KR101092748B1 - Automatic exchange system of slit knife set for slitter - Google Patents

Abstract

The present invention is to mechanically automate the replacement operation of the knife set to enable an efficient replacement operation and to eliminate the risk of safety accidents,
Shelf for installing multiple knife sets to be stored in multiple stages in the axial extension line of the slitter shaft constituting the slitter machine, and transfer for installing on the axial extension line of the shelf and slitter shaft The articulated robot including an rail, an exchange trolley installed on the conveying rail to reciprocate between the shelf and the slitter shaft, and an articulated robot installed on the shelf to mount a new spacer and the slitter knife on the exchange trolley. An exchange truck equipped with a new knife set is moved to the slitter machine by the robot, and the replacement knife set inserted in the slitter shaft is taken over by the replacement truck, and the operation of taking over the new knife set of the replacement truck by the slitter shaft is repeated. It is characterized by

Description

Knife set exchange system using articulated robot {AUTOMATIC EXCHANGE SYSTEM OF SLIT KNIFE SET FOR SLITTER}

The present invention relates to a knife set exchange system using an articulated robot, and more particularly, a knife set used for slitting by being applied to a slitter machine for cutting and rewinding a coil to a desired standard (width). The present invention relates to the provision of an exchange system that enables mechanical exchange.

Metal sheets such as steel sheets are provided in a wide coil state in steel mills, and these coils are made into strap shapes having various widths through reworking for use as various industrial grades.

Such strap body is used as a material for continuous supply to manufacture machinery and electronic parts, and a dedicated processing machine for cutting such coils into a strap shape is needed. (Slitter) Machine, slitter (Slitter) is used.

The slitter machine as described above is provided with a pair of upper and lower pairs of slitter shafts parallel to each other in a pair of opposed upright columns and driven to receive power from a driving means, and the purpose of slitting in the slitter shafts is as follows. It consists of inserting and arranging a knife set consisting of a plurality of spacers, a plurality of slitting knives and a plurality of rubber bonding spacers in accordance with the standard of the.

By supplying the coils between the slitter shafts, the straps are cut to meet the specifications of the slits knives disposed on the slitter shafts, and the straps are completed through rewinding.

Since the slitter machine cuts the plate into a plurality of straps at the same time, a very large shear force must be applied, and since the entire mechanism is large, the knife set is fitted to the standard to be cut on the slitter shaft provided as a pair. In addition, the exchange work must be carried out.

Conventionally, the operation for periodically replacing and mounting the knife set in accordance with the specifications of the strap to be cut into the slitter shaft has been dependent on the manual labor of the operator.

For example, the size of the knife set to be inserted according to the standard to be cut varies, as well as the number of the knife set is also large, since the weight and size of such a knife set is not a level that can be easily handled by manpower. The efficiency of the replacement is very low, which leads to a decrease in the efficiency of strap production.

In particular, the operation of replacing the knife set may vary depending on the amount of work, but it may be performed several times a day. Therefore, the operation of storing the knife set attached to the slitting shaft and storing the knife set again on the slitter shaft Inserting and mounting according to the specifications to be cut is never easy.

In addition, in the process of periodically replacing the knife set, the heavy lifting material is repeatedly lifted and lowered in the process of carrying out the work of periodically changing the knife set, as well as physical damage due to falling in the process of handling the knife set. In addition to causing phosphorous damage, the problem of frequent damage to the hands and arms by the sharp portion of the knife set occurs.

In addition, if the knife set falls during the handling process and collides with or collides with the surrounding items, it may not only damage the surrounding items or the machine, but also cause damage to the knife set. You will need

Since the work of exchanging the knife set by manpower is not easy, the mathematical calculations necessary to adjust the number of spacers to the required dimensions of the knife constituting the knife set are not easy and are made only by experienced workers. There are many problems, such as more difficulty and losing the versatility of the work.

Accordingly, the present invention has been invented to solve the above problems, and the shelf is installed so that a plurality of knife sets to be stored in multiple stages to be replaced in the space on the axial extension line of the slitter shaft constituting the slitter machine, A transfer rail installed on an axial extension line of the shelf and the slitter shaft, an exchange trolley installed on the transfer rail to reciprocate between the shelf and the slitter shaft, and a new knife set mounted on the shelf to mount a new knife set on the exchange cart. Including an articulated robot, an exchange truck equipped with a new knife set by the articulated robot moves to the slitter to take over the replacement knife set inserted in the slitter shaft as an exchange truck, and a new knife of the exchange truck. By repeating the operation of handing over the set to the slitter shaft, it is possible to While it can automate it enables the efficient exchange work with has a feature that can exclude the possibility of accidents.

The present invention mechanically performs the replacement operation of the knife set on the slitter shaft constituting the slitter machine by calculating the number of knives, spacers and rubber bonding spacers at optimum intervals to enable efficient replacement work It is an invention having various effects such as ensuring safety while reducing.

1 is an overall plan view showing a knife set exchange system using a articulated robot to which the technique of the present invention is applied.
Figure 2 is an overall front configuration diagram showing a knife set exchange system using a articulated robot to which the technique of the present invention is applied.
Figure 3 is an overall side view showing a knife set exchange system using a jointed articulated robot technology of the present invention.
Figure 4 is a perspective view showing the exchange cart of the knife set exchange system using a articulated robot to which the technique of the present invention is applied.
Figure 5 is a perspective view of the arbor of the exchange bogie of the knife set exchange system using the articulated robot to which the technique of the present invention is applied.
6 is a cross-sectional view taken along the line A-A of the exchange bogie of a knife set exchange system using a articulated robot to which the technique of the present invention is applied.
Figure 7 is a perspective view showing a pusher of the knife set exchange system using a articulated robot to which the technique of the present invention is applied.

Hereinafter, with reference to the accompanying drawings will be described a preferred configuration and operation of the present invention for achieving the above object.

1 is an overall plan view showing a knife set exchange system using an articulated robot to which the technique of the present invention is applied, and FIG. 2 is a frontal configuration showing a knife set exchange system using an articulated robot to which the technique of the present invention is applied. Figure 3 is an overall side configuration diagram showing a knife set exchange system using a articulated robot to which the technique of the present invention is applied, Figure 4 is a replacement cart of the knife set exchange system using a articulated robot to which the technique of the present invention is applied. 5 is a perspective view illustrating an arbor of an exchange truck of a knife set exchange system using the articulated robot according to the present invention, and FIG. 6 is a knife set exchange system using the articulated robot applied to the present invention. 7 is a cross-sectional view taken along the line A-A of the exchange truck of Fig. 7 is a knife set exchange system using a articulated robot to which the technique of the present invention is applied. It demonstrates together as a perspective view which shows the pusher of a tem.

In the slitter machine 100 for slitting a material supplied in a coil form, a pair of upper and lower slitter shafts 103 parallel between a pair of opposed upright slitter stands 101 and 102 is driven. And a plurality of spacers 105, a plurality of slitting knives 106, and a plurality of rubber bonding spacers 107. The slitter shaft 103 has a plurality of spacers 105, a plurality of slitting knives 106, and a plurality of rubber bonding spacers 107. A knife set (hereinafter referred to as a knife set) hereinafter composed of) is inserted and arranged.

In the present invention, the slitter knife exchange system 110 using the articulated robot is easily installed at the axially opposite position of the slitter shaft 103 so that the knife set 108 can be replaced on the slitter shaft 103. It is characterized in that the exchange can be performed.

The exchange system 110 includes a plurality of spacers 105 and a slitting knife 106 to be exchanged in a space before and after the axial extension L of the slitter shaft 103 (refer to FIG. 1). And a shelf 111 capable of storing the knife set 108 composed of the rubber bonding spacers 107 in multiple stages.

Between the shelves 111 and on the axial extension line L of the slitter shaft 103, a transfer rail 112 connected from the shelf 111 to the slitter shaft 103 is installed, and the transfer rail 112 is provided. ), An exchange trolley 115 for reciprocating between the shelf 111 and the slitter shaft 103 is installed.

The articulated robot set 116 is installed on the shelf 111 to mount the new knife set 108 to the exchange cart 115, and the exchange cart 115 to which the new knife set 108 is mounted is a slitter machine ( 100), the replacement knife set 108 inserted in the slitter shaft 103 is turned over to the exchange cart 115, and the new knife set 108 of the exchange cart 115 is transferred to the slitter shaft 103. By repeating the operation to replace the knife set 108.

Of course, the transfer rail 112 is installed in the basement rather than the ground so that the exchange cart 115 can reciprocate between the slitter machine 100 and the shelf 111, the transfer rail 112 is usually covered ( 109) to open the cover only when replacing the knife without disrupting the movement of the operator or equipment through the indoor floor surface so as not to interfere with the round trip of the exchange cart 115.

The exchange trolley 115 is provided with a horizontal frame 119 having a wheel 118 to receive the power of the drive means 117 to slide the transport rail 112, at the rear of the horizontal frame 119 The vertical frame 120 is installed is connected to the lifting means 121 operated by the hydraulic cylinder to install the arbor plate 122 moving in the vertical direction of the vertical frame 120.

The arbor plate 122 is connected to the slitter shaft 103 in the axial direction so that the pair of takeover arbors 123 and the new knife set 108 can be received by the slitter shaft (108). A pair of takeover arbors 124 for turning over to 103 is provided to protrude in the direction of the slitter machine 100.

On the outer diameter of the takeover and takeover arbors 123 and 124, the ball screw is installed on the inner diameter of the takeover and takeover arbors 123 and 124 for pushing the new knife set 108 to take over the slitter shaft 103. 126 and the ball nut 127, the ball screw 126 reciprocates the exchange track 125 while receiving the power of the drive means 128 installed in the rear of the arbor plate 122, while forward and reverse rotation Make it work.

Of course, the vertical frame 120 and the arbor plate 122 is equipped with lifting aids such as guide rails and rail blocks (LM guides) so that free lifting and lifting can be performed, and the takeover and takeover arbors 123 and 124 are provided. The bottom surface of the slot 129 is formed so that the ball nut 127 connected to the ball screw 126 does not interfere with the reciprocation, and the weight (W) is installed on the rear of the horizontal frame 119, the knife set ( 108 to maintain the weight balance of the takeover and take over arbors 123 and 124 protruding toward the slitter machine 100.

On the right end (slitter machine direction) end of the exchange cart 115 by pushing the new knife set 108 located at the end of the handover arbor 124 by the articulated robot 116 to push the inside of the handover arbor 124. Install the pusher 130.

The pusher 130 stands the post 131 on the ground so that there is no problem in the reciprocation of the exchange cart 115, the post 131 is maintained by the cylinder 132 and the guide 133 to take over and take over arbors 123, 124 Connect the movable frame 134 reciprocating in the axial center direction of the).

At the rear of the movable frame 134, four pushing cylinders 135 equal to the number of the take-over and take-over arbors 123 and 124 are moved so as to move in the direction of the take-up and take-over arbors 123 and 124, and the pushing cylinder ( The pushing plate 136 is fixed to the rod 135 so as to push the knife set 108 positioned at the ends of the takeover and takeover arbors 123 and 124.

Looking at the operation relationship of the knife set exchange system 110 using the articulated robot to which the technology of the present invention as described above is as follows.

In the shelf 111, a plurality of new knife sets 108 to be replaced are stored, and the slitter shaft 103 of the slitter machine 100 is used for replacement knife sets 108 requiring replacement. Is in the installed state.

In such a state, the knife set 108 is inserted and coupled to the turning arbor 124 provided between the shelves 111 by using the articulated robot 116 to fit the slitting standard. .

In such a state, the exchange cart 115 moves to the slitter machine 100 and receives the replacement knife set 108 coupled to the slitter shaft 103 to the takeover arbor 123, and then the takeover arbor 124 After passing the new knife set 108 coupled to the slitter shaft 103 to repeat the operation to return to the original state will be able to mechanically replace the slitting knife.

Looking more closely at this sequence of actions,

In the process of the slitting operation by the slitter machine 100, the articulated robot in a pair of takeover arbors 124 located above the arbor plate 122 of the exchange truck 115 located between the shelves 111. 116 inserts the new knife set 108 to specification and prepares for replacement.

The articulated robot 116, which is set and operated in the computer and the controller O.P, sequentially positions the knife set 108 at the end of the takeover arbor 124 so as to satisfy the optimum conditions.

Then, the pusher 130 is operated to push the new knife set 108 located at the end of the takeover arbor 124 into the takeover arbor 124, and then return to its original position and stand by for the next operation. The robot 116 may repeat the operation of supplying the knife set 108 to the tip of the takeover arbor 124 to insert the new knife set 108 into the takeover arbor 124.

The operation of the pusher 130 is a cylinder installed in the post 131 while the articulated robot 116 supplies the knife set 108 to the end of the takeover arbor 124 and then takes the next knife set 108. When 132 is extended, the movable frame 134 held by the cylinder 132 and the guide 133 moves in the axial direction of the takeover and takeover arbors 123 and 124.

When the movable frame 134 stops at a position coinciding with the shaft center of the takeover and takeover arbors 123 and 124 by the cylinder 132, the pushing cylinder 135 installed at the rear of the movable frame 134 operates to push the cylinder. The pushing plate 136 fixed to the rod 135 is advanced in the direction of the takeover arbor 124 to push the knife set 108 positioned at the end of the takeover arbor 124 into the takeover arbor 124.

After the knife set 108 is pushed into the takeover arbor 124 as described above, the pushing cylinder 135 and the cylinder 132 operate to move to their original positions and are in a standby state for the next operation.

As described above, when insertion of the knife set 108 into the handover arbor 124 of the exchange cart 115 by the articulated robot 116 and the pusher 130 is completed, the slitter machine for replacing the knife set 108 is completed. After stopping the operation of the 100, the slitter stand 108 is retracted in the shaft direction so as to be separated from the slitter shaft 103 and moved in the perpendicular direction of the shaft to move the exchange trolley 115 to the transfer rail 112. Accordingly, the direction of the slitter machine 100 is moved.

After the exchange cart 115 is positioned side by side with the slitter shaft 103 of the slitter machine 100, the center of the shafts of the takeover arbor 123 and the slitter shaft 103 located under the upper plate 122 are positioned. After matching, the exchange truck 115 is moved in the direction of the slitter shaft 103 so that the takeover arbor 123 and the slitter shaft 103 engage with each other.

In this state, the knife set 108 inserted and used in the slitter shaft 103 is inserted into the takeover arbor 123 using the separating means provided in the slitter machine 100.

When the used knife set 108 is moved to the takeover arbor 123, the exchange truck 115 is temporarily retracted again so as to be spaced apart from the slitter shaft 103, and then the vertical frame of the exchange truck 115 ( The arbor plate 122 is lowered by operating the elevating means 121 installed at 120.

As the arbor plate 122 descends, the takeover arbor 123 and the takeover arbor 124 move downward so that the shaft centers of the takeover arbor 124 and the slitter shaft 103 coincide with each other. Moving the 115 in the direction of the slitter shaft 103 so that the takeover arbor 124 and the slitter shaft 103 are coupled.

After the takeover arbor 124 and the slitter shaft 103 are coupled as described above, when the ball screw 126 is rotated in the forward direction by operating the driving means 128 installed at the rear of the arbor plate 122, the ball screw A new knife set coupled to the turning arbor 124 while the exchange track 125 coupled to the outer diameter of the turning arbor 124 and the ball nut 127 is coupled to the turning arbor 124 (126). 108 is to be transferred to the slitter shaft 103 to pass.

After the exchange track 125 completes the turnover of the knife set 108 to the slitter shaft 103, the ball nut 127 rotates the ball track 126 back to the original position. It will return to position.

The exchange track 125 is capable of reciprocating the takeover or takeover arbors 123, 124 so that the ball nut 127 connected to the ball screw 126 does not interfere with the transfer of the bottom surface of the takeover or takeover arbors 123,124. This is possible because the slot 129 is formed in the slot.

After the replacement of the knife set 108 is completed as described above, the replacement cart 115 returns to its original position to store the replacement knife set 108 used by the articulated robot 116 on the shelf 111, The new knife set 108 stored in the shelf 111 is inserted into the takeover arbor 124 of the exchange cart 115 to prepare for the next exchange.

Of course, the slitter machine 100 is also repaired to perform the slitting work when the replacement truck 115 is returned to its original position, and then it is natural to slitting the material supplied and operated by the driving means 104. something to do.

As described above, the present invention eliminates the concern of safety accidents while enabling efficient exchange work by mechanically performing automatic replacement of the knife set for slitting work by a computer program using a multi-joint robot, an exchange cart and a pusher. The invention has advantages such as being able to.

100; Slitter Machine
108; Knife set
110; Exchange system
111; shelf
112; Feed rail
115; Exchange
116; Articulated Robot
121; Lifting means
122; Arbor Plate
123; Argument
124; Takeover Arbor
125; Exchange track
130; Pusher
134; Movable frame
136; Pushing Plate

Claims (5)

A pair of upper and lower pairs of slitter shafts 103 parallel to the pair of opposed upright slitter stands 101 and 102 are provided to be connected to the driving means 104 to drive the slitter shaft 103. In the slitter machine 100 to insert a plurality of spacers 105 and the slitting knife 106 in accordance with the slitting standard to perform the slitting of the material supplied in the form of a coil;
A shelf 111 for installing the knife set 108 to be exchanged in a plurality of stages in a space of an extension line L in the axial direction of the slitter shaft 103;
A conveying rail 112 installed on an axial extension line L of the shelf 111 and the slitter shaft 103;
An exchange trolley 115 installed on the transfer rail 112 to reciprocate between the shelf 111 and the slitter shaft 103;
An articulated robot (116) installed on the shelf (111) to mount the new spacer (105) and the slit knife (106) on the exchange cart (115);
The slitter stand (102) is configured to move in the axial direction of the shaft and the perpendicular direction of the shaft so that the takeover and take over arbors (123, 124) mounted on the exchange cart (115) can be connected to the slitter shaft (103);
The exchange trolley 115 equipped with the knife set 108 by the articulated robot 116 moves to the slitter machine 100 to exchange the exchange knife set 108 inserted into the slitter shaft 103. A knife set exchange system using an articulated robot, characterized by repeating the operation of turning over the new knife set (108) of the exchange truck (115) to the slitter shaft (103). The method of claim 1;
The exchange truck 115 has a horizontal frame 119 having a wheel 118 to receive the power of the drive means 117 to slide the transport rail (112);
A vertical frame 120 installed at the rear of the horizontal frame 119;
An arbor plate 122 connected to the elevating means 121 installed on the vertical frame 120 and moving up and down in the vertical frame 120;
A pair of argument arbors 123 installed on the arbor plate 122 to protrude in the direction of the slitter 100 and connected to the slitter shaft 103 in the axial direction to receive the knife set 108 to be exchanged. A pair of takeover arbors 124 capable of taking over the new knife set 108 with the slitter shaft 103;
Coupled to the outer diameters of the takeover and takeover arbors (123,124) and constitute a replacement track (125) for pushing over the new knife set (108) to the slitter shaft (103);
The exchange track 125 is coupled to the ball screw 126 and the ball nut 127 installed on the inner diameter of the takeover and takeover arbors 123 and 124;
The ball screw 126 is a knife set exchange system using a multi-joint robot, characterized in that for reciprocating the exchange track 125 by forward and reverse rotation by the drive means 128 installed on the rear of the arbor plate 122 . The method of claim 1;
The pusher 130 which pushes the knife set 108 positioned at the end of the takeover or takeover arbors 123 and 124 by the articulated robot 116 is further formed at the slitter direction end of the exchange cart 115. Install;
The pusher 130 is a post 131 which is erected on the ground so as not to interfere with the reciprocating of the exchange cart 115;
A movable frame 134 which is held by the cylinder 132 and the guide 133 installed in the post 131 and reciprocates in the axial center direction of the takeover and takeover arbors 123 and 124;
A pushing cylinder 135 installed at the rear of the movable frame 134 to operate in the direction of the takeover and takeover arbors 123 and 124;
Knife set exchange system using a multi-joint robot, characterized in that it comprises a pushing plate 136, which is fixed to the rod of the pushing cylinder 135 and pushes the knife set 108 located at the ends of the takeover and takeover arbors (123,124). . The method of claim 2;
The knife set using the articulated robot further comprises a slot 129 formed on the bottom of the transfer and takeover arbors 123 and 124 so that the ball nut 127 connected to the ball screw 126 does not interfere with reciprocation. Exchange system. The method of claim 2;
The rear end of the horizontal frame 119 is equipped with a knife set 108 to further include a weight (W) to maintain the weight balance of the takeover and take over arbors (123, 124) protruding in the direction of the slitter machine (100) Knife set exchange system using an articulated robot.

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