JP3515952B2 - Slitter blade changing device and blade changing method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention cuts a strip material having a width corresponding to the distance between the blades by rotating the blades arranged at predetermined intervals on the arbor together with the arbor and passing the material between the rotating blades. The present invention relates to a cutter exchanging device and a cutter exchanging method for a slitter, which receives the used cutter and the spacer from a slitter to be formed, and transfers the cutter and the spacer to be used next to the slitter.

[0002]

2. Description of the Related Art A slitter is provided in a part of a belt material forming device (not shown) for forming a belt material, and is a rotating blade which is wound at a predetermined interval while unwinding a wide material wound in a coil shape. It is a device that cuts into strips of a number and width according to the number and intervals of the blades through the space. In such a slitter, in order to stably obtain a strip having a required line width, one or more spacers having a predetermined wall thickness are interposed between the blade and the blade, and the blade and the blade The space is clamped with a predetermined pressure to position and fix the blade with high accuracy.

FIG. 13 shows, for example, Japanese Unexamined Patent Publication No. 5-13842.
It is sectional drawing for demonstrating the structure of the arbor part of the slitter described in the 9th publication. The other end of the pair of upper and lower arbors 210a and 210b is rotatably supported by the body of a slitter (not shown). One end of each of the arbors 210a and 210b has an arbor stand 2 arranged to face the main body.
24 is supported by a bearing 224a. Arbors 210a and 210b and bearings 224a can be raised and lowered,
By raising and lowering the arbors 210a and 210b and the bearing 224a, a space where the blade 20 can be exchanged is created on one end side of the arbor 210a and 210b, and the blade 20 can be exchanged in this space.

A spacer 10 is provided between the blades 20, 20 and the thickness of the spacer 10 causes the blades 20,
The distance between the 20 is determined. Arbor 210a, 210b
A screw 211 is formed at one end of the screw 211, and the pressing member 15 is screwed into the screw 211. Spacer 10 and blade 20
Is fastened by the thrust of the pressing member 15 screwed into the screw 211 and fixed to the arbor 210a, 210b.

Arbors 210a and 210b as described above
The replacement of the spacer 10 and the blade 20 in step 1 is performed by the following procedure. The spacer 10 and the blade 20 to be used next are arranged and prepared in advance in the order of assembling to the arbor 210a, 210b. The arbor stand 224 is moved away from one end of the arbor 210a, 210b, and a space is provided at one end of the arbor 210a, 210b to allow the spacer 10 and the blade 20 to be exchanged. Pressing member 1 from one end of arbor 210a, 210b
After removing 5, the spacers 10 and the blades 20 are sequentially removed from one end side and stored in a storage unit such as a rack. The spacer 10 and the blade 20 prepared in advance are assembled to the arbor 210a, 210b in order. The pressing member 15 is attached to one end of the arbor 210a, 210b.
Is screwed in and the spacer 10 and the blade 20 are tightened with a predetermined torque. After the above work is completed, the arbor 210a and 210b are supported by the arbor stand 224, and the slitter is returned to the belt material forming device.

However, the spacer 10, the blade 20 and the pressing member 15 are heavy objects, and an operator manually attaches the spacer 10, the blade 20 and the pressing member 15 to each of the two upper and lower arbors 210a and 210b. It is a considerable amount of hard work. Therefore, there is a problem that a considerable amount of time is required for exchanging the blade, and the operation of the band forming device is stopped during that period to reduce the production efficiency. further,
In order to set the distance between the blades 20 to a predetermined distance, it is necessary to combine the spacers 10 having different wall thicknesses in various ways, but it is troublesome to find an optimal combination from among the various kinds of spacers 10. Therefore, there is a problem that not only the work load on the operator is heavy but also the calculation takes a lot of time.

In order to solve such a problem, Japanese Patent Laid-Open No. 11-19819 discloses that a spacer and a blade stored in a spacer storage stand and a blade storage stand are temporarily assembled by a robot into a temporary assembly stand. There is disclosed a slitter stand blade replacement device that is automatically inserted into a shaft of a slitter body from a set stand.

In the blade changing device described in this publication, a spacer storage stand and a blade storage stand are arranged up to a position away from the temporary assembly stand, and a robot provided between the spacer storage stand and the blade storage stand is While reciprocating, collect spacers and blades to be used next,
Alternatively, the used spacers and blades taken out from the axis of the slitter body are stored in the spacer storage stand and the blade storage stand. Therefore, it is impossible to store the used spacers and blades and prepare the spacers and blades to be used next at the same time, and it takes a long time to replace the blades.

In this case, the spacer accommodating stand and the blade accommodating stand are arranged on both sides of the temporary assembly stand, while the spacer and the knife to be used next are prepared while the other spacer and the knife are accommodated. Although it can be configured, there is a problem in that the blade changing device becomes complicated and becomes large.

[0010]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is possible to automatically remove the blade and the spacer from the arbor and to attach the blade and the spacer to the arbor automatically. Obtaining a cutter exchanging device and method for exchanging slitters, and moreover, it is possible to automatically find the optimum combination of the cutter and spacer to be mounted on the arbor, and automatically perform a series of operations for exchanging the cutter and spacer in a short time. It is an object of the present invention to provide a slitter blade exchanging device and a blade exchanging method having a compact structure capable of performing the same.

[0011]

In order to solve the above-mentioned problems, the invention according to claim 1 comprises a rotatable arbor, and a plurality of blades arranged on the arbor at predetermined intervals via spacers, A slitter having a fixing means for clamping the blade together with the spacer and fixing it on the arbor, and rotating the blade together with the arbor to cut a strip having a width corresponding to the interval between the blades. In the provided blade exchanging device for exchanging the blade and the spacer, the blade and the spacer to be used next, which are detachable from the arbor of the slitter, are arranged in advance in the order of being assembled to the arbor. And a first blade holding part to hold
A second cutter holding part that is detachable from the arbor of the slitter and receives the used cutter and spacer from the arbor, and a multi-joint arm, and the used cutter and the second cutter holding part from the second cutter holding part. A robot that grips and removes a spacer by gripping it with a grip provided at the tip of the multi-joint arm, and hands over the knife and spacer to be used next to the first tool holding part with the grip, and by this robot A storage unit for the blade and spacer that receives the removed blade and spacer, and stores the blade and spacer to be used next to be delivered to the robot within the operating range of the gripping unit of the robot, and the second storage unit . Cutlery
From the holding part, the used blade and the spacer
Before being removed by the robot, receive it by the robot.
The blade or the spacer to be passed over the second blade holder
Is it another spacer or blade that is held by the holding part?
To the delivery position where it is delivered to the robot
The spacer or the blade is the shaft of the second blade holding portion.
And a drawing-out means for drawing along the line .

According to this structure, the first blade holding portion which can be engaged with and disengaged from the arbor is provided, and the spacer and the blade to be used next are assembled in advance to the first blade holding portion, so that the blade can be quickly replaced. Further, it is possible to transfer the spacer and the blade from the first blade holding portion to the arbor. In addition, by providing a second blade holding part that can be detached from the arbor and passing the used blade and spacer from the arbor to the second blade holding part, the used blade and spacer can be removed quickly. And it becomes possible to perform easily. Further, the robot having the articulated arm is used to assemble the spacer and the blade to the first blade holder and to remove the used blade and the spacer from the second blade holder, and the operating range thereof. By disposing the spacer and the storage of the blade in the inside, the used blade and the spacer can be removed and the blade and the spacer to be used next can be quickly prepared, and the device configuration can be made compact. Also, is the robot the second tool holder?
Take out the used spacers one by one from the
Store it in a predetermined position in the storage section. But the robot
If the spacer is thinner than the width of the grip of the
Parts may grab other spacers together
There is. Therefore, as in the present invention,
A spacer that allows the grip portion of the robot to grip the blade and
Pull out from inside the spacer and from other blades and spacers
By separating the robot, even if it is a thin spacer,
It becomes easy to grip the grips one by one.

The withdrawing means is as described in claim 2.
And a driving body and the second blade holding by the driving body
A suction plate that moves back and forth in the same direction as the axis of the section,
Move the suction plate by sucking the spacer or the blade.
To pull out the spacer or the blade.
It is good to configure it.

Further , in this case, as described in claim 3,
In addition, the blade and space to be used next using the robot are
After handing over the blade to the first blade holding part, the drawer
Use a step to attach the blade and spacer to the first blade holder.
You may comprise so that it may push in to the base side of a holding part.

According to a fourth aspect of the present invention, the robot
A control device that controls the operation is used to control the thickness of the spacer.
And storage of spacers with a predetermined wall thickness in the storage section
It has a storage means for storing the position information and
Information about the line width of the strip to be processed and the information read from the storage means
Based on the information about the thickness of the spacer
The combination of the spacer and the blade to be used next
After making the decision, the decision and the storage read from the storage means are made.
Information about the storage position of the spacer in the warehouse
A predetermined spacer and blade on the first blade holding part.
Configured to instruct the robot to assemble and
I am doing it. According to this configuration, the control unit extracts, for example, information regarding the line width of the strip from the processing program for the strip. Since the storage means stores information about the wall thickness of the spacer, the control means is appropriate based on the line width of the strip and the information about the wall thickness of the spacer stored in the storage means. The combination of spacers can be determined by calculation. Further, the control means, based on the information about the storage position of the spacer in the storage portion stored in the storage means, takes out a spacer having a predetermined wall thickness from the storage portion, and issues a command to attach it to the first blade holding portion. Output. Therefore, it is not necessary for the operator to repeatedly perform troublesome calculation, and it is possible to prevent the occurrence of a defective belt member due to a calculation error.

According to a fifth aspect of the present invention, the first blade holding portion and the second blade holding portion are constituted by a common blade holding portion. The first blade holding portion and the second blade holding portion may be separately provided according to their respective roles, but one blade holding portion receives the used blade and spacer from the arbor, and It is also possible to transfer the blade and spacer to be used next. According to this structure, the blade changing device can be made compact and inexpensive.

At least one robot can take out the used blade and the spacer from the first blade holding portion and assemble the blade and the spacer to the second blade holding portion. However, as in the invention according to claim 6 , the robot comprises a first robot for assembling a blade and a spacer to be used next to the first blade holder,
It may be configured by a second robot that takes out the used blade and the spacer from the second blade holding portion. By configuring in this way, while the first robot is assembling the blade and the spacer to be used next to the first blade holder, the second robot is used from the second blade holder to the used blade. And the spacer can be taken out.

According to a seventh aspect of the present invention, there is provided the first cutting tool.
On the holding part, insert the blade and spacer to be used next
A structure provided with a pushing means for pushing toward the arbor of the ritter
There is. With this configuration, it is possible for the operator to manually
The blade and the space from the first blade holder to the arbor.
It becomes possible to deliver the service quickly.

The invention as defined in claim 8 is based on the above slitter.
In the arbor, the used blade and the spacer
Is provided with a feeding means for feeding the
It has a different structure. With this configuration, the worker
Do not arbor the used blades and spacers without using your hands.
It will be possible to quickly deliver it to the dummy arbor.

According to a ninth aspect of the present invention, there is provided the above slitter.
Place the dummy arbor on top of each of the upper and lower arbors.
Two are provided below, and each dummy arbor is paired.
Therefore, two robots are installed and the used blades and
And when removing the spacer from the dummy arbor and
Replace the blade and the spacer to be used next with the dummy arm.
When installing it on one of the dummy arbors,
The other dummy arbor will be displaced.
It is configured like this.

The dummy arbor is that of two upper and lower arbors.
It is advisable to provide two above and below corresponding to each. like this
The upper and lower arbors can be
It becomes possible to perform the exchange at the same time. In this case up and down
Two dummy arms corresponding to each of the two arbors
When the bar is placed, the blade held by one dummy arbor
And the blade held by the other dummy arbor interfere with each other,
Assembling the blade and spacer to the dummy arbor and before
It is not possible to remove the blade and spacer from the dummy arbor.
There are things I can't do to moose. So, the blade and the space
When mounting the service on the dummy arbor and from the dummy arbor
When removing, shift the position of both dummy arbors.
It is better to avoid the interference of the blades.

[0022]

According to this structure, the used spacer is
Move to the next side to be passed to the robot along the inclined surface
This allows, for example, a first and a second
Place the robot, and the second robot will
And the second robot to use next.
It becomes possible to perform the work of taking out the pacer at the same time
It With this, without increasing the size of the blade changing device,
It is possible to greatly reduce the time required for blade replacement work
become.

[0024]

According to a tenth aspect of the present invention, in the method of exchanging a blade in a slitter for removing a used blade and a spacer from a rotatable arbor and assembling the blade and the spacer to be used next in the arbor in a predetermined order, With a dummy arbor that can be freely engaged and disengaged,
A multi-joint arm robot that exchanges the blade and the spacer with the dummy arbor, and a drawing-out means that draws out the spacer or the blade along the axis of the dummy arbor are used, and the used blade and the spacer are used. From the arbor to the dummy arbor, and the withdrawing means separates the blade or the spacer transferred to the multi-joint robot from the other spacer or the blade held by the dummy arbor, and the multi-joint The multi-joint arm robot is moved to the delivery position on the dummy arbor to be delivered to the robot, and the used blade that has been moved to the delivery position is removed from the dummy arbor and placed within the operating range of the multi-joint robot. Stored and moved to the delivery position. The used spacer is removed and stored in the spacer storage unit, and when the spacer to be used next is transferred to the multi-joint arm robot, the spacer stored in the storage unit is stored in the multi-joint arm robot. The blades and the spacers to be used next by the multi-joint arm robot are arranged in a predetermined order and assembled in the dummy arbor, and the blades to be used next from the dummy arbor to the arbor and This is a method of delivering the spacer.

According to this method, since the blade and the spacer are stored within the movement range of the arm of the articulated arm robot, the blade and the spacer can be quickly transferred from the storage section to the articulated arm robot. Yes, and
By simply arranging two sets of articulated arm robots around the existing storage unit, it is possible to transfer the used spacers and blades to the storage unit and the spacers and blades to be used next to the articulated arm robot. It is possible to do it at the same time. In addition, it can be attached to the grip of the robot by the drawing means.
Pull out the spacer to be gripped from the blade and the spacer
And separate it from other blades and spacers
Even spacers can be gripped one by one with the robot's grip.
And easier.

[0027]

According to the eleventh aspect of the present invention, when assembling a blade and a spacer to be used next to the dummy arbor, information on the line width of the strip material to be processed next and the thickness of the spacer accommodated in the storage section are set. The controller calculates an appropriate combination of the spacers according to the distance between the blades based on the information regarding the above, and based on the calculation result and the information regarding the storage position of the spacer for each wall thickness in the storage unit, This is a method of outputting a command to the joint arm robot. According to this method, it is not necessary for the operator to repeatedly perform troublesome calculations, and it is possible to prevent the occurrence of defective strips due to calculation errors.

[0029]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will now be described in detail with reference to the drawings. [Overall Configuration of Blade Exchanger] First, the overall configuration of the blade exchange of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a plan view of the blade changing device of the present invention, and FIG.
It is a side view of a blade changing device. Note that, in FIG. 1, for simplification of the illustration, the frame and the spare blade holding portion shown in FIG. 2 are omitted.

The blade exchanging device 300 includes a spacer 10 to be used next for the arbor 110a, 110b of the slitter 100.
And a first tool holder 310 for delivering the tool 20, a second tool holder 320 for receiving the used spacer 10 and the tool 20 from the arbor 110a, 110b, and a first tool holder 320,
Blade assembly portion 330 for assembling the spacer 10 and the blade 20 to the blade holding portion 310, the blade removal portion 360 for taking out the used spacer 10 and the blade 20 from the second blade holding portion 320, and the spacer 10 for each wall thickness. Racks 382 and 384 as storage units that are classified and stored in a frame, and a replacement blade that is provided on the frame 301 of the blade exchanging device 300 and that suspends and holds the blades 20 one by one so that adjacent blades 20 do not interfere with each other. And a holding portion 302.

The first tool holder 310 is provided with an arbor 110.
a and 110b, a dummy arbor 310a located on the same axis as the arbor 110a at a transfer position A for transferring the spacer 10 and the blade 20 and an arbor 1 at the transfer position A.
Dummy arbor 310b located on the same axis as 10b
And has a forward and backward movement between the transfer position A and the blade assembly portion 330. The second blade holding unit 320 has a dummy arbor 320a located on the same axis as the arbor 110a at the transfer position A, and a dummy arbor 320b located on the same axis as the arbor 110b at the transfer position A. It is possible to move back and forth between A and the blade extracting unit 360.

Two robots 331 and 335 having articulated arms are arranged in the blade assembling section 330.
The robot 331 uses the dummy arbor 310a and the spacer 10
And the blade 20 are assembled, and the robot 335 attaches the spacer 10 and the blade 20 to the dummy arbor 310b. In addition, the robot 33 is attached to the blade extracting unit 360.
Two robots 361 and 365 having multi-joint arms are arranged at positions facing each other. The robot 361 moves from the dummy arbor 320a to the spacer 10
Then, the robot 365 takes out the spacer 10 and the blade 20 from the dummy arbor 320b.

The racks 382 and 384, which are storage units for storing the spacers 10 classified by thickness, store the blade assembly unit 3.
It is provided between 30 and the blade extraction unit 360. The robot 331 takes out the spacer 10 from the rack 384 and assembles it on the dummy arbor 310 a,
Removes the spacer 10 from the rack 382 and assembles it to the dummy arbor 310b. In addition, the robot 361
The spacer 10 taken out from the dummy arbor 320a is transferred to the rack 384, and the robot 365 receives the spacer 10 taken out from the dummy arbor 320b in the rack 382.
Hand over to.

The racks 382 and 384 are provided with a blade take-out section 36.
It is inclined so that the 0 side is high and the blade assembling section 330 side is low. Spacer storage part 3 of rack 382
83 and the spacer accommodating portion 385 of the rack 384 are formed in a groove shape that is continuous from the side of the blade take-out portion 360 to the side of the blade assembling portion 330, so that the spacer 10 is passed to the racks 382 and 384 at the blade take-out portion 360. Then, the spacer 10 moves to the blade assembling portion 330 side while being guided by the spacer accommodating portions 383 and 385.

A dummy arbor 32 is attached to the blade take-out portion 360.
0a and the dummy arbor 320b are respectively provided with drawer devices 371 and 376. The pull-out devices 371 and 376 are arranged such that, from the used spacers 10 and the blades 20 held by the dummy arbors 320a and 320b, the spacers 10 or the blades 20 to be gripped by the gripping portions 363 and 367 of the robots 361 and 365, respectively. By pulling out, the grip portions 363 and 367 are fixed to the predetermined spacer 10.
Alternatively, it is for facilitating gripping the blade 20.
The pull-out devices 371 and 376 suck the air to suck the spacers 10 or the blades 20 located closest to the tip ends of the dummy arbors 320 a and 320 b, and the dummy arbor 320 a.
By moving to the tip side of a, 320b, from the other spacer 10 and blade 20 to the spacer 10 or blade 20.
To separate.

In this embodiment, the blade assembling part 33 is used.
0 is also provided with drawers 341 and 346 having the same structure as the drawers 371 and 376. This drawer 34
1, 346 are the robots 3 as described later in detail.
Dummy arbors 310a, 310 in cooperation with 31, 335
It is for assembling the spacer 10 and the blade 20 to b.

The configuration of each section will be described in more detail below. [Structure of slitter] First, the blade changing device 300 of the present invention
The configuration of the slitter that constitutes a part of the above will be described with reference to FIGS. FIG. 3 shows the slitter 1 shown in FIG.
It is an enlarged plan view of 00. Base 10 of the slitter 100
1, a guide rail 116 is provided in the Y1 direction parallel to the axis of the arbor 110a, 110b. An arbor support portion 112 that horizontally supports the arbor 110a, 110b is placed on the guide rail 116.
The arbor support part 112 can be moved back and forth in the Y1 axis direction by a drive part 125 which is fixed to the base 101 and includes a ball screw / nut and a motor.

A drive unit 130 for rotating the arbors 110a and 110b is provided behind the arbor support 112 (downward in the plane of FIG. 3). This drive unit 130
Has a motor 132 and a speed reducer 136. The output shaft 122 of the drive unit 130 and the arbor 110a,
Input shaft 12 of arbor support 112 connected to 110b
1 and 1 are detachably connected by a clutch 120 provided between the arbor support portion 112 and the drive portion 130.

The drive unit 130 is mounted on a base 131 provided on the base 101. Base 131 is X1
The guide rail 134 of the base 101 provided in the axial direction
It is free to move back and forth along. A cylinder 138 is fixed to an end portion of the guide rail 134 of the base 101, and an expandable piston rod of the cylinder 138 is connected to the base 131. Therefore, the clutch 1
20 is operated to separate the input shaft 121 and the output shaft 122, the cylinder 138 is driven to extend the piston rod, and the drive unit 130 is moved in the X1 axis direction together with the base 131, thereby arboring. Support part 112
It is possible to secure a space behind.

The tips of the arbors 110a and 110b are supported by arbor stands 114, respectively.
A guide rail 115 is provided on the base 101 in the X2 axis direction orthogonal to the Y1 axis. Arbor stand 1
14 is provided on this guide rail 115,
It can be moved back and forth in the X2 axis direction along the guide rail 115 by driving a driving unit (not shown) by a combination of a cylinder or a ball screw / nut and a motor.
By moving the arbor stand 114 along the guide rail 115 to one side in the X2 axis direction (left side toward the paper surface of FIG. 3), a space is secured on the tip side of the arbor 110a, 110b.

The slitter 100 having the above-described structure is provided in the driving unit 13
The driving power of the motor 132 of 0
It is transmitted to the arbors 110a and 110b via the output shaft 122, the clutch 120, and the input shaft 121.
The blade 20 is rotated together with a and 110b. Cutlery 20
When replacing the spacer 10 and the spacer 10,
Operates to disconnect the drive unit 130 from the arbor 110a, 110b, and the cylinder 138 drives to move the drive unit 130 in the X1 axis direction.

As a result, a space is secured behind the arbor support 112, so that the drive of the drive unit 125 causes the arbor support 112 to move to the arbor 110a, 110b.
At the same time, it retreats in the Y1 axis direction. By moving the arbor support 112 in the Y1 axis direction, the arbor 110a, 110b is moved.
When the tip end of the arbor is separated from the arbor stand 114, the driving unit of the arbor stand 114 is driven to move the arbor stand 114 to one side in the X2 axis direction. As a result, a space is secured in front of the arbor 110a, 110b, so that the driving unit 125 drives in the opposite direction to the above,
The arbor support 112 and the arbors 110a and 110b move toward the transfer position A (see FIGS. 1 and 2). The state in which the arbor 110a, 110b has advanced to the transfer position A is shown by a virtual line in FIG.

The arbors 110a and 110b are provided with the used spacer 10 and the blade 20 and the second blade holding portion 320.
A feeding device 140 that feeds the paper to the paper is provided. The feeding device 140 is provided parallel to the axes of the motor 142 attached to the arbor support 112 and the arbors 110a and 110b, and is screwed to the screw shaft 141 that rotates together with the rotation shaft of the motor 142 and the screw shaft 141. The arm 144 that moves forward and backward in the same direction as the axes of the arbors 110a and 110b according to the forward and reverse rotations of the screw shaft 141 and the tip of the arm 144 are attached to the spacer 10 and the blade 20 from the arbor support portion 112 side. And a pusher 143 for pushing.

When the motor 142 is driven, the screw shaft 141
Rotates to move the arm 144 toward the tips of the arbors 110a and 110b, whereby the pusher 143 is moved.
Arbor 110 used spacer 10 and blade 20
It is moved toward the tips of a and 110b. In addition, the feeding device 140 having the above-described configuration includes the arbor 110a and the arbor 11.
0b are provided, and the spacers 10 and the blades 20 of the arbor 110a and the arbor 110b are simultaneously moved toward the transfer position A by the synchronous drive of the motors 142, 142.

Arbors 110a and 110b to spacer 1
0 and the blade 20 are removed, the spacer 10 and the blade 20
In order to automatically perform a series of exchange operations for assembling to the arbor 110a and 110b, the spacers 10 and the blades 20 transferred from the first blade holder 310 are attached to the arbor 110a, 110b.
It is preferable to provide a clamping mechanism for automatically clamping the.

FIG. 4 is a sectional view of an essential part of an example of a clamp mechanism provided on the arbor 110a, 110b. Since the clamp mechanisms provided on the arbors 110a and 110b are the same, only the clamp mechanism provided on one arbor 110a will be described, and the description on the other one will be omitted. Arbor 11
Reference numeral 0a denotes a blade mounting portion 201 in which a plurality of blades 20 are arranged at predetermined intervals, a journal portion 204 formed on one side of the blade mounting portion 201 and having a smaller diameter than the blade mounting portion 201, and this journal. The connecting member 208 extends from the other end of the portion 204. Journal section 20
A smooth tapered surface 205 is formed between the blade 4 and the blade mounting portion 201.

A cylinder 210 is slidably fitted on the outer side of the journal portion 204 with respect to the journal portion 204. The maximum outer diameter of the cylinder 210 is formed smaller than the outer diameter of the blade mounting portion 201 so as not to hinder the insertion and removal of the blade 20, the spacer 10 and the like when the blade is replaced. A partition wall 216 is formed on the inner peripheral surface of the cylinder 210 with a space 211 provided between the cylinder 210 and one end of the journal portion 204. A through hole is formed at the center of the partition wall 216, and the connecting member 208 extends through the through hole to one side. A piston 220 is fitted to one end of the connecting member 208 protruding from the through hole, and the piston 220 is fixed to the connecting member 208 by a piston retainer 222 screwed into a screw portion of the one end of the connecting member 208. There is.

A cylinder chamber 214 is formed between the piston 220 and the partition wall 216, and the arbor 110a, 110
One end of the pressure oil flow pipe 209a provided on the axis line of b opens to the cylinder chamber 214. The pressure oil supplied from the pressure oil supply device (not shown) is supplied to the cylinder chamber 214 through the rotary joint and the pressure oil flow pipe 209a (not shown), and pushes the partition wall 216 to press the cylinder 2
10 is moved toward the blade mounting portion 201. A hydraulic pump or the like can be used as the pressure oil supply device. A valve mechanism (not shown) is provided between the pressure oil supply device and the cylinder chamber 214 so that the pressure oil in the cylinder chamber 214 does not leak during the operation of the slitter 100. By this valve mechanism, when the strip material W (see FIG. 13) is cut and formed, the claw 212 described later is regulated so as not to move forward and backward, and the pressing force applied to the pressing ring 15 is held constant.

An annular cap 218 is screwed onto the tip of the cylinder 210. The cap 218 and the piston 22 are screwed together.
A cylinder chamber 224 is provided between the cylinder chamber 224 and zero. In the cylinder chamber 224, another pressure fluid circulation pipe 209b which is inserted through the pressure oil circulation pipe 209a is opened. When the pressure fluid is supplied from the pressure fluid supply device (not shown) to the cylinder chamber 224 through the pressure fluid flow pipe 209b and the pressure fluid is discharged from the cylinder chamber 214, the cylinder chamber 2
The pressure fluid supplied to the inside of 24 pushes the cap 218 to move the cylinder 210 to one side. Cylinder chamber 224
The pressure fluid supplied to is not limited to a liquid such as pressure oil, as long as it can push the cylinder 210 to one side and return the claw 212 described below to the original position.
It may be a gas such as air or nitrogen. Further, instead of supplying the pressure fluid, a spring may be provided in the cylinder chamber 224.

A plurality of (five in this embodiment) claws 212 are provided at equal intervals along the outer peripheral surface of the journal portion 204 on the side of the blade mounting portion 201 of the cylinder 210. The claw 212 is rotatable in the radial direction of the journal portion 204 by a shaft provided on the cylinder 210. Further, it is preferable that the pawl 212 is always biased in a direction along the outer peripheral surface of the journal portion 204 by a biasing means such as a spring (not shown). In the state where the claw 212 is along the outer peripheral surface of the journal portion 204 (the state shown in FIG. 4A), since the claw 212 is located inside the outer periphery of the cylinder 210, the claw 212 may be changed when exchanging the blade. It does not hinder the movement of the blade 20 and the spacer 10.

The taper surface 205 between the journal portion 204 and the blade mounting portion 201 causes the claw 212 to move into the journal portion 2 when the cylinder 210 moves toward the blade mounting portion 201.
Acts as a cam for rotating the shaft 04 to the outside in the radial direction. Further, the tapered surface 205 is the blade mounting portion 2 of the cylinder 210.
The tip is guided to the engaging portion 15a of the pressing ring 15 arranged at the end of the blade 20 and the spacer 10 while expanding the claw 212 while moving to the 01 side.

Tool mounting portion 2 of arbor 110a, 110b
The blades 20 and the spacers 10 are alternately arranged at 01. The interval between the blades 20 is determined by the width of the spacer 10 provided between the blades 20. Blade 20 and spacer 1
0 and 10 are alternately fitted into the blade mounting portion 201, and finally the pressing ring 15 is fitted into the blade mounting portion 201. The pressing ring 15 is attached to the cylinder 21 via the claw 212.
When the pressing force is applied from 0, the blade 20 and the spacer 10 are pressed against the flange (not shown) at the other end of the blade mounting portion 201, thereby accurately positioning the blade 20 on the blade mounting portion 201. And fix it.

[Structure of the blade transfer means: FIGS. 5 and 6] Next, the first blade holder 310 and the second blade holder 32.
The configuration of 0 will be described with reference to FIGS. Figure 5
Is a plan view of the first blade holder and the second blade holder, FIG. 6 is a side view of the first blade holder, and FIG. 7A is a partially enlarged sectional view of a dummy arbor of the first blade holder. , (B) are sectional views taken along the line II of FIG. 7 (a). Since the first knife holder 310 and the second knife holder 320 have basically the same configuration, only the first knife holder 310 will be described, and the second knife holder 320 will be described in detail. The description is omitted.

A base 302 is arranged between the blade assembling section 330 and the blade extracting section 360, and a guide rail 390 is provided on the base 302 in the X3 axis direction orthogonal to the Y1 axis. This guide rail 390 has saddles 311 and 3
21 is mounted so that it can move back and forth. Saddle 311
Is moved in the X3 axis direction by a drive unit 396 including a ball screw / nut mechanism and a motor, and the saddle 321 is moved in the X3 axis direction by a drive unit 395 including a ball screw / nut mechanism 395 and a motor (not shown). It is free to move.

The saddle 311 constituting the first blade holding part 310 is provided with upper and lower support parts 312a and 312b for supporting the upper and lower dummy arbors 310a and 310b. Further, the saddle 321 forming the second blade holding unit 320 is provided with upper and lower support portions 322a and 322b that support the upper and lower dummy arbors 320a and 320b. The support portions 312a and 312b are respectively rotatable in a horizontal plane about a vertical shaft 314, and are supported by the support portions 322a and 322a.
22b are each rotatable in a horizontal plane about a vertical shaft 324.

Supports 312a, 312b and support 32
2a and 322b respectively include a cylinder 315 for rotation.
a, 315b, 325a, 325b are assigned to these cylinders 315a, 315b, 325a, 325b.
Of the upper and lower dummy arbors 31 together with the supporting portions 312a and 312b and the supporting portions 322a and 322b.
0a, 320a, 310b, 320b rotate.

Dummy arbor 3 of the first blade holding unit 310
The 10a and the dummy arbor 310b rotate between the direction facing the slitter 100 and the blade assembling section 330, and the second
The dummy arbor 320a and the dummy arbor 320b of the blade holding unit 320 are rotated between the direction facing the slitter 100 and the blade extracting unit 360. The rotational angular positions of the dummy arbor 310a and the dummy arbor 310b in the blade assembly part 330 and the rotational angular positions of the dummy arbor 320a and the dummy arbor 320b in the blade extraction part 360 are
As shown in FIG. 5, they are displaced and positioned. This is to prevent the blades 20 held by the dummy arbor 310a and the dummy arbor 310b and the dummy arbor 320a and the dummy arbor 320b from interfering with each other. The shift amount of the rotation angle position is determined by the cylinder 315a,
It can be adjusted by changing the mounting position of the stopper 316 provided on each of 315b, 325a, and 325b.

Dummy arbor 3 of the first blade holding unit 310
The robot 33 is attached to the 10a and the dummy arbor 310b.
A moving body 313 for pushing out the spacer 10 and the blade 20 assembled by 1, 335 toward the arbor 110a, 110b at the transfer position A is provided. The structure of the drive means for moving the moving body 313 toward the tips of the dummy arbors 310a and 310b will be described below.
The structure of the driving means is the dummy arbors 310a and 310b.
The same applies to the dummy arbor 310a, and the description of the dummy arbor 310b will be omitted.

As shown in FIG. 7A, the dummy arbor 3
10a is formed in a cylindrical shape. And cylinder 2
The tip of the arbor 110a including 10 has a dummy arbor 31
The arbor 110a is engaged with the dummy arbor 310a by being inserted into the tip of 0a. Dummy arbor 31
A screw shaft 317 is inserted into a through hole 319 formed from one end to the other end along the axis 0a, and a nut 318 is screwed to the screw shaft 317. Screw shaft 31
7 is a motor 3 attached to the rear end of the support portion 312a.
It is rotatable by 31 (see FIG. 5). Screw shaft 31
The rotation of 7 causes the nut 318 to move to the dummy arbor 310.
It moves back and forth in the axial direction of a.

The moving body 313 is attached to the nut 318 via the connecting member 313a. Dummy arbor 310a
A notch 319a is formed by cutting a part of the outer peripheral wall in the axial direction so that the connecting member 313a can move back and forth. The tip of the screw shaft 317 is attached to the dummy arbor 310.
It is located slightly before the tip of a, and when the arbor 110a is engaged with the dummy arbor 310a, the screw shaft 317 of the dummy arbor 310a and the cylinder 210 of the arbor 110a do not interfere with each other.

When the nut 318 moves to the tip of the screw shaft 317, the connecting member 313a is arranged so that the moving body 313 is located at the tip of the dummy arbor 310a.
It is formed by extending from 8 to the front side along the axis of the dummy arbor 310a. The moving body 313 is attached to the tip of the connecting member 313a. This allows
It is possible to reliably move the spacer 10 and the cutting tool 20 assembled to the dummy arbor 310a to the tip of the dummy arbor 310a and transfer them to the arbor 110a.

In this embodiment, the dummy arbors 320a and 320b of the second blade holding unit 320 are also provided with the moving body 323 and the driving means having the same structure as the moving body 313. Therefore, in this embodiment, the second
Blade holder 320 for assembling the spacer 10 and the blade 20, and the first blade holder 310 for the spacer 1.
0 and the blade 20 can be used for removal.

[Structure of the blade take-out section: FIG. 8] Next, the first blade holding section 32 is provided on one side of the blade exchanging device 300.
The configuration of the blade take-out section 360 that takes out the used spacer 10 and the blade 20 from 0 and transfers them to the racks 382 and 384 and the spare blade holding section 302 will be described. FIG. 8 is a plan view of the blade extracting unit 360.

A dummy arbor 32 is attached to the blade take-out section 360.
Two robots 361 and 365 are provided corresponding to 0a and the dummy arbor 320b. Robot 36
Reference numerals 1 and 365 are known ones having gripping portions 363 and 367 for gripping the spacer 10 and the blade 20, and articulated arm portions 362 and 366 capable of moving the gripping portions 363 and 367 in all directions. Arbor 320
a and the spacer 1 taken out from the dummy arbor 320b
0 can be stored in the racks 384 and 382, and the blade 20 taken out from the arbor 320a and the dummy arbor 320b can be transferred to the spare blade holder 302.

[Drawer] Robot 361 and Robot 3
A base 370 is provided between the base 370 and the base 65.
Further, drawer devices 371 and 376, which are drawer means, are provided. The drawers 371 and 376 suck the spacers 10 or the blades 20 located on the tip side of the dummy arbor 320a and the dummy arbor 320b to adsorb other spacers 10 to each other.
And separated from the blade 20, and the robot 361 and the robot 3
The grips 363 and 367 of the spacer 65 are the spacer 10 or the blade 2.
This is for pulling out 0 to a position where it can be easily gripped.

The drawers 371 and 376 are composed of cylinders 372 and 377 fixed to a base 370 and the cylinders 3 and 3.
Suction plates 375 and 380 attached to the ends of the expandable piston rods 72 and 377, and the suction plates 37
5, 380, and rods 374, 379 that extend in the same direction as the piston rod of cylinders 372, 377 move forward and backward, and these rods 374, 379 are inserted to guide the forward and backward movement of suction plates 375, 380. It has guides 373 and 378.

The direction of movement of the piston rod of the cylinder 372 is the same as the axis of the dummy arbor 320a positioned in the cutter take-out portion 360, and the cylinder 37
The forward and backward movement direction of the piston rod 7 is the same as the axis of the dummy arbor 320b positioned in the blade extracting portion 360. Although not shown, the suction plate 37
5, 380 are formed with a plurality of air suction holes, and these air suction holes are connected to a suction air generator such as a blower (not shown).

FIG. 9 shows a procedure for pulling out the spacer 10 by the pulling-out device having the above-mentioned structure. In the example shown in FIG. 9, one of the drawing devices 371 and 377 (drawing device 3
71) will be described, but the operation of the other one (drawing device 377) is the same, so detailed description will be omitted. The dummy arbor 320a is used as the blade extraction unit 360.
The spacer 10 held by the dummy arbor 320a faces the suction plate 375 of the drawing device 371 by rotating to the side and being positioned at a predetermined rotation angle position (FIG. 9).
(The state shown in (a)). In this state, the cylinder 372 is driven to extend the piston rod, and the suction plate 375 is pushed out toward the dummy arbor 320a.
The suction plate 375 is brought into contact with the spacer 10 located on the tip side of 0a. Next, the air suction is started from the air suction hole of the suction plate 375, so that the spacer 10 is suctioned to the suction plate 375 (the state shown in FIG. 9B).

After that, the cylinder 372 is driven to retract the piston rod, and the spacer 1 together with the suction plate 375 is retracted.
0 is moved to the tip side of the dummy arbor 320a. As a result, the spacer 10 to be gripped by the grip portion 363 of the robot 360 is separated from the other spacers 10 and the blade 20 (the state shown in FIG. 9C). Drawer 371
Is a suction plate 37 when the spacer 10 moves to a preset position B near the tip of the dummy arbor 320a.
The air suction of No. 5 is stopped, and the spacer 10 is separated from the suction plate 375. The pulling-out device 371 further retracts the piston rod of the cylinder 372 to move the suction plate 375.
To the initial position.

After that, the grip portion 363 of the robot 360 waiting near the dummy arbor 320a moves to the dummy arbor 320a side, grips the spacer 10 at the position B, and moves the spacer 10 along the dummy arbor 320a. , Taken out from the tip thereof (state shown in FIG. 9D). At this time, as shown by the arrow in FIG. 9D, the movable body 323 is moved to the tip side of the dummy arbor 320a by the thickness of the taken out spacer 10, so that the used arbor held by the dummy arbor 320a can be used. Spacer 1
0 and the blade 20 move to the tip side of the dummy arbor, and then the spacer 10 or the blade 20 to be gripped by the grip portion 363.
Can be positioned at a portion of the pulling-out device 371 with which the suction plate 375 can abut.

In this embodiment, the pulling device 34 having the same structure as the pulling devices 371 and 376 is also provided on the blade assembling portion 330.
1, 346 are provided between the robot 331 and the robot 335. The withdrawing devices 341 and 346 provided in the blade assembling unit 330 include the spacer 10 and the blade 20 inserted into the tip ends of the dummy arbors 310a and 310b by the robots 331 and 335, respectively.
It has a function of pushing to the base side of 310b. That is,
This works so as to reverse the procedure of FIGS. 9 (a) to 9 (d).

This will be described with reference to FIG.
The gripping part 333 of the robot 331 is used for the dummy arbor 310.
Insert the spacer 10 to a predetermined position C on a (see FIG. 1).
0 (a) state). After that, the grip portion 333 moves to the rack 384 or the blade holder 302, and then the spacer 10 or the blade 2 to be inserted into the dummy arbor 310a.
Take out 0. When the grip portion 333 retracts from the dummy arbor 310a, the cylinder 342 is driven and the suction plate 345 is driven.
Moves to the dummy arbor 310a side and pushes the spacer 10 at the position C (state shown in FIG. 10B).

The suction plate 345 further pushes the spacer 10, and the spacer 10 and the spacer 10 and the blade 20 already inserted in the dummy arbor 310a are pushed toward the base of the dummy arbor 310a (FIG. 10 (c)).
State). After that, the cylinder 342 is driven in the opposite manner to the above to retract the suction plate 345. At this time, the gripping part 333 grips the spacer 10 or the blade 20 to be inserted into the dummy arbor 310a next time, and then the dummy arbor 31a.
It stands by near 0a (state shown in FIG. 10D).

Thereafter, the operations shown in FIGS. 10A to 10D are repeated. The drawers 341 and 346 are attached to the spacer 10
When the blade 20 is used to push it toward the base side of the dummy arbor 310a, 310b, the pulling device 37 is used.
The suction of air as described in 1,376 is unnecessary.
In addition, the robots 331 and 335 use the dummy arbor 310.
When the spacer 10 can be assembled in order from the base side along the axis of a, 310b, the drawers 341, 346 do not have to be provided.

[Explanation of control device] The robots 331 and 335 of the blade assembly part 330 are made to have one or a wall thickness of the blade 20 so that the line width of the strip W (see FIG. 13) has a desired value. A plurality of different types of spacers 10 are combined and attached to the dummy arbor 310a and the dummy arbor 310b. For example, when the width between the blades 20 is 90.1 mm, the wall thickness 80 stored in the racks 382 and 384 is 80.
mm spacer 10 and the same 5.2 mm spacer 10
And the spacer 10 having the same size of 5.1 mm are combined. This combination may be calculated by the operator according to the line width of the strip W, but it is convenient if the combination is automatically determined using a preset machining program. Is.

FIG. 11 shows a block diagram of a control device for automatically determining the combination. This control device is for controlling the operation of the robot 331 provided in the blade assembling section 330, and may be a dedicated one for the robot 331, or the blade exchanging device 300 or the band forming device of the present invention. It may be incorporated in the control device of the device. Since the control device that controls the operation of the other robot 335 has the same configuration, only the control device 400 of the one robot 331 will be described, and the description of the other robot 335 will be omitted.

The control device 400 is preset with the line width information extraction unit 401 for extracting the information regarding the line width of the strip W from the machining program used in the strip forming device, and the information regarding the wall thickness of the spacer 10. A first memory 409, an arithmetic unit 402 that determines an optimal combination of the spacers 10 based on the information on the line width of the strip W and the information on the wall thickness of the spacers 10, and the spacers 10 having a predetermined wall thickness are racked. Based on the second memory 410 that stores which position of the robots 382 and 384 is stored, the calculation result of the calculation unit 402, and the information about the storage position that is stored in the second memory 410, each joint of the robot 331 is determined. The processing unit 403 that determines the movement amount and the movement direction and the processing result of this processing unit 403 are output to the robot 331, and each movement of the robot 331 is performed. And a output unit 404 that receives the fed back operation results from parts.

Spacer thickness information is previously input to the first memory 409 by the input device 405 such as a keyboard, and storage position information of the spacer 10 is input to the second memory 409 by the input device 405. The line width information extracted from the machining program by the line width information extraction unit 401 is transmitted from the line width information extraction unit 401 to the calculation unit 402. The computing unit 402 uses the line width information to cut the blade 2
Determine the gap between 0 and the blade 20. Then, the thickness information of the spacer 10 stored in the first memory 409 is read, the thickness information is variously combined, and a combination in which the sum of the thicknesses of the spacer 10 matches the gap is created.
Then, from this combination, a combination having the smallest number of spacers 10 is determined as an optimum combination.

The combination of spacers 10 thus determined is transmitted to the processing section 403. Processing unit 40
In FIG. 3, the spacers 10 having the respective wall thicknesses are racks 382, 384.
The position in which is stored is calculated, and the result is transmitted to the robot 331 via the input / output unit 404.
As a result, the operating unit of the robot 331 is driven to take the spacer 10 stored at the predetermined position of the racks 382 and 384, and the spacer 10 and the blade 20 are sequentially assembled to the dummy arbor 310.

[Explanation of the Blade Exchange Method of the Present Invention] Next, the blade exchange method of the present invention will be described together with the operation of the blade exchange apparatus having the above configuration. While the strip material W having a predetermined line width is being formed by a strip material forming device (not shown), in the blade assembly portion 330, the robot 331 and the robot 335 form the dummy arbor 310a and the dummy arbor 310b of the first blade holding portion 310. The spacer 10 and the blade 20 are assembled. The first tool holder 310 in which the spacer 10 and the tool 20 to be used next are assembled to the dummy arbors 310a and 310b, drives the cylinders 315a and 315b to move the dummy arbor 310a and the dummy arbor 310b to the Y3 axis parallel to the arbors 110a and 110b. Wait for the direction.

The second blade holding section 320 for receiving the used spacer 10 and the blade 20 is waiting by placing the dummy arbor 320a and the dummy arbor 320b at the transfer position A. When the processing of the strip material W having a predetermined line width is completed,
The slitter 100 is pulled out from a strip material forming device (not shown) and positioned near the transfer position A. Slitter 1
00 disengages the clutch 120, so that the output shaft 122 and the arbors 110a and 110b on the side of the drive unit 130 are disconnected.
The input shaft 121 on the side is disconnected.

Next, the slitter 100 includes the cylinder 13
8 (see FIG. 2) is driven to move the drive unit 130 along the guide rail 134 in the X1 axis direction. This ensures a space behind the arbor support 112. Thereafter, the arbor support 112 is driven by the drive unit 125.
Moves backward along the guide rail 116 in the Y1 axis direction.
As a result, the arbors 110a and 110b are separated from the arbor stand 114. When the arbors 110a and 110b are detached from the arbor stand 114, a drive mechanism (not shown) provided on the arbor stand 114 drives to move the arbor stand 114 along the guide rail 115 for X2.
Move in the axial direction. As a result, the arbor 110a,
A space where the spacer 10 and the blade 20 can be exchanged is secured in front of 110b.

Next, the driving mechanism 125 is driven in the opposite manner to the above, and the arbor supporting portion 112 and the arbors 110a, 11a.
0b is moved forward in the Y1 axis direction, and the arbor 110a is placed in the dummy arbor 320a and the arbor 110 is placed in the dummy arbor 320b of the second blade holding unit 320 waiting at the transfer position A.
Engage each b. After that, the feeding device 140 feeds the used spacer 10 and the blade 20 held by the arbor 110a and the arbor 110b toward the second blade holding unit 320. As a result, the arbor 110a
The spacer 10 and the blade 20 of the arbor 110b are transferred to the dummy arbor 320a, and the spacer 10 and the blade 2 of the arbor 110b are transferred.
0 is transferred to the dummy arbor 320b.

After passing the used spacer 10 and the blade 20 to the second blade holder 320, the slitter 100 is used.
Drives the drive unit 125 to drive the arbor 110a, 110
arbor 110a, 110b by retracting b in the Y1 axis direction.
And the second blade holding unit 320 is disengaged and stands by. The second cutter holding unit 320 moves along the guide rail 390 in the X3 axis direction toward the cutter extracting unit 360 side. At the same time, the first blade holding unit 310 moves along the guide rail 390 in the X3 axis direction to the transfer position A. When the first blade holding unit 310 moves to the transfer position A, the drive unit 1
25 drives to move the arbors 110a and 110b and the arbor support portion 112 toward the transfer position A again, and engages the arbor 110a with the dummy arbor 310a and the arbor 110b with the dummy arbor 310b.

After that, the motor 331 of the first blade holder 310 is driven to rotate the screw shaft 317, and the movable bodies 313 provided on the dummy arbor 310a and the dummy arbor 310b are moved toward the arbors 110a and 110b. Let Thereby, the spacer 10 and the blade 2 to be used next from the dummy arbor 310a to the arbor 110a.
0 is passed, and dummy arbor 310b sends arbor 11
The spacer 10 and the blade 20 to be used next are delivered to 0b. Arbor 110 having the clamp mechanism shown in FIG.
In the a and 110b, the spacer 10 and the blade 20 from the first blade holding portion 310 to the arbor 110a and 110b.
The cylinder 210 is driven after the
At 2, the spacer 10 and the blade 20 are clamped.

The second blade holding section 320 includes the blade removing section 3
In the vicinity of 60, the cylinders 325a and 325b are driven to rotate the dummy arbors 320a and 320b to the side of the blade extracting unit 360. Dummy arbor 320a and dummy arbor 32
0b is positioned such that the rotational angle positions thereof are deviated from each other. The used spacer 10 transferred from the arbor 110a, 110b to the second blade holding unit 320 is shown in FIG.
The robots 361 and 365 remove them one by one according to the procedure shown in (1) and store them in the racks 382 and 384.

The racks 382 and 384 are provided with the blade extracting unit 36.
The spacer 10 transferred from the robots 361 and 365 to the racks 382 and 374 is provided so as to be inclined so that the 0 side is high and the blade assembling section 330 side is low.
Moved from the tool take-out section 360 side to the tool assembly section 330 side,
It is accumulated on the side of the blade assembling unit 330. Also, the arbor 110
The used blades 20 transferred from the a and 110b to the second blade holding unit 320 are taken out one by one from the dummy arbor 320a and the dummy arbor 320b by the robots 361 and 365, and the spare blade holding unit 30 of the frame 301 is removed.
Handed over to 2.

[Other Embodiments] In the above embodiment, the first spacer 10 and the blade 20 to be used next are assembled.
And a second blade holder 320 for receiving the used blade 20 and the spacer 10 from the arbor 110a, 110b, and the first blade holder 3 of FIG.
Both the racks 382 and 384 are provided with a tool assembly part 330 for assembling the spacer 10 and the tool 20 to be used next to 10, and a tool removal part 360 for removing the used spacer 10 and the tool 20 from the second tool holding part 320. It has been described as being placed in.

In this embodiment, as shown in FIG.
One blade holding part 320 'has arbors 110a and 110b.
Received the used spacer 10 and the blade 20 from
The spacer 10 and the blade 20 to be used next are delivered to the arbor 110a, 110b.
Further, the racks 382 'and 384' can be switched in the inclination direction by a cylinder or the like, and when the used spacer 10 is received from the blade holding portion 320 ', the blade taking-out / assembling portion 360' side. When assembling the spacer 10 to the blade holding section 320 'by lifting the blade, the other side of the blade taking-out / assembling section 360' is lifted.

The blade changing device of this embodiment operates as follows. The used spacer 10 and the blade 20 are transferred from the arbor 110a, 110b to the dummy arbor 320a ', 320b' of the blade holding unit 320 ', and the robot 361, 365 of the blade extracting / assembling unit 360' transfers them from the dummy arbor 320a ', 320b'. Remove the used spacer 10 and blade 20 to remove racks 382 ', 38
4 ', and hand it over to the blade holder 302. At this time, since the racks 382 'and 384' are inclined so that the blade taking-out / assembling section 360 'side becomes higher, the spacer 10 moves to the side opposite to the blade taking-out / assembling section 360' by this inclination. . After all the used spacers 10 and blades 20 are removed from the dummy arbor 320 ', the tilting directions of the racks 382' and 384 'are switched by the action of the cylinder, and the spacers 10 are moved to the blade extraction / assembly section 360' side. And then accumulated.

In this state, the robots 361 and 365 take out the spacer 10 having a predetermined wall thickness from the racks 382 'and 384' and assemble it to the dummy arbor 320 '. After the spacer 10 and the blade 20 are assembled, the dummy arbors 320a 'and 320b' are attached to the blade extracting / assembling section 360 '.
To the transfer position A from the spacer 10 to be used next
And the blade 20 is delivered to the arbor 110a, 110b.
According to the blade changing apparatus of this embodiment, although it takes some time to replace the spacer 10 and the blade 20, the blade changing apparatus can be downsized and simplified, and can be provided at a low price. Besides, there is an advantage that the installation area can be reduced.

Although the preferred embodiments of the present invention have been described, the present invention is not limited to the above embodiments. For example, in the above description, the spacer 10 and the blade 20 interfere with each other when the spacer 10 and the blade 20 are assembled in the upper and lower dummy arbor 310a, 310b or when the used spacer 10 and the blade 20 are removed from the upper and lower dummy arbor 320a, 320b. Although it has been described that the rotational angle positions of the two are shifted so as not to interfere with each other, the vertical position of either one of the dummy arbors may be changed as long as it is possible to prevent the blades 20 assembled or removed from the two from interfering with each other. It may be configured to be staggered. Further, in the above description, the drawing device 37
1, 376 have been described as attracting the spacer 10 or the blade 20 by suction of air, but may be configured to attract the spacer 10 or the blade 20 by an electromagnet.

[0093]

According to the present invention, it is possible to remove the used blade and the spacer from the arbor and automatically assemble the spacer and the arbor to be used next with the arbor with a simple structure. Further, it is possible to perform these operations at the same time without increasing the size of the device, and it is possible to greatly reduce the time for exchanging the blade.

Further, by automatically determining the combination of the spacer and the cutting tool to be used next according to the processing program or the like, it is possible to eliminate an improper combination due to an operator's calculation error or the like. Can be kept stable and reliability can be improved.
Further, when the cutter is exchanged, the spacer and the cutter in the arbor are automatically clamped / unclamped, so that a series of operations in the cutter exchange can be automated.

[Brief description of drawings]

FIG. 1 is a plan view for explaining the overall configuration of a blade changing device of the present invention.

2 is a side view of the blade changing device of FIG. 1. FIG.

3 is an enlarged plan view of the slitter of FIG. 1. FIG.

FIG. 4 is a partial sectional view of an example of a clamp mechanism provided on an arbor.

FIG. 5 is a plan view of a first blade holding portion and a second blade holding portion.

FIG. 6 is a side view of the dummy arbor shown in FIG.

7 (a) is an enlarged vertical sectional view of a tip portion of a dummy arbor, and FIG. 7 (b) is a sectional view taken along line I-I of FIG. 7 (a).

FIG. 8 is an enlarged plan view of a blade extraction unit.

FIG. 9 is a schematic plan view illustrating the operation of the drawing device.

FIG. 10 is a schematic plan view illustrating an operation of the drawing device when the drawing device is provided in the blade assembling portion.

FIG. 11 is a block diagram of a control device for controlling the robot of the blade assembling unit.

FIG. 12 is a plan view according to another embodiment of the blade changing device.

FIG. 13 shows a conventional example of the present invention.
It is sectional drawing for demonstrating the structure of the arbor part of the slitter described in the 429 publication.

[Explanation of symbols]

10 Spacer 20 cutlery 100 slitters 110a, 110b arbor 112 Arbor support 114 Arbor Stand 120 clutch 130 Drive 300 blade changer 301 frames 302 Spare blade holding unit (storage unit) 310 First Blade Holding Unit 310a, 310b dummy arbor 320 Second blade holder 320a, 320b dummy arbor 330 Blade assembly section 331,335 robot (multi-joint arm robot) 341,346 Drawer 360 knife removal section 361, 365 robot (multi-joint arm robot) 371, 376 Drawer (Drawer means) 382,384 racks (storage unit) 400 control device

Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B26D 1/24 B23D 19/06 B23D 33/00 B26D 5/00

Claims (11)

(57) [Claims] 1. A rotatable arbor, a plurality of blades arranged at predetermined intervals on the arbor via spacers, and fixing means for clamping the blades together with the spacers and fixing them on the arbor. , A blade exchange device for rotating the blade together with the arbor to form a slitter formed by cutting a strip having a width corresponding to the interval of the blade, and a blade exchanging device for exchanging the blade and the spacer, Releasable to the arbor of the slitter, a blade and a spacer to be used next, a first blade holding portion for pre-arranging and holding in an order to be assembled to the arbor, and detachable from the arbor of the slitter, A second blade holding part for receiving a used blade and a spacer from the arbor, and an articulated arm, and the used blade and space from the second blade holding part. A robot that grips and removes the blade with a grip provided at the tip of the multi-joint arm, and transfers the blade and spacer to be used next to the first blade holder by the grip, and A storage unit for the blade and spacer that receives the removed blade and spacer, and stores the blade and spacer to be used next to be delivered to the robot within the operating range of the gripping unit of the robot; Prior to removing the used blade and the spacer from the blade holding part of the robot by the robot, the blade or the spacer to be delivered to the robot, the other spacer held in the second blade holding part or The second cutter holding the spacer or the cutter to a transfer position where the spacer is separated from the cutter and transferred to the robot. Tool changer slitter, characterized in that it has a, a drawing means to draw along the axis. 2. The pulling-out means has a driving body and a suction plate which moves back and forth in the same direction as the axis of the second blade holding portion by the driving body, and sucks the spacer or the blade. The cutter blade exchanging device for a slitter according to claim 1, wherein the spacer or the blade is pulled out by moving the suction plate. 3. After delivering a blade and a spacer to be used next by using the robot to the first blade holder,
The cutter exchange device for a slitter according to claim 2, wherein the cutter and the spacer are pushed toward the base side of the first cutter holder by using the drawing-out means. 4. The control device for controlling the operation of the robot has a storage means for storing information regarding the thickness of the spacer and information regarding the storage position of the spacer having a predetermined thickness in the storage unit. The combination of the spacer and the cutting tool to be used next is determined based on the information on the line width of the band material to be processed and the information on the wall thickness of the spacer read from the storage means, and this determination and the storage means 4. The robot is instructed to assemble a predetermined spacer and a blade on the first blade holding unit based on information about the storage position of the spacer in the storage unit read from the storage unit. A cutter exchanging device for a slitter according to any one of the above. 5. The spacer according to claim 1, wherein the first blade holding portion and the second blade holding portion are constituted by a common blade holding portion. Tool changer. 6. The first robot, wherein the robot assembles a blade and spacer to be used next to the first blade holder, and a second robot which takes out the used blade and spacer from the second blade holder. 6. The slitter blade exchanging device according to claim 1, wherein the blade exchanging device comprises a robot. 7. The extruding means for extruding the blade and the spacer to be used next toward the arbor of the slitter is provided in the first blade holding portion.
The cutter exchange device for a slitter according to any one of 6 above. 8. The arbor of the slitter is provided with a feeding unit that feeds the used blade and the spacer toward the second blade holding portion. A cutter exchanging device for a slitter according to claim 1. 9. Two dummy arbors are provided above and below corresponding to the upper and lower arbor of the slitter, and two robots are provided corresponding to each of the dummy arbors, and the used blades and the spacers are provided. When removing from the dummy arbor and when assembling the blade and the spacer to be used next to the dummy arbor, the other dummy arbor is displaced from the other dummy arbor. The cutter exchange device of the slitter according to any one of 8 above. 10. In a cutter exchange method in a slitter in which a used blade and spacer are taken out from a rotatable arbor and the blade and spacer to be used next are assembled in the arbor in a predetermined order, a dummy arbor that is detachable from the arbor. With the provision of a multi-joint arm robot that exchanges the blade and the spacer with the dummy arbor, and withdrawal means that pulls out the spacer or the blade along the axis of the dummy arbor, The blade and the spacer are received from the arbor to the dummy arbor, and the drawing means separates the blade or the spacer transferred to the multi-joint robot from the other spacers or the blade held by the dummy arbor. , The Dami handed over to the articulated robot -Move to the delivery position on the arbor, the multi-joint arm robot, the used blade that has been moved to the delivery position is removed from the dummy arbor and stored in the operating range of the multi-joint robot, The used spacer that has been moved to the delivery position is removed and stored in the storage part of the spacer, and when the spacer to be used next is transferred to the articulated arm robot, the spacer stored in the storage part is removed. Collected within the operating range of the multi-joint arm robot, arranging the blades and the spacers to be used next by the multi-joint arm robot in a predetermined order and assembling the dummy arbor, and then using the dummy arbor for the next arbor. A slitter characterized by delivering the blade and the spacer Cutlery exchange how. 11. When assembling a blade and a spacer to be used next to the dummy arbor, a control device is controlled based on information about a line width of a strip material to be processed next and information about a wall thickness of the spacer stored in the storage unit. An appropriate combination of the spacers is calculated according to the distance between the blades, and a command is output to the multi-joint arm robot based on the calculation result and information on the storage position of the spacer for each wall thickness in the storage section. claim 1, characterized in that
The method of exchanging a blade in the slitter according to item 0 .