A tool changing robot for automatic tool changing system of slitting machine

Abstract

The present invention relates to the technical field of tool changing for slitting shears, and discloses a tool changing robot for an automatic tool changing system for slitting shears, comprising a power mechanism, wherein the power mechanism also comprises an equipment base, when the equipment is in use, a servo electric telescopic rod is displaced to a specified position, a power receiving plate is in a separated state from a power output frame during displacement of a fixed plate, after the fixed plate reaches the specified position, the power receiving plate contacts the power output frame under the thrust of a reset spring, forcing the electric telescopic rod to extend upward, pushing a long rod to contact with a plurality of limiting sliders, at which time the servo electric telescopic rod is extended to the specified position again, and similarly the power receiving plate is separated during displacement, and is grounded after stopping, after the power receiving plate and the power output frame are energized again, the electric telescopic rod drives the long rod to move downward, causing the limiting slider to contact with the outer wall of the toothed plate, thereby realizing autonomous adjustment of the position of a pressure ring, and utilizing the characteristic that the inner wall of the pressure ring is rotatably connected to the outer wall of the cutter so that when the equipment completes tool changing, the bottom pressure ring will be in a corresponding position.

Description

Technical Field

[0001] The invention relates to the technical field of tool changing equipment for slitting shears, in particular to a tool changing robot for an automatic tool changing system of a slitting shear. Background Art

[0002] The slitting machine, also known as the slitting line, slitting machine, and slitting machine, is used to unwind, slitting, and rewind metal coils into strips of the required width. It is suitable for processing cold-rolled and hot-rolled carbon steel, silicon steel, tinplate, stainless steel, and various metal materials after surface coating. The cutting device is the core component of the slitting machine. Annular cutters and annular retaining rings are mostly used to adjust the width between the cutters. This operation is currently mostly done manually, and there are generally problems such as high labor intensity and low efficiency. If the cutters in the tool magazine are not placed properly, it will also affect the cutting accuracy and cutting quality during subsequent use, reduce the service life of the cutters, and increase the cost of the entire production line.

[0003] Among them, the tool changing robot adjusts the width between each blade by superimposing annular tools and annular retaining rings of different thicknesses. However, this method is time-consuming and labor-intensive. In the actual working process, the staff is required to manually measure the position of the blade and the retaining ring, which is time-consuming and labor-intensive. In response to the above problems, the following solutions are proposed. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a tool changing robot for an automatic tool changing system of a slitting machine, comprising a power mechanism, the power mechanism also comprising an equipment base, the top of the equipment base is fixedly connected to an equipment housing, a rotating column is rotatably connected to the inner wall of the equipment housing, and a plurality of pressure rings are slidably connected to the outer wall of the rotating column;

[0005] The control mechanism includes a rotating column rotatably connected to the side wall of the device housing, a fixed slide is fixedly connected to the outer wall of the rotating column, a sliding bracket is slidably connected to the inner wall of the fixed slide, a cutter is fixedly connected to the side wall of the sliding bracket, and the outer wall of the cutter is rotatably connected to the inner wall of the pressure ring;

[0006] The clamping mechanism comprises a hydraulic box fixedly connected to the top of the equipment base, a pressure slide plate is slidably connected to the inner wall of the hydraulic box, and a push rod is fixedly connected to the side wall of the pressure slide plate.

[0007] Preferably, the power mechanism also includes a slide rail fixedly connected to the inner wall of the equipment casing, a power motor is fixedly connected to the top of the equipment base, the output shaft of the power motor is fixedly connected to the side wall of the rotating column, an income plate is fixedly connected to the side wall of the equipment casing, and a toothed plate is fixedly connected to the top of the equipment base.

[0008] Preferably, the power mechanism also includes a sliding frame slidably connected to the outer wall of the slide rail, the inner wall of the sliding frame is rotatably connected to a roller, the outer wall of the roller is rotatably connected to the outer wall of the pressure ring, the inner wall of the sliding frame is slidably connected to a limiting slider, the top of the limiting slider is fixedly connected to a push spring, and the side wall of the rotating column is fixedly connected to a driving gear. Utilizing the characteristic of the rotational connection between the inner wall of the pressure ring and the outer wall of the cutter, when the pressure ring is displaced due to the above-mentioned components, the pressure ring will drive the corresponding cutter to displace, so that when the equipment completes the tool change, the bottom pressure ring will be in the corresponding position, and there is no need for subsequent manual grooving for adjustment, thereby improving the tool change efficiency of the equipment and reducing the difficulty of tool change; in addition, when the equipment enters the shearing process, the power of the power motor is turned on, and the power of the power motor drives the rotating column to rotate through the driving gear and the force gear, and the cold rolled plate is cut.

[0009] Preferably, the control mechanism also includes a force-bearing gear fixedly connected to the side wall of the fixed slide, the outer wall of the force-bearing gear is meshingly connected to the outer wall of the driving gear, and a servo electric telescopic rod is fixedly connected to the side wall of the equipment housing.

[0010] Preferably, the control mechanism also includes a hydraulic telescopic rod connected through the side wall of the equipment housing, a water pipe is connected through the outer wall of the equipment housing, the end of the water pipe away from the equipment housing is connected through the outer wall of the hydraulic box, and the end of the servo electric telescopic rod away from the equipment housing is fixedly connected to a fixed plate, and a pressure ring and a cutter are arranged inside the equipment. The traditional stacking method is eliminated and a telescopic method is adopted to quickly adjust the position of the cutter. During the tool changing process, the servo electric telescopic rod will generate corresponding thrust or pulling force to force the fixed plate to reach the specified position.

[0011] Preferably, the control mechanism also includes a power receiving plate slidably connected to the through hole on the outer wall of the fixed plate, a pushing frame is fixedly connected to the side wall of the power receiving plate, a return spring is fixedly connected to the outer wall of the fixed plate, the return spring, the outer wall of the fixed plate is fixedly connected to the outlet frame, the top of the fixed plate is fixedly connected to an electric telescopic rod, the top of the electric telescopic rod is fixedly connected to a pushing long rod, a pushing frame and a hydraulic telescopic rod are arranged inside the equipment, originally when the fixed plate is displaced, the power receiving plate will be displaced synchronously, but limited by the use of the pushing frame and the hydraulic telescopic rod, when the power receiving plate is about to be displaced, the pushing frame squeezes the hydraulic telescopic rod, forcing the liquid inside the hydraulic telescopic rod to enter the hydraulic box through the water pipe, but limited by the small diameter of the water pipe, the liquid inside the hydraulic telescopic rod will encounter resistance when entering the hydraulic box, resulting in the fixed plate being displaced both when it is extended and when it is not extended. When the power receiving plate is retracted, it will be offset due to the pulling of the pushing frame, and the electric telescopic rod will be disconnected for each offset, and the power of the electric telescopic rod will be connected for each contact between the power output frame and the power receiving plate. When the equipment is in use, the servo electric telescopic rod moves to the specified position, and the power receiving plate is separated from the power output frame during the displacement of the fixed plate. After the fixed plate reaches the specified position, the power receiving plate contacts the power output frame under the thrust of the reset spring, forcing the electric telescopic rod to extend upward, pushing the long rod to contact with multiple limiting sliders. At this time, the servo electric telescopic rod extends to the specified position again, and the power receiving plate is separated during the displacement and grounded after stopping. After the power receiving plate and the power output frame are energized again, the electric telescopic rod drives the long rod to move downward, so that the limiting slider contacts the outer wall of the toothed plate, thereby realizing the autonomous adjustment position of the pressure ring and reducing manual participation.

[0012] Preferably, the clamping mechanism also includes a sliding long rod slidably connected to the side wall of the equipment housing, the side wall of the sliding long rod is fixedly connected to a connecting frame, the end of the connecting frame away from the sliding long rod is fixedly connected to a clamping plate, the outer wall of the clamping plate is slidably connected to the inner wall of the through hole of the equipment housing, and the outer wall of the connecting frame is fixedly connected to an extrusion spring. Utilizing the characteristic that the width of the cold-rolled plate is equal, a sliding long rod and a clamping plate are arranged inside the equipment, wherein the cutter farthest from the fixed slide is usually used as a cold-rolled plate edge cutting knife. Utilizing the above characteristics, a sliding long rod is arranged on the side of the equipment housing, at this time, the sliding long rod will force the roller of the sliding long rod to contact the outer wall of the farthest cutter under the push of the extrusion spring, and the clamping plate will follow the sliding long rod to move inward and force the clamping plate to clamp the edge of the cold-rolled plate, while being restricted by the ball on the inner wall of the clamping plate. The clamping plate can effectively limit the edge of the cold-rolled plate without affecting the feeding of the cold-rolled plate, and by adjusting the position of the clamping plate, the equipment can adapt to the processing of cold-rolled plates of different widths.

[0013] Preferably, the clamping mechanism also includes a smooth pressing plate slidably connected to the inner wall of the through hole of the equipment housing, the bottom of the smooth pressing plate is fixedly connected with a gear rod, the outer wall of the push rod is rotatably connected with a rotating control rod, the inner wall of the rotating control rod is fixedly connected with a pressure spring, and the pushing frame is used to squeeze the hydraulic telescopic rod, and the internal components of the hydraulic telescopic rod enter the hydraulic box. A pressure slide plate is slidably connected to the inner wall of the hydraulic box. When the liquid inside the hydraulic telescopic rod enters the hydraulic box, the pressure slide plate will be displaced by the increase and decrease of the liquid, and the pressure slide plate pushes the push rod to be displaced. When the push rod is extended, the rotating control rod is not restricted by the push rod and rotates, and when the push rod is retracted, the rotating control rod is restricted by the push rod plate and cannot rotate. The rotating control rod will pull the gear rod and the smooth pressing plate toward the center of the equipment and cover the top of the cold-rolled plate to ensure the flatness of the plate surface before the cold-rolled plate enters the shearing.

[0014] The present invention has the following beneficial effects:

[0015] (1) The present invention provides a pressure ring and a cutter inside the device, eliminating the traditional stacking method and adopting a telescopic method to quickly adjust the position of the cutter. The servo electric telescopic rod will generate a corresponding thrust or pull during the tool changing process to force the fixed plate to reach the specified position. By utilizing the above characteristics, a pushing frame and a hydraulic telescopic rod are provided inside the device. Originally, when the fixed plate is displaced, the power receiving plate will be displaced synchronously. However, due to the application of the pushing frame and the hydraulic telescopic rod, when the power receiving plate is about to be displaced, the pushing frame squeezes the hydraulic telescopic rod, forcing the liquid inside the hydraulic telescopic rod to enter the hydraulic box through the water pipe. However, due to the small diameter of the water pipe, the liquid inside the hydraulic telescopic rod will encounter resistance when entering the hydraulic box, resulting in the fixed plate being stretched or contracted. The power receiving plate is pulled by the pushing frame. The servo electric telescopic rod will be pulled to a specified position, and each time the electric telescopic rod is offset, the power supply will be disconnected, and each time the power outage frame contacts the power receiving board, the power supply of the electric telescopic rod will be connected. Through the application of the above components, when the equipment is in use, the servo electric telescopic rod is displaced to a specified position, and the power receiving board is in a separated state from the power outage frame during the displacement of the fixed plate. After the fixed plate reaches the specified position, the power receiving board contacts the power outage frame under the thrust of the reset spring, forcing the electric telescopic rod to extend upward, pushing the long rod to contact with multiple limiting sliders. At this time, the servo electric telescopic rod is extended to the specified position again, and the power receiving board is separated during the displacement, and is grounded after stopping. After the power receiving board and the power outage frame are energized again, the electric telescopic rod drives the long rod to move downward, so that the limiting slider contacts the outer wall of the toothed plate, thereby realizing the autonomous adjustment position of the pressure ring and reducing manual participation.

[0016] (2) The present invention utilizes the characteristic that the inner wall of the pressure ring is rotatably connected with the outer wall of the cutter. When the pressure ring is displaced due to the above-mentioned components, the pressure ring will drive the corresponding cutter to be displaced, so that when the equipment completes the tool change, the bottom pressure ring will be in the corresponding position, and there is no need for subsequent manual grooving for adjustment, thereby improving the tool change efficiency of the equipment and reducing the difficulty of tool change. In addition, when the equipment enters the shearing process, the power of the power motor is turned on, and the power of the power motor drives the rotating column to rotate through the driving gear and the force gear, and the cold-rolled plate is cut.

[0017] (3) In view of the fact that the width of cold-rolled plates is equal, the present invention provides a long sliding rod and a clamping plate inside the device, wherein the cutter farthest from the fixed slide is usually used as the edge cutting knife of the cold-rolled plate. Taking advantage of the above characteristics, a long sliding rod is provided on the side of the device housing. At this time, the sliding rod, pushed by the extrusion spring, will force the roller of the sliding rod to contact the outer wall of the farthest cutter, and the clamping plate will move inward with the sliding rod and force the clamping plate to clamp the edge of the cold-rolled plate. The ball on the inner wall of the clamping plate is restricted, and the clamping plate can effectively limit the edge of the cold-rolled plate without affecting the feeding of the cold-rolled plate. By adjusting the position of the clamping plate, the device can adapt to the processing of cold-rolled plates of different widths.

[0018] (4) The present invention utilizes the characteristics of the push frame squeezing the hydraulic telescopic rod and the internal components of the hydraulic telescopic rod entering the hydraulic box. A pressure slide is slidably connected to the inner wall of the hydraulic box. When the liquid inside the hydraulic telescopic rod enters the hydraulic box, the pressure slide will be displaced by the increase and decrease of the liquid. The pressure slide pushes the push rod to be displaced. When the push rod is extended, the rotation control rod is not restricted by the push rod and rotates. When the push rod is retracted, the rotation control rod is restricted by the push rod plate and cannot rotate. The rotation control rod will pull the tooth rod and the flat plate toward the center of the equipment and cover the top of the cold-rolled plate to ensure that the surface of the cold-rolled plate is flat before entering the shearing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0020] Figure 1 It is an exploded schematic diagram of the overall structural assembly of the present invention;

[0021] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 3 It is an exploded schematic diagram of the power mechanism assembly of the present invention;

[0023] Figure 4 For the present invention Figure 3 A magnified view of middle;

[0024] Figure 5 It is an exploded schematic diagram of the control mechanism assembly of the present invention;

[0025] Figure 6 It is a cross-sectional schematic diagram of the control mechanism of the present invention;

[0026] Figure 7 For the present invention Figure 6 Enlarged view of middle B;

[0027] Figure 8 It is a cross-sectional schematic diagram of the clamping mechanism of the present invention;

[0028] Fig. 9 For the present invention Figure 8 Enlarged view of middle C;

[0029] Fig.10 This is a diagram showing the push rod assembly of the present invention;

[0030] Fig.11 This is a schematic diagram of the present invention pushing the long rod to push the limiting slider;

[0031] Fig.12 The diagram is a schematic diagram of the formation and operation of the correction mouth of the present invention;

[0032] Fig.13 For the present invention Figure 1 Enlarged view of F.

[0033] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0034] In the figure: 1. Power mechanism; 101. Equipment base; 102. Equipment housing; 103. Rotating column; 104. Pressure ring; 105. Slide rail; 106. Power motor; 107. Intake plate; 108. Tooth plate; 109. Sliding frame; 110. Roller; 111. Limiting slider; 112. Push spring; 113. Driving gear; 2. Control mechanism; 201. Rotating column; 202. Fixed slide; 203. Sliding bracket; 204. Cutter; 205. Force gear; 206. Servo electric telescopic rod; 207, hydraulic telescopic rod; 208, water pipe; 209, fixed plate; 210, power receiving plate; 211, pushing frame; 212, reset spring; 213, output frame; 214, electric telescopic rod; 215, pushing long rod; 3, clamping mechanism; 301, hydraulic box; 302, pressure slide plate; 304, pushing rod; 305, sliding long rod; 306, connecting frame; 307, clamping plate; 308, extrusion spring; 309, pressure slide plate; 310, gear rod; 311, rotation control lever; 312, pressure spring. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] For example, see Figure 1 - Figure 3 The present invention is a tool changing robot for an automatic tool changing system of a slitting machine, comprising a power mechanism 1, the power mechanism 1 further comprising an equipment base 101, a top of the equipment base 101 is fixedly connected with an equipment housing 102, a rotating column 103 is rotatably connected at the inner wall of the equipment housing 102, and a plurality of pressure rings 104 are slidably connected at the outer wall of the rotating column 103;

[0037] The control mechanism 2 includes a rotating column 201 rotatably connected to the side wall of the device housing 102, a fixed slide 202 is fixedly connected to the outer wall of the rotating column 201, a sliding bracket 203 is slidably connected to the inner wall of the fixed slide 202, a cutter 204 is fixedly connected to the side wall of the sliding bracket 203, and the outer wall of the cutter 204 is rotatably connected to the inner wall of the pressure ring 104;

[0038] The clamping mechanism 3 comprises a hydraulic box 301 fixedly connected to the top of the equipment base 101 , a pressure slide 302 is slidably connected to the inner wall of the hydraulic box 301 , and a push rod 304 is fixedly connected to the side wall of the pressure slide 302 .

[0039] The power mechanism 1 also includes a slide rail 105 fixedly connected to the inner wall of the equipment housing 102, a power motor 106 is fixedly connected to the top of the equipment base 101, the output shaft of the power motor 106 is fixedly connected to the side wall of the rotating column 103, an income plate 107 is fixedly connected to the side wall of the equipment housing 102, and a toothed plate 108 is fixedly connected to the top of the equipment base 101.

[0040] The power mechanism 1 also includes a sliding frame 109 slidably connected to the outer wall of the slide rail 105, the inner wall of the sliding frame 109 is rotatably connected to a roller 110, the outer wall of the roller 110 is rotatably connected to the outer wall of the pressure ring 104, the inner wall of the sliding frame 109 is slidably connected to a limiting slider 111, the top of the limiting slider 111 is fixedly connected to a push spring 112, and the side wall of the rotating column 103 is fixedly connected to a driving gear 113. By utilizing the characteristic that the inner wall of the pressure ring 104 is rotatably connected to the outer wall of the cutter 204, the pressure ring 104 is rotated to rotate. 04 Because when the above-mentioned components are displaced, the pressure ring 104 will drive the corresponding cutter 204 to be displaced, so that when the equipment completes the tool change, the bottom pressure ring 104 will be in the corresponding position, and there is no need for subsequent manual cutting and adjustment, which improves the tool change efficiency of the equipment and reduces the difficulty of tool change; in addition, when the equipment enters the shearing process, the power supply of the power motor 106 is turned on, and the power of the power motor 106 drives the rotating column 201 to rotate through the driving gear 113 and the force gear 205, and the cold-rolled plate is cut.

[0041] For example 2, please refer to Figure 4 - Figure 8 The present invention is a tool changing robot for an automatic tool changing system of a longitudinal shearing machine. Based on Example 1, the control mechanism 2 also includes a force-bearing gear 205 fixedly connected to the side wall of the fixed slide 202, the outer wall of the force-bearing gear 205 is meshedly connected to the outer wall of the driving gear 113, and a servo electric telescopic rod 206 is fixedly connected to the side wall of the equipment housing 102.

[0042] The control mechanism 2 also includes a hydraulic telescopic rod 207 connected to the side wall of the equipment housing 102, a water pipe 208 is connected to the outer wall of the equipment housing 102, and the end of the water pipe 208 away from the equipment housing 102 is connected to the outer wall of the hydraulic box 301, and the end of the servo electric telescopic rod 206 away from the equipment housing 102 is fixedly connected to the fixed plate 209, and a pressure ring 104 and a cutter 204 are arranged inside the equipment. The traditional stacking method is replaced by a telescopic method to quickly adjust the position of the cutter 204. The servo electric telescopic rod 206 will generate a corresponding thrust or pull during the tool changing process, forcing the fixed plate 209 to reach the specified position, provided that the pressure slide plate 302 is only slidably connected to the inside of the hydraulic box 301, and the pressure slide plate 302 does not completely block the inner wall of the hydraulic box 301. When the liquid in the hydraulic box 301 flows, the liquid shell flows out through the gap between the hydraulic box 301 and the pressure slide plate 302.

[0043] Linkage introduction: When the servo electric telescopic rod 206 distributes the sliding frame 109, the hydraulic telescopic rod 207 will force the internal liquid to enter the hydraulic box 301 through the water pipe 208 during the movement, and the flow of liquid in the hydraulic box 301 will push the pressure slide 302 to move, and the movement of the pressure slide 302 will drive the push rod 304 to move regularly.

[0044] The control mechanism 2 also includes a power receiving plate 210 slidably connected to the through hole on the outer wall of the fixed plate 209, a push frame 211 is fixedly connected to the side wall of the power receiving plate 210, a reset spring 212 is fixedly connected to the outer wall of the fixed plate 209, a point-out frame 213 is fixedly connected to the outer wall of the fixed plate 209, an electric telescopic rod 214 is fixedly connected to the top of the fixed plate 209, and a push long rod 215 is fixedly connected to the top of the electric telescopic rod 214. A push frame 211 and a hydraulic telescopic rod 207 are arranged inside the device. When the fixed plate 209 is displaced, the power receiving plate 210 will be displaced synchronously. However, due to the application of the push frame 211 and the hydraulic telescopic rod 207, when the power receiving plate 210 is about to be displaced, the push frame 211 squeezes the hydraulic telescopic rod 207, forcing the liquid inside the hydraulic telescopic rod 207 to enter the hydraulic box 301 through the water pipe 208. However, due to the small diameter of the water pipe 208, the liquid inside the hydraulic telescopic rod 207 will encounter resistance when entering the hydraulic box 301, resulting in the fixed plate 209 being unable to extend or contract the power receiving plate 210. The pulling of the push frame 211 causes the frame 211 to deviate, and each time the electric telescopic rod 214 deviates, the power supply will be disconnected, and each time the power-out frame 213 contacts the power receiving plate 210, the power supply of the electric telescopic rod 214 will be connected. When the device is in use, the servo electric telescopic rod 206 moves to a specified position, and the power receiving plate 210 is in a separated state from the power-out frame 213 during the displacement of the fixed plate 209. After the fixed plate 209 reaches the specified position, the power receiving plate 210 contacts the power-out frame 213 under the thrust of the reset spring 212, forcing the electric telescopic rod 214 to move to the specified position. The servo electric telescopic rod 206 is extended upward, pushing the long rod 215 to contact with multiple limiting sliders 111. At this time, the servo electric telescopic rod 206 is extended to the specified position again. Similarly, the power receiving plate 210 is separated during displacement and grounded after stopping. After the power receiving plate 210 and the power output frame 213 are energized again, the electric telescopic rod 214 drives the long rod 215 to move downward, so that the limiting slider 111 contacts the outer wall of the toothed plate 108, and the pressure ring 104 can adjust its position autonomously, reducing manual participation. The problem that the electric telescopic rod 214 and the long rod 215 are not clear in structure: now added Fig.10 As shown in the figure, the push rod 215 is in the shape of a long rod and is slidably connected to the inside of the through hole of the device housing 102. The push rod 215 is in the shape of a long rod. When the electric telescopic rod 214 is extended upward, the push rod 215 will contact the multiple limiting sliders 111 at the same time and lift the multiple limiting sliders 111 to break away from the restriction of the toothed plate 108.

[0045] The inner wall of the through hole of the fixed plate 209 is slidably connected with the power receiving plate 210, and the side wall of the fixed plate 209 is fixedly connected with the outlet frame 213. During the movement, the outlet frame 213 is always in a unchanged state, and the other end of the power receiving plate 210 is fixedly connected to the pushing frame 211, and the side wall of the pushing frame 211 is fixedly connected to the outer wall of the hydraulic telescopic rod 207. When the fixed plate 209 is displaced, the hydraulic telescopic rod 207 will produce hysteresis. When the fixed plate 209 moves, the outlet frame 213 is relatively stable, and the power receiving plate 210 will be offset due to the hysteresis of the hydraulic telescopic rod 207.

[0046] The clamping mechanism 3 also includes a sliding rod 305 slidably connected to the side wall of the device housing 102, a connecting frame 306 is fixedly connected to the side wall of the sliding rod 305, a clamping plate 307 is fixedly connected to the end of the connecting frame 306 away from the sliding rod 305, the outer wall of the clamping plate 307 is slidably connected to the inner wall of the through hole of the device housing 102, and an extrusion spring 308 is fixedly connected to the outer wall of the connecting frame 306. Taking advantage of the equal width of the cold-rolled plate, a sliding rod 305 and a clamping plate 307 are arranged inside the device, wherein the cutter 204 farthest from the fixed slide 202 is usually used as a cold-rolled plate edge cutting knife. Taking advantage of the above characteristics, a sliding rod 305 is arranged on the side of the device housing 102. At this time, the sliding rod 305 will be pushed by the extrusion spring 308 to force the roller of the sliding rod 305 to contact the outer wall of the farthest cutter 204, and the clamping plate 307 will follow the sliding rod 305 to The clamping plate 307 is moved inside and forces the clamping plate 307 to clamp the edge of the cold-rolled plate. The ball bearing on the inner wall of the clamping plate 307 is limited. The clamping plate 307 can effectively limit the edge of the cold-rolled plate without affecting the feeding of the cold-rolled plate. By adjusting the position of the clamping plate 307, the equipment can adapt to the processing of cold-rolled plates of different widths. The push rod 304 moves because when the servo electric telescopic rod 206 distributes the sliding frame 109, the hydraulic telescopic rod 207 will force the internal liquid to enter the hydraulic box 301 through the water pipe 208 during the movement, and the flow of liquid inside the hydraulic box 301 will push the compressed slide plate 302 to move. The movement of the compressed slide plate 302 will drive the push rod 304 to move regularly. The bottom outer wall of the rotating control rod 311 is rotatably connected to the top outer wall of the push rod 304, and a pressure spring 312 is provided in the connection position, and the side of the rotating control rod 311 has no contact with the plate next to it. Fig. 9 As shown in the figure, when the push rod 304 moves outward, the rotation control rod 311 is restricted by the gear rod 310 and moves in a circle with the pressure spring 312 as the center. Fig. 9 The left side rotates, during which the pressure spring 312 accumulates mechanical power, and after the push rod 304 reaches the specified position, the rotating control rod 311 is pushed by the pressure spring 312 to enter the interior of the gear rod 310.

[0047] The clamping mechanism 3 also includes a smooth pressing plate 309 slidably connected to the inner wall of the through hole of the equipment housing 102, a gear rod 310 is fixedly connected to the bottom of the smooth pressing plate 309, a rotation control rod 311 is rotatably connected to the outer wall of the push rod 304, and a pressure spring 312 is fixedly connected to the inner wall of the rotation control rod 311. The push frame 211 is used to squeeze the hydraulic telescopic rod 207, and the internal components of the hydraulic telescopic rod 207 enter the hydraulic box 301. A pressure slide plate 302 is slidably connected to the inner wall of the hydraulic box 301. When the liquid inside the hydraulic telescopic rod 207 enters the hydraulic box 301, the pressure slide plate 302 will be displaced by the increase and decrease of the liquid, and the pressure slide plate 302 pushes the push rod 304 to cause displacement. 04 is extended, the rotation control rod 311 is not restricted by the push rod 304 and can rotate, while when the push rod 304 is retracted, the rotation control rod 311 is restricted by the push rod 304 plate and cannot rotate. The rotation control rod 311 will pull the tooth rod 310 and the smooth pressing plate 309 to move toward the center of the equipment and cover the top of the cold-rolled plate to ensure the flatness of the plate surface before the cold-rolled plate enters the shearing process. Here, the cold-rolled steel coil may have wrinkles on the coil head due to transportation before entering the shearing process. Through the regular movement of the push rod 304, the tooth rod 310 drives the smooth pressing plate 309 to enter the top of the income plate 107 and squeeze the coil head placed on the top of the income plate 107 to achieve the flatness of the coil head.

[0048] A specific application of this embodiment is: the present invention is provided with a pressure ring 104 and a cutter 204 inside the device, and the traditional stacking method is eliminated, and a telescopic method is adopted to quickly adjust the position of the cutter 204. The specific working process is as follows: the staff turns on the power of the device, and the servo electric telescopic rod 206 attached to the side wall of the device housing 102 will extend outward and push the fixed plate 209 to the specified position, wherein the inner wall of the through hole of the fixed plate 209 is slidably connected with the power receiving plate 210, and the side wall of the fixed plate 209 is fixedly connected with the outlet frame 213. During the movement, the outlet frame 213 is always in a constant state. The other end of the power receiving plate 210 is fixedly connected to the pushing frame 211, and the side wall of the pushing frame 211 is fixedly connected to the outer wall of the hydraulic telescopic rod 207. When the fixed plate 209 moves, the power receiving plate 210 will move synchronously. However, due to the application of the pushing frame 211 and the hydraulic telescopic rod 207, when the power receiving plate 210 is about to move, the pushing frame 211 squeezes the hydraulic telescopic rod 207, forcing the internal liquid of the hydraulic telescopic rod 207 to enter the hydraulic box 301 through the water pipe 208. However, due to the small diameter of the water pipe 208, the internal liquid of the hydraulic telescopic rod 207 will encounter resistance when entering the hydraulic box 301, resulting in the fixed plate 209 Whether extending or contracting the power receiving plate 210, the power receiving plate 210 will be offset due to the pulling of the push frame 211. Therefore, the hydraulic telescopic rod 207 will have hysteresis during the extension and contraction process. When the fixed plate 209 moves, the outlet frame 213 is relatively stable, and the power receiving plate 210 will be offset due to the hysteresis of the hydraulic telescopic rod 207. Therefore, when the servo electric telescopic rod 206 extends outward, the hysteresis of the hydraulic telescopic rod 207 will drive the power receiving plate 210 to move, and force the power supply between the outlet frame 213 and the power receiving plate 210 to be disconnected. Then the reset spring 212 will reset the already offset power receiving plate, so that the outlet frame 213 contacts the power receiving plate 210 again. After the power receiving plate 210 contacts the outlet rack 213, the current of the outlet rack 213 enters the power receiving plate 210 and is transmitted to the electric telescopic rod 214 through the fixing plate 209, controlling the electric telescopic rod 214 to extend. The specific signal of the electric telescopic rod 214 is a 42-step electric cylinder. This type of electric telescopic rod will extend when the power is turned on once, and will extend and retract when the power is turned on again. After the servo electric telescopic rod 206 moves to the desired position, the electric telescopic rod 214 extends to drive the push rod 215 to move upward, wherein the push rod 215 presents the following Fig.10The outer shape shown in the figure, wherein one end of the push rod 215 is fixedly connected to the electric telescopic rod 214, and a protrusion is provided at the fixed position of the push rod 215 and the electric telescopic rod 214. When the push rod 215 moves upward, the protrusion contacts the inner wall of the limiting slider 111, and the other end is slidably connected to the through hole of the device housing 102. When the servo electric telescopic rod 206 moves to the desired position, the push rod 215 will move synchronously with the electric telescopic rod 214, and the push rod 215 will move synchronously with the electric telescopic rod 214. The servo electric telescopic rod 206 is pushed and contacts with multiple limiting sliders 111, wherein the fixed position of the push rod 215 and the electric telescopic rod 214 contacts with the outermost limiting slider 111, lifts up multiple limiting sliders 111, and breaks away from the restriction of the toothed plate 108, removes the restriction of the toothed plate 108 on the limiting slider 111, and facilitates the rapid movement of the outermost limiting slider 111 during adjustment; then the servo electric telescopic rod 206 is extended again, and the outermost limiting slider 111 and other lifted limiting sliders 111 are simultaneously moved to the Fig.10 209 is moved to the left side. During the displacement of the servo electric telescopic rod 206, the power receiving plate 210 is disconnected from the outlet frame 213 again due to the hysteresis of the hydraulic telescopic rod 207. After the servo electric telescopic rod 206 sends the fixed plate 209 to the specified position, the outlet frame 213 and the power receiving plate 210 are reconnected with the power supply under the pull of the return spring 212, and the electric telescopic rod 214 is forced to contract and the long rod 215 is pushed down. After the limiting slider 111 moves downward, the tooth block at the bottom contacts the tooth pattern of the tooth pattern plate 108, so as to realize the displacement and fixation of the limiting slider 111. Subsequently, the servo electric telescopic rod 206 moves to the desired position again, and the power receiving plate 210 The electric telescopic rod 214 is extended and forced to push the long rod 215 upward, and the second limiting slider 111 that needs to be moved is lifted. After the servo electric telescopic rod 206 moves to the specified position, the electric telescopic rod 214 is extended and retracted, pushing the long rod 215 down, so as to locate and fix the position of the second limiting slider 111. In addition, during the movement of the limiting slider 111, the limiting slider 111 drives the sliding frame 109 to move along the outer wall of the slide rail 105. When the limiting slider 111 reaches the required position, the sliding frame 109 and the pressure ring 104 also reach the specified position. In addition, the pressure ring 104 is connected to the rotation of the cutter 204, such as Figure 6 As shown, when the pressure ring 104 moves, the cutter 204 also moves synchronously. Through the above method, the tool change and positioning of the equipment are achieved.

[0049] The present invention utilizes the characteristic that the width of the cold-rolled sheet is equal, and a sliding rod 305 and a clamping plate 307 are arranged inside the device, wherein the cutter 204 farthest from the fixed slide 202 is usually used as the edge cutting knife of the cold-rolled sheet. Utilizing the above characteristics, a sliding rod 305 is arranged on the side of the device housing 102. At this time, the sliding rod 305, under the push of the extrusion spring 308, will force the roller of the sliding rod 305 to contact the outer wall of the farthest cutter 204, and the clamping plate 307 will follow the sliding rod 305 to move inward, and force the clamping plate 307 to clamp the edge of the cold-rolled sheet, and the ball on the inner wall of the clamping plate 307 is limited, so that the clamping plate 307 can be without affecting the feeding of the cold-rolled sheet. Effectively limit the edge of the cold-rolled plate; when the servo electric telescopic rod 206 is in the tool changing process, a corresponding thrust will be generated. Since the hydraulic telescopic rod 207 is fixedly connected to both sides of the pushing frame 211, when the pushing frame 211 is displaced, the hydraulic telescopic rod 207 and the liquid inside the hydraulic box 301 will be forced to circulate. The flow of liquid inside the hydraulic box 301 will push the compressed slide 302 to move. The movement of the compressed slide 302 will drive the pushing rod 304 to move regularly. The bottom outer wall of the rotating control rod 311 is rotatably connected to the top outer wall of the pushing rod 304, and a pressure spring 312 is arranged in the connection position, and the side of the rotating control rod 311 has no contact with the plate next to it. Fig. 9 As shown, the control rod 311 rotates only on the surface of the push rod 304 and does not move on the surface of the push rod 304. When the push rod 304 moves outward, the rotation control rod 311 is restricted by the gear rod 310 and moves in a circle with the pressure spring 312 as the center. Fig. 9 The left side rotates, one end of the pressure spring 312 is fixedly connected to the inner wall of the rotating control rod 311, and the other end is fixedly connected to the inner wall of the pushing rod 304. In this process, the pressure spring 312 accumulates mechanical power, and after the pushing rod 304 reaches the specified position, the rotating control rod 311 re-enters the interior of the gear rod 310 under the push of the pressure spring 312, and when the pressure slide plate 302 reciprocates due to the flow velocity, the rotating control rod 311 drives the gear rod 310 to move toward the outer wall of the income plate 107, so that the smooth pressing plate 309 is gradually translated to cover the top of the income plate 107, wherein the rotating control rod 311 does not contact the steel plate surface on the income plate 107 during the movement, and at this time, a gap is formed between the bottom of the smooth pressing plate 309 and the top of the income plate 107, and the gap is used as the correction opening, such as Fig.12 As shown in D, when the surface of the processed raw material is concave or convex, Fig.12 As shown in E, the concave and protruding positions will be squeezed through the correction opening by the cutting knife 204 and the pulling frame of the pressure ring 104 to correct the uneven position of the steel coil.

[0050] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A tool changing robot for an automatic tool changing system of a slitting machine, comprising a power mechanism (1), the power mechanism (1) further comprising a device base (101), the top of the device base (101) being fixedly connected to a device housing (102), a rotating column (103) being rotatably connected to the inner wall of the device housing (102), and a plurality of pressure rings (104) being slidably connected to the outer wall of the rotating column (103), characterized in that: Also includes: A control mechanism (2), the control mechanism (2) comprising a rotating column (201) rotatably connected to a side wall of a device housing (102), a fixed slide (202) fixedly connected to an outer wall of the rotating column (201), a sliding bracket (203) slidably connected to an inner wall of the fixed slide (202), a cutter (204) fixedly connected to a side wall of the sliding bracket (203), and an outer wall of the cutter (204) rotatably connected to an inner wall of a pressure ring (104); A clamping mechanism (3), the clamping mechanism (3) comprising a hydraulic box (301) fixedly connected to the top of the equipment base (101), a pressure slide (302) slidably connected to the inner wall of the hydraulic box (301), and a push rod (304) fixedly connected to the side wall of the pressure slide (302); The power mechanism (1) further comprises a slide rail (105) fixedly connected to the inner wall of the device housing (102); a power motor (106) is fixedly connected to the top of the device base (101); an output shaft of the power motor (106) is fixedly connected to the side wall of the rotating column (103); an income plate (107) is fixedly connected to the side wall of the device housing (102); and a toothed plate (108) is fixedly connected to the top of the device base (101); The power mechanism (1) further comprises a sliding frame (109) slidably connected to the outer wall of the slide rail (105); the inner wall of the sliding frame (109) is rotatably connected to a roller (110); the outer wall of the roller (110) is rotatably connected to the outer wall of the pressure ring (104); a limiting slider (111) is slidably connected to the inner wall of the sliding frame (109); a push spring (112) is fixedly connected to the top of the limiting slider (111); and a driving gear (113) is fixedly connected to the side wall of the rotating column (103); The control mechanism (2) further comprises a force-bearing gear (205) fixedly connected to a side wall of the fixed slide (202), an outer wall of the force-bearing gear (205) being meshingly connected to an outer wall of the driving gear (113), and a servo electric telescopic rod (206) being fixedly connected to the side wall of the device housing (102); The control mechanism (2) further comprises a hydraulic telescopic rod (207) connected through a side wall of the device housing (102); a water pipe (208) is connected through an outer wall of the device housing (102); an end of the water pipe (208) away from the device housing (102) is connected through an outer wall of the hydraulic box (301); and an end of the servo electric telescopic rod (206) away from the device housing (102) is fixedly connected to a fixing plate (209); The control mechanism (2) further comprises a power receiving plate (210) slidably connected to a through hole on an outer wall of the fixed plate (209); a pushing frame (211) is fixedly connected to a side wall of the power receiving plate (210); a return spring (212) is fixedly connected to an outer wall of the fixed plate (209); a power output frame (213) is fixedly connected to an outer wall of the fixed plate (209); an electric telescopic rod (214) is fixedly connected to the top of the fixed plate (209); and a pushing long rod (215) is fixedly connected to the top of the electric telescopic rod (214).

2. A tool changing robot for an automatic tool changing system of a slitting machine according to claim 1, characterized in that: The clamping mechanism (3) further comprises a sliding long rod (305) slidably connected to the side wall of the device housing (102); a connecting frame (306) is fixedly connected to the side wall of the sliding long rod (305); an end of the connecting frame (306) away from the sliding long rod (305) is fixedly connected to a clamping plate (307); an outer wall of the clamping plate (307) is slidably connected to the inner wall of the through hole of the device housing (102); and an extrusion spring (308) is fixedly connected to the outer wall of the connecting frame (306).

3. A tool changing robot for an automatic tool changing system of a slitting machine according to claim 2, characterized in that: The clamping mechanism (3) further comprises a smooth pressing plate (309) slidably connected to the inner wall of the through hole of the device housing (102); a gear rod (310) is fixedly connected to the bottom of the smooth pressing plate (309); a rotating control rod (311) is rotatably connected to the outer wall of the push rod (304); and a pressure spring (312) is fixedly connected to the inner wall of the rotating control rod (311).

Images