An automatic tool changing system for slitting line

Abstract

The present invention relates to the technical field of steel processing, and specifically to an automatic tool changing system for a longitudinal shearing line, comprising a hanging rod assembly, a four-axis robot, a transfer device, an end picking device, a front knife pushing device, a knife holder, a knife pushing truss, and an electric control operating table. The hanging rod assembly, the four-axis robot, the transfer device, the end picking device, and the knife holder are placed in sequence in a horizontal plane, the hanging rod assembly has a hanging rod for hanging workpieces, the transfer device can accommodate workpieces with pre-installed knife shafts and disassembled workpieces, the four-axis robot, the transfer device, the end picking device, the front knife pushing device, and the knife pushing truss are electrically connected to the electric control operating table respectively. The present invention enables the automatic tool changing system with double knife holders to have a caching function. Compared with conventional solutions, the device does not need to occupy additional space, does not need to perform civil engineering operations, and is simpler to install and adjust. In addition to the new longitudinal shearing line unit, the above device can be used to provide a solution for the transformation of old units.

Description

Technical Field

[0001] The invention relates to the technical field of steel processing, and in particular to an automatic tool changing system for a slitting line. Background Art

[0002] At present, a considerable number of slitting line unit tool replacements rely on manual labor. Tool arrangers need to reasonably select the specifications of spacers, tools, and integrated rubber rings according to the order situation to complete the tool arrangement work. Generally speaking, the workpieces of hot-rolled and pickled steel coils are generally large in size and heavy in weight; cold-rolled steel coils, due to their wide range of uses, generally have more than 30 strips. At the same time, according to different plate thicknesses, tool arrangers need to flexibly adjust the knife gap and determine whether filling media needs to be added between the upper and lower knife shafts. It can be seen that the work of tool arrangement is an extremely complex and tedious job that involves heavy physical labor. To a certain extent, the work of tool arrangement is also a technical job that has very high requirements for the proficiency and experience of tool arrangers.

[0003] Common slitting lines on the market can be divided into single-seat slitting lines and double-seat slitting lines according to the form of the knife seat. The single-seat slitting line consists of a knife seat with a straight arm or a cross arm; the double-seat slitting line consists of two knife seats. The single-seat slitting line has a cache function and can complete the disassembly, assembly and replacement of workpieces at one time. The double-seat slitting line can detect the tool gap when pre-arranging the knives. Considering various factors in production, the double-seat slitting line is widely used.

[0004] It can be seen that the advantages of automatic tool changing system compared with traditional manual tool changing are:

[0005] 1. Dynamic update of inventory, more reasonable workpiece selection;

[0006] 2. Replace manual tool change and reduce labor intensity;

[0007] 3. Algorithm integrates tool change formula to reduce technology dependence;

[0008] 4. Higher tool change efficiency, enabling switching without waiting;

[0009] 5. Reduce personnel occupation and ensure stable product quality.

[0010] At present, the automation level of domestic slitting line machine manufacturers is generally not high, and the double-knife seat slitting line still has a certain market. At present, the traditional double-knife seat automatic tool changing system has the following problems:

[0011] 1. Low efficiency of the double-tool automatic tool changing system: The domestic double-tool automatic tool changing system has no cache station. During the working process, the robots wait for each other to occupy the beat;

[0012] 2. Site occupation problem: The transformation of the automatic tool changing system of the double tool holder abroad usually requires an external straight arm or cross arm, or civil engineering work, which occupies a lot of site and the cost of transformation.

[0013] 3. Restrictions on transformation: The old double-knife seat slitting line unit has limited space and the automatic tool changing system cannot be fully deployed. Summary of the invention

[0014] In order to solve the above problems, the present invention designs an automatic tool changing system for a slitting line, which avoids the drawbacks of the traditional automatic tool changing system solution based on a double tool holder.

[0015] An automatic tool changing system for a slitting line, comprising a hanging rod assembly, a four-axis robot, a transfer device, an end pick-up device, a front-mounted tool pushing device, a tool holder, a tool pushing truss, and an electric control operating table;

[0016] The hanging rod assembly, four-axis robot, transfer device, end pick-up device and tool holder are placed in sequence in the horizontal plane;

[0017] The hanging rod assembly comprises a hanging rod for hanging workpieces;

[0018] The transfer device can accommodate workpieces with pre-installed cutter shafts and disassembled workpieces;

[0019] The four-axis robot, the transfer device, the end pick-up device, the front push-knife device, and the push-knife truss are electrically connected to the electric control console respectively;

[0020] When installing the knife:

[0021] The four-axis robot takes out the workpiece hanging on the suspension rod and transfers it to the transfer device;

[0022] The end pick-up device takes out the workpiece from the transfer device and transfers it to the tool holder;

[0023] The front tool pusher device pushes the workpiece on the tool holder into the tool shaft;

[0024] When removing the knife:

[0025] The pusher truss pushes the workpiece out of the cutter shaft;

[0026] The end pick-up device transfers the workpiece on the tool holder to the transfer device;

[0027] The four-axis robot transfers the workpiece from the transfer device to the suspension rod.

[0028] Furthermore,

[0029] It also includes protective housing and protective fences;

[0030] The hanging rod assembly, four-axis robot, and transfer device are integrated in the protection room;

[0031] The protective fence is arranged around the periphery of the entire working area of ​​the automatic thread trimming and automatic tool changing system.

[0032] Furthermore,

[0033] The four-axis robot includes a slide mechanism and a three-axis special machine;

[0034] The three-axis special machine can rotate 180° around the Z axis and can be installed on the slide mechanism by sliding horizontally. The three-axis special machine is provided with a picking mechanism, and the picking mechanism can be installed on the three-axis special machine by sliding up and down in the Z direction. The picking mechanism is provided with a picking gripper for picking up the workpiece, and the picking gripper can be installed on the picking mechanism by telescoping in the Y direction.

[0035] Furthermore,

[0036] The transfer device includes a rotation module, a positioning suspension module, an anti-falling mechanism, a base module, and a power input module;

[0037] A plurality of positioning suspension modules are evenly installed on the outer side of the circumferential wall of the rotary module, and the positioning suspension module includes a suspension rod for suspending a workpiece, and a positioning key corresponding to the keyway of the workpiece is provided on the suspension rod, and an anti-falling mechanism is arranged at the end of the suspension rod, and the end refers to the end of the suspension rod that is suspended in the air;

[0038] The power input module drives the rotary module to rotate, and the rotary module rotates at an angle of n×360°, and the working surface can be switched according to the system;

[0039] The slewing module and the power input module are connected to the base module, and the base module is fixed to the site by prefabricated chemical bolts;

[0040] The power input module includes a servo motor, a reducer, and a slewing support, and the slewing module is fixed on the rotating circle of the slewing support.

[0041] Furthermore,

[0042] The end pick-up device includes a robot base, a six-axis robot, and an end pick-up;

[0043] One axis of the six-axis robot is installed on the base, and an end picker is set at the end of the six axes;

[0044] The end picker can pick up a group of workpieces of a certain length;

[0045] The base is fixed to the site by embedded parts.

[0046] Furthermore,

[0047] The front push-knife device includes a mounting frame, a cylinder, and a push plate;

[0048] The frame is fixed on the site. Two cylinders are installed on the frame in the vertical direction. The push plate is fixed on the telescopic end of the cylinder. The telescopic end of the cylinder drives the push plate to telescope in the horizontal direction.

[0049] Each cylinder can be controlled and operated separately by the electric control console.

[0050] Furthermore,

[0051] The push blade truss includes a column, a beam, a power input module, and a push blade manipulator;

[0052] The push knife manipulator comprises a connecting piece and a push knife hand, the connecting piece is fixed on the slider, at least one push knife hand is installed on the connecting piece along the vertical direction, the push knife hand is located below the crossbeam and is used to push the workpiece out of the knife shaft, the push knife hand is installed at the telescopic end of the cylinder, the telescopic end of the cylinder drives the push knife hand to perform telescopic action in the horizontal direction, and the cylinder is fixed on the connecting piece;

[0053] The crossbeam is provided with a guide rail matching the slider, and both ends of the guide rail are provided with a limit mechanism;

[0054] The slide block is driven by the power input module, driving the pusher to slide horizontally along the guide rail.

[0055] The beneficial effects of the present invention are:

[0056] 1. The present invention enables the double-tool seat automatic tool changing system to have a cache function: the existing double-tool seat automatic tool changing system has low efficiency when changing workpieces. The present invention adds a cache station, so that the double-tool seat automatic tool changing system has the cache function of a single tool seat, and pre-arranges the tools in advance to improve efficiency;

[0057] 2. Less space occupied: Compared with conventional solutions, this device does not require additional space or civil engineering work, making installation and adjustment easier;

[0058] 3. Wider application scenarios: In addition to the new slitting line units, the above device can also be used to provide a solution for the transformation of old units. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a schematic diagram of the structure of the automatic tool changing system for the slitting line of the present invention;

[0060] Figure 2 This is a schematic diagram of the structure of the four-axis robot of the present invention;

[0061] Figure 3 This is a schematic diagram of the structure of the protection room of the present invention;

[0062] Figure 4 It is a schematic diagram of the structure of the transfer device of the present invention;

[0063] Figure 5It is a schematic diagram of the structure of the end pick-up device of the present invention;

[0064] Figure 6 This is a schematic diagram of the structure of the front-mounted blade pushing device of the present invention;

[0065] Figure 7 It is a schematic diagram of the push blade truss structure of the present invention. DETAILED DESCRIPTION

[0066] The present invention is further described below in conjunction with specific implementation methods. The following embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. In addition, all the connection / connection relationships mentioned in the present invention do not simply refer to the direct connection of components, but according to the specific implementation situation, a better connection / connection structure is formed by adding or reducing connection accessories.

[0067] Embodiment 1,

[0068] The automatic tool changing system for the slitting line of the present invention comprises a protection room 1, a hanging rod assembly 11, a four-axis robot, a transfer device 2, an end pick-up device 3, a front push-knife device 6, a knife seat 5, a push-knife truss 4, a protection fence 28, and an electric control operating table 7;

[0069] Among them, the hanging rod assembly 11, the four-axis robot, and the transfer device 2 are integrated in the protection room 1;

[0070] Among them, the hanging rod assembly 11, the four-axis robot, the transfer device 2, the end pick-up device 3, and the tool holder 5 are placed in sequence from front to back in the horizontal plane;

[0071] Wherein, the hanging rod assembly 11 has a hanging rod for hanging the workpiece;

[0072] When installing the knife:

[0073] The four-axis robot takes out the workpiece suspended on the suspension rod and transfers it to the transfer device 2;

[0074] The end pick-up device 3 takes the workpiece from the transfer device 2 and transfers it to the tool holder 5;

[0075] The front tool pushing device 6 pushes the workpiece on the tool holder 5 into the tool shaft;

[0076] When removing the knife:

[0077] The pusher truss 4 pushes the workpiece out of the cutter shaft;

[0078] The end pick-up device 3 transfers the workpiece on the tool holder 5 to the transfer device 2;

[0079] The four-axis robot transfers the workpiece on the transfer device 2 to the suspension rod;

[0080] Among them, the four-axis robot, the transfer device 2, the end pick-up device 3, the front push-knife device 6, and the push-knife truss 4 are respectively connected to the electric control console 7;

[0081] Wherein, the guardrail 28 is arranged around the periphery of the working area of ​​the entire automatic thread trimming and automatic tool changing system;

[0082] like Figure 2 As shown: the four-axis robot includes a slide mechanism 10 and a three-axis special machine 9;

[0083] The three-axis special machine 9 can rotate 180° around the Z axis and can slide horizontally and is installed on the slide mechanism 10. The three-axis special machine 9 is provided with a picking mechanism 8, and the picking mechanism 8 can slide up and down in the Z direction and is installed on the three-axis special machine 9. The picking mechanism is provided with a picking gripper, and the picking gripper can be retracted in the Y direction and is installed on the picking mechanism 8;

[0084] When loading the tool, the three-axis special machine 9 slides horizontally to the horizontal position of the workpiece, the picking mechanism 8Z slides up and down to the vertical position of the workpiece, the picking gripper slides in the Z direction to the workpiece position, and the workpiece on the hanging rod assembly is taken out. The three-axis special machine 9 rotates 180° to make the picking gripper face the positioning hanging module, and transfers the workpiece to the transfer device;

[0085] When removing the tool, the three-axis special machine 9 slides horizontally to the horizontal position of the workpiece, the picking mechanism 8Z slides up and down to the vertical position of the workpiece, the picking gripper slides in the Z direction to the workpiece position, and the workpiece on the positioning suspension module is taken out. The three-axis special machine 9 rotates 180° to make the picking gripper face the hanging rod assembly, and transfers the workpiece to the hanging rod assembly;

[0086] like Figure 3 As shown: a hanging rod assembly 11 is installed in the protection room 1;

[0087] Protection room 1 is used to maintain the status of workpieces;

[0088] The hanging rod assembly 11 has a hanging rod for hanging workpieces. The function of the hanging rod assembly 11 is to hang different combinations of workpieces according to different functions, different types and different usage scenarios;

[0089] The workpiece library is designed to accommodate a specified number of inventory workpieces through size design;

[0090] like Figure 4 As shown: the transfer device 2 includes a rotation module 12, a base module 15, a power input module 16, a positioning suspension module 14, and an anti-falling mechanism 13;

[0091] The transfer device 2 can accommodate workpieces pre-installed with the cutter shaft and disassembled workpieces;

[0092] The four circumferential sides of the rotary module 12 are all equipped with positioning suspension modules 14 for suspending workpieces 17. According to the size of the workpiece warehouse, multiple transfer devices 2 can be used in the workpiece warehouse;

[0093] The power input module 16 drives the rotary module 12 to rotate, and the rotary module 12 rotates at an angle of n×360°, and the working surface can be switched according to the system;

[0094] The base module 15 mainly plays a connecting and fixing role. The rotary module 12 and the power input module 16 are connected to the base module 15 . When the present invention is actually installed, chemical bolts need to be pre-installed on the site and fixedly connected to the base module 15 .

[0095] The power input module 16 includes a servo motor, a reducer, and a slewing support, and provides a power input source for the rotation of the slewing module 12;

[0096] The positioning suspension module 14 includes a suspension rod, on which a positioning key corresponding to the keyway of the workpiece is provided;

[0097] The anti-falling mechanism 13 is arranged at the end of the suspension rod, which refers to the end of the suspension rod that is suspended in the air. The anti-falling mechanism 13 is arranged to effectively prevent the workpiece from accidentally falling off during the rotation process;

[0098] like Figure 5 As shown: the end pick-up device includes a robot base 18, a six-axis robot 19, and an end pick-up 20;

[0099] The six-axis robot is provided with one axis, two axes, three axes, four axes, five axes and six axes at the end in sequence. One axis of the six-axis robot is rotatably mounted on a base 18, and an end picker 20 is provided at the end of the six axes.

[0100] The end picker 20 can pick up a set of workpieces of a certain length;

[0101] The base 18 is fixed on the site by embedded parts;

[0102] like Figure 6 As shown: the front push knife device includes a mounting frame 22, a cylinder 23, and a push plate 21;

[0103] The front tool pusher device is used to install the workpiece when installing the tool. When installing the tool, the workpiece is pushed into the tool shaft;

[0104] The frame 22 is fixed on the site. Two rows of cylinders 23 are installed on the frame 22 in the vertical direction. The push plate 21 is fixed to the telescopic end of the cylinder 23. The telescopic end of the cylinder 23 drives the push plate 21 to perform telescopic movement in the horizontal direction.

[0105] The upper and lower rows of cylinders 23 in the vertical direction can be moved separately, and the corresponding push plates 21 can be extended as needed;

[0106] like Figure 7 As shown: the push blade truss includes a column 27, a beam 24, a power input module 25, and a push blade manipulator;

[0107] The push knife truss is used for disassembly of workpieces when removing the knife;

[0108] A guide rail is provided on the lower side of the crossbeam 24, and a limit mechanism is provided at both ends of the guide rail. A matching slider is installed on the guide rail, and the push-knife manipulator is connected to the slider. The slider is driven by the power input module 25 to drive the push-knife manipulator to slide in the horizontal direction along the guide rail under the crossbeam 24;

[0109] The power input module includes a servo motor, a reducer, a gear, and a rack. The rack is fixed on the front side of the guide rail. The output shaft of the servo motor is connected to the reducer. The output shaft of the reducer is connected to the gear. The gear is meshed with the rack. The servo motor and the reducer are connected to the slider through a mounting seat.

[0110] The knife-pushing manipulator comprises a connecting member 28 and a knife-pushing hand 26. The connecting member 28 is fixed on the slider. The connecting member 28 is arranged perpendicular to the crossbeam 24 and parallel to the column 27. Two rows of knife-pushing hands 26 are installed on the connecting member 28 in the vertical direction. The knife-pushing hands 26 are arranged perpendicular to the connecting member 28, the column 27 and the crossbeam 24 at the same time, and are used to push the workpiece out of the knife shaft. The knife-pushing hand 26 is installed at the telescopic end of the cylinder. The telescopic end of the cylinder drives the knife-pushing hand to perform telescopic action in the horizontal direction. The cylinder is fixed on the connecting member.

[0111] According to the algorithm, the pusher truss can move the workpiece in the lateral direction by a specified length;

[0112] The upper and lower knife shaft pushers of the push knife truss can be extended respectively according to the working state to push the workpiece to move.

[0113] The specific working process of the present invention is as follows: when installing the tool, the optimal tool grouping scheme is calculated according to the algorithm software, and the four-axis robot picks up the workpieces hanging in the workpiece library in groups, and places the picked workpiece groups in the transfer device in sequence, such as Figure 4 As shown, the transfer device in the embodiment has four sides, each side has four layers, and after one side is full, the transfer device rotates 90° until all the knife arrangement solutions are pre-installed;

[0114] Then the end pick-up device places the workpiece groups on the tool holder in sequence, and the front tool pusher device pushes each group of workpieces into the tool shaft until the last group is installed;

[0115] When removing the tool, the algorithm software calculates the optimal tool removal plan, and the tool pusher truss pushes the workpieces in the tool holder out of the tool shaft one by one, and the end pick-up device removes the workpieces into groups and places them on the transfer device;

[0116] Similarly, the transfer device is placed with workpieces one by one in sequence until all the workpieces on the tool axis are removed; then, the four-axis robot puts the workpieces back to the workpiece warehouse one by one until the workpieces are completely removed.

[0117] The above embodiments are merely the technical concepts and features of the present invention and cannot be used to limit the protection scope of the present invention. Any equivalent changes or decorations made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic tool changing system for a slitting line, characterized in that: It includes hanging rod assembly, four-axis robot, transfer device, end pick-up device, front push-knife device, knife holder, push-knife truss, and electric control operation table; The hanging rod assembly, four-axis robot, transfer device, end pick-up device and tool holder are placed in sequence in the horizontal plane; The hanging rod assembly comprises a hanging rod for hanging workpieces; The transfer device can accommodate workpieces with pre-installed cutter shafts and disassembled workpieces; The four-axis robot, the transfer device, the end pick-up device, the front push-knife device, and the push-knife truss are electrically connected to the electric control console respectively; The end pick-up device includes a robot base, a six-axis robot, and an end pick-up; One axis of the six-axis robot is installed on the base, and an end picker is set at the end of the six axes; The end picker can pick up a group of workpieces of a certain length; The base is fixed to the site through embedded parts; The front push-knife device includes a mounting frame, a cylinder, and a push plate; The frame is fixed on the site. Two cylinders are installed on the frame in the vertical direction. The push plate is fixed on the telescopic end of the cylinder. The telescopic end of the cylinder drives the push plate to telescope in the horizontal direction. Each cylinder can be controlled and operated separately by the electric control console; The push blade truss includes a column, a beam, a power input module, and a push blade manipulator; The push knife manipulator comprises a connecting piece and a push knife hand, the connecting piece is fixed on the slider, at least one push knife hand is installed on the connecting piece along the vertical direction, the push knife hand is located below the crossbeam and is used to push the workpiece out of the knife shaft, the push knife hand is installed at the telescopic end of the cylinder, the telescopic end of the cylinder drives the push knife hand to perform telescopic action in the horizontal direction, and the cylinder is fixed on the connecting piece; The crossbeam is provided with a guide rail matching the slider, and both ends of the guide rail are provided with a limit mechanism; The slide block is driven by the power input module, driving the pusher to slide horizontally along the guide rail; When installing the knife: The four-axis robot takes out the workpiece hanging on the suspension rod and transfers it to the transfer device; The end pick-up device takes out the workpiece from the transfer device and transfers it to the tool holder; The front tool pusher device pushes the workpiece on the tool holder into the tool shaft; When removing the knife: The pusher truss pushes the workpiece out of the cutter shaft; The end pick-up device transfers the workpiece on the tool holder to the transfer device; The four-axis robot transfers the workpiece on the transfer device to the suspension rod; It also includes protective housing and protective fences; The hanging rod assembly, four-axis robot, and transfer device are integrated in the protection room; The protective fence is set around the periphery of the entire automatic thread trimming and automatic tool changing system working area; The three-axis special machine can rotate 180° around the Z axis and can slide horizontally and is installed on the slide mechanism. The three-axis special machine is provided with a picking mechanism, which can slide up and down in the Z direction and is installed on the three-axis special machine. The picking mechanism is provided with a picking gripper for picking up the workpiece, and the picking gripper can be retracted in the Y direction and is installed on the picking mechanism; The transfer device includes a rotation module, a positioning suspension module, an anti-falling mechanism, a base module, and a power input module; A plurality of positioning suspension modules are evenly installed on the outer side of the circumferential wall of the rotary module, and the positioning suspension module includes a suspension rod for suspending a workpiece, and a positioning key corresponding to the keyway of the workpiece is provided on the suspension rod, and an anti-falling mechanism is arranged at the end of the suspension rod, and the end refers to the end of the suspension rod that is suspended in the air; The power input module drives the rotary module to rotate, and the rotary module rotates at an angle of n×360°, and the working surface can be switched according to the system; The slewing module and the power input module are connected to the base module, and the base module is fixed to the site by prefabricated chemical bolts; The power input module includes a servo motor, a reducer, and a slewing support, and the slewing module is fixed on the rotating circle of the slewing support.

Images