

  In the head portion 312, with the push-out block 316 (the push-out plate portion 316a and the block portion 316b) at the retracted position (see the solid line portion in FIG. 8), the tip end portion E of the side cut end strip Ls1 is added to the knob blocks 314a and 314b. Is pinched (see FIG. 7B) and wound (see the winding portion R in FIG. 7B). Then, in a state where the knob blocks 314a and 314b are at the release position, the extruded block 316 (the extruded plate portion 316a and the block portion 316b) that advances to the advanced position (see the two-dot chain line portion in FIG. 8) cuts the side edge. The tip E and the winding R of the material Ls1 are pushed out of the knob blocks 314a and 314b as they are.

  At the tip of the articulated arm 31a of the robot device 31, as shown in FIG. 5, the 3D camera 35 is set so that the direction in which the tip of the head 312 (knob blocks 314a, 314b) faces is a shooting area. It is attached by a bracket 36. As will be described later, the tip of the side cut strip Ls1 is recognized based on the information of the image captured by the 3D camera 35, and the head 312 (the knob blocks 314a and 314b) is cut off based on the recognition result. The robot device 31 is controlled so as to pinch the tip of the strip Ls1. The information of the image captured by the 3D camera 35 is also used to recognize the tip of the winding arm of the scrap winder 34, as described later.

  The guide roller machine 32 disposed along the transfer path 20 guides the side edge cut strip Ls1 cut from the strip base material BM toward the scrap winder 34 (see FIGS. 1 and 2). As shown in FIG. 9A, the guide roller unit 32 has a lower frame 321 corresponding to two orthogonal sides of a rectangle and an upper frame 322 corresponding to the other two orthogonal sides of the rectangle. . In the lower frame 321, a first vertical roller 323 disposed along the vertical side and a lower horizontal roller 324 disposed along the lower horizontal side are rotatably accommodated. In the upper frame 322, a second vertical roller 325 arranged along the vertical side and an upper horizontal roller 326 arranged along the upper horizontal side are rotatably accommodated. The side edge cut strip Ls1 passes through a space SP surrounded by the first vertical roller 323, the lower horizontal roller 324, the second vertical roller 325, and the upper horizontal roller 326. The side edge strip Ls1 guided by these four rollers advances toward the scrap winder 34.

  As shown in FIG. 9B, the guide roller unit 32 is configured such that the upper frame 322 can move up and down together with the second vertical roller 325 and the upper horizontal roller 326 to be accommodated. With the upper frame 322 raised to the raised position, the robot device 31 (robot hand 31b) passes the side edge cut strip Ls1 between the lower frame 321 and the upper frame 322 as described later. Becomes possible. Then, by lowering and returning the upper frame 322, as shown in FIG. 9A, a state is obtained in which the side edge cut strip Ls1 can be guided by the four rollers 323, 324, 3225, 326.

  The traverse machine 33 disposed downstream of the guide roller machine 32 guides the side cut strip Ls1 passing through the above-described guide roller machine 32 further toward the scrap winder 34 (see FIG. 1), and will be described later. In this way, the side edge cut strip Ls1 is moved up and down so as to be uniformly wound around the scrap winder 34 (see FIG. 2).

  As shown in FIG. 10, the traverse machine 33 includes an outer case body 331 and a guide roller machine 332 housed in the outer case body 331 so as to be vertically movable. The guide roller machine 332 has the same structure as the above-described guide roller machine 32 (see FIGS. 9A and 9B), and includes a lower frame 333 that houses the first vertical roller 335 and the lower horizontal roller 336, and a second vertical roller. The upper frame 334 includes a roller 337 and an upper frame 334 that accommodates the upper horizontal roller 338. The upper frame 334 can move up and down. The outer case body 331 includes a body portion 331a that accommodates the guide roller machine 332 in a vertically movable manner, a bottom plate portion 331b that closes the bottom surface of the body portion 331a, and a top plate portion that removably closes the top surface of the body portion 331a. 331c. A support bar 333 is provided through the top plate portion 331 c of the outer case body 331, and the upper frame 334 of the guide roller unit 332 is fixed to the tip of the support bar 333.

  The support bar 333 penetrates the top plate portion 331c so as to be able to move up and down in a state where the support bar 333 is prevented from falling off by the top plate portion 331c of the outer case body 331. The guide roller machine 332 supported by the support bar 333 moves up and down in the outer case body 331 (body portion 341a) together with the support bar 333 by a drive mechanism (not shown). The space SP surrounded by the first vertical roller 345, the lower horizontal roller 336, the second vertical roller 337, and the upper horizontal roller 338 of the guide roller device 332 is formed by the vertical movement of the guide roller device 332 in the outer case body 331. While the side cut edge Ls1 passing through is guided by the four rollers, the direction of the side cut edge Ls1 toward the scrap winder 34 moves up and down.

  In the traverse machine 33, the top plate 331c is removed from the body 331a of the outer case body 331, and the upper frame 334 of the guide roller machine 332 is raised to the raised position together with the top plate 331c and the support bar 333, which will be described later. As a result, the robot device 31 (the robot hand 31b) can pass the side edge cut strip Ls1 between the lower frame 333 and the upper frame 334. Then, by lowering and returning the upper frame 334 together with the top plate portion 331 and the support bar 333, as shown in FIG. 10, the side end cut strip Ls1 is moved by the four rollers 335, 336, 337 of the guide roller machine 332, The state is guided by 338.

  The scrap winder 34 is configured as shown in FIGS.

  11 and 12, a scrap winder 34 is fixed on a base 340 so that a case body 341 extending upstream along the transfer path 20 (see FIG. 1) projects from the base 340. I have. A motor 342 and a torque limiter (clutch) 343 are provided on the case body 341, and a winder 345 is provided so as to protrude from a lower surface of a protruding portion of the base 340 of the case body 341. The winding machine 345 has a winding shaft 346, and the rotation of the motor 342 is transmitted through a transmission mechanism 344 configured from the torque limiter 343 and the upper portion of the case body 341 to the inside. To be communicated to. In addition, as shown in FIG. 15 to be described later together with FIGS. 11 and 12, six winding arms extending radially outward from the winding shaft 346, A mounting arm 347a, a second winding arm 347b, a third winding arm 347c, a fourth winding arm 347d, a fifth winding arm 347e, and a sixth winding arm 347f are provided. The winding machine 345 is configured to extend each of the six winding arms 347 a to 347 f outward from the winding shaft 346 (see FIGS. 11, 12, and 17), and to extend downward from the winding shaft 346. And an operation mechanism 348 for reciprocating with a second posture (see the broken line portions in FIGS. 11 and 12) extending to the second position. In addition, slit-shaped receiving grooves 349a to 349f (particularly, see FIG. 15: receiving portions) that are open outward are formed on the distal end surfaces of the winding arms 347a to 347f.

  In the above-mentioned slitter line 1000, each operation part (the feed roller machine 12, the edge cutters 15a and 15b, the exit cutter, etc.) including the transfer path 20, the uncoiler 11, the recoiler 18 and the slitter 13 provided for the transfer path 20 is provided. 16, the roller machine 17), and the control and processing required for the operation of the cutout processing devices 30 (1) and 30 (2) are performed by one or a plurality of control devices (not shown).

  The slitter line 1000 controlled by the control device operates according to the procedure shown in FIGS. 13A to 13D.

  In the initial state of the slitter line 1000, the robot hand 31b of the robot apparatus 31 is at the standby position P0 (see FIG. 1), and the knob blocks 314a and 314b of the robot hand 31b are at the release position where the gap G is wide and the rotation is 0 degrees. The push block 316 of the robot hand 31b is in the retracted position in the moving position (see FIG. 7A). The strip base material BM that is unreeled from the base material roll BR is in a state in which its leading end stands by at a position immediately before the slitter 13. The guide roller unit 32 is in a state in which the upper frame 321 is in the raised position (see FIG. 9B), and in the traverse unit 33, the upper frame 334 of the guide roller unit 332 is in the raised position together with the top plate 341c and the support bar 333. And the edge cutters 15a and 15b are retracted. Further, the table 201 of the transfer path 20 is located at the position of the transfer path surface (see FIG. 2), and the first winding arm 347a of the scrap winder 34 transfers the side edge cut strip Ls1 (the front end portion E and the winding portion R). Is in place.

  In FIG. 13A, the strip base material BM whose front end stands by at a position immediately before the slitter 13 is sent at a constant speed and enters the slitter 13 (S1). When the strip base material BM enters the slitter 13, a plurality of cuts are made in the strip base material BM from the cutting start position Pc by the slitter 13 (S2: see FIG. 4A). The strip base material BM that moves while the slitter 13 makes a plurality of cuts moves to a position where it should be cut by the edge cutters 15a and 15b and stops (S3). The edge cutters 15a and 15b move to a position corresponding to the width dimension of the strip base material BM based on the data from the control device (S4). Then, as shown in FIG. 4B, the edge cutters 15a and 15b move the cutting start position Pc of the side edge cut strips Ls1 and Ls2 of the strip base material BM or the predetermined side portion upstream of the cutting start position pc. Cut (S5). Thereby, the side end cut strips Ls1 and Ls2 are separated from the plurality (three) of strips S1, S2 and S3 joined at the tip T (see FIG. 4B). Thereafter, the strip base material BM is moved and stopped by the robot hand 31b (the robot device 31) to a position (see position P1 in FIG. 1) where the distal ends of the side edge strips Ls1 and Ls2 are pinched. S6). Here, the table 201 of the transfer path 20 is lowered to the retreat position so that the robot hand 31b does not interfere with the transfer path 20 (S7: see the two-dot chain line in FIG. 2).

  Subsequently, the operation shifts to the operation of FIG. 13B, and the robot hand 31b at the standby position P0 moves to the position P1 for picking the distal end of the side edge cut strip Ls1 by the operation of the articulated arm 31a. Then, while changing the posture of the robot hand 31b, the 3D camera 35 photographs the tip of the side edge cut strip Ls1 from two directions from above (flat) and from the side (side) (S8, S9). . Based on the image information obtained by the photographing, the tip of the side edge cut strip Ls1 is recognized (detected). Then, based on the recognition result (detection result), the position of the robot hand 31b is finely adjusted so that the distal end of the side edge cut strip Ls1 is inserted into the gap G between the knob blocks 314a and 314b at the release position from the side. It is adjusted (S10). In this way, the picking blocks 314a, 314b move to the picking position with the tip of the side edge cut strip Ls1 entering the gap G between the picking blocks 314a, 314b of the robot hand 31b, as shown in FIG. 7A. Then, the tip E of the side edge cut strip Ls1 is in a state of being pinched by the knob blocks 314a and 314b (S11).

  In this state, the head portion 312 of the robot hand 31b is rotated by 270 degrees, and as shown in FIG. 7B, the side end cut strip Ls1 whose leading end E is pinched by the picking blocks 314a and 314b is moved to the picking blocks 314a and 314b. (S12: refer to the winding portion R in FIG. 7B). Thereafter, the robot hand 31b is raised (S13), and the table 201 of the transfer path 20 is raised and returned to the transfer path surface position (see the solid line portion in FIG. 2) (S14).

  After that, the operation shifts to the operation in FIG. 13C, and the upper side frame 322 is in the raised position (see FIG. 9B), and the side end strips Ls1 are pinched so that the side cut strips Ls1 pass through the guide roller machine 32. The robot hand 31b including the picking blocks 314a and 314b moves toward the traverse machine 33 in synchronization with the movement of the strip base material BM on the transfer path 20, and stops (S15). Then, the upper frame 322 descends and returns (see FIG. 9A), and the side edge cut strip Ls1 is accommodated in the guide roller machine 32 (S16). In the robot hand 31b, further, the upper frame 334 of the guide roller machine 332 is raised together with the top plate portion 331c and the support bar 333 in a state where the knob blocks 314a and 314b pinch the front end portion E of the side edge cut strip Ls1. In conjunction with the movement of the strip base material BM, the traverse machine 33 moves toward the scrap winder 34 and stops so that the side edge cut strip Ls1 passes through the traverse machine 33 in the state (S17). Then, the upper frame 334 of the guide roller unit 332 descends and returns together with the top plate part 331c and the support bar 333, and the side edge cut strip Ls1 is accommodated in the guide roller unit 332 of the traverse unit 33 (S18).

  At this time, in the scrap wander (SW) 34, the first winding arm 347a moves the leading end portion E and the winding portion R of the side edge strip Ls1 from the knob blocks 314a and 314b of the robot hand 31b moved to the delivery position. It is set to a fixed position to be delivered (S181).

  The robot hand 31b is moved to near the tip of the first winding arm 347a set at the fixed position of the scrap winder 34 (S19). In this state, the 3D camera 35 photographs the tip of the first winding arm 347a while changing the posture of the robot hand 31b, and based on the image information obtained by the photographing, the first winding arm 347a. Is recognized (detected) (S20). Then, based on the recognition result (detection result), as shown in FIGS. 14 and 15 and as enlargedly shown in FIGS. 16A and 16B, the picking blocks 314a and 314b (the picking mechanism) are moved to the delivery position. , The position of the robot hand 31b is finely adjusted so that the distal end surface thereof faces the distal end surface of the first winding arm 347a of the scrap wander 34 (S21: move to the delivery position).

  Thereafter, the operation proceeds to the operation of FIG. 13D, and the pair of knob blocks 314a and 314b facing the distal end surface of the first winding arm 347a of the scrap winder 34 are opened from the knob position to the release position (S22: see FIG. 17B). As a result, the distal end portion E of the side end cut strip Ls1 is released from being picked by the picking blocks 314a and 314b. In this state, the operation of the air cylinder machine 317 causes the extrusion block 316 (the extrusion plate portion 316a and the block portion 316b) to advance to the advance position (S23). As a result, the tip E of the side edge cut strip Ls1 in the gap G between the knob blocks 314a and 314b is pushed out by the pushing plate portion 316a of the pushing block 316, and the receiving groove 349a (receiving portion) of the first winding arm 347a. ), The wound portion R of the side edge cut strip Ls1 wound on the knob blocks 314a and 314b is pushed out by the block portion 316b of the extruded block, and is formed on the outer periphery (receiving portion) of the first winding arm 347a. It fits (see FIGS. 17A and 17B).

  Thereafter, by the operation of the air cylinder machine 317, the extrusion block 316 (the extrusion plate portion 316a and the block portion 316b) returns to the retracted position (S24: see FIG. 8). Then, the robot hand 31b separates from the scrap wander 34 and returns to the retreat position P0 (see FIG. 1) (S251).

  On the other hand, in the scrap winder 34, the winding machine 345 operates, and in conjunction with the movement of the strip base material BM on the transfer path 20, the winding shaft 346 starts rotating at a very low speed (S25). Thereafter, the winding shaft 346 rotates three times to maintain the tension of the side edge strip Ls1 between the slitter 13 and the slitter 13 to some extent (S26). In this state, the constant speed is maintained until the side edge strip Ls1 disappears. , The winding shaft 346 rotates (S27). Due to the rotation of the winding shaft 346, the side end cut strip Ls1 having the tip set at the tip of the first winding arm 347a is wound around the rotating winding shaft 346 as shown in FIG. Taken.

  The control device determines whether or not the winding operation of the side cut strip Ls1 by the winding machine 345 (the winding shaft 346) of the scrap winder 34 is completed (S28). The determination as to whether or not the winding operation has been completed is made by, for example, determining the amount of the side cut strip Ls1 wound by the winding machine 345 (the winding shaft 346) and an end instruction input to the control device. Can be performed based on the presence / absence or the like. If it is determined that the winding operation has not been completed (NO in S28), the slitter line 1000 returns to the above-described initial state (S29).

  Thereafter, according to the same procedure as described above (see FIGS. 13A to 13D), the side end cut strip Ls1 cut out from the strip base material (steel material) BM of the base material roll BR sequentially mounted on the uncoiler 11 is scrapped. It is wound by a winder 34. At that time, in the scrap wonder (SW) 34, the tip end portion E and the winding portion R of the side edge cut strip Ls1 are set to the fixed position to be transferred from the picking blocks 314a, 314b of the robot hand 31b moved to the transfer position. (S181), the winding arm is sequentially switched to the second winding arm 347b, the third winding arm 347c,... Then, the side end cut strip Ls1 having the leading end set at the leading end (receiving portion) of each of the winding arms 347b, 347c,... Is sequentially wound by the rotation of the winding shaft 346.

  Then, when it is determined that the winding operation of the side edge cut strip Ls1 by the winding machine 345 (the winding shaft 346) of the scrap winder 34 is completed (YES in S28), the operating mechanism of the scrap winder 34 is performed. 348 operates all the winding arms 347a to 347f to a posture extending downward (second posture) as shown in FIG. 19 (S30). As a result, as shown by the two-dot chain line in FIG. 19, the side end cut strip Ls1 wound on the winding shaft 346 slides down while being guided by all the winding arms 347a to 347f. For example, if a collecting bat is placed below the winding machine 345, the side end strip Ls1 sliding down from the winding shaft 346 can be collected in the collecting bat.

  According to the cut-off devices 30 (1) and 30 (2) provided on the slitter line 1000 as described above, the strip plate base material BM unwound from the base material roll BR is cut by the slitter 13 in the longitudinal direction. The leading end of the side end strip Ls1 is moved by the robot device 31 (the knob blocks 314a, 314b, the actuator 315, the articulated arm 31a, the pushing block 316, the air cylinder machine, etc.) to the winding arms 347a to 374 of the scrap winder 34. The side edge cut strip Ls1 generated by cutting the strip base material BM can be efficiently wound on the scrap winder 34 and removed without using waste material because the strip end piece Ls1 is set at the tip end. Can be.

  Further, receiving grooves 349a to 349f (receiving portions) are provided in each of the plurality of winding arms 347a to 347f of the scrap winder 34, and the leading ends of the side end strips Ls1 are continuously connected to the respective winding arms 347a to 347f. Therefore, the plurality of side edge cut strips Ls1 cut out from the strip base material BM from the plurality of base material rolls BR can be sequentially wound around the winding shaft 346 of the scrap winder 34. Therefore, the side edge cut strip Ls1 can be efficiently removed and collected. In addition, not all of the plurality of winding arms 347a to 347f, but one or a plurality of winding arms may be provided with a receiving groove (receiving portion) at the distal end.

  Further, in a state where the tip of the side cut end strip Ls1 is pinched by the pair of picking blocks 314a and 314b in the robot head 31b (head section 312) of the robot apparatus 31, the side cut end strip Ls1 is picked up. It winds around 314a, 314b. For this reason, the robot hand 31b moved by the articulated arm 31a surely holds the tip of the side cut edge material Ls1 cut out from the strip-shaped base material BM moving on the transfer path 20 and moves it to the scrap winder 34. be able to. Then, with the pair of knob blocks 314a and 314b opened in the release position, the tip end E and the winding portion R of the side edge cut strip Ls1 are extruded by the extrusion block 316, and one of the scrap winders 34 is wound. Since the arm 347a (〜347f) is set at the tip (the outer periphery and the receiving groove 349a (〜349f)), the tip of the side edge cut strip Ls1 can be easily and reliably set. Can be set at the tip of the winding arm 347a (-347f). Therefore, the side edge cut strip Ls1 can be reliably wound around the winding shaft 346 (the winding machine 345).

  In the above-described slitter line 1000, the cut-off devices 30 (1) and 30 (2) are installed on both sides of the transfer path 20, respectively. However, the present invention is not limited to this, and one side of the strip base material BM is not limited thereto. When the strip material is cut out only from the end, the cut processing device 30 can be installed on only one side of the transfer path 20 correspondingly.

  The end cutting devices 30 (1) and 30 (2) are installed on the slitter line 1000, but may be applied to a leveler line from which a side cut end strip Ls1 is cut out from the plate-shaped base material BM. Can be.

  Note that the present invention is not limited to the above-described embodiment and its modifications. Various modifications can be made based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

  The end trimming device according to the present invention has an effect that it is possible to efficiently remove the side end strips generated by cutting the strip base material without using waste material, and the end portion is fed from the base material roll. The present invention is useful as an end strip processing apparatus for processing a side end strip generated by cutting a strip base material to be cut along the longitudinal direction while moving the strip base material in the longitudinal direction.

DESCRIPTION OF SYMBOLS 11 Uncoiler 12 Feed roller machine 13 Slitter 14a, 14b Lateral guide roller 15a, 15b Edge cutter 16 Outlet cutting machine 17 Roller machine 18 Recoiler 20 Transfer path 21 Cylinder 30 (1), 30 (2) Trimming device 31 Robot device 31a Many Articulated arm 31b Robot hand 32 Guide roller machine 33 Traverse machine 34 Scrap winder 131 Upper arbor 132 Lower arbor 133 First support frame 134 Second support frame 135 Connection bar 136 Upper round blade 137 Lower round blade 311 Support 312 Head 313 Motor 314a, 314b Pick block 315 Actuator 316 Push block 316a Push plate section 316b Block section 317 Air cylinder machine 321 Lower frame 3 2 Upper frame 323 First vertical roller 324 Lower horizontal roller 325 Second vertical roller 326 Upper horizontal roller 331 Outer case body 332 Guide roller machine 333 Lower frame 334 Upper frame 335 First vertical roller 336 Lower horizontal roller 337 Second vertical roller 338 Upper horizontal roller 340 Base 341 Case body 342 Motor 343 Torque limiter 345 Winding machine 346 Winding shaft 347a First winding arm 347b Second winding arm 347c Third winding arm 347d Fourth winding Arm 347e Fifth winding arm 347f Fourth winding arm 348 Operating mechanism 349a to 349f Receiving groove

Claims (10)

An end strip processing apparatus for processing side end strips generated by cutting along the longitudinal direction while moving the strip base material unwound from the base material roll in the longitudinal direction,
A scrap winder that winds the side edge strip extending with the movement of the strip base material,
A robot device for setting the tip of the side edge cut strip to the scrap winder,
The scrap winder is:
A receiving portion on which a tip portion of the side edge cut strip is set,
The robot device includes:
A pinching mechanism for releasably pinching the tip of the side end strip,
The strip plate preform is moved to a delivery position for delivering the tip of the side end strip to the receiving portion of the scrap winder by holding the pinch mechanism in a state where the tip of the side end strip is pinched. A moving mechanism for moving in accordance with the movement of
A setting mechanism for releasing the tip of the side edge strip by the gripping mechanism at the delivery position, and delivering and setting the tip of the side edge strip to the receiving portion of the scrap winder; And a scrap strip processing apparatus having the same. The scrap winder is:
A rotatable winding shaft,
One or more rod-shaped arms extending outward from the winding shaft,
2. The device according to claim 1, wherein at least one end of the one or more bar-shaped arms is formed as the receiving portion. 3. The picking mechanism,
A pair of block bodies that are arranged with a gap and that can be moved between a picking position for picking the tip of the side edge cut strip inserted into the gap and a releasing position for releasing the picking,
3. The end strip processing apparatus according to claim 1, further comprising: a block reciprocating drive mechanism that reciprocates the pair of blocks between the picking position and the release position. 4.   In a state where the pair of block members pinch the distal end portions of the side edge strip members, the pair of block members are rotated by a predetermined angle, and the side edge member members are turned into the pair of block members. 4. An apparatus according to claim 3, further comprising a block rotating mechanism for winding. The scrap winder,
A rotatable winding shaft,
One or more rod-shaped arms extending outward from the winding shaft,
At least one end of the one or a plurality of rod-shaped arms, a groove into which the end of the side end cut strip can be inserted is formed as the receiving portion,
The setting mechanism of the robot device includes:
With the distal end inserted into the gap, the wound portion of the side edge cut strip wound around the pair of block bodies is pushed out from the pair of block bodies together with the distal end, and the side edge cut strip is extruded. An extruding mechanism for moving the tip of the rod-shaped arm into the groove at the tip of the rod-shaped arm of the scrap winder and fitting the wound portion of the side end strip into the tip of the rod-shaped arm. 4. The scrap strip processing apparatus according to 4. The scrap winder is:
An operating mechanism for reciprocating each of the one or a plurality of rod-shaped arms between a first posture extending outward from the winding shaft and a second posture extending downward from the winding shaft. Item 6. The device for treating scraps according to item 2 or 5. Having a camera that moves with the knob mechanism,
The cut strip processing according to any one of claims 1 to 6, wherein the picking mechanism is configured to pick a tip of the side cut strip recognized based on image information obtained by photographing with the camera. apparatus.   8. The cut end according to claim 7, wherein the moving mechanism is configured to move the knob mechanism to the delivery position recognized based on image information on the receiving portion of the scrap winder obtained by photographing with the camera. 9. Strip processing equipment.   A slitter that is unwound from the base material roll and cuts the strip base material moving in the longitudinal direction into a plurality of strips, and processes a side edge cut strip generated by cutting the moving strip base material with the slitter. Item 10. A slitter line comprising: the device for treating a cut strip material according to any one of Items 1 to 8. The cutting start position of the strip base material by the slitter is a position entered from the tip of the strip base material,
An edge cutter that cuts a cutting start position of the strip base material that has passed through the slitter or a predetermined side portion upstream of the cutting start position in a direction crossing the longitudinal direction to generate the side end cut strip. 10. The slitter line according to claim 9, comprising:

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