JP4011432B2 - Blade changing method for round blade shearing slitter, robot hand used therefor, and handling robot provided with the robot hand - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a blade replacement method for a round blade, a robot hand used therefor, and a handling robot equipped with the robot hand. More specifically, a round blade of a round blade shearing slitter such as a slitter, a spacer for determining the interval between the round blades (hereinafter, these two are collectively referred to as a round blade, etc.), and a rubber ring provided on the outer periphery of the spacer For automatic blade replacement that inserts and extracts the blade into the arbor, in particular, a general-purpose handling robot that can handle round blades at high speed reliably, a robot hand used therefor, and the robot hand Related to a handling robot.
[0002]
[Prior art]
Conventionally, blade replacement work in a round blade shearing slitter, such as many slitters, has been performed manually by an operator. The gap between the slitter arbor and the round blade is very small, and mounting and extraction of the round blade and the like is a work requiring skill, and the round blade and the like are heavy objects, and are also heavy muscle work. Various automatic blade changing methods using an automatic blade changing robot have been proposed.
[0003]
For example, as shown in FIG. 7, in the conventional attachment / detachment mechanism 40 described in Japanese Patent Laid-Open No. 2-139113, when attaching / detaching the spacer / blade 30 to / from the arbor shaft 31, first, the attachment / detachment mechanism 40 of FIG. The pressing pins 34 of the pair of gripping arms 33 arranged horizontally along the vertical direction of the paper surface are inserted into the inner peripheral surface of the spacer / blade 30 from the side of the spacer / blade 30, The spacer / blade 30 is supported at three points in cooperation with two upper and lower pressing guides 35 that press the outer peripheral surface. When the spacer / cutter 30 is mounted on the arbor shaft 31, the pressing pin 34 is moved in the axial direction in the key groove 31a formed in the arbor shaft 31 to release the pressure on the spacer / cutter 30 at a predetermined position. Thus, the mounting operation can be achieved. When the spacer / blade 30 is removed, the procedure may be reversed from the above-described procedure.
[0004]
[Problems to be solved by the invention]
However, since the conventional attachment / detachment mechanism 40 shown in FIG. 7 has a structure that grips the spacer / blade 30 from both the inner peripheral surface and the outer peripheral surface, the outer peripheral surface such as a round blade that affects the processing accuracy of the slitter is provided. There is a problem that it is not very strong.
[0005]
In addition, as shown in FIG. 7, since the gripping is performed at a position deviated from the center of gravity of the spacer / blade 30, there is a problem that high-speed and reliable handling is difficult.
[0006]
The present invention has been made in order to solve such a problem, and a blade replacement method for a round blade capable of firmly grasping the round blade and the like and performing high-speed and reliable handling without damaging the round blade and the like, and It is an object of the present invention to provide a robot hand used therefor and a handling robot including the robot hand.
[0008]
[Means for Solving the Problems]
A robot hand used in the method for replacing a round blade of the present invention is provided in a handling robot used in a blade changing method for replacing a round blade and / or a spacer mounted on an arbor of a round blade shearing slitter. A robot hand,
Abutting at least three locations on the inner peripheral surface of the round blade and / or spacer, and comprising at least three fingers for gripping the round blade and / or spacer;
A robot hand that attaches or removes the round blade and / or the spacer to the arbor by applying an outward force in the radial direction of the round blade and / or the spacer to the plurality of fingers. ,
Said fingers, Ri length der the round blade and / or the spacer can more Internal Gripping at once,
The robot hand has a rubber ring presser having a pair of straight bars for sandwiching the rubber ring from the outer periphery and an arm whose tip is bent in an arc shape to hold a part of the outer peripheral surface of the rubber ring. It is characterized in Rukoto such provided.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Next, with reference to the drawings, a method for changing a round blade according to the present invention, a robot hand used therefor, and a handling robot equipped with the robot hand will be described in more detail. FIG. 1 is a plan view showing a slitter equipped with a general-purpose handling robot used in the blade changing method of the round blade shearing slitter of the present invention, FIG. 2 is a front view of the slitter of FIG. 1, and FIG. 4 is a perspective explanatory view showing a state immediately before gripping a plurality of round blades using the robot hand of FIG. 1, FIG. 5 is an enlarged perspective view of the main part of the robot hand of FIG. 1, and FIG. It is explanatory drawing which shows the cap with which the front-end | tip of an arbor is mounted, Comprising: (a) is a top view of a cap, (b) is a front view, (c) is sectional drawing.
[0012]
1 and 2 show a state in which the slitter main body 1 is pulled off-line for blade replacement, and the non-driving side bearing 2 is removed from the arbor 3. A guide sleeve 4 having substantially the same inner diameter as that of the round blade or the like 8 is attached to the driving side of the arbor, and a cap 31 shown in FIG. 6 is attached to the tip of the arbor on the non-driving side. Around the slitter, a storage shelf 5 of round blades and the like, and a general-purpose handling robot 6 are arranged. A robot hand 7 is attached to the tip of an arm of a general-purpose handling robot capable of handling a round blade or the like 8. In FIG. 1 and FIG. 2, a round blade or the like 8 is partially inserted into the arbor 3 and placed on a storage shelf.
[0013]
FIG. 3 shows a part of a cross section of the robot hand 7 and the storage shelf 5 of the present embodiment. The method of gripping the round blade or the like 8 according to the present invention employs excellent inner diameter gripping in terms of engagement with other equipment and gripping strength.
[0014]
As shown in FIGS. 3 to 5, a base plate 11 of the robot hand 7 is attached to the tip of the arm 6 a of the handling robot 6, and an upper finger frame having two fixed fingers 12 a and 12 b on the base plate 11. 13 is fixed, and a lower finger frame 15 having one finger 14 is attached along two rails 17 formed on the base plate 11 so as to be movable up and down. Further, an air cylinder 16 is connected to the lower finger frame 15 via a connecting portion 18, and the lower finger 14 and the lower finger frame 15 can be moved up and down by driving the air cylinder 16. .
[0015]
4-5, in addition to the three fingers 12a, 12b and 14, the spacer pusher upper lever 21 for pushing the spacer in the axial direction, the spacer A pusher lower lever 22, a rubber ring pusher 23 for pushing out the rubber ring, and a rubber ring presser 24 for preventing the rubber ring from swinging while the hand is moving are provided.
[0016]
The rubber ring presser 24 includes a pair of straight bars 24a and 24b for sandwiching the rubber ring from the outer periphery, and an arm 24c whose tip is bent in an arc shape to hold a part of the outer peripheral surface of the rubber ring. Yes. The pair of straight bars 24 a and 24 b are fixed to the tips of the pair of link arms 25 a and 25 b, respectively, and can be opened and closed by a drive source (not shown) provided in the robot hand 7. The arm 24 c can also reciprocate between the front side and the rear side of the upper finger frame 13 by a drive source (not shown) provided in the robot hand 7. Therefore, since the rubber ring gripped by the fingers 12a, 12b and 14 by the inner diameter is also gripped from the outer periphery by the pair of straight bars 24a, 24b and the arm 24c, the moving rubber ring does not swing.
[0017]
In addition, a protrusion 14a is provided at the tip of the portion of the three fingers 12a, 12b, 14 that contacts the inner diameter portion of the round blade 8, etc. It is lightly gripped through an elastic member 14b such as rubber.
[0018]
When the handling robot 6 including the robot hand 7 of the present embodiment is used to attach the round blade or the like 8 to the slitter body 1, the following procedure is performed.
[0019]
First, as shown in FIGS. 3 to 4, the arm 6 a of the handling robot 6 is driven, and the three fingers 12 a, 12 b, and 14 are arranged vertically with respect to the storage shelf 5. Enter the inner diameter part. After that, the arm 6a of the handling robot is moved slightly upward to bring the upper fingers 12a and 12b into contact with the inner diameter portion of the round blade or the like 8. Next, when the air cylinder 16 is driven to move the lower finger 14 and the lower finger frame 15 outward in the radial direction of the round blade 8 or the like, that is, downward, the inner diameter portion of the round blade 8 is moved to three locations. Can be gripped with good balance.
[0020]
More specifically, as shown in FIG. 3, when the round blade or the like 8 is gripped from the inside by the three fingers 12a, 12b, 14, the three fingers 12a, 12b, 14 are It can be seen that the distance between the center of gravity of the round blade or the like 8 is substantially equal, and the round blade or the like 8 is gripped with good balance.
[0021]
Next, as shown in FIG. 1, the arm 6 a of the handling robot 6 is moved to convey the round blade 8 or the like to the tip of the arbor 3. Further, it enters the guide cap 31 attached to the tip of the arbor 3. As a result, the three fingers 12a, 12b, and 14 have entered the groove 31a shown in FIG. 6, and the round blade and the like are in a state of being fitted to the guide cap. After that, if the lower finger 14 and the lower finger frame 15 are moved upward by driving the air cylinder 16 shown in FIG. 3, the gripping of the round blades 8 is released, and the round blades 8 are moved to the upper fingers. It will be in the state hung on 12a, 12b. Next, the robot is operated to lower the hand slightly so that the round blade or the like 8 is suspended from the guide cap, and the hand is moved in the axial direction of the guide cap so that the fingers 12a12b and 14 have grooves 31a shown in FIG. Out of the. This completes the mounting operation of the round blade 8 or the like.
[0022]
In addition, what is necessary is just to perform by the reverse procedure to the above-mentioned procedure, when removing the round blades 8 etc. from the arbor 3.
[0023]
As described above, since the robot hand 7 according to the present embodiment grips the round blade 8 from the inside, the robot hand 7 can grip the round blade 8 without damaging the outer surface. As a result, the handling robot can be operated at high speed.
[0024]
Further, the robot hand 7 of the present invention is characterized in that it is a finger capable of gripping a plurality of round blades at a time. The number that can be gripped at a time can be easily adjusted by the length of the fingers 12a, 12b, and 14.
[0025]
As shown in FIG. 4, a plurality of round blades 8 are arranged side by side on the storage shelf 5 for each round blade having a different width and each spacer having a different width, and the mounting schedule of the round blades to be attached to the arbor 3 is arranged. Thus, the necessary round blades or spacers can be selected, the robot hand 7 can be moved to the respective arrangement locations, held one after the other as described above, and can be attached to the arbor 3 collectively. For this reason, the working efficiency is very good compared to the case where the round blades 8 are individually mounted on the arbor 3 as in the prior art.
[0026]
Furthermore, since the robot hand 7 according to the present embodiment can hold only the inner diameter portion of the round blade or the like 8 and can open the outer diameter portion or the side portion of the round blade or the like 8, the rubber attached to the outside of the spacer. A plurality of types of rings are arranged on the storage shelf 5 according to thickness (see FIG. 4), a necessary rubber ring is selected, the robot hand 7 is moved to the arrangement position, and the spacer is gripped. After inserting the robot hand 7 into the inner diameter part of the rubber ring and attaching the rubber ring to the outside of the spacer, the spacer and the rubber ring are integrally attached to the arbor 3 by gripping from the outside with the rubber pressers 24a and 24b. Therefore, the work delivery rate can be further improved.
[0027]
In the present embodiment, a robot hand having three fingers has been described as an example of a robot hand. However, the present invention is not limited to this, and an inner diameter portion such as a round blade is used. Can be appropriately changed in the number and shape of the fingers of the robot hand.
[0028]
【The invention's effect】
According to the present invention, since the round blade and the like are gripped from at least three positions from the inner diameter portion, the round blade and the like can be gripped strongly and in a well-balanced manner without damaging them. It can be handled reliably.
[0029]
Moreover, in the inner diameter gripping of the round blades and the like as in the present invention, a plurality of round blades and the like can be gripped by one handling, and the working efficiency is very good.
[0030]
Furthermore, since only an inner diameter portion such as a round blade is gripped, a ring-shaped component attached to the outer peripheral surface of the spacer, such as a rubber ring, can also be handled.
[Brief description of the drawings]
FIG. 1 is a plan view showing a slitter equipped with a general-purpose handling robot used in the blade changing method of a round blade shearing slitter of the present invention.
FIG. 2 is a front view of the slitter of FIG.
FIG. 3 is an explanatory diagram of the robot hand of FIG. 1;
4 is an explanatory perspective view showing a state immediately before gripping a plurality of round blades and the like using the robot hand of FIG. 1; FIG.
FIG. 5 is an enlarged perspective view of a main part of the robot hand of FIG. 1;
6A and 6B are explanatory views showing a cap attached to the tip of the arbor, where FIG. 6A is a plan view of the cap, FIG. 6B is a front view, and FIG.
FIG. 7 is a front view of a conventional round blade attaching / detaching mechanism.
[Explanation of symbols]
1 Slitter 3 Arbor 6 Handling robot 7 Robot hand 8 Round blade, etc.

Claims (2)

A robot hand provided in a handling robot used in a blade changing method for exchanging a round blade and / or a spacer attached to an arbor of a round blade shearing slitter,
Abutting at least three locations on the inner peripheral surface of the round blade and / or spacer, and comprising at least three fingers for gripping the round blade and / or spacer;
A robot hand that attaches or removes the round blade and / or the spacer to the arbor by applying an outward force in the radial direction of the round blade and / or the spacer to the plurality of fingers. ,
Said fingers, Ri length der the round blade and / or the spacer can more Internal Gripping at once,
The robot hand has a rubber ring presser having a pair of straight bars for sandwiching the rubber ring from the outer periphery and an arm whose tip is bent in an arc shape to hold a part of the outer peripheral surface of the rubber ring. provided ing with robot hand. A handling robot comprising the robot hand according to claim 1 .

Images