JP3046514B2 - Blade changing hand of blade changing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a blade changing hand of a blade changing device for taking out or mounting a blade and a blade part for positioning the blade on a blade shaft of a slitter facility for slitting a metal band.

[0002]

2. Description of the Related Art As shown in FIG.
Blade axes 4A and 4B are vertically arranged between the fixed stand 2 and the movable stand 3, and these blade axes 4A and 4B
Is equipped with a blade 5. Blade axes 4A and 4B
Are fitted on a drive shaft 6 and a driven shaft 7 respectively arranged on the fixed stand 2 and the movable stand 3 so as to be rotatable. Geared motor 8 installed on fixed stand 2
The operation of the worm 9 and the worm wheel 10,
The positions of the vertically arranged blade shafts 4A and 4B are adjusted via the gears 11A and 11B, and an appropriate gap is set between the blades 5 of the blade shafts 4A and 4B. By continuously passing a metal band (not shown) between the blade shafts 4A and 4B, the metal band is multi-cut into a predetermined slit width or side-trimmed.

As shown in FIG. 9, a plurality of spacers 12 corresponding to the slit width are provided between a plurality of blades 5 on the blade shafts 4A and 4B. A ring or a MC nylon 13) is applied in a laminated manner, and the blade 5 is positioned using a collar 14 and a nut 15. The spacer 12, the cushioning material 13 and the collar 14 are configured as a blade part.

Therefore, in order to change the slit width of the metal strip, the blade 5, the spacer 1
2. It is necessary to remove the cushioning material 13 and the like, and attach the blade 5, the spacer 12, the cushioning material 13 and the like in a new arrangement state.

Conventionally, as shown in FIG. 7, first, a geared motor 16 is operated to move the movable stand 3 relative to the frame 17 in the axial direction of the blade shafts 4A and 4B. The blade shafts 4A and 4B are detached from the driven shaft 7 of the movable stand 3 and brought into a cantilever state. Next, by operating a crane (not shown), the cantilevered tool shafts 4A and 4B are lifted, removed from the drive shaft 6, and set on the mounting shaft 19 of the tool rest 18 shown in FIG.
Then, the blade 5, the spacer 12, the cushioning material 13 and the like are removed from each of the blade shafts 4A and 4B set on the mounting shaft 19, and the blade shafts 4A and 4B are arranged in a new arrangement state.
The blade 5, the spacer 12, the cushioning material 13 and the like are attached again to complete the blade replacement work.

However, in the conventional blade changing operation as described above, when the slitter equipment 1 is for slitting a thick metal band, the weight of the blades 5 and the spacers 12 of the blade shafts 4A and 4B is reduced, for example. The weight is about 30 to 50 kg per sheet, and blade replacement work becomes heavy labor. Also, in order to ensure the shear quality of the product, the blade shaft 4A or 4B and the blade 5
Is set to, for example, about 50 to 100 μm or less, and the surface of the blade shaft 4A or 4B may be scratched when the blade 5 is attached or detached.

Therefore, as in the invention described in Japanese Patent Application Laid-Open No. 4-183519, a frame structure is provided at the end of the arm of the main body frame, and the frame structure is provided with a suction pad, a back pressing portion and a holding portion. A knife device has been proposed. In this blade changing device, the arm is moved in the horizontal direction or the vertical direction, the blade or the spacer is sucked by the suction pad to move a predetermined amount on the blade shaft, and then the blade or the spacer is moved to the back pressing portion and The blades and spacers are exchanged by holding and moving at the holding section.

[0008]

However, the blade changing device described in the above publication has a structure in which the frame structure is provided with a suction pad, a back pressing portion, and a holding portion, and these are individually operated. However, the frame structure has a complicated structure, and the cost increases.

Further, the blade replacement device described in the publication holds both ends of the blade and the spacer by the back pressing portion and the holding portion. The holding force is weak, and the blade and the spacer may fall. is there.

The present invention has been made in view of the above circumstances, and has a simple structure, can securely hold a blade and a blade component, and can prevent the generation of galling damage to a blade shaft, thereby enabling a blade replacement device. It is an object of the present invention to provide a blade replacement hand of a blade replacement device that can improve the reliability of the blade replacement device.

[0011]

According to a first aspect of the present invention, there is provided a blade replacement hand of a blade replacement device for removing and mounting a blade and a blade component for positioning the blade on a blade shaft of a slitter facility, In the process of spatially handling the blade and the blade component , a pair of gripping portions that can grip the outer circumference of these blades or blade components,
In the process of disposing the blade or the blade component on the blade axis arranged on each of these gripping portions,
Or , a pair of pressing portions that can press the end face along the blade axis in a state where the blade part is hung on the blade axis .

[0012] According to a second aspect of the present invention, each of the pair of pressing portions in the first aspect is installed on each of the holding portions via an elastic body.

According to a third aspect of the present invention, the braking member is disposed in front of the pressing portion on the pair of holding portions in the second aspect.

[0014]

Therefore, according to the blade replacement hand of the blade replacement device according to the first aspect of the present invention, the edge of the blade or the blade component is pressed against each of the pair of gripping portions that grip the outer periphery of the blade or the blade component. Since a pair of pressing portions are provided, the configuration of the blade replacement hand can be simplified.

According to the first aspect of the present invention, when the blade or the blade component is spatially handled, the pair of grippers hold and move the outer periphery of the blade or the blade component. Can be securely held,
These blades or blade components can be moved and transported safely without fear of falling.

Further, according to the first aspect of the present invention, when the blade or the blade component is moved on the blade axis, the pressing portion presses the end surface of the blade or the blade component. Even if the axis of movement of the blade or the blade part by the blade changing device is displaced from the axis of the blade shaft, the surface of the blade shaft does not cause galling due to the blade or the blade part, and the reliability of the blade changing device is improved. Performance can be improved.

According to the second aspect of the present invention, since the pair of pressing portions are provided on the pair of gripping portions via the elastic body, respectively, the blade or the blade component is initially pressed by the pair of pressing portions, and the blade or the cutting component is pressed. Even when the blade part is installed inclined with respect to the blade axis, one pressing part abuts on the blade or the end face of the blade part, and the other pressing part does not abut, even when the elastic body contracts, both pressing parts are pressed. The part can simultaneously press the edge of the blade or the blade part. Eventually, the blade or the blade component can be set in a state perpendicular to the blade axis by the reaction force of the elastic body during the movement of the blade or the blade component. As a result, it is possible to more surely prevent galling scratches generated on the surface of the blade shaft by the blade or the blade component.

According to the third aspect of the present invention, since the braking member is disposed in front of the pair of pressing portions, when the pressing portion presses the blade or the blade component, the pressing member is pressed by the reaction force of the elastic body. Even if the portion moves suddenly forward, the pressing portion collides with the braking member and is braked. For this reason, the blade or the blade component is prevented from jumping out due to the impact force from the pressing portion and being inclined with respect to the blade axis, and the blade or the blade component can be moved while being kept substantially perpendicular to the blade axis. . As a result, galling occurring on the surface of the blade shaft can be more reliably prevented.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view of one embodiment of a blade replacement hand of a blade replacement device according to the present invention. FIG. 2 (A)
FIG. 2B is an enlarged cross-sectional view taken along the line IIA of FIG. 2A, and FIG. FIG. 3 is a front view showing the gripping claw operating mechanism of FIG. 1, wherein FIG.
(B) is a view on arrow IIIB in FIG. 3 (A). FIG. 4 is an operation diagram showing the operation of the damper. FIG. 5 is an operation diagram showing a blade or spacer mounting operation in the blade changing hand of FIG. FIG. 6 is an operation diagram when the blade or the spacer is removed in the blade replacement hand. In this embodiment, the same parts as those in the conventional example are denoted by the same reference numerals, and the description is omitted.

The blade changing device is configured such that a blade changing hand 30 shown in FIG. 1 is installed at the tip of an arm of an articulated robot or a dedicated machine (not shown), and a blade 5 or a spacer 12 is mounted on the blade shafts 4A and 4B. Or remove it.
The articulated robot or the dedicated machine is configured as an existing technology that can move the blade changing hand 30 vertically or horizontally. The blade replacement hand 30 is attached to the arm by an attachment bracket 31.

As shown in FIGS. 1 and 2, the blade replacement hand 30 has a pair of outer peripheral gripping claws 32A and 32A as gripping portions.
B and a pair of pressing plates 33A and 33 as pressing portions
3B, a cushion mechanism 35 having a coil spring 34 as an elastic body, and a damper 36 as a braking member
And a gripping claw operating mechanism 37 for operating the outer circumference gripping claws 32A and 32B.

As shown in FIG. 3, the gripping claw operating mechanism 37 includes a pair of sliders 39A and 39A having a claw mounting portion 38.
9B are formed with racks 40A and 40B, respectively. These racks 40A and 40B are engaged with the pinion 41, and one slider 39A is connected to the piston rod 43 of the air cylinder device 42.
When one slider 39A is moved in the direction of arrow A (FIG. 3B) by the air cylinder device 42, the other slider 39B moves in the direction of arrow B (FIG. 3B) via the pinion 41. And both sliders 39A and 39A
B can approach or leave.

The air cylinder device 42 has two sets of pistons and piston rods arranged in series.
This is a two-stage stroke type air cylinder device. Therefore,
The air cylinder device 42 enables the sliders 39A and 39B of the gripping claw operating mechanism 37 to be stopped at the intermediate stroke position M and the end stroke position N, respectively. Reference numeral 44 in FIG. 3A indicates a pinion shaft, and the pinion 4
The pinion 41 is rotatably supported by fitting the pinion 1.

The outer peripheral gripping claws 32A shown in FIGS. 1 and 2
Is fixed to the claw mounting portion 38 of one slider 39A of the gripping claw operating mechanism 37 via the fixing plate 45, and the outer circumferential gripping claw 32B is fixed to the claw mounting portion of the other slider 39B via the fixing plate 45. 38. The outer peripheral gripping claws 32A and 32B have a plate shape, and the gripping surface 46A of the outer peripheral gripping claw 32A is formed in a flat surface, and the gripping surface 46B of the outer peripheral gripping claw 32B is formed in a concave shape. The outer peripheral gripping claws 32 </ b> A and 32 </ b> B are held by the gripper operating mechanism 37 and the air cylinder device 42.
Alternatively, it is moved in the diameter direction of the spacer 12 to
The outer periphery 47 of the blade 5 or the spacer 12 can be gripped by A and 46B.

A support plate 48 is bolted to the front surfaces of the outer peripheral gripping claws 32A and 32B. The pressing plate 33A is provided on the supporting plate 48 of the outer peripheral gripping claw 32A, and the pressing plate 33 is provided on the supporting plate 48 of the outer peripheral gripping claw 32B.
B are installed via the cushion mechanism 35, respectively. These pressing plates 33A and 33B can press the blade 5 or the end face 49 of the spacer 12 by the operation of the arm of the articulated robot or the dedicated machine.

As shown in FIG. 2 (B), the cushion mechanism 35 has a flanged bush 51 fixed to one end of the pin 50 with a screw, and this bush 51 is inserted into the through hole 52 of the support plate 48 so that the pin 50 Is fixed to the pressing plates 33A and 33B with bolts, and a coil spring 34 is interposed between the pressing plate 33A or 33B and the support plate 48. The bush 51 is slidable in the through hole 52 in the axial direction of the blade replacement hand 30.

Accordingly, when the pressing plates 33A and 33B press the blade 5 or the end face 49 of the spacer 12,
These blades 5 or spacers 12 are installed at an angle with respect to the blade shaft 4A or 4B for some reason, and one pressing plate 33A or 33B abuts on the blade 5 or spacer 12, and the other pressing plate 33B or 33.
Even when A does not abut, the coil spring 34 on the abutting side contracts, and simultaneously presses the blade 5 or the spacer 12 with the two pressing plates 33A and 33B.
By the reaction force of the coil spring 34, the blade 5 or the spacer 12 is corrected to be perpendicular to the blade shaft 4A or 4B.

As shown in FIGS. 1 and 2A, the damper 36 is supported by support brackets 52 installed on the front surfaces of the outer peripheral gripping claws 32A and 32B. Further, the damper 36 is disposed in front of the pressing plates 33A and 33B by the support bracket 52, and comes into contact with the pressing plates 33A and 33B which are rapidly moved forward by the repulsive force of the coil spring 34, and the movement thereof is performed. Brake.

That is, as shown in FIG. 4A, the cutting tool 5 or the spacer 1 by the pressing plates 33A and 33B.
At the beginning of pressing 2, the coil spring 34 contracts due to an excessive load from the blade 5 or the spacer 12, and thereafter, as shown in FIG. 4B, the coil spring 34 expands due to the repulsive force of the coil spring 34. When the pressing plates 33A and 33B suddenly move forward, the pressing plates 33A and 33B come into contact with the damper 36 and the movement is braked. This prevents the blade 5 or the spacer 12 from jumping forward and being inclined with respect to the axis of the blade shaft 4A or 4B.

Next, the operation and effect will be described. As shown in FIG. 5, the blade changing hand 30 (FIG. 1) installed at the end of the arm of the articulated robot or the dedicated machine is operated by the gripping claw operating mechanism 37 driven by the air cylinder device 42.
The pair of outer peripheral gripping claws 32A and 32B grip the outer periphery 47 of the blade 5 or the spacer 12 disposed on the storage shaft 53 one by one. In this state, the arm of the articulated robot or the dedicated machine moves to spatially handle the blade 5 or the spacer 12, and the blade 5 or the spacer 12 is inserted into the tip of the blade shaft 4A or 4B. Thereafter, the blade replacement hand 30 releases the outer peripheral gripping of the blade 5 or the spacer 12 by the outer peripheral gripping claws 32A and 32B, and presses the blade 5 or the end surface 49 of the spacer 12 with the pressing plates 33A and 33B, thereby causing this blade 5 or The spacer 12 is moved in the direction of arrow C in FIG. Thus, the blade 5 and the spacer 12 are attached to the blade shaft 4A or 4B.

At this time, as shown in FIG. 1, since the outer diameter D of the blade 5 is larger than the outer diameter d of the spacer 12 (D> d), when the pressing plates 33A and 33B press the blade 5, air is generated. The operation of the cylinder device 42 sets the sliders 39A and 39B of the gripper operating mechanism 37 to the intermediate stroke position M (FIG. 3), and sets the sliders 39A and 39B to the end stroke position N when pressing the spacer 12. . Press plate 3 shown in FIG.
2A and 32B show the case where the sliders 39A and 39B are at the end stroke position N and press the spacer 12.

The outer peripheral gripping claws 32A and 32B are
Alternatively, when gripping the outer circumference 47 of the spacer 12, the air cylinder device 42 operates the gripping claw until the gripping surface 46A of the outer circumference gripping claw 32A and the gripping surface 46B of the outer circumference gripping claw 32B come into contact with the cutting tool 5 or the outer circumference 47 of the spacer 12. The sliders 39A and 39B of the mechanism 37 are moved.

Next, as shown in FIG. 6, when removing the spacer 12 mounted on the blade shafts 4A and 4B, first, the pressing plates 33A and 33B of the blade replacement hand 30 are used to remove the blade 5 having a large outer diameter D. Of the blade shaft 4A or 4B to move to the tip end of the blade shaft 4A or 4B.
2 to hold the outer periphery 47 of the storage shaft 5
Move to 3. Removal of the blade 5 is performed in the same manner.

The blade changing operation as described above is performed by sliding the operating stand 3 of the slitter equipment shown in FIG.
And 4B may be implemented in a cantilevered state, or
As shown in FIG. 7, the cutting may be performed after the cutter shafts 4A and 4B of the slitter equipment 1 are set on the tool rest 18.

According to the above-described embodiment, the pair of pressing plates 33A and the pair of pressing plates 33A for pressing the end face 49 of the blade 5 or the spacer 12 are respectively applied to the pair of outer peripheral holding claws 32A and 32B for holding the outer circumference 47 of the blade 5 or the spacer 12. 33B
Is arranged, the configuration of the blade replacement hand 30 can be simplified.

When the blade 5 or the spacer 12 is spatially handled, the outer periphery 47 of the blade 5 or the spacer 12 is gripped and moved by the pair of outer peripheral gripping claws 32A and 32B. The blade 5 or the spacer 12 can be safely moved without fear of dropping.

Further, when the blade 5 or the blade part 12 is moved on the blade shaft 4A or 4B, the pressing plate 33A or 33B presses the end face 49 of the blade 5 or the spacer 12, so that the blade replacement hand 30 is included. Moving axis of blade 5 or spacer 12 and blade shaft 4 by blade changing device
Even if the axis of A or 4B is misaligned, the surface of the blade shaft 4A or 4B will not be scratched by the blade 5 or the spacer 12, and the reliability of the blade changing device can be improved.

Further, a pair of pressing plates 33A and 33
B is installed on the pair of outer peripheral gripping claws 32A and 32B via the coil spring 34 of the cushion mechanism 35, respectively. Is installed obliquely with respect to the blade shaft 4A or 4B, even when one pressing plate 33A or 33B comes into contact with the blade 5 or the end face 49 of the spacer 12, and the other pressing plate 33B or 33A does not come into contact.
Due to the contraction of the coil spring 34, both pressing plates 33A and 33B can simultaneously press the blade 5 or the end face 49 of the spacer 12. Then, the cutter 5 or the spacer 12 can be set to be perpendicular to the cutter shaft 4A or 4B by the reaction force of the coil spring 34 during the movement of the cutter 5 or the spacer 12. As a result, it is possible to more reliably prevent the cutting tool 5 or the cutting component 12 from scoring the surface of the cutting tool shaft 4A or 4B.

Further, since the damper 36 is provided in front of the pressing plates 33A and 33B, the pressing plate 33A
When the blade 5 or the spacer 12 is pressed by the pressure plate 33 and the spacer 33B, the reaction force of the coil spring 34 causes the pressing plate 3
Even if 3A and 33B suddenly move forward, these pressing plates 33A or 33B collide with the damper 36 and are braked. For this reason, the pressing plates 33A and 33B
The blade 5 or the spacer 12 is prevented from jumping out due to the impact force from the blade, and the inclination with respect to the blade axis 4A or 4B is suppressed, and the blade 5 or the spacer 12 is moved while being kept substantially perpendicular to the blade axis 4A or 4B. be able to. As a result, it is possible to more reliably prevent galling occurring on the surface of the blade shaft 4A or 4B.

[0040]

As described above, according to the blade replacement hand of the blade replacement device according to the present invention, the blade or the blade part can be securely held with a simple structure, and the generation of the bite on the blade shaft is prevented. As a result, the reliability of the blade changing device can be improved.

[Brief description of the drawings]

FIG. 1 is a front view of one embodiment of a blade replacement hand of a blade replacement device according to the present invention.

FIG. 2A is a view taken in the direction of arrow IIA in FIG.
FIG. 2B is an enlarged sectional view of a portion IIB in FIG.

FIG. 3 shows the gripping claw operating mechanism of FIG. 1 (A).
FIG. 4 is a front view showing a part cut away, and FIG.
FIG. 3A is a view taken in the direction of the arrow B in FIG.

FIG. 4 is an operation diagram showing an operation of a damper.

FIG. 5 is an operation diagram showing a blade or spacer mounting operation in the blade replacement hand of FIG. 1;

FIG. 6 is an operation diagram when a blade or a spacer is removed in the blade replacement hand.

FIG. 7 is a sectional view showing a slitter facility.

FIG. 8 is a front view showing a part of the blade shaft installed on the blade replacement table, in a cutaway manner.

FIG. 9 is a cross-sectional view showing a blade shaft, a blade, and the like in FIGS. 7 and 8;

[Explanation of symbols]

 Reference Signs List 1 slitter equipment 4A, 4B blade shaft 5 blade 12 spacer 13 buffer material 32A, 32B outer peripheral gripping claw 33A, 33B pressing plate 34 coil spring 35 cushion mechanism 36 damper 37 gripping claw operating mechanism 39A, 39B slider 40A, 40B rack 41 pinion 42 Air cylinder device 47 Outer circumference of blade or spacer 49 End face of blade or spacer

Continuation of the front page (72) Inventor Yutaka Takemoto 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside the Akashi Plant (56) References JP-A-4-101715 (JP, A) 121572 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23D 35/00 B23D 19/06 B25J 15/08 B26D 1/24

Claims (3)

(57) [Claims] 1. A blade changing hand of a blade changing device for taking out a cutting tool and a cutting tool component for positioning the cutting tool from a cutting tool axis on a cutting tool axis of a slitter facility, in a process of spatially handling the cutting tool and the cutting tool component.
Includes a pair of gripping portions which allow gripping the outer periphery of these blade or blade part, is arranged in each of these gripping portion, in the process of the blade or blade part moves on blade axis, these Knife
Or a pair of pressing portions capable of pressing an end surface of the blade component along the blade axis in a state where the blade component is hung on the blade axis . 2. The blade changing hand of the blade changing device according to claim 1, wherein each of the pair of pressing portions is installed on each of the holding portions via an elastic body. 3. The blade changing hand of the blade changing device according to claim 2, wherein a braking member is disposed in front of the pressing portion between the pair of gripping portions.