Automatic tool changing device and tool changing method for cross arm of circular shearing machine

Abstract

The invention provides a cross arm automatic tool changing device of a circular shearing machine and a tool changing method, and belongs to the technical field of tool changing equipment of circular shearing machines. The tool changing device comprises a strip-shaped base, a sliding seat is slidably connected to the strip-shaped base in the length direction of the strip-shaped base, a sliding seat driving mechanism is arranged between the strip-shaped base and the sliding seat, a tool changing rotating body capable of rotating by 360 degrees is arranged on the sliding seat, the rotating center of the tool changing rotating body is vertically arranged, and four tool arm sets distributed in the circumferential direction are arranged on the side wall of the tool changing rotating body. Each tool arm set comprises two tool storage arms which are distributed up and down and horizontally arranged, tool bodies are arranged on the tool storage arms, and a tool pushing mechanism capable of pushing the tool bodies on the tool storage arms out of the tool storage arms is arranged on the tool changing rotating body. The tool changing efficiency and the tool changing precision of the tool body on the tool shaft are high, the machining quality can be ensured, and the production efficiency can be improved; according to the automatic cutter locking structure, rapid locking and rapid unlocking between the cutter shaft and the cutter body can be achieved, the cutter shaft is protected, the disassembly and assembly efficiency is improved, and the use safety of equipment is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of circular shearing machine tool changing equipment and relates to a cross-arm automatic tool changing device and a tool changing method for a circular shearing machine. Background Art

[0002] Circular shears, also known as disc shears or disc shears, are mechanical equipment that uses rotating disc cutters to cut materials. When cutting different types of profiles, the circular shears need to replace the cutters on them to ensure the shearing quality. However, the existing circular shears usually have their cutters replaced manually by operators, and the replacement operation is complicated. It is necessary to ensure the accuracy of the cutters and reduce the tool change time as much as possible to ensure the efficiency of the tool change. It requires high operating skills of the operators. Mistakes during the replacement operation may lead to improper installation of the cutter, which may cause damage to the cutter during the cutting process, and then damage other parts of the machine. There are problems of low tool change efficiency and high tool change cost. Summary of the invention

[0003] The object of the present invention is to provide a cross-arm automatic tool changing device for a circular shearing machine in view of the above problems.

[0004] Another object of the present invention is to provide a cross-arm automatic tool changing method for a circular shearing machine.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A cross-arm automatic tool changing device for a circular shearing machine comprises a strip base, a sliding seat is slidably connected to the strip base along the length direction of the strip base, a sliding seat driving mechanism is arranged between the strip base and the sliding seat, a tool changing swivel capable of rotating 360 degrees is arranged on the sliding seat, and the rotation center of the tool changing swivel is vertically arranged, four groups of knife arm groups distributed along the circumferential direction are arranged on the side wall of the tool changing swivel, each group of knife arm groups comprises two knife storage arms distributed up and down and arranged horizontally, a knife body is arranged on the knife storage arm, and a knife pushing mechanism capable of pushing the knife body on the knife storage arm out of the knife storage arm is arranged on the tool changing swivel.

[0006] After the sliding seat driving mechanism operates and drives the tool storage arm that stores the required tool body to be replaced to connect with the tool shaft, the tool pushing mechanism on the tool changing swivel operates to push the tool body on the tool storage arm onto the tool shaft for tool changing. The tool changing efficiency of the tool body on the tool shaft is high, which can effectively improve production efficiency and reduce production costs, and the tool changing accuracy of the tool body is high, which can ensure the processing quality and improve the product qualification rate.

[0007] In the above-mentioned cross-arm automatic tool changing device of the circular shearing machine, the tool pushing mechanism includes a U-shaped push plate inserted on the two tool storage arms and capable of simultaneously pushing out the tool body. The U-shaped push plate is connected to the horizontal driving mechanism and the vertical lifting mechanism arranged on the top of the tool changing swivel.

[0008] The vertical lifting mechanism can drive the U-shaped push plate to lift vertically. The vertical rise of the U-shaped push plate facilitates the rotation of the tool changing swivel to switch the position of the tool storage arm that stores the tool body and the tool storage arm that does not store the tool body. The vertical descent of the U-shaped push plate can be inserted on the two tool storage arms that store the tool body to be replaced. The horizontal driving mechanism can drive the U-shaped push plate inserted on the two tool storage arms to push out the tool bodies on the two tool storage arms at the same time so that the tool bodies enter the tool shaft for tool changing. The tool changing efficiency and tool changing accuracy of the tool body on the tool shaft are high.

[0009] In the above-mentioned cross-arm automatic tool changing device of the circular shearing machine, the horizontal driving mechanism includes a first slider rail assembly and a first linear drive arranged between the top of the tool changing rotor and the sliding shaft, a U-shaped push plate slide is fixed on one end of the sliding shaft, a vertical lifting mechanism is provided between the U-shaped push plate slide and the U-shaped push plate, the push surface of the U-shaped push plate is perpendicular to the central axis of the sliding shaft, and the central axis of the sliding shaft is parallel to the central axis of the tool storage arm.

[0010] The operation of the first linear drive can drive the sliding shaft to slide on the first slider rail assembly along the length direction of the tool storage arm to drive the U-shaped push plate to push the tool body on the tool storage arm so that the tool body enters the tool shaft. The operation of the vertical lifting mechanism can drive the U-shaped push plate to vertically lift and lower on the U-shaped push plate slide.

[0011] In the above-mentioned cross-arm automatic tool changing device of the circular shearing machine, the vertical lifting mechanism includes a lifting slide rail arranged on the inner surface of the U-shaped push plate, and the U-shaped push plate slide seat is provided with a positioning slide block distributed up and down, and the positioning slide block is fixed on the U-shaped push plate slide seat.

[0012] The positioning slider on the U-shaped push plate slide seat is slidably matched with the lifting slide rail on the inner surface of the U-shaped push plate, and the U-shaped push plate can slide smoothly on the U-shaped push plate slide seat to realize the vertical lifting of the U-shaped push plate.

[0013] In the above-mentioned cross-arm automatic tool changing device of the circular shearing machine, triangular hollow reinforcing ribs located at the top and both sides are provided between the U-shaped push plate slide and the slide shaft.

[0014] The triangular hollow reinforcing ribs can strengthen the connection strength between the U-shaped push plate slide and the slide shaft and can significantly increase the stability and load-bearing capacity of the U-shaped push plate slide.

[0015] In the above-mentioned cross-arm automatic tool changing device of the circular shearing machine, a sliding positioning cylinder is provided between the sliding seat and the strip base; a rotating positioning cylinder is provided on the sliding seat, and four rotating positioning holes evenly distributed in the circumference are provided on the tool changing swivel.

[0016] The sliding positioning cylinder is used to accurately control the sliding position of the sliding seat during the sliding process of the sliding seat, and the rotating positioning cylinder is used to accurately control the rotation position of the tool changing swivel during the rotation process of the tool changing swivel. The rotating positioning hole on the tool changing swivel is used for the rotation positioning of the tool changing swivel.

[0017] A cross arm automatic tool changing method for a circular shearing machine, comprising: PLC control system, used for calculation and control; Human-computer interface for visual interaction; S1. Input the stop command and tool change command through the human-machine interface, the PLC control system controls the circular shearing machine to stop working, lifts the knife shaft to the tool change position, adjusts the knife shaft to the guide key facing upward, and locks the knife shaft to prevent rotation; S2. The locking block in the locking cylinder is unlocked by the locking position of the knife body lock head of the knife body when the output shaft of the rotating telescopic oil cylinder is extended first and then rotated; S3. Rotate the tool changer so that the tool storage arm that does not store the tool body is rotated to align with the tool shaft, and move the sliding seat so that the tool storage arm is axially close to the tool shaft; S4. Move the knife body on the knife shaft to the knife storage arm; S5. Move the sliding seat so that the storage arm with the removed cutter body is away from the cutter shaft, and then rotate the tool change swivel to replace the storage arm with the required replacement cutter body to align with the cutter shaft, and then move the sliding seat so that the storage arm is docked with the cutter shaft; S6. Push the knife body on the knife storage arm onto the knife shaft through the knife pushing mechanism, and reset it after pushing in; S7. The knife lock block in the knife lock cylinder locks the knife body lock head and the knife lock block when the output shaft of the rotary telescopic oil cylinder rotates first and then retracts; S8. The sliding seat retracts, the tool shaft is unlocked and rotated, and finally the tool shaft returns to its original position to complete the tool changing operation.

[0018] The automatic knife locking structure between the knife shaft and the knife body can realize the quick locking and quick unlocking between the knife shaft and the knife body, which not only protects the knife shaft, but also improves the disassembly and assembly efficiency and the safety of equipment use.

[0019] In the above-mentioned cross-arm automatic tool changing method for a circular shearing machine, in steps S2 and S7, one end of the locking knife block is connected to the output shaft of the rotary telescopic cylinder, and the other end is provided with a locking head hole, and a locking ring is provided on the outer end of the locking head hole, and the locking ring is provided with a plurality of flap inlets distributed along the circumference of the inner hole, and the knife body locking head is provided with a plurality of flaps evenly distributed along the circumference, and the number of the flaps is equal to and corresponds to the flap inlets one by one, and the inner surface of the locking ring is provided with a plurality of flap locking grooves distributed along the circumference and equal to the number of the flaps.

[0020] The knife shaft and the knife body can be quickly locked and unlocked, which not only protects the knife shaft, but also improves the efficiency of disassembly and assembly, and also improves the safety of equipment use.

[0021] In the above-mentioned cross-arm automatic tool changing method of the circular shearing machine, in step S6, the U-shaped push plate of the tool pushing mechanism is vertically lowered by the vertical lifting mechanism. After the U-shaped push plate is inserted on the two tool storage arms, the U-shaped push plate is moved toward the tool shaft through the horizontal driving mechanism to push out the tool bodies on the two tool storage arms at the same time so that the tool bodies enter the tool shaft. After the tool bodies are pushed in, the horizontal driving mechanism and the vertical lifting mechanism sequentially drive the U-shaped push plate to reset.

[0022] The U-shaped push plate can be vertically lowered and inserted on the two knife storage arms that store the knife bodies that need to be replaced. The horizontal drive mechanism can drive the U-shaped push plate to push out the knife bodies on the two knife storage arms at the same time so that the knife bodies enter the knife shaft for tool change. The tool change efficiency and tool change accuracy of the knife body on the knife shaft are high.

[0023] In the above-mentioned cross-arm automatic tool changing method of the circular shearing machine, the PLC control system is connected to a sliding base control module, a tool changing swivel rotation control module, a tool pushing mechanism control module, a safety and monitoring control module, a pneumatic control module, a position detection and feedback module, and a tool body status monitoring module.

[0024] The sliding base control module is used to control the sliding of the sliding seat to realize the docking and resetting operations of the tool storage arm. The tool changing swivel rotation control module is used to control the rotation of the tool changing swivel to realize the switching operation of the tool storage arm. The tool pushing mechanism control module is used to control the horizontal and vertical movement of the U-shaped push plate to realize the tool pushing and tool body replacement operations. The safety and monitoring control module is used to ensure the safety of the tool changing process to avoid misoperation or equipment failure. The pneumatic control module is used to control the opening and closing of each cylinder and the sequence of pneumatic actions. The position detection and feedback module is used to monitor the positions of the sliding seat, tool changing swivel, tool pushing mechanism, etc. in real time to provide accurate position feedback. The tool body status monitoring module is used to monitor whether the tool body has been correctly installed or uninstalled to prevent the tool body from being out of place or tool change failure.

[0025] Compared with the existing technology, the advantages of the present invention are: 1. The tool changing efficiency of the tool body on the tool shaft is high, which can effectively improve production efficiency and reduce production costs. 2. The tool changing accuracy of the tool body is high, which can ensure the processing quality and improve the product qualification rate. 3. The automatic tool locking structure can realize the rapid locking and unlocking between the tool shaft and the tool body, which not only protects the tool shaft, but also improves the disassembly and assembly efficiency and the safety of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure provided by the present invention; Figure 2 is a side view provided by the present invention; Figure 3 This is a tool changing demonstration diagram provided by the present invention; Figure 4 It is a structural diagram when the knife shaft and the knife body are connected; Figure 5 It is a schematic diagram of the structure when the knife body lock head and the knife lock block are unlocked; Figure 6 It is a schematic diagram of the structure when the knife body locking head and the knife locking block are locked; Figure 7 This is the electrical control diagram provided by the present invention.

[0027] In the figure, a strip base 1, a sliding seat 2, a sliding seat driving mechanism 3, a tool changing swivel 4, a knife arm group 5, a knife storage arm 6, a knife body 7, a knife pushing mechanism 8, a swivel rotation driving mechanism 9, a knife shaft 10, a U-shaped push plate 11, a horizontal driving mechanism 12, a vertical lifting mechanism 13, a sliding shaft 14, a first slider rail assembly 15, a U-shaped push plate slide 16, a lifting slide rail 17, a positioning slider 18, a triangular hollow reinforcing rib 19, a PLC control system 20, a human-machine interface 21, a knife locking cylinder 22, a knife locking block 23, a rotating telescopic oil cylinder 24, a knife body lock 25, a lock hole 26, a locking ring 27, a flap entrance 28, a flap 29, a flap locking groove 30, a sliding base control module 31, a tool changing swivel rotation control module 32, a knife pushing mechanism control module 33, a safety and monitoring control module 34, a pneumatic control module 35, a position detection and feedback module 36, and a knife body state monitoring module 37. DETAILED DESCRIPTION

[0028] like Figure 1-Figure 3 As shown, a cross-arm automatic tool changing device of a circular shearing machine comprises a strip base 1, a sliding seat 2 is slidably connected to the strip base 1 along the length direction of the strip base 1, a sliding seat driving mechanism 3 is arranged between the strip base 1 and the sliding seat 2, a tool changing swivel 4 capable of rotating 360 degrees is arranged on the sliding seat 2, and the rotation center of the tool changing swivel 4 is vertically arranged, four groups of knife arm groups 5 distributed along the circumferential direction are arranged on the side wall of the tool changing swivel 4, each group of knife arm groups 5 comprises two knife storage arms 6 distributed up and down and arranged horizontally, a knife body 7 is arranged on the knife storage arm 6, and a knife pushing mechanism 8 capable of pushing the knife body 7 on the knife storage arm 6 out of the knife storage arm 6 is arranged on the tool changing swivel 4.

[0029] In the present invention, a swivel rotation driving mechanism 9 is provided between the tool changing swivel 4 and the sliding seat 2, and the swivel rotation driving mechanism 9 can drive the tool changing swivel 4 to rotate to switch the positions of the tool storage arm 6 storing the tool body 7 and the tool storage arm 6 not storing the tool body 7. The circular shearing machine has two tool shafts 10 distributed up and down.

[0030] The operation of the sliding seat driving mechanism 3 can drive the sliding seat 2 to slide back and forth on the strip base 1 along the length direction of the strip base 1 to realize the displacement of the knife storage arm 6 to dock with or separate from the knife shaft 10 of the circular shearing machine. When the knife storage arm 6 that does not store the knife body 7 docks with the knife shaft 10 and receives the knife body 7 on the knife shaft 10, the sliding seat driving mechanism 3 drives the knife storage arm 6 to reset, and then the knife changing rotator 4 rotates to align the knife storage arm 6 that stores the knife body 7 to be replaced with the knife shaft 10. The sliding seat driving mechanism 3 continues to operate to dock the knife storage arm 6 that stores the knife body 7 to be replaced with the knife shaft 10, and the knife pushing mechanism 8 on the knife changing rotator 4 operates to push the knife body 7 on the knife storage arm 6 onto the knife shaft 10 for knife changing. The knife changing efficiency of the knife body 7 on the knife shaft 10 is high, which can effectively improve the production efficiency and reduce the production cost, and the knife changing accuracy of the knife body 7 is high, which can ensure the processing quality and improve the product qualification rate.

[0031] Specifically, combined with Figure 1-Figure 3 As shown, the knife pushing mechanism 8 includes a U-shaped push plate 11 inserted on the two knife storage arms 6 and capable of simultaneously pushing out the knife body 7. The U-shaped push plate 11 is connected to a horizontal driving mechanism 12 and a vertical lifting mechanism 13 arranged on the top of the knife changing swivel 4.

[0032] The vertical lifting mechanism 13 can drive the U-shaped push plate 11 to lift vertically. The vertical rise of the U-shaped push plate 11 facilitates the rotation of the tool-changing swivel 4 to switch the positions of the tool storage arm 6 storing the tool body 7 and the tool storage arm 6 not storing the tool body 7. The vertical drop of the U-shaped push plate 11 can be inserted on the two tool storage arms 6 storing the tool body 7 to be replaced. The horizontal driving mechanism 12 can drive the U-shaped push plate 11 inserted on the two tool storage arms 6 to push out the tool bodies 7 on the two tool storage arms 6 at the same time so that the tool bodies 7 enter the tool shaft 10 for tool change. The tool change efficiency and tool change accuracy of the tool body 7 on the tool shaft 10 are high.

[0033] Specifically, combined with Figure 1-Figure 3 As shown, the horizontal driving mechanism 12 includes a first slider rail assembly 15 and a first linear drive arranged between the top of the tool changing rotor 4 and the sliding shaft 14, a U-shaped push plate slide 16 is fixed on one end of the sliding shaft 14, and a vertical lifting mechanism 13 is provided between the U-shaped push plate slide 16 and the U-shaped push plate 11, the push surface of the U-shaped push plate 11 is perpendicular to the central axis of the sliding shaft 14, and the central axis of the sliding shaft 14 is parallel to the central axis of the tool storage arm 6.

[0034] The operation of the first linear drive can drive the sliding shaft 14 to slide on the first slider rail assembly 15 along the length direction of the tool storage arm 6 to drive the U-shaped push plate 11 to push out the tool body 7 on the tool storage arm 6 so that the tool body 7 enters the tool shaft 10. The operation of the vertical lifting mechanism 13 can drive the U-shaped push plate 11 to vertically lift and lower on the U-shaped push plate slide 16.

[0035] Specifically, combined with Figure 1As shown, the vertical lifting mechanism 13 includes a lifting slide rail 17 arranged on the inner surface of the U-shaped push plate 11, and the U-shaped push plate slide seat 16 is provided with a positioning slide block 18 distributed up and down, and the positioning slide block 18 is fixed on the U-shaped push plate slide seat 16.

[0036] The positioning slider 18 on the U-shaped push plate slide 16 is slidably matched with the lifting slide rail 17 on the inner surface of the U-shaped push plate 11, so that the U-shaped push plate 11 can slide smoothly on the U-shaped push plate slide 16 to achieve vertical lifting of the U-shaped push plate 11.

[0037] Preferably, combined Figure 1 As shown, triangular hollow reinforcing ribs 19 are provided between the U-shaped push plate slide 16 and the slide shaft 14 at the top and both sides.

[0038] The triangular hollow reinforcing rib 19 between the U-shaped push plate slide 16 and the slide shaft 14 can strengthen the connection strength between the U-shaped push plate slide 16 and the slide shaft 14 and can significantly increase the stability and load-bearing capacity of the U-shaped push plate slide 16 .

[0039] Specifically, a sliding positioning cylinder is provided between the sliding seat 2 and the strip base 1; a rotating positioning cylinder is provided on the sliding seat 2, and four rotating positioning holes evenly distributed in the circumferential direction are provided on the tool changing swivel 4.

[0040] The sliding positioning cylinder is used to accurately control the sliding position of the sliding seat 2 during the sliding process of the sliding seat 2, and the rotating positioning cylinder is used to accurately control the rotation position of the tool changing swivel 4 during the rotation process of the tool changing swivel 4. The rotating positioning hole on the tool changing swivel 4 is used for the rotation positioning of the tool changing swivel 4.

[0041] like Figure 1-Figure 7 As shown, a cross arm automatic tool changing method for a circular shearing machine includes: PLC control system 20, used for calculation and control; Human-computer interface 21, for visual interaction; The serial numbers or names of the four knife arm groups 5 are pre-written in the PLC control system 20, and the required serial numbers or knife body names can be selected through the human-machine interface 21; S1. Input the stop command and tool change command through the human-machine interface 21, the PLC control system 20 controls the circular shearing machine to stop working, lifts the knife shaft 10 to the tool change position and adjusts the knife shaft to the guide key facing upward, and locks the knife shaft to prevent rotation; S2. The locking knife block 23 in the locking knife cylinder 22 is unlocked by the locking position of the knife body lock head 25 of the knife body 7 under the action of extending and rotating the output shaft of the rotating telescopic cylinder 24 first; S3. Rotate the tool changer 4 so that the tool storage arm 6 that is not stored in the tool body is rotated to align with the tool shaft 10, and move the sliding seat 2 so that the tool storage arm 6 is axially close to the tool shaft 10; the tool storage arm 6 and the central axis of the tool shaft 10 are located on the same straight line; S4. Move the knife body 7 on the knife shaft 10 to the knife storage arm 6; S5. Move the sliding seat 2 so that the knife storage arm 6 equipped with the removed knife body 7 is away from the knife shaft 10, and then rotate the tool change swivel 4 to replace the knife storage arm 6 storing the knife body 7 to be replaced and align it with the knife shaft 10, and then move the sliding seat 2 so that the knife storage arm 6 is docked with the knife shaft 10; S6. The knife body 7 on the knife storage arm 6 is pushed out to the knife shaft 10 through the knife pushing mechanism 8, and reset after the pushing is completed; S7. The locking knife block 23 in the locking knife cylinder 22 is locked with the locking knife block 23 when the output shaft of the rotating telescopic cylinder 24 is rotated and then retracted; S8. The sliding seat 2 retracts, the tool shaft 10 is unlocked and rotated, and finally the tool shaft 10 is returned to its original position to complete the tool changing operation.

[0042] The automatic knife locking structure between the knife shaft 10 and the knife body 7 can realize the rapid locking and rapid unlocking between the knife shaft 10 and the knife body 7, which not only protects the knife shaft, but also improves the disassembly and assembly efficiency and the safety of the equipment.

[0043] Specifically, combined with Figure 3-Figure 6 As shown, in steps S2 and S7, one end of the knife locking block 23 is connected to the output shaft of the rotating telescopic cylinder 24 in the rotating body, and the other end is provided with a locking head hole 26, and a locking ring 27 is provided on the outer end of the locking head hole 26. The locking ring 27 is provided with a plurality of flap inlets 28 distributed along the circumference of the inner hole, and the knife body locking head 25 is provided with a plurality of flaps 29 evenly distributed along the circumference. The number of flaps 29 and the flap inlets 28 are equal and correspond one to one. The inner surface of the locking ring 27 is provided with a plurality of flap locking grooves 30 distributed along the circumference and equal to the number of flaps 29.

[0044] The blade locking head includes a base connected to one end of the blade body, and a pin is provided on the base. The inner end of the pin is detachably fixed to the base, and the outer end of the pin is provided with four clips evenly distributed in the circumferential direction; the pin is fixed in the threaded hole of the base through the threaded section at the outer end, and a anti-loosening nut is provided between the threaded section and the base; an anti-loosening gasket located between the base and the anti-loosening nut is also sleeved on the threaded section; the outer diameter of the locking blade block is adapted to the inner diameter of the locking blade cylinder; the central axis of the locking blade block, the blade body locking head and the locking ring are located on the same straight line; an impact anti-damage buffer structure is provided between the locking blade cylinder and the blade body; the impact anti-damage buffer structure includes an arc-shaped outer chamfer arranged on the inner wall of the outer end of the locking blade cylinder, and an arc-shaped inner chamfer is provided between the blade body and the blade body locking head.

[0045] The card flap 29 on the blade lock 25 is adapted to the card flap entrance 28 on the locking ring 27, and the card flap 29 can pass through the card flap entrance 28 to allow the blade lock 25 to enter the lock hole 26 of the locking blade block 23. When the rotating telescopic cylinder 24 drives the locking blade block 23 to rotate, the card flap 29 of the blade lock 25 corresponds to the card flap locking groove 30 on the inner surface of the locking ring 27, and then the output shaft of the rotating telescopic cylinder 24 retracts to drive the locking blade block 23 to move the axis so that the card flap 29 of the blade lock 25 enters the card flap locking groove 30 of the locking ring 27 to achieve locking cooperation. At this time, the blade shaft 10 and the blade body 7 are firmly connected, otherwise it is an unlocking operation. The blade shaft 10 and the blade body 7 can be quickly locked and unlocked, which not only protects the blade shaft, but also improves the disassembly and assembly efficiency, and also improves the safety of equipment use.

[0046] Specifically, combined with Figure 1-Figure 3 As shown, in step S6, the U-shaped push plate 11 of the knife pushing mechanism 8 is vertically lowered by the vertical lifting mechanism 13. After the U-shaped push plate 11 is inserted on the two knife storage arms 6, the U-shaped push plate 11 is moved toward the knife shaft 10 through the horizontal driving mechanism 12 to push out the knife bodies 7 on the two knife storage arms 6 at the same time so that the knife bodies 7 enter the knife shaft 10. After the knife bodies 7 are pushed in, the horizontal driving mechanism 12 and the vertical lifting mechanism 13 sequentially drive the U-shaped push plate 11 to reset.

[0047] The U-shaped push plate 11 can be vertically lowered and inserted on the two knife storage arms 6 that store the knife bodies 7 to be replaced. The horizontal driving mechanism 12 can drive the U-shaped push plate 11 to push out the knife bodies 7 on the two knife storage arms 6 at the same time so that the knife bodies 7 enter the knife shaft 10 for knife changing. The knife changing efficiency and accuracy of the knife body 7 on the knife shaft 10 are high.

[0048] Specifically, combined with Figure 6 As shown, the PLC control system 20 is connected to a sliding base control module 31, a tool changing swivel rotation control module 32, a tool pushing mechanism control module 33, a safety and monitoring control module 34, a pneumatic control module 35, a position detection and feedback module 36, and a tool body status monitoring module 37.

[0049] The sliding base control module 31 is used to control the sliding of the sliding seat 2 to realize the docking and resetting operations of the tool storage arm 6, the tool changing swivel rotation control module 32 is used to control the rotation of the tool changing swivel 4 to realize the switching operation of the tool storage arm, the tool pushing mechanism control module 33 is used to control the horizontal and vertical movement of the U-shaped push plate 11 to realize the tool pushing and tool body 7 replacement operations, the safety and monitoring control module 34 is used to ensure the safety of the tool changing process to avoid misoperation or equipment failure, the pneumatic control module 35 is used to control the opening and closing of each cylinder and the sequence of pneumatic actions, the position detection and feedback module 36 is used to monitor the positions of the sliding seat 2, the tool changing swivel 4, the tool pushing mechanism 8, etc. in real time, and provide accurate position feedback, and the tool body status monitoring module 37 is used to monitor whether the tool body 7 has been correctly installed or uninstalled to prevent the tool body 7 from being out of place or the tool change fails.

[0050] Specifically, the sliding base control module 31 includes Reducer motor controller: used to drive the sliding seat 2 to slide; Position sensor: detects the position of the sliding seat 2 in real time and feeds it back to the PLC control system 20 to achieve closed-loop control; Sliding positioning cylinder control unit: controls the opening and closing of the cylinder to achieve precise positioning of the sliding seat 2.

[0051] The sliding seat driving mechanism 3 includes a linear slide rail and a gear rack. The gear rack is connected to a reduction motor. The reduction motor is used to drive the gear to rotate, thereby causing the base to slide. A position sensor is provided on the bar-shaped base 1.

[0052] Specifically, the tool changer rotation control module 32 includes: Servo motor controller: drives the rotation of the tool changer 4 to provide precise angle control; Encoder or rotation angle sensor: detects the rotation angle of the tool changing swivel 4 to ensure that it rotates in place; Rotary positioning cylinder control unit: locks the position of the tool changing swivel 4 through the cylinder to ensure that the tool body 7 does not deviate when switching.

[0053] The tool-changing swivel 4 is connected to the sliding seat 2 via a swivel rotation drive mechanism 9 , which includes a servo motor controller, an encoder or a rotation angle sensor, and a rotation positioning cylinder control unit. The encoder or the rotation angle sensor is installed on the tool-changing swivel 4 .

[0054] Specifically, the blade pushing mechanism control module 33 includes Servo motor or stepper motor controller: horizontally drives the displacement of the U-shaped push plate and provides precise horizontal displacement control; Vertical lifting mechanism control unit: vertically drives the displacement of the U-shaped push plate 11 to provide precise vertical displacement control; Push blade sensor unit: detects the position of the U-shaped push plate 11 in real time and feeds it back to the PLC control system 20 to achieve closed-loop control.

[0055] Specifically, the vertical lifting mechanism 13 realizes the up and down movement of the U-shaped push plate 11 by controlling the oil cylinder or the electric lifting device. The lifting position is monitored by a limit switch or a position sensor and fed back to the PLC control system 20.

[0056] Specifically, the security and monitoring control module 34 includes Limit switch and travel sensor: real-time monitoring of the limit positions of the sliding seat 2, tool change swivel 4, tool push mechanism 8 and other components to prevent excessive sliding or rotation; Emergency stop button: In case of emergency, it can quickly disconnect the electric control system to ensure safe operation; Overload protection unit: To prevent the motor or cylinder from damaging the equipment when overloaded or stuck, the system will automatically cut off the power supply to protect the equipment.

[0057] Specifically, the pneumatic control module 35 includes Solenoid valve controller: controls the air source switch of the cylinder to ensure the accurate movement of the pneumatic device; Air pressure sensor and regulator: monitor the operating pressure of the cylinder to ensure the stability of the pneumatic system.

[0058] Specifically, the position detection and feedback module 36 includes Encoder: Accurately detect the rotation angle of the tool changer 4 to ensure that it rotates in place; Photoelectric sensor or proximity switch: detect the position of each moving part to ensure position accuracy; Feedback controller: receives sensor signals and feeds them back to the PLC control system 20 to adjust the equipment position.

[0059] Specifically, the blade state monitoring module 37 includes Photoelectric sensor or pressure sensor: detects the presence and position of the tool body to ensure that the tool change action is completed; Alarm unit: When it is detected that the cutter body is not installed correctly or other abnormalities occur, the system will sound an alarm.

[0060] Specifically, combined with Figure 3 As shown, the circular shearing machine has two upper and lower distributed knife shafts 10, and the knife shafts 10 are highly controlled by a first absolute encoder and a second photoelectric switch connected to a PLC control system 20.

[0061] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0062] Although this article uses more strip base 1, sliding seat 2, sliding seat drive mechanism 3, tool change swivel 4, knife arm group 5, knife storage arm 6, knife body 7, knife push mechanism 8, swivel rotation drive mechanism 9, knife shaft 10, U-shaped push plate 11, horizontal drive mechanism 12, vertical lifting mechanism 13, slide shaft 14, first slider slide rail assembly 15, U-shaped push plate slide 16, lifting slide rail 17, positioning slider 18, triangular hollow reinforcement rib 19, PLC control system 20, human-machine interface 21, knife lock cylinder 22, knife lock block 23, rotating telescopic Cylinder 24, tool body lock 25, lock hole 26, locking ring 27, flap entrance 28, flap 29, flap locking groove 30, sliding base control module 31, tool changing swivel rotation control module 32, tool pushing mechanism control module 33, safety and monitoring control module 34, pneumatic control module 35, position detection and feedback module 36, tool body status monitoring module 37, etc., these terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitations is contrary to the spirit of the present invention.

Claims

1. A cross-arm automatic tool changing device for a circular shearing machine, comprising a strip-shaped base (1), characterized in that: A sliding seat (2) is slidably connected to the strip base (1) along the length direction of the strip base (1); a sliding seat driving mechanism (3) is provided between the strip base (1) and the sliding seat (2); a tool changing rotatable body (4) capable of rotating 360 degrees is provided on the sliding seat (2); the rotation center of the tool changing rotatable body (4) is vertically arranged; four groups of knife arm groups (5) distributed along the circumferential direction are provided on the side wall of the tool changing rotatable body (4); each group of knife arm groups (5) includes two knife storage arms (6) distributed vertically and arranged horizontally, a knife body (7) is provided on the knife storage arm (6); and a knife pushing mechanism (8) capable of pushing the knife body (7) on the knife storage arm (6) out of the knife storage arm (6) is provided on the tool changing rotatable body (4).

2. The cross arm automatic tool changing device of the circular shearing machine according to claim 1 is characterized in that: The knife pushing mechanism (8) comprises a U-shaped pushing plate (11) inserted on the two knife storage arms (6) and capable of simultaneously pushing out the knife body (7); the U-shaped pushing plate (11) is connected to a horizontal driving mechanism (12) and a vertical lifting mechanism (13) arranged on the top of the knife changing swivel (4).

3. The cross arm automatic tool changing device of the circular shearing machine according to claim 2 is characterized in that: The horizontal driving mechanism (12) includes a first slider rail assembly (15) and a first linear driver arranged between the top of the tool changing rotatable body (4) and the sliding shaft (14); a U-shaped push plate slide (16) is fixed on one end of the sliding shaft (14); a vertical lifting mechanism (13) is arranged between the U-shaped push plate slide (16) and the U-shaped push plate (11); the push surface of the U-shaped push plate (11) is perpendicular to the central axis of the sliding shaft (14); and the central axis of the sliding shaft (14) is parallel to the central axis of the tool storage arm (6).

4. The cross arm automatic tool changing device of the circular shearing machine according to claim 3 is characterized in that: The vertical lifting mechanism (13) comprises a lifting slide rail (17) arranged on the inner surface of the U-shaped push plate (11), and the U-shaped push plate slide seat (16) is provided with a positioning slide block (18) distributed up and down, and the positioning slide block (18) is fixed on the U-shaped push plate slide seat (16).

5. The cross arm automatic tool changing device of the circular shearing machine according to claim 3 is characterized in that: Triangular hollow reinforcing ribs (19) are provided between the U-shaped push plate slide seat (16) and the slide shaft (14) and are located at the top and both sides.

6. The cross arm automatic tool changing device of a circular shear according to any one of claims 1 to 5, characterized in that: A sliding positioning cylinder is provided between the sliding seat (2) and the strip base (1); a rotating positioning cylinder is provided on the sliding seat (2); and four rotating positioning holes evenly distributed in the circumferential direction are provided on the tool changing swivel (4).

7. A method for automatically changing a cross arm tool of a circular shearing machine according to the cross arm automatic tool changing device of the circular shearing machine according to any one of claims 1 to 6, characterized in that: It includes a PLC control system (20) for calculation and control; Human-computer interface (21), for visual interaction; S1. Input the stop command and tool change command through the human-machine interface (21), the PLC control system (20) controls the circular shearing machine to stop working, lifts the knife shaft (10) to the tool change position and adjusts the knife shaft to the guide key facing upward, and locks the knife shaft to prevent rotation; S2. The locking knife block (23) in the locking knife cylinder (22) is unlocked by the locking position of the knife body (7) and the knife body lock (25) when the output shaft of the rotating telescopic cylinder (24) is extended and then rotated; S3. Rotate the tool changer (4) to rotate the tool storage arm (6) that does not store the tool body to align with the tool shaft (10), and move the sliding seat (2) to axially approach the tool storage arm (6) to dock with the tool shaft (10); S4. Move the knife body (7) on the knife shaft (10) to the knife storage arm (6); S5. Move the sliding seat (2) so that the knife storage arm (6) equipped with the removed knife body (7) is away from the knife shaft (10), and then rotate the tool change swivel (4) to replace the knife storage arm (6) storing the knife body (7) to be replaced and align it with the knife shaft (10), and then move the sliding seat (2) so that the knife storage arm (6) is docked with the knife shaft (10); S6. The knife body (7) on the knife storage arm (6) is pushed out onto the knife shaft (10) through the knife pushing mechanism (8), and reset after the pushing is completed; S7. The locking knife block (23) in the locking knife cylinder (22) is locked with the locking knife block (23) by rotating the output shaft of the telescopic oil cylinder (24) and then retracting the knife body (7); S8. The sliding seat (2) retracts, the tool shaft (10) is unlocked and rotated, and finally the tool shaft (10) returns to its original position, completing the tool changing operation.

8. The cross arm automatic tool changing method of circular shearing machine according to claim 7, characterized in that: In steps S2 and S7, one end of the knife locking block (23) is connected to the output shaft of the rotating and telescopic oil cylinder (24), and the other end is provided with a locking head hole (26). A locking ring (27) is provided on the outer end of the locking head hole (26). The locking ring (27) is provided with a plurality of flap inlets (28) distributed along the circumference of the inner hole. The knife body locking head (25) is provided with a plurality of flaps (29) evenly distributed along the circumference. The number of the flaps (29) and the flap inlets (28) are equal and correspond one to one. The inner surface of the locking ring (27) is provided with a plurality of flap locking grooves (30) distributed along the circumference and equal to the number of the flaps (29).

9. The cross arm automatic tool changing method of circular shearing machine according to claim 7, characterized in that: In step S6, the U-shaped push plate (11) of the knife pushing mechanism (8) is vertically lowered by the vertical lifting mechanism (13). After the U-shaped push plate (11) is inserted on the two knife storage arms (6), the U-shaped push plate (11) is moved toward the knife shaft (10) by the horizontal driving mechanism (12) to push out the knife bodies (7) on the two knife storage arms (6) at the same time so that the knife bodies (7) enter the knife shaft (10). After the knife bodies (7) are pushed in, the horizontal driving mechanism (12) and the vertical lifting mechanism (13) sequentially drive the U-shaped push plate (11) to reset.

10. The cross arm automatic tool changing method of a circular shearing machine according to claim 7, characterized in that: The PLC control system (20) is connected to a sliding base control module (31), a tool changing swivel rotation control module (32), a tool pushing mechanism control module (33), a safety and monitoring control module (34), a pneumatic control module (35), a position detection and feedback module (36), and a tool body state monitoring module (37).

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