WO2017145442A1

WO2017145442A1 - Device for gripping and cutting clamping band, system for gripping and cutting clamping band, and method for gripping and cutting clamping band

Info

Publication number: WO2017145442A1
Application number: PCT/JP2016/081773
Authority: WO
Inventors: 聰内山; 卓弥石橋
Original assignee: 鋼鈑工業株式会社
Priority date: 2016-02-26
Filing date: 2016-10-26
Publication date: 2017-08-31
Also published as: JP2017149469A; JP6110970B1; CN108698729A

Abstract

[Problem] To provide a device for gripping and cutting a clamping band and a method for gripping and cutting a clamping band that enable a simple and quick way of gripping and cutting a clamping band not only when using a turning arm or a vertical piston rod, but when using a robot arm as well. [Solution] The device for gripping and cutting a clamping band according to the present invention is characterized by being provided with: a frame; an upper blade that is fixed to the frame; a pair of movable frames which are movably mounted within the frame, and which are coupled to each other via a single linear movement mechanism; a lower blade which is mounted to one of the movable frames, and which cuts a clamping band by a shearing action achieved in conjunction with the upper blade when the lower blade comes close to the upper blade; a first gripping member which is mounted to one of the movable frames, and which is movable with respect to the lower blade; and a second gripping member which is fixed to the other movable frame.

Description

Binding band gripping and cutting device, binding band gripping and cutting system, and binding band gripping and cutting method

The present invention relates to a processing technique for a strap or a hoop band for binding a rolled steel strip wound in a coil shape or the like (these are collectively referred to as a binding band), and more specifically, a binding band using a robot arm. The present invention relates to a gripping and cutting apparatus, a binding band gripping and cutting system, and a binding band gripping and cutting method capable of quickly holding and cutting a binding band while suppressing damage to a rolled steel strip during gripping and cutting processing.

Rolled steel strips used for various applications in industry are conveyed in a coiled state for reasons such as transportation restrictions. At this time, the coiled rolled steel strip is constrained by the binding band so that the winding cannot be unwound during conveyance.
On the other hand, at the point where it is transported, such as in a factory, the coiled rolled steel strip is sent to various processing steps after the binding band described above is cut first.

In recent years, the binding band cutting machine shown in the following

Patent Documents

1 and 2 has been introduced in response to the flow of automation for cutting the binding band that has been performed manually.
Such a binding band cutting machine is required to hold the binding band simultaneously at the time of cutting for the purpose of speeding up the processing after cutting.

First, in Patent Document 1, paying attention to the gripping structure at the time of cutting the binding band, the first sliding member 25 and the second sliding member 26 come close to each other via the common screw shaft 12, so that a pair of gripping elements is obtained. The structure by which the binding band is clamped by 19 and 20 is disclosed.
On the other hand, in Patent Document 2, paying attention to the cutting structure at the time of cutting the binding band, the first sliding member 25 and the second sliding member 26 are brought close to each other through the common screw shaft 31, so that the upper blade A configuration in which the binding band is cut by the shearing action of 19 and the lower blade 20 is disclosed.

JP 57-125116 A JP-A-57-104537

Certainly, according to the technique described in the above-mentioned patent document, it can be said that the binding band can be gripped and cut more efficiently than the conventional apparatus. However, even with the techniques described in the above-mentioned patent documents, the problems described below remain, and it can be said that there is still room for improvement.
That is, in the above-described binding band gripping and cutting device, it is necessary to detect the position of the binding band before gripping the binding band. In recent years, in order to increase product competitiveness, a concept of performing quick and accurate position detection using a robot arm has been studied.

On the other hand, the configurations of Patent Document 1 and Patent Document 2 described above do not assume processing by a robot arm. Therefore, the configurations of Patent Document 1 and Patent Document 2 can be used simply and quickly even when a robot arm is used. It cannot be said that it is an optimal form that can perform gripping and cutting.
In addition to the configuration for gripping and the configuration for cutting being driven by different screw shafts, a pair of sliding members slide on each screw shaft, which increases the size and complexity of the device. There is also a problem that it ends up.
The present invention has been made in view of the above-described problem as an example, and is capable of gripping and cutting a binding band that can be easily and quickly gripped and cut even when a robot arm is used in addition to a swing arm and a vertical piston rod. An object of the present invention is to provide a device, a binding band gripping and cutting system, and a binding band gripping and cutting method.

In order to solve the above problems, a binding band gripping and cutting device according to an embodiment of the present invention is (1) a frame, an upper blade fixed to the frame, a movably mounted in the frame, A pair of moving frames connected to each other by a single linear moving mechanism and a lower frame which is mounted on one of the moving frames and cuts the binding band by a shearing action with the upper blade by approaching the upper blade. A blade, a first holding member mounted on one of the moving frames and movable with respect to the lower blade, and a second holding member fixed on the other of the moving frames.
In the binding band gripping and cutting device of (1) above, (2) a hinge that connects at least one of the lower blade and the gripping member to the frame, and the lower blade and the grip via the hinge. It is preferable that at least one of the members be rotated so as to follow the unevenness existing on the surface of the rolled steel strip.

Furthermore, in order to solve the said subject, the binding band holding | grip cutting | disconnection system concerning one Embodiment of this invention moves the binding band holding | grip cutting device as described in said (1) or (2), and the said binding band holding | grip cutting device. A manipulator, a floating device interposed between the connection plate of the frame and the manipulator, a binding band gripping and cutting device, the manipulator, and a control device for controlling the floating device. .

Furthermore, in order to solve the above-described problem, a binding band gripping and cutting method according to the present embodiment is a binding band gripping and cutting method used for binding a rolled steel strip, and is fixed to a frame with respect to the rolled steel strip. A step of bringing the upper blade close, and in a state where the upper blade is close to the rolled steel strip, a lower blade mounted on the frame and a gripping member for gripping the binding band are linearly directed toward the binding band. And a step of moving the lower banding blade into the lower surface of the binding band and cutting the binding band by a shearing action with the upper blade while holding the binding band by the gripping member. Features.

According to the present invention, it is possible to easily and quickly hold a binding band while using a robot arm as well as a swing arm and a vertical piston rod without increasing the size and complexity of the device. It becomes. Further, since the upper blade is fixed to the frame, replacement and rotation can be easily performed, and thus the life of the apparatus can be increased.

It is a perspective view which shows the binding band holding | grip cutting device 100 concerning embodiment. It is the top view, front view, and side view which show the binding band holding | grip cutting device 100 concerning embodiment. It is AA sectional drawing of the binding band holding | grip cutting device 100 in FIG. It is DD sectional drawing of the binding band holding | grip cutting device 100 in FIG. 3, and is the figure which looked at the moving frame 12 side. It is BB sectional drawing of the binding band holding | grip cutting device 100 in FIG. It is CC sectional drawing of the binding band holding | grip cutting device 100 in FIG. It is the figure which looked at the binding band holding | grip cutting device 100 concerning embodiment from the bottom face side. It is an operation | movement transition diagram explaining the binding band holding | grip cutting method concerning embodiment. It is a schematic diagram which shows the structure of the binding band holding | grip cutting system concerning embodiment.

Embodiments for carrying out the present invention will be described. In the following description, for convenience, the direction in which the gripping

members

23 and 24 and the lower blade 22 of the binding band gripping and cutting device 100 move is defined as the X direction, and the plane direction orthogonal to the X direction is defined as the Y direction. The direction perpendicular to the direction and the Y direction is defined as the Z direction. However, it goes without saying that the present invention does not depend on the definition of the direction described above, and does not unduly reduce the scope of the claims. Note that, for configurations other than those described in detail below, for example, known configurations such as the above-mentioned JP-A-57-125116 and JP-A-57-104537 may be referred to as appropriate.

<Binding band gripping and cutting device>
First, a binding band gripping and cutting device 100 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 7 as appropriate.
As shown in FIG. 1, the binding band gripping and cutting device 100 according to the embodiment has a function of processing a binding band that binds a rolled steel strip wound in a coil shape or the like. More specifically, the binding band gripping and cutting device 100 includes the frame 10, the upper blade 21, the lower blade 22, and the slide mechanism 30.

The frame 10 is made of a metal such as carbon steel for machine structure. The frame 10 has a function of mounting an upper blade 21, a lower blade 22, a slide mechanism 30 and the like, which will be described later, and has an outer shape that is a rectangular parallelepiped.
At least the lower surface (bottom surface as viewed from the −Z direction) side of the frame 10 is open, from which the upper blade 21, the lower blade 22, the pair of gripping members (23, 24), and the like are exposed. In other words, the frame 10 constitutes the distal end portion of the binding band gripping and cutting device 100, and the lower surface side on which the upper blade 21 and the lower blade 22 are arranged as shown in FIG. 1B is in contact with the binding band. .

On the other hand, the frame 10 includes a connection plate 11 on the upper surface side opposite to the lower surface side, and is connected to the manipulator MP (for example, the robot arm RA as an example) via the connection plate 11 as shown in FIG. The The driving mechanism of the robot arm RA may have six degrees of freedom, so that the lower surface side of the binding band gripping and cutting device 100 described above can follow the surface of the rolled steel band bound by the binding band. ing.
A known buffer mechanism such as an elastic member or a spring mechanism may be interposed between the connection plate 11 and the robot arm RA.
The manipulator MP connected to the connection plate 11 is not limited to the robot arm RA described above, and other known mechanisms such as a conventional swing arm and a vertical piston rod (vertical drive mechanism) may be used instead.

The upper blade 21 is fixed to the frame 10. More specifically, as shown in FIGS. 1 and 5, the upper blade 21 is fastened to the fixture 14 via a known fastening member such as a screw. Furthermore, the fixture 14 is fixed to the frame 10 via a known fastening member such as a screw. Accordingly, the upper blade 21 is fixed so as to be exposed on the lower surface side of the frame 10, and the binding band can be cut by a shearing action in cooperation with the lower blade 22 described later.

In addition, there is no limitation in particular in the material of the upper blade 21, For example, well-known tool steel, such as die steel, is applicable.
Moreover, although the upper blade 21 of this embodiment is fastened to the fixture 14 via the above-described fastening member, it may be fixed to the fixture 14 by welding or an adhesive instead of this.
The arrangement and shape of the upper blade 21 will be described later with reference to FIG.

The lower blade 22 is movably mounted on the frame 10 and has a function of cutting the binding band by a shearing action with the upper blade 21 when approaching the upper blade 21. More specifically, the lower blade 22 sandwiches the binding band between the upper blade 21 and the lower blade 22 by entering the lower surface side (between the binding band and the rolled steel strip) of the binding band during the cutting process of the binding band. Is possible.
The material of the lower blade 22 is not particularly limited. For example, a known tool steel such as die steel that is the same material as the upper blade 21 is used.

The lower blade 22 of this embodiment is mounted on one of the pair of moving frames (moving frame 12) that can move along the X direction. More specifically, as shown in FIGS. 1 and 6, the lower blade 22 is connected to the lower end side of the moving frame 12 via a hinge 27. Thereby, for example, even if there are minute irregularities on the surface of the rolled steel band bound by the binding band, the lower blade 22 rotates relative to the moving frame 12 via the hinge 27 (with the hinge 27 as an axis). It can be rotated around the Y axis), and thereby can follow (move along) the above-described unevenness.

As shown in FIGS. 1 and 4, the moving frame 12 is connected to a slide mechanism 30 described later, and can move in the X direction by the action of the slide mechanism 30. More specifically, as illustrated in FIG. 4, the moving frame 12 is connected to the slide mechanism 30 via a known fastening member such as a screw.
Also, as shown in FIG. 1, the frame 10 includes a pair of slide rails 15 (15a, 15b) on the end side in the ± Y direction inside. The slide rail 15 is disposed so as to extend in the X direction within the frame 10.

On the other hand, the moving frame 12 is provided with a pair of moving legs 12 (12a, 12b) corresponding to the slide rails 15 described above.
The movable leg 12 has a known linear guide mechanism such as a roller, and can move on the slide rail 15.
Note that the moving frame 12 of the present embodiment may be equipped with a gripping member 23, a gripping member 24, and an elasticity applying member 28, which will be described later.

In this embodiment, the slide mechanism 30 is mounted on the frame 10 as a linear movement mechanism and has a function of linearly moving the lower blade 22 relative to the upper blade 21. More specifically, as shown in FIGS. 1 to 4, the slide mechanism 30 is disposed so as to extend in the X direction in the frame 10, and the end side thereof is connected to the moving frame 12 and the moving frame 13, respectively. It is connected. In other words, a pair of moving frames (moving frame 12 and moving frame 13) are mounted on the frame 10 and are connected to each other by one linear moving mechanism (sliding mechanism 30).
For example, an air cylinder is used for the slide mechanism 30 of the present embodiment. However, the slide mechanism 30 is not limited to an air cylinder, and may be another fluid pressure cylinder such as a hydraulic pressure or an electric cylinder.

The moving frame 13 functions as the other of the pair of moving frames, and can be moved in the X direction by mounting a gripping member 23 described later. More specifically, as shown in FIGS. 1 and 2, the moving frame 13 has moving legs 13 (13 a, 13 b) on the lower end side, and the above-described slide rails 15 (15 a, 15 b) The movable leg 13 can be moved.
Thus, in this embodiment, the moving frame 12 and the moving frame 13 can move along the X direction on the common slide rail 15.

Such a binding band gripping and cutting device 100 may further include a pair of gripping members (23, 24).
Among these, the gripping member 24 as the first gripping member is mounted on the frame 10 and can grip the binding band movably with respect to the lower blade 22. More specifically, the grip member 24 is disposed on the lower end side of the moving frame 12 as shown in FIG. At this time, the gripping member 24 is connected to the moving frame 12 via the hinge 25, whereby the gripping member 24 rotates (rotates around the Y axis around the hinge 25) via the hinge 25. It is possible to follow the unevenness present on the surface.

The gripping member 23 as the second gripping member is mounted on the frame 10 and can move in synchronization with the movement of the lower blade 22 to grip the binding band. More specifically, as shown in FIG. 3, the gripping member 23 is disposed on the lower end side of the other of the pair of moving frames (moving frame 13). At this time, the gripping member 23 is fixed to the moving frame 13 via the hinge 26, and thereby the gripping member 23 rotates (rotates around the Y axis about the hinge 26) via the hinge 26. It is possible to follow the unevenness present on the surface.
Further, in the present embodiment, the pair of gripping members (23, 24) arranged opposite to each other are connected to the respective moving frames via the hinges, so that they are transmitted to the hinges when following the unevenness described above. The influence of force can be suppressed.

In addition, although the above-mentioned hinge demonstrated the example mounted in all of the lower blade and the holding member, it is not restricted to this, You may mount in either a lower blade and the holding member. That is, the hinge of the present embodiment has a function of connecting at least one of the lower blade and the gripping member to the frame, and at least one of the lower blade and the gripping member rotates with respect to the moving frame, thereby It is possible to follow the unevenness on the surface.

Further, in the present embodiment, when the slide mechanism 30 is driven, the moving frame 12 and the moving frame 13 move so as to be close to each other. As a result, the gripping member 24 and the gripping member 23 mounted on the moving frame 12 and the moving frame 13 can also move so as to be close to each other. In other words, the slide mechanism 30 of this embodiment can linearly move the gripping member 23 and the gripping member 24 together with the lower blade 22.

Note that the gripping member 24 of the present embodiment may be connected to the slide mechanism 30 via the elasticity applying member 28.
More specifically, as shown in FIG. 3, the hinge 25 is connected to the elasticity applying member 28, and the elasticity applying member 28 is fixed to the lower portion of the moving frame 12. Further, the elasticity applying member 28 is disposed between the slide mechanism 30 and the gripping member 24 in the moving frame 12.
Thus, the grip member 24 can be moved in the X direction by the slide mechanism 30 via the elasticity applying member 28 and the moving frame 12.

The elasticity applying member 28 has a function of making the force transmitted to the gripping member 24 by the slide mechanism 30 constant. As a result, when the slide mechanism 30 is driven to grip the binding band by the gripping member 24 and the gripping member 23, the binding band can be clamped with a constant force.
The elasticity applying member 28 is a gas spring in this embodiment. However, the elasticity applying member 28 of the present embodiment is not limited to a gas spring, and other members such as rubber or spring, or a known actuator mechanism such as an oil / pneumatic cylinder may be used as appropriate.

Here, the arrangement relationship between the upper blade 21, the lower blade 22, and the pair of gripping members (23, 24) of the present embodiment will be described in detail with reference to FIG.
FIG. 7 is a view of the binding band gripping and cutting device 100 as viewed from the lower surface (bottom surface) side.
That is, when viewed in plan from the Z direction, the upper blade 21, the lower blade 22 and the pair of gripping members (23, 24) of the binding band gripping and cutting device 100 can have the following features A to H as an example. .
Note that the following features A to H are non-limiting examples and are not essential, and the binding band grasping and cutting device 100 may have at least one of these features.

A. With respect to the Y direction, the upper blade 21 is disposed so as to be sandwiched between the pair of gripping members (23, 24) and the lower blade 22. Further, the upper blade 21, the gripping member 24, and the lower blade 22 are arranged so as to be aligned in the Y direction.
B. The left end of the upper blade 21 is arranged on the + X side with respect to the right end of the lower blade 22 at the initial position before the gripping and cutting process.
C. With respect to the X direction, the right end 22a of the lower blade 22 and the right end 24a of the gripping member 24 are disposed at substantially equal positions.

D. As shown in FIG. 8, the width of the upper blade 21 in the X direction is larger than the width of the binding band to be gripped and cut in the X direction.
E. The pair of gripping members are arranged to face each other with a predetermined space so that they can move in the X direction following the side surface of the fixture 14. By arranging a part of the binding band in the space during the gripping and cutting process, the binding band is sandwiched between the pair of gripping members.
F. Slide rails 15 (15a, 15b) are respectively disposed at both ends in the Y direction of the frame 10, and an upper blade 21, a lower blade 22 and a pair of gripping members are disposed between the slide rail 15a and the slide rail 15b. The

<Gripping and cutting method of binding band>
Next, the binding band gripping and cutting method according to this embodiment will be described with reference to FIG.
That is, the binding band gripping and cutting method of the present embodiment is characterized by including the following steps.
First, the position of the binding band BD on the surface of the rolled steel strip MR bound by driving the robot arm RA is detected. The binding band position is detected by, for example, an optical sensor (not shown) incorporated in the binding band grasping / cutting device 100.

Then, after the position of the binding band BD is detected, a step of bringing the upper blade 21 fixed to the frame 10 close to the rolled steel strip MR is executed. More specifically, the following operation is executed. That is, the robot arm RA first places the binding band gripping and cutting device 100 above the binding band BD. Subsequently, the robot arm RA lowers the binding band gripping and cutting device 100 toward the surface of the rolled steel strip MR so that the binding band BD is positioned within the range indicated by L in FIG. The upper blade 21 is brought close to the band BD.

Note that the “L” in this embodiment refers to the space between the right end 22 a of the lower blade 22 and the right end 24 a of the gripping member 24 and the left end 23 a of the gripping member 23.
Further, as an example, when the upper blade 21 approaches the binding band BD in the above, the interval (gap) is set to about 0 to 1 mm.

Next, as shown in FIG. 8A, the lower blade 22 mounted on the frame 10 and the gripping member for gripping the binding band BD are bound in a state where the upper blade 21 is close to the rolled steel strip MR. A step of linearly moving toward the band BD is executed.
Then, as shown in FIG. 8B, the binding band BD is sandwiched between the pair of gripping members (23, 24), and the lower blade 22 continuously moves in the + X direction so that the binding band BD It begins to sink into the bottom surface (between the binding band BD and the rolled steel strip MR).

At this time, the upper surface of the binding band BD is in contact with the upper blade 21, and the upward movement of the binding band BD is regulated by the upper blade 21.
Although the lower blade 22 continues to move in the + X direction even after the binding band BD is sandwiched between the pair of gripping members, the gripping member 24 is attached to the moving frame 12 via the elasticity applying member 28. After the binding band BD is sandwiched between the gripping member 23 and the gripping member 24, the distance between the gripping member 23 and the gripping member 24 is maintained approximately equal.

Then, the step of cutting the binding band BD by the shearing action with the upper blade 21 by causing the lower blade 22 to sink into the lower surface of the binding band BD while holding the binding BD band by the gripping member is executed.
That is, as shown in FIG. 8C, the lower blade 22 continuously moves in the + X direction, whereby the binding band BD is cut from the left end by the shearing action of the upper blade 21 and the lower blade 22.

Since the binding band BD binds the rolled steel strip MR with high tension, the cutting of the binding band BD is completed before the lower blade 22 moves to the right end side of the upper blade 21 as shown in FIG. Will do.
Further, when the binding band BD is cut, the pair of gripping members (23, 24) still hold the binding band BD, so that the binding band BD after cutting is prevented from being scattered.

Further, when the position of the binding band BD is within the above-described “L” range, the following operation is surely executed.
That is, in this case, first, the right end 22a of the lower blade 22 rotatably supported by the moving frame 12 or the right end 24a of the gripping member 24 is pressed against the end face or side face of the binding band BD, and the movement in the X direction is stopped. To do. Thereafter, the left end 23a of the gripping member 23 rotatably supported by the moving frame 13 comes into contact with the end face or side face of the binding band BD, and the movement in the X direction stops. Finally, the lower blade 22 mounted on the moving frame 12 enters the lower surface of the binding band BD.
When the left end 23a of the gripping member 23 comes into contact with the end surface or side surface of the binding band BD first, the movement in the X direction is stopped in the reverse order to the above, and then the lower blade 22 mounted on the moving frame 12 is used. Will sink into the lower surface of the binding band BD.

At this time, the shearing force by the upper blade 21 and the lower blade 22 and the gripping force by the pair of gripping members circulate between the moving frame 12 and the moving frame 13 as indicated by “R” in FIG. Will not be adversely affected. Therefore, since excessive force is suppressed from being transmitted to the robot arm RA connected to the binding band grasping / cutting device 100, the portable weight of the robot arm RA considers the weight of the binding band grasping / cutting device 100. It will be enough.
FIG. 9 is a schematic diagram showing the configuration of the binding band gripping and cutting system according to the present embodiment. The binding band gripping and cutting system according to the present embodiment includes a binding band gripping and cutting device 100 described in detail above, a manipulator MP that moves the binding band gripping and cutting device 100, and a connection plate 11 of the frame 10 and a manipulator MP. Floating device FD interposed between and control device CNTL.

The control device CNTL of this embodiment has a function of controlling at least one of the binding band gripping and cutting device 100, the manipulator MP, and the floating device FD. For example, a computer having a calculation function is applicable. The control device CNTL includes a memory (not shown) and may store a program for executing the above-described method for grasping and cutting the binding band.

In addition, the floating device FD suitable for this embodiment has a function of holding the binding band gripping / cutting device 100 in a floating state when the binding band gripping / cutting device 100 is held at the tip of the robot arm. Thereby, it becomes possible to follow a relatively large undulation or inclination of the surface of the rolled steel strip MR. As a specific example of the floating device FD, for example, a known air type floating mechanism using compressed air such as JP-A-2001-239447 and JP-A-7-51954 can be employed.

Then, according to the binding band gripping and cutting system of the present embodiment, as shown in FIG. 9, the binding band BD is positioned while reducing the amount of rotation through the hinges of the lower blade 22, the gripping member 23, and the gripping member 24. The range L is reduced, and a floating device FD is provided between the connection plate 11 and the robot arm RA, so that the lifting amount of the binding band gripping and cutting device 100 is reduced and the amount of pressing by the robot arm RA is reduced. It can be.

According to the embodiment of the present invention described above, the binding band can be easily and quickly gripped even when the robot arm RA is used in addition to the swing arm and the vertical piston rod without increasing the size and complexity of the apparatus and system. However, this can be cut. Further, since the upper blade is fixed to the frame, replacement and rotation can be easily performed, and thus the life of the apparatus can be increased.

The above-described embodiment can be variously modified without departing from the spirit of the present invention.
For example, low friction treatment may be performed on the bottom surface of the lower blade 22 that contacts the rolled steel strip MR. As an example of the low friction treatment, for example, a lubricating oil can be coated or a fluororesin can be coated.
Moreover, you may perform the low friction process similar to the above also to the bottom face which contacts rolled steel strip MR among a pair of holding members (23, 24).

As described above, the binding band gripping and cutting apparatus, the binding band gripping and cutting system, and the binding band gripping and cutting method according to the present invention are simple and quick to grip and cut the binding band while reducing the size and power of the apparatus. Suitable for executing processing.

DESCRIPTION OF SYMBOLS 100 Binding band holding | grip cutting device 10 Frame 11

Connection board

12, 13 Moving frame 14

Fixing tool

15, 15a, 15b Slide rail 21 Upper blade 22

Lower blade

23, 24

Holding member

25, 26, 27 Hinge 28 Elasticity giving member 30 Slide Mechanism BD Binding band MR Rolled steel strip FD Floating device MP Manipulator RA Robot arm CNTL Control device

Claims

Frame,
An upper blade fixed to the frame;
A pair of moving frames that are movably mounted within the frame and connected to each other by a single linear moving mechanism;
A lower blade that is mounted on one of the moving frames and cuts the binding band by a shearing action with the upper blade by approaching the upper blade;
A first holding member mounted on one of the moving frames and movable relative to the lower blade;
A second gripping member fixed to the other of the moving frames;
A bundling band holding and cutting device for a rolled steel strip.
A hinge for connecting at least one of the lower blade and the gripping member to the frame;
2. The binding band gripping and cutting device according to claim 1, wherein at least one of the lower blade and the gripping member rotates via the hinge so as to follow the unevenness existing on the surface of the rolled steel strip.
A binding band gripping and cutting device according to claim 1 or 2,
A manipulator for moving the binding band gripping and cutting device;
A floating device interposed between the connection plate of the frame and the manipulator;
A control device for controlling the binding band gripping and cutting device, the manipulator, and the floating device;
A binding band gripping and cutting system characterized by comprising:
A binding band gripping and cutting method used for binding a rolled steel strip,
Bringing the upper blade fixed to the frame close to the rolled steel strip;
A step of linearly moving a lower blade mounted on the frame and a gripping member for gripping the binding band toward the binding band in a state where the upper blade is close to the rolled steel strip;
Cutting the binding band by a shearing action with the upper blade by letting the lower blade sink into the lower surface of the binding band while holding the binding band by the gripping member;
A method for gripping and cutting a binding band, comprising: