JP7325155B2 - Take-out robot - Google Patents

Description

TECHNICAL FIELD The present invention relates to a take-out robot for taking out a cylindrical body attached to an arbor shaft of a slitter device from a mounting shelf on which the cylindrical body is mounted.

For example, a slit device for cutting a coiled plate is known.
In such a slitting device, blades and spacers are attached to the arbor shafts installed at the top and bottom, respectively, and the plate material is cut by sandwiching the plate material with the blades.
In addition, the width dimension of the plate material to be cut at this time is determined by the size of the spacer installed between the blades.

By the way, in the slitting device, the blade used is changed according to the thickness and material of the plate, and the spacer used is changed according to the desired width of the plate. Therefore, it is normal to have multiple types of blades and spacers, and these are stored in a predetermined storage area. At the time of use, the necessary blades and spacers are grasped and taken out by the robot from the storage place.

As such a robot, for example, a handling robot having fingers for gripping one or more round blades and/or spacers on a storage table is known (see, for example, Patent Document 1).
In such a handling robot, after three fingers are inserted inside the round blade, the three fingers are brought into contact with the inner diameter of the round blade to grip the round blade at three points. That is, the handling robot grips the inner wall of the round blade by clamping it with expandable fingers.

Japanese Patent No. 5329728

However, in the handling robot described in Patent Literature 1, the round blade is pressed outward with a constant force by the finger that contacts the inner wall portion of the round blade. Repeated gripping may cause metal fatigue on the inner wall of the round blade.
Moreover, the support stability when the handling robot grips the round blade depends on the frictional force between the fingers and the inner wall portion of the round blade, so it cannot be said to be sufficiently excellent. For example, when the round blade is conveyed at high speed, the inertial force may cause the round blade to slide down.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a take-out robot capable of preventing metal fatigue when taking out round blades or spacers, and having excellent support stability. for the purpose.

As a result of intensive studies to solve the above problems, the inventors of the present invention have found that the cylindrical body is placed in a state in which the supporting projections provided on the supporting rod are engaged with the grooves provided on the cylindrical body. The present inventors have found that the above problems can be solved by taking them out of the shelf, and have completed the present invention.

The present invention is a take-out robot for separating a cylindrical body attached to an arbor shaft of a slitter device from another cylindrical body adjacent to the cylindrical body and for taking out the cylindrical body from the mounting shelf on which the cylindrical body is placed. A main body, an arm attached to the main body, a base provided at the tip of the arm, and a protruding support attached to the base so as to protrude in the lateral direction and protruding from the peripheral surface. a plurality of supporting rods provided with supporting projections; and a supporting driving part for rotating the supporting rods around the supporting shafts in the longitudinal direction of the supporting rods. The cylindrical body is a blade or a spacer installed between the blades, the inner wall of the cylindrical body is provided with a groove extending in the circumferential direction, and among the plurality of supporting rods At least one of is a support/separation rod portion further provided with a protruding separation projection portion on the peripheral surface, and the support drive portion rotates the support/separation rod portion inserted into the hollow portion of the other cylindrical body. The separate cylindrical body is separated from the cylindrical body by pushing the part other than the groove part of the inner wall of the separate cylindrical body, and the supporting driving part is inserted into the hollow part of the cylindrical body. The present invention relates to a take-out robot for taking out a cylindrical body from a placing shelf by rotating a support rod portion and with a support projection portion engaged with a groove portion.

The present invention further resides in a take-out robot in which the supporting shaft is eccentric with respect to the axis of the supporting rod portion.

The present invention is a take-out robot for separating a cylindrical body attached to an arbor shaft of a slitter device from another cylindrical body adjacent to the cylindrical body and for taking out the cylindrical body from the mounting shelf on which the cylindrical body is placed. A main body, an arm attached to the main body, a base provided at the tip of the arm, and a protruding support attached to the base so as to protrude in the lateral direction and protruding from the peripheral surface. a plurality of supporting rods provided with supporting projections; a supporting driving part for rotating the supporting rods around the supporting shafts in the longitudinal direction of the supporting rods; a separation rod that is attached to the base so as to protrude in a direction and that has a protruding separation protrusion on the peripheral surface; a separation drive for rotating about the axis, the cylindrical body being a cutter or a spacer installed between the cutters, the inner wall of the cylindrical body having a circumferential direction The separation driving part rotates the separation rod part inserted into the hollow part of the separate cylindrical body, and the separation projection part pushes the part other than the groove part of the inner wall part of the separate cylindrical body. By pushing, the separate cylindrical body is separated from the cylindrical body, the supporting driving part rotates the supporting rod part inserted in the hollow part of the cylindrical body, and the supporting projection part is engaged with the groove part and a take-out robot for taking out the cylindrical body from the placing shelf .

The invention further resides in a take-out robot in which the separating shaft is eccentric with respect to the axis of the separating rod.

In the present invention , the support rod is inserted into the cylindrical body from one side, and the grooves in the plurality of cylindrical bodies are provided at a constant distance from the other side of the cylindrical body. It resides in the take-out robot.

The present invention is a take-out robot for taking out a cylindrical body attached to an arbor shaft of a slitter device from a mounting shelf on which the cylindrical body is placed, comprising: a main body; an arm portion, a base portion provided at the tip of the arm portion, a plurality of supporting rod portions attached to the base portion so as to protrude in the lateral direction, and having protruding supporting projection portions provided on the peripheral surface; and a supporting driving portion for rotating the supporting rod portion around a supporting axis in the longitudinal direction of the supporting rod portion, wherein the cylindrical body is a blade or between the blades. The inner wall of the cylindrical body is provided with a groove extending in the circumferential direction, and the supporting driving part rotates the supporting rod inserted in the hollow part of the cylindrical body. , the cylindrical body is taken out from the mounting shelf in a state in which the supporting protrusion is engaged with the groove, and the arbor shaft is provided with an extension extending in the length direction from the peripheral surface, A take-out robot in which the supporting drive section rotates the supporting rod section in a state where the cylindrical body is hooked on the extension section, and the supporting projection section is released from the groove section, thereby delivering the cylindrical body to the arbor shaft. resides in

In the take-out robot of the present invention, since the supporting rod portion is rotatable, the supporting rod portion can be inserted into the hollow portion of the cylindrical body in a state in which the supporting projection portion does not face the cylindrical body. can be done. As a result, when the supporting rod portion is inserted into the hollow portion of the cylindrical body, it is possible to reliably prevent the supporting protrusion from colliding with the cylindrical body.
In addition, since the take-out robot is provided with a plurality of support rods, the cylindrical body is supported at least at two points. Thereby, support stability can be improved more.

In the take-out robot of the present invention, the supporting driving portion rotates the supporting rod portion inserted into the hollow portion of the cylindrical body, thereby engaging the supporting projection portion with the groove portion provided in the cylindrical body. be able to. Then, the cylindrical body is taken out from the placing shelf by being lifted up by the take-out robot.
As described above, the take-out robot does not employ a so-called expansion/contraction method that actively presses the inner wall of the cylindrical body when taking out the cylindrical body, so that it is possible to suppress the metal fatigue of the cylindrical body.
In addition, in the take-out robot, the cylindrical body is taken out from the placing shelf in a state in which the supporting protrusions are engaged with the grooves, so the support stability is also excellent. For example, even when the round blade is conveyed at high speed, it is possible to prevent the round blade from slipping down due to inertial force.

In the take-out robot of the present invention, the supporting shaft, which is the center of rotation of the supporting rod portion, is eccentric to the axis of the supporting rod portion. It is possible to approach, abut, and separate from the part by the rotation.
For example, the supporting rod can be brought into contact with the inner wall of the cylindrical body only when the supporting protrusion is engaged with the groove. In this case, wear of the inner wall portion of the cylindrical body due to contact of the support rod portion with the inner wall portion can be suppressed as much as possible.

In the take-out robot of the present invention, when at least one of the plurality of supporting rod portions is a supporting and separating rod portion further having a separating projecting portion in addition to the supporting projecting portion, the supporting driving portion By rotating the supporting/separating rod portion inserted into the hollow portion of the cylindrical body and the separate cylindrical body, the supporting protrusion is engaged with the groove provided in the cylindrical body, and the separating protrusion is separated from the cylindrical body. It can be brought into contact with a portion other than the groove provided in the cylindrical body and press the portion. As a result, the separate cylindrical body can be separated from the cylindrical body, and the cylindrical body can be taken out while the supporting protrusions are engaged with the grooves.
As a result, in the take-out robot, when the supporting rod part takes out the cylindrical body, the separating rod part actively separates the other cylindrical body, thereby preventing the other cylindrical body from being taken out together with the cylindrical body. can be prevented.
Further, by adjusting the positions of the supporting protrusion and the separation protrusion, it is possible to support the cylindrical body and separate the other cylindrical body at the same time.

In the take-out robot of the present invention, when the separation rod and the separation drive are further provided, the separation rod is rotatable, so that the separation protrusion is not facing the cylindrical body. , the separating rod portion can be inserted into the hollow portion of the cylindrical body and the other cylindrical body. Thereby, when the separating rod portion is inserted into the hollow portion of the cylindrical body and the separate cylindrical body, it is possible to reliably prevent the separating projection portion from colliding with the cylindrical body or the separate cylindrical body.
Further, in the take-out robot, the separation driving section rotates the separation rod section inserted into the hollow section of the separate cylindrical body, so that the separation projection section moves into the portion other than the groove section provided in the separate cylindrical body. It is possible to bring it into contact and push the part concerned. This allows the separate cylinder to be separated from the cylinder.
Therefore, in the take-out robot in this case, when the supporting rod part takes out the cylindrical body, the separating rod part actively separates the separate cylindrical body, so that the separate cylindrical body is taken out together with the cylindrical body. can be prevented.

At this time, by making the separation shaft, which is the center of rotation of the separation rod, eccentric with respect to the axis of the separation rod, the separation rod approaches the inner wall of the cylindrical body, Abutment and separation can be performed by the rotation.
For example, only when the separation projection pushes the separate cylinder, the separation rod may be brought into contact with the inner wall of the separate cylinder. The abrasion of the inner wall portion due to being pressed can be suppressed as much as possible.

In the take-out robot of the present invention, when grooves in a plurality of cylindrical bodies are all provided at positions at a constant distance from the other side, the positions of the grooves are recognized with reference to the end of the other side of the cylindrical bodies. Therefore, it becomes easier to control the taking out of the cylinder using the groove and the separation of the cylinder not using the groove from another cylinder.

In the take-out robot of the present invention, it is possible to deliver the cylindrical body without interfering with the arbor shaft by using the extension provided on the arbor shaft.

FIG. 1 is a perspective view showing one embodiment of a take-out robot according to the present invention. FIG. 2(a) is a perspective view showing an enlarged tip portion of the fourth arm of the take-out robot according to the present embodiment. FIG. 2(b) is a top view of the tip portion of the fourth arm of the robot shown in FIG. 2(a). FIG. 3(a) is a horizontal cross-sectional view schematically showing a cylindrical body taken out by the take-out robot according to the present embodiment and another cylindrical body adjacent to the cylinder, and FIG. FIG. 4 is a horizontal cross-sectional view showing a state in which the cylindrical body shown in FIG. FIG. 4 is an explanatory diagram for explaining rotation of the supporting rod portion and the supporting/separating rod portion in the take-out robot according to the present embodiment. FIG. 5 is an explanatory diagram for explaining a series of flows for taking out the cylindrical body X by the take-out robot according to the present embodiment. FIG. 5 is an explanatory diagram for explaining rotation of a supporting rod portion and a supporting/separating rod portion in the take-out robot according to the present embodiment;

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will now be described in detail with reference to the drawings as necessary. In the drawings, the same elements are denoted by the same reference numerals, and overlapping descriptions are omitted. In addition, unless otherwise specified, positional relationships such as up, down, left, and right are based on the positional relationships shown in the drawings. Furthermore, the dimensional ratios of the drawings are not limited to the illustrated ratios.

A take-out robot according to the present invention is for taking out a cylindrical body attached to an arbor shaft of a slitter device from a mounting shelf.
In addition, when the take-out robot has a separation protrusion, which will be described later, another cylinder adjacent to the cylinder to be taken out (hereinafter referred to as "another cylinder" for convenience) is separated from the cylinder and It is possible to take out only the cylindrical body from the mounting shelf.

Here, examples of the cylindrical body include cutters and spacers installed between the cutters. That is, both the cutting tool and the spacer are used by being attached to the arbor shaft, and are cylindrical.

FIG. 1 is a perspective view showing one embodiment of a take-out robot according to the present invention.
As shown in FIG. 1, the take-out robot 1 according to the present embodiment is installed in the vicinity of the mounting shelf 5 so that the supporting rod portion 20, which will be described later, reaches the mounting shelf 5. As shown in FIG.
In the take-out robot 1, the arbor shaft 6 for delivering the cylindrical body X gripped by the supporting rod portion 20 is also installed near the reachable range of the supporting rod portion 20. As shown in FIG.
As a result, in the take-out robot 1 according to the present embodiment, the cylindrical body X can be taken out from the mounting shelf 5, transported, and handed over to the arbor shaft 6. As shown in FIG.

The take-out robot 1 includes a body portion 11 attached and fixed to a pedestal 10, an arm portion 12 attached to the body portion 11, a base portion 13 provided at the tip of the arm portion 12, and a plurality of base portions attached to the base portion 13. It comprises a support rod portion 20 and a support drive portion (not shown) attached to the base portion 13 .
Also, one of the plurality of supporting rod portions 20 is a supporting/separating rod portion 21 further having a separating projection portion 21d. The details of these will be described later.
The pedestal 10 is installed on the ground in the vicinity of the mounting shelf 5 and the arbor shaft 6, and is a so-called foundation for mounting the take-out robot 1 thereon.
The shape and size of the mount 10 are not particularly limited.

Since the take-out robot 1 according to this embodiment is provided with a plurality of supporting rod portions 20, the cylindrical body X is supported at least at two points. As a result, it becomes possible to further improve the support stability.
Moreover, since the support/separation rod portion 21 is provided, the cylindrical body can be reliably separated from another cylindrical body when the cylindrical body is taken out.

In the take-out robot 1 , the main body 11 is attached and fixed to the pedestal 10 .
The body portion 11 also incorporates a vertical body shaft (not shown) at its center.
In the mounting robot 1 , an arm portion 12 is pivotally attached to the main body shaft of the main body portion 11 . As a result, the arm portion 12 is rotatable along the horizontal plane around the main body axis.

The arm portion 12 is rotatably attached to the main body portion 11 as described above.
Specifically, the arm portion 12 includes a first arm 12a having one end pivotally attached to the main body shaft of the main body portion 11, and a horizontal first joint shaft (illustrated as a second arm 12b whose one end is pivotally attached to the second arm 12b, and a third arm whose one end is pivotally attached to a second horizontal joint shaft (not shown) built in the other end of the second arm 12b. 12c, and a fourth arm 12d having one end pivotally attached to a horizontal third joint shaft (not shown) built in the other end of the third arm 12c.
A base portion 13 is provided at the other end (tip) of the fourth arm 12d.

In the arm portion 12, the second arm 12b is rotatable along the vertical plane about the first joint axis of the first arm 12a, and the third arm 12c is the second arm of the second arm 12b. It is rotatable along the vertical plane around the joint axis, and the fourth arm 12d is rotatable along the vertical plane around the third joint axis of the third arm 12c.
In the arm portion 12, a servomotor M1 for driving the first arm 12a is attached to the body portion 11, and a servomotor M2 for driving the second arm 12b is attached to the first joint shaft. A servo motor M3 for driving the third arm 12c is attached to the second joint shaft, and a servo motor M4 for driving the fourth arm 12d is attached to the end of the third arm 12c. there is

In the take-out robot 1, by making full use of the rotation of these arms, it is possible to take out the cylindrical body X at a specific position based on general control, and to move the cylinder to another specific position. It is possible to transport the body X.

FIG. 2(a) is an enlarged perspective view showing the distal end portion of the fourth arm of the take-out robot according to the present embodiment, and FIG. 2(b) is the fourth arm of the robot shown in FIG. 2(a). is a top view of the tip portion of the. In addition, the cylinder X is not described in Fig.2 (a) and FIG.2(b).
2A and 2B, the vertical direction is the Z direction, the longitudinal direction of the base 13 is the X direction, and the longitudinal direction of the support rod is the Y direction. The Z direction, Y direction, and X direction are orthogonal to each other.
As shown in FIG. 2( a ), the base 13 is provided at the distal end of the fourth arm 12 d via a connecting portion 120 .
Specifically, a box-shaped connecting portion 120 is linearly attached to the tip of the fourth arm 12d facing downward, and a side surface (perpendicular to the Y direction) of the connecting portion 120 is laterally ( A base portion 13 extending in the X direction) is attached and is made of a rectangular plate as viewed from the arrow Ya.

Three supporting rods 20 are attached to the base 13 so as to protrude on one surface side, and supporting drive units 30 corresponding to the respective supporting rods 20 are attached to the other surface side. (See FIG. 2(b)).
Here, since the connecting portion 120 and the fourth arm 12d are positioned on one surface side of the base portion 13, the supporting rod portion 20 and the connecting portion 120 or the fourth arm 12d should not interfere with each other. In addition, there is a certain distance between them.

In the base portion 13, two supporting rod portions 20 are attached side by side on the upper side, and one supporting rod portion 20 is attached on the lower side. The upper two supporting rod portions 20 have the same structure. A line connecting the upper two supporting rod portions 20 is parallel to the longitudinal direction (X direction) of the base portion 13 .
The single support rod portion 20 on the lower side serves as a support separation rod portion 21 further having a separation protrusion.
These are rod-shaped, protrude from the base portion 13 in the lateral direction (Y direction) perpendicular to the longitudinal direction (X direction) of the base portion 13, and are parallel to each other.

The supporting rod portion 20 includes a bearing portion 20a attached to the base portion 13, a rod portion 20b supported by the bearing portion 20a, and a projecting supporting projection provided on the peripheral surface of the tip portion of the rod portion 20b. and a portion 20c.
The support/separation rod portion 21 includes a bearing portion 21a attached to the base portion 13, a rod portion 21b supported by the bearing portion 21a, and a protruding portion provided on the peripheral surface of the tip portion of the rod portion 21b. It has a supporting protrusion 21c and a protruding separating protrusion 21d provided on the peripheral surface on the distal end side of the supporting protrusion 21c.
In other words, the support/separation rod portion 21 corresponds to the rod portion 20b of the support rod portion 20 that is slightly longer, and the separation projection portion 21d is further added.

Here, each of the supporting protrusions 20c and 21c and the separating protrusion 21d has an inverted V shape when viewed from the arrow Xa. That is, it has a conical shape.
Further, as will be described later, the grooves of the cylindrical body with which the supporting projections 20c and 21c are engaged are V-shaped in cross section.

FIG. 3(a) is a horizontal cross-sectional view schematically showing a cylindrical body taken out by the take-out robot according to the present embodiment and another cylindrical body adjacent to the cylinder, and FIG. FIG. 4 is a horizontal cross-sectional view showing a state in which the cylindrical body shown in FIG.
As shown in FIG. 3(a), in the cylindrical body X, a supporting rod portion is inserted into the hollow portion from one side Y1, and another cylindrical body X1 is adjacent to the other side. there is
Incidentally, regardless of the presence or absence of another adjacent cylindrical body X1, the side into which the supporting rod portion is inserted when taking out the cylindrical body X is always one side Y1 of the cylindrical body X.

The cylindrical body X is provided with a groove portion G extending in the circumferential direction on the inner wall portion of the hollow portion thereof.
As shown in FIG. 3(b), the groove G can be engaged with the supporting protrusions 20c and 21c.
In the take-out robot 1, when the cylindrical body X is lifted and taken out from the placing shelf 5, the supporting protrusions 20c and 21c are engaged with the grooves G, so that the cylindrical body X is supported stably. Excellent in nature.
Further, even when the cylindrical body X is conveyed at high speed, the supporting protrusions 20c and 21c are engaged with the grooves G, so that the cylindrical body X can be prevented from slipping down due to inertial force. .
As described above, in the take-out robot 1, the groove G is V-shaped, and the supporting projections 20c and 21c are inverted V-shaped. Even if the positions of the portions 20c and 21c are slightly deviated from each other, by sliding the supporting protrusions 20c and 21c along the inclined surface of the groove portion G, it is possible to reliably engage them. .

In the cylindrical body X, the groove G is provided at a certain distance D1 from the other side of the cylindrical body X (the side opposite to the side into which the support rod is inserted). That is, both the cutting tool and the spacer, which are cylindrical bodies X, have grooves G at specific positions on their inner walls.
On the other hand, the distance D2 from the root of the rod portion 20b to the supporting protrusion 20c in the supporting rod portion 20 and the distance D2 from the root of the rod portion 21b to the supporting protrusion 21c in the supporting/separating rod portion 21 are the same. It has become.
From these, the position of the groove G can be recognized with reference to the other end of the cylinder X, so that the cylinder X can be taken out using the groove G or another cylinder X1 of the cylinder X without using the groove G. It becomes easier to control the separation from.
Further, even if the cylindrical bodies X have different appearances, the distances D1 and D2 are constant, so that the different cylindrical bodies X can be taken out by the supporting rod portion 20 under the same control. .

In the take-out robot cylindrical body X, when another cylindrical body X1 is adjacent to the cylindrical body X, the separation protrusion 21d positioned at the tip of the rod part 21b of the support separation rod part 21 extends. , passes through the hollow part of the cylindrical body X, is inserted into the hollow part of the separate cylindrical body X1, and pushes the part other than the groove part G of the inner wall part of the separate cylindrical body X1. Even if it adheres to the cylindrical body X, the other cylindrical body X1 can be reliably separated from the cylindrical body X. As a result, it is possible to prevent the separate cylindrical body X1 from being taken out together with the cylindrical body X.

At this time, from the viewpoint of workability, it is preferable that the engagement of the supporting protrusion 21c of the supporting/separating rod 21 with the groove G and the separation of the separate cylindrical body X1 by the separating protrusion 21d be performed at the same time. . In other words, it is preferable that the line connecting the support protrusion 21c and the separation protrusion 21d is parallel to the length direction (Y direction) of the support separation rod 21. As shown in FIG.

Returning to FIG. 2( b ), three support drive units 30 are attached to the base 13 so as to correspond to two support rod units 20 and one support/separation rod unit 30 . It should be noted that all of these supporting driving portions 30 have the same structure.
The support drive section 30 is for rotating the support rod section 20 or the support/separation rod section 21 around the support shaft in the length direction (Y direction).
The support drive unit 30 is not particularly limited, but for example, a rotary actuator, a servomotor, or the like may be employed.

FIG. 4 is an explanatory diagram for explaining rotation of the supporting rod portion and the supporting/separating rod portion in the take-out robot according to the present embodiment. In addition, in FIG. 4, the left side shows a state in which the supporting rod portion 20 and the supporting/separating rod portion 21 grip the cylindrical body X (hereinafter referred to as "contact state L1" for convenience), and the right side shows the supporting state. 20 and the support/separation rod portion 21 are detached and the cylindrical body X is not gripped (hereinafter referred to as a "separated state L2" for the sake of convenience).
As shown in FIG. 4, in the take-out robot 1, the support shaft A1, which is the center of rotation of the support rod portion 20, is eccentric with respect to the axis A2 of the support rod portion 20 itself. Similarly, the support axis A1, which is the center of rotation of the support/separation rod portion 21, is eccentric with respect to the axis A2 of the support/separation rod portion 21 itself.
Therefore, when the support drive unit 30 rotates the support rod unit 20 and the support/separation rod unit 21, the contact state L1 changes to the separated state L2, and conversely, when the support drive unit 30 rotates, the separated state L2 changes to the contact state. It becomes contact state L1.

That is, when the separation state L1 changes to the contact state L1, the support rod portion 20 and the support separation rod portion 21 are brought into contact with the inner wall portion of the cylindrical body X, and at the same time, the support protrusions 20c and 21c are moved to the cylindrical body. It is engaged with the groove portion G of X. Also, the separation projection pushes the separate cylindrical body X1.
On the other hand, when the contact state L1 changes to the separated state L2, the supporting projections 20c and 21c are separated from the grooves G of the cylindrical body X, and at the same time, the supporting rod portion 20 and the support separation rod portion 21 themselves are also separated from the inner wall portion. will do.

As described above, in the take-out robot 1, since the support shaft A1 is eccentric, the approach, contact, and separation of the support rod portion 20 and the support/separation rod portion 21 from the inner wall portion of the cylindrical body X are controlled by the rotation. It is possible to do it sequentially by motion.
As a result, wear of the inner wall of the cylindrical body X caused by the support rod 20 and the support/separation rod 21 coming into contact with the inner wall can be suppressed as much as possible.

Next, a method for taking out the cylindrical body X by the take-out robot 1 will be described.
FIG. 5 is an explanatory diagram for explaining a series of flows for taking out the cylindrical body X by the take-out robot according to the present embodiment.
As shown in FIG. 5, first, in the take-out robot 1, the supporting rod portion 20 and the supporting/separating rod portion 21 are inserted into the hollow portion from one side of the cylindrical body X (first state S1).
At this time, the supporting driving portion 30 rotates the supporting rod portion 20 and the supporting/separating rod portion 21 in advance so that the supporting protrusions 20c and 21c and the separating protrusion 21d move toward the cylindrical body X side. In the unoriented diverted state L2 (see the right view of FIG. 4), the supporting rod can be inserted into the hollow portion of the cylinder.
As a result, when the supporting rod portion 20 and the supporting/separating rod portion 21 are inserted into the hollow portion of the cylindrical body X, not only the supporting rod portion 20 and the supporting/separating rod portion 21 but also the supporting protrusions 20c, 21c and separation protrusion 21d can also be reliably prevented from colliding with cylindrical body X.

After inserting the supporting rod portion 20 and the supporting/separating rod portion 21 into the hollow portion of the cylindrical body X, the supporting driving portion 30 rotates the supporting rod portion 20 and the supporting/separating rod portion 21 to bring them into contact with each other. Let it be state L1 (see the left diagram in FIG. 4).
At this time, the supporting rod portion 2 is inserted into the hollow portion of the cylindrical body X to a position where the supporting projection portion 20c is engaged with the groove portion G of the cylindrical body. Further, the support/separation rod portion 21 is extended to a position where the support projection portion 21c is engaged with the groove portion G of the cylindrical body and the separation projection portion 21d reaches a portion other than the groove portion G of the separate cylinder body X1. is inserted into the hollow part of the
As a result, the cylindrical body X is supported by the supporting rod portion 20 and the supporting/separating rod portion 21, and the other cylindrical body X1 is separated (see (b) of FIG. 3).
The insertion of the supporting rod portion 20 and the supporting/separating rod portion 21 into the hollow portion of the cylindrical body X, and the contacting of the supporting rod portion 20 and the supporting/separating rod portion 21 with the inner wall portion of the cylindrical body X. may be performed substantially simultaneously.

In this way, the cylindrical body X is taken out from the placing shelf 5 by the take-out robot 1 (second state S2).
Since the take-out robot 1 does not employ a so-called expansion/contraction method in which the inner wall portion of the cylinder X is positively pressed when taking out the cylinder X, it is possible to prevent the cylinder X from causing metal fatigue.

The cylindrical body X taken out from the mounting shelf 5 is transported by the take-out robot 1 and handed over to the arbor shaft 6 .
The arbor shaft 6 is cylindrical and has an extending portion 6a extending in the length direction from the upper portion of its peripheral surface (see FIG. 1).
The take-out robot 1 inserts the cylindrical body X into the extending portion 6a (third state S3).
At this time, since there is a space between the supporting rod portions 20, the extending portion 6a and the supporting rod portion 20 do not interfere with each other.
Then, the support driving section 30 rotates the support rod section 20 and the support/separation rod section 21 in a state in which the cylindrical body X is hooked on the extension section 6a, and the separated state L2 is obtained. is transferred to the arbor shaft 6 (fourth state S4).
After that, the take-out robot 1 retreats from the extension 6a (fifth state S5).
As described above, in the take-out robot 1 , the cylindrical body X can be delivered without interfering with the arbor shaft 6 by using the extension 6 a provided on the arbor shaft 6 .

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.

The take-out robot 1 according to the present embodiment includes a body portion 11 and an arm portion 12. However, if it is possible to take out the cylindrical body X at a predetermined position, the body portion 11 and the arm portion 12 can be combined. The structures are not limited to those described above.

The take-out robot 1 according to this embodiment includes three support rods 20 and corresponding support drive units 30, but the number of support rods 20 is limited to three. It may be four or more.
Also, one of the supporting rods 20 is used as the supporting/separating rod 21 further having the separating protrusion 21d, but this is not essential.
For example, instead of the support/separation rod portion 21, the support rod portion 20 without the separation projection portion may be adopted.

Further, instead of the support/separation rod portion 21, a separation rod portion having only a separation protrusion portion without a support protrusion portion may be employed.
Specifically, the take-out robot includes a separation rod projecting laterally from a base and provided with a protruding separation protrusion on the peripheral surface, and a separation rod having a length of the separation rod. and a separation driving portion for rotating about the longitudinal separation shaft. The separating shaft can be replaced with the supporting shaft described above, and the separating drive section can be replaced with the supporting drive section described above.
In this case, the separation drive section rotates the separation rod section inserted into the hollow portion of the separate cylinder, and the separation projection section presses the portion other than the groove section of the inner wall section of the separate cylinder. The body can be separated from the cylinder.
Also in this case, for the same reason as described above, it is preferable that the separating shaft is eccentric with respect to the axial center of the separating rod portion.

In the take-out robot 1 according to this embodiment, the base 13 is attached to the fourth arm 12d via the connecting portion 120, but the structure is not limited to this.

In the take-out robot 1 according to this embodiment, the supporting protrusions 20c and 21c and the separating protrusion 21d are formed in an inverted V shape when viewed from the arrow Xa, and the groove of the cylindrical body is formed in a V shape when viewed in cross section. Not limited.

The take-out robot 1 according to this embodiment transfers the cylindrical body X taken out from the mounting shelf 5 to the arbor shaft 6, but it is sufficient if the cylindrical body X can be taken out. Not required.

INDUSTRIAL APPLICABILITY The take-out robot according to the present invention can be used as a robot for taking out the blades and spacers attached to the arbor shaft and the spacers from the mounting shelf in a slitting device for cutting a coiled plate material.
According to the take-out robot of the present invention, when taking out the round blade or spacer, it is possible to prevent them from causing metal fatigue, and it is also excellent in support stability.

DESCRIPTION OF SYMBOLS 1... Take-out robot 10... Mounting frame 11... Main-body part 12... Arm part 120... Connection part 12a... 1st arm 12b... 2nd arm 12c... 3rd arm 12d Fourth arm 13 Base 20 Supporting rod 20a, 21a Bearing 20b, 21b Rod 20c, 21c Supporting protrusion 21 Support separation rod portion 21d Separation projection portion 30 Support driving portion 5 Placement shelf 6 Arbor shaft 6a Extension portion A1 Support shaft A2. Axis center G Groove L1 Contact state L2 Separation state M1, M2, M3, M4 Servo motor X Cylindrical body X1 Another cylindrical body

Claims (6)

A take-out robot for separating a cylindrical body used by being attached to an arbor shaft of a slitter device from another cylindrical body adjacent to the cylindrical body and taking out the cylindrical body from a mounting shelf on which the cylindrical body is mounted,
a body portion, an arm portion attached to the body portion, a base portion provided at the tip of the arm portion, and a supporting protrusion attached to the base portion so as to protrude in the lateral direction and protruding from the peripheral surface. provided with a plurality of support rods, and a support drive unit for rotating the support rods around the support shaft in the length direction of the support rods,
The cylindrical body is a blade or a spacer installed between the blades,
The inner wall of the cylindrical body is provided with a groove extending in the circumferential direction,
at least one of the plurality of supporting rod portions is a supporting and separating rod portion further provided with a projecting separating projection portion on the peripheral surface;
The support driving portion rotates the support/separation rod portion inserted into the hollow portion of the separate cylindrical body, and the separation protrusion pushes a portion other than the groove portion of the inner wall portion of the separate cylindrical body. , the separate cylinder is separated from the cylinder,
The supporting driving part rotates the supporting rod part inserted into the hollow part of the cylindrical body, and the cylindrical body is placed on the supporting projection part in the state of being engaged with the groove part. A take-out robot that takes out from a shelf. A take-out robot for separating a cylindrical body used by being attached to an arbor shaft of a slitter device from another cylindrical body adjacent to the cylindrical body and taking out the cylindrical body from a mounting shelf on which the cylindrical body is mounted,
a body portion, an arm portion attached to the body portion, a base portion provided at the tip of the arm portion, and a supporting protrusion attached to the base portion so as to protrude in the lateral direction and protruding from the peripheral surface. a plurality of supporting rods provided with, a supporting driving part for rotating the supporting rods around the supporting shafts in the longitudinal direction of the supporting rods, and a laterally projecting a separation rod portion attached to the base portion so as to form a separation projection on the peripheral surface thereof, the separation rod portion having a separation axis in the longitudinal direction of the separation rod portion; a detachment drive for pivoting to the center ;
The cylindrical body is a blade or a spacer installed between the blades,
The inner wall of the cylindrical body is provided with a groove extending in the circumferential direction,
The separation drive unit rotates the separation rod portion inserted into the hollow portion of the separate cylindrical body, and the separation protrusion pushes a portion other than the groove portion of the inner wall portion of the separate cylindrical body, the separate cylinder is separated from the cylinder;
The supporting driving part rotates the supporting rod part inserted into the hollow part of the cylindrical body, and the cylindrical body is placed on the supporting projection part in the state of being engaged with the groove part. A take-out robot that takes out from a shelf. 3. The take-out robot according to claim 2, wherein said separating shaft is eccentric with respect to the axial center of said separating rod portion. A take-out robot for taking out a cylindrical body attached to an arbor shaft of a slitter device from a mounting shelf on which the cylindrical body is mounted,
a body portion, an arm portion attached to the body portion, a base portion provided at the tip of the arm portion, and a supporting protrusion attached to the base portion so as to protrude in the lateral direction and protruding from the peripheral surface. provided with a plurality of support rods, and a support drive unit for rotating the support rods around the support shaft in the length direction of the support rods,
The cylindrical body is a blade or a spacer installed between the blades,
The inner wall of the cylindrical body is provided with a groove extending in the circumferential direction,
The supporting driving part rotates the supporting rod part inserted into the hollow part of the cylindrical body, and the cylindrical body is placed on the supporting projection part in the state of being engaged with the groove part. It is taken from the shelf,
The arbor shaft is provided with an extension extending in the length direction from the peripheral surface,
The support driving portion rotates the support rod portion in a state in which the cylindrical body is hooked on the extension portion, and disengages the support projection portion from the groove portion, thereby moving the cylindrical body to the arbor. Take-out robot handing over to Axis . The take-out robot according to any one of claims 1 to 4, wherein the support shaft is eccentric with respect to the axis of the support rod portion. The supporting rod portion is inserted into the cylindrical body from one side,
6. The take-out robot according to any one of claims 1 to 5, wherein the grooves in the plurality of cylindrical bodies are provided at positions at a constant distance from the other side of the cylindrical bodies.

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