Cantilever double-stroke coiling side guide automatic positioning and replacing device and control method thereof

Abstract

The invention belongs to the technical field of continuous rolling equipment, and provides a cantilever double-stroke coiling side guide automatic positioning and replacing device and a control method thereof.The replacing device comprises a side guide bracket, a side guide rapid replacing mechanism and a PLC, and the side guide bracket comprises a side guide storage area and a side guide preparation area; a side guide transmission mechanism is arranged between the side guide storage area and the side guide preparation area and is driven by a first servo motor; the side guide rapid replacement mechanism comprises a supporting frame and suspension mechanisms, the suspension mechanisms comprise the first suspension mechanism and the second suspension mechanism, the first suspension mechanism and the second suspension mechanism respectively comprise a cantilever support and a transverse moving cantilever, and the transverse moving cantilever is driven by a cantilever servo motor to drive a cantilever transmission mechanism to transversely move on the cantilever support. A lifting arm transmission mechanism and a lifting arm servo motor are arranged on the transverse moving cantilever, and the lifting arm transmission mechanism drives the lifting arm to move longitudinally through the lifting arm driving servo motor; according to the device, mechanical transmission and automatic control are comprehensively applied, the bottleneck of an existing winding side guide replacement mode is broken through, and efficient replacement and accurate positioning of the winding side guide are achieved; and a more efficient, safer and more accurate solution is provided for a production line, and good application prospects are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of continuous rolling equipment, relates to the replacement of coiling side guides, and specifically is a cantilever double-stroke coiling side guide automatic positioning and replacement device and a control method thereof. Background Art

[0002] In hot rolling production, coiling side guides are used to ensure the coil remains stable during the coiling process and prevent deviation, thereby controlling the edge quality of the strip and effectively eliminating quality issues such as batch drawing, extrusion, and surface pitting. Quality is ensured by replacing side guides that are irregularly corroded by the strip. However, existing methods for replacing coiling side guides often have the following problems: 1. Low replacement efficiency: Currently, most of the replacement of winding side guides relies on overhead crane lifting, which is complicated and time-consuming, affecting production efficiency; 2. Low degree of automation: Existing equipment generally relies on manual positioning and side guides, which makes it difficult to adapt to the needs of high-precision and high-speed production lines; 3. Low safety: There are certain safety hazards in overhead crane lifting operations, especially in confined spaces or high-load production environments. Summary of the Invention

[0003] The purpose of the present invention is to provide a cantilever double-stroke winding side guide automatic positioning and replacement device and its control method, so as to realize the rapid replacement, automatic positioning and precise control of the winding side guide, greatly improve production efficiency, reduce manual intervention, and enhance equipment stability and safety.

[0004] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: A cantilever double-stroke winding side guide automatic positioning and replacement device includes a side guide bracket, a side guide quick replacement mechanism and a PLC logic controller. The side guide bracket is consistent with the roller elevation. The side guide bracket includes a side guide reserve area and a side guide preparation area. A side guide transmission mechanism is set between the side guide reserve area and the side guide preparation area. The side guide transmission mechanism is driven by a first servo motor; the side guide quick replacement mechanism includes a support frame and a suspension mechanism. The suspension mechanism includes a first suspension mechanism and a second suspension mechanism. The first suspension mechanism and the second suspension mechanism are fixed in parallel at both ends of the support frame. The first suspension mechanism and the second suspension mechanism respectively include a cantilever frame and a transverse cantilever. The transverse cantilever is driven by a cantilever servo motor. The motor drives the cantilever transmission mechanism to make the transverse cantilever move transversely on the cantilever frame. The side of the transverse cantilever away from the cantilever frame is sequentially provided with an operating side recovery position arm, an operating side replacement position arm, a transmission side recovery position arm, and a transmission side replacement position arm. The operating side recovery position arm, the operating side replacement position arm, the transmission side recovery position arm, and the transmission side replacement position arm are respectively provided with a boom transmission mechanism and an boom servo motor. The boom transmission mechanism drives the boom longitudinally to move through the boom drive servo motor; the PLC logic controller adopts Siemens S1200, and the PLC logic controller is respectively connected to the first servo motor, the cantilever servo motor and the boom drive servo motor circuit.

[0005] Furthermore, a positioning pin is provided on the side guide bracket, and the positioning hole is used to position the transmission side side guide and the operating side side guide, so that the distance between the transmission side side guide and the operating side side guide is fixed.

[0006] Furthermore, a side guide transmission mechanism is set between the side guide storage area and the side guide preparation area, including a transfer belt, a roller, and a motor belt. The first servo motor drives the motor belt, and the motor belt drives the roller to drive the transfer belt for transfer.

[0007] Furthermore, the cantilever transmission mechanism includes a cantilever rack and a cantilever driving gear. The transverse cantilever is slidingly connected to the cantilever frame. The cantilever frame is provided with a cantilever rack. The transverse cantilever is installed with a cantilever servo motor. The cantilever servo motor drives the cantilever driving gear, and the cantilever driving gear is engaged with the cantilever rack on the cantilever frame.

[0008] Furthermore, the boom transmission mechanism includes a boom drive gear and a boom rack. The transverse boom is slidably connected to the boom. A boom servo motor is fixedly installed on the transverse boom. The boom servo motor drives the boom drive gear. A boom rack is provided on the boom, and the boom drive gear is engaged with the boom rack.

[0009] Furthermore, the control method of the cantilever double-stroke winding side guide automatic positioning and replacement device is as follows: S1. Set the transmission direction of the side guide transmission mechanism to the X-axis direction, which is parallel to the production line direction; the lateral movement direction of the lateral cantilever to the Y-axis direction, which is consistent with the direction of the roller; and the longitudinal movement direction of the cantilever to the Z-axis direction, which is perpendicular to the roller plane. S2. Place the side guide to be replaced on a side guide bracket with a positioning pin, drive the side guide transmission mechanism via a first servo motor to transport the side guide to be replaced from the side guide storage area to the side guide preparation area, and precisely control the side guide coordinates in the X-axis direction via the first servo motor; S3. When the side guide to be replaced arrives at the side guide preparation area, the PLC logic controller controls the cantilever servo motor in the Y-axis direction to drive the cantilever transmission mechanism, and moves the replacement arm to the top of the side guide to be replaced in the side guide preparation area. The servo motor in the Z-axis direction drives the cantilever transmission mechanism to descend, grab the side guide to be replaced, and lift the side guide to be replaced. S4. When the PLC logic controller receives the side guide replacement instruction and the position value of the side guide on the machine, the PLC logic controller outputs the side guide replacement instruction to the side guide quick replacement mechanism. The cantilever servo motor in the master-slave control direction of the Y-axis drives the cantilever transmission mechanism to extend the cantilever to above the position of the side guide on the machine. The cantilever servo motor in the Z-axis retraction position drives the cantilever transmission mechanism to descend, grab the side guide on the machine, and lift the side guide on the machine. S4, the cantilever servo motor in the master-slave control of the Y-axis direction drives the cantilever transmission mechanism to move the cantilever horizontally, so that the replacement position boom moves to the upper position of the machine; S5, the boom servo motor in the Z-axis direction controls the master and slave, driving the boom transmission mechanism to lower the side guide of the replacement position to the upper position through the boom; S6. The cantilever servo motor controlled by the master and slave in the Y-axis direction drives the cantilever transmission mechanism to move the cantilever horizontally, so that the recovery position boom moves above the side guide preparation area; the cantilever servo motor controlled by the master and slave in the Z-axis direction drives the boom transmission mechanism to place the recovery position side guide back to the side guide preparation area of ​​the side guide bracket through the boom, and finally, the first servo motor controlled by the X-axis direction drives the side guide transmission mechanism to send the recovery position side guide back to the side guide storage area.

[0010] The beneficial effects of the present invention are as follows: the device of the present invention realizes efficient replacement and precise positioning of the winding side guide by optimizing the mechanical structure and automatic control; compared with the existing technology, the specific advantages are as follows: 1. The double-stroke cantilever structure is used in conjunction with the rack and pinion transmission system to achieve rapid replacement of the coiling side guides, avoiding the traditional method of relying on overhead crane lifting, improving the efficiency of side guide replacement and reducing the downtime of the continuous rolling equipment; 2. The servo motor cooperates with the encoder feedback and combines the position data transmission technology to ensure the accurate positioning of the side guide and eliminate the manual adjustment error; 3. The PLC programmable controller is linked with the replacement device to realize automatic detection, intelligent adjustment and remote control of the side guide, reducing manual intervention and improving the level of intelligent production; 4. The overhead crane is eliminated to avoid potential safety hazards during the lifting process. At the same time, the device structure is optimized to make the replacement process smoother, improve operational safety, and reduce high-risk operations for workers. 5. Supports the application of similar production lines and has good versatility and scalability; 6. Modular design facilitates equipment installation and maintenance, reduces maintenance costs, and improves equipment operation stability.

[0011] The device of the present invention comprehensively utilizes mechanical transmission and automatic control, breaking through the bottleneck of the existing winding side guide replacement method, providing a more efficient, safe and accurate solution for the production line, and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the device of the present invention; Figure 2 It is a structural schematic diagram of the side guide transmission mechanism of the present invention; Figure 3 It is a structural schematic diagram of the cantilever and the boom of the suspension mechanism in the present invention; In the figure, 1. Side guide bracket; 1-1. Side guide storage area; 1-2. Side guide preparation area; 1-3. Positioning pin; 2. Roller; 3. Side guide transmission mechanism; 3-1. First servo motor; 3-2. Motor belt; 3-3. Roller; 3-4. Transfer belt; 4. Side guide; 4-1. Transmission side guide to be replaced; 4-2. Operation side guide to be replaced; 4-3. Transmission side guide on the machine; 4-4. Operation side guide on the machine; 5. Support frame; 6. Suspension mechanism; 7. First suspension mechanism; 7-1. First cantilever frame; 7-2. A transverse cantilever; 7-3, a second servo motor; 7-4, a first operating side recovery position cantilever; 7-5, a first operating side replacement position cantilever; 7-6, a first transmission side recovery position cantilever; 7-7, a first transmission side replacement position cantilever; 8, a second suspension mechanism; 8-1, a second cantilever frame; 8-2, a second transverse cantilever; 8-3, a third servo motor; 8-4, a second operating side recovery position cantilever; 8-5, a second operating side replacement position cantilever; 8-6, a second transmission side recovery position cantilever; 8-7, a second transmission side replacement position cantilever. DETAILED DESCRIPTION

[0013] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0014] A cantilever double-stroke winding side guide automatic positioning and replacement device, such as Figure 1 、 Figure 2 、 Figure 3 As shown, it includes a side guide bracket 1, a side guide quick change mechanism and a control system. The side guide bracket 1 is at the same elevation as the roller 2. The side guide bracket 1 includes a side guide reserve area 1-1 and a side guide preparation area 1-2. A side guide transmission mechanism 3 is set between the side guide reserve area 1-1 and the side guide preparation area 1-2. The side guide transmission mechanism 3 is driven by a first servo motor 3-1, and the motor belt 3-2 drives the roller 3-3 to drive the transfer belt 3-4 to transfer the side guide 4; the side guide quick change mechanism includes a support frame 5 and a suspension mechanism 6. The suspension mechanism 6 The first suspension mechanism 7 and the second suspension mechanism 8 are fixed in parallel at both ends of the support frame 5. The first suspension mechanism 7 includes a first cantilever frame 7-1 and a first transverse cantilever 7-2. A cantilever transmission mechanism is provided on the first transverse cantilever 7-2. The cantilever transmission mechanism is driven by a second servo motor 7-3. The first transverse cantilever 7-2 is away from the first cantilever frame 7-1 and is provided with a first operating side recovery position boom 7-4, a first operating side replacement position boom 7-5, a first operating side replacement position boom 7-6, a first operating side replacement position boom 7-7 and a first operating side replacement position boom 7-8. The transmission side recovery position boom 7-6, the first transmission side replacement position boom 7-7, the first operating side recovery position boom 7-4, the first operating side replacement position boom 7-5, the first transmission side recovery position boom 7-6, and the first transmission side replacement position boom 7-7 are respectively provided with a boom drive servo motor 7-8 for driving the boom longitudinal movement; the second suspension mechanism 8 includes a second cantilever frame 8-1 and a second transverse cantilever 8-2, and the second transverse cantilever 8-2 is provided with a cantilever transmission mechanism, and the cantilever transmission mechanism is driven by a third servo motor 8-3 drive, the second operating side recovery position arm 8-4, the second operating side replacement position arm 8-5, the second transmission side recovery position arm 8-6, and the second transmission side replacement position arm 8-7 are sequentially arranged on the side of the second transverse cantilever 8-2 away from the second cantilever frame 8-1, and the second operating side recovery position arm 8-4, the second operating side replacement position arm 8-5, the second transmission side recovery position arm 8-6, and the second transmission side replacement position arm 8-7 are respectively provided with a boom drive servo motor for driving the boom to move longitudinally.

[0015] The PLC logic controller adopts Siemens S1200, and the PLC logic controller is respectively connected with the first servo motor, the second servo motor, the third servo motor and the boom drive servo motor circuit.

[0016] The side guide bracket 1 is also provided with a positioning pin 1-3, which is set in the middle of the transfer belt of the transmission side side guide 4-1 to be replaced and the operating side side guide 4-2 to be replaced, and is used to locate the positions of the transmission side side guide 4-1 to be replaced and the operating side side guide 4-2 to be replaced, and to fix the distance between the transmission side side guide 4-1 and the operating side side guide 4-2.

[0017] The cantilever transmission mechanism includes a cantilever rack and a cantilever driving gear. The transverse cantilever is slidingly connected to the cantilever frame. A cantilever servo motor is installed on the cantilever frame. The cantilever servo motor drives the cantilever driving gear. A cantilever rack is installed on the transverse cantilever. The cantilever driving gear is engaged with the cantilever rack on the transverse cantilever.

[0018] The boom transmission mechanism includes a boom drive gear and a boom rack. The transverse boom is slidingly connected to the boom. A boom servo motor is fixedly installed on the transverse boom. The boom servo motor drives the boom drive gear. A boom rack is provided on the boom. The boom drive gear is engaged with the boom rack.

[0019] The control method of the cantilever double-stroke winding side guide automatic positioning and replacement device is: S1. Set the transmission direction of the side guide transmission mechanism 3 driven by the first servo motor 3-1 to the X-axis direction, which is parallel to the production line direction; the lateral movement direction of the first transverse cantilever 7-2 driven by the second servo motor 7-3 and the second transverse cantilever 8-2 driven by the third servo motor 8-3 is the Y-axis direction, which is consistent with the direction of the roller; the longitudinal movement direction of the first operating side recovery position boom 7-4, the first operating side replacement position boom 7-5, the first transmission side recovery position boom 7-6, the first transmission side replacement position boom 7-7, the second operating side recovery position boom 8-4, the second operating side replacement position boom 8-5, the second transmission side recovery position boom 8-6, and the second transmission side replacement position boom 8-7 is the Z-axis direction, which is perpendicular to the roller plane; S2. Place the transmission-side side guide 4-1 to be replaced and the operating-side side guide 4-2 to be replaced on the side guide bracket 1 with the positioning pin, drive the side guide transmission mechanism 3 by the first servo motor 3-1 to transport the transmission-side side guide 4-1 to be replaced and the operating-side side guide 4-2 to be replaced from the side guide storage area 1-1 to the side guide preparation area 1-2, and accurately control the coordinates of the transmission-side side guide 4-1 to be replaced and the operating-side side guide 4-2 to be replaced in the X-axis direction by the first servo motor 3-1; S3. When the transmission side side guide 4-1 to be replaced and the operating side side guide 4-2 to be replaced arrive at the side guide preparation area 1-2, the PLC logic controller controls the second servo motor 7-3 and the cantilever transmission mechanism driven by the third servo motor 8-3 in the Y-axis direction and moves the first operating side replacement position boom 7-5, the first transmission side replacement position boom 7-7, the second operating side replacement position boom 8-5 and the second transmission side replacement position boom 8-7 to the top of the transmission side side guide 4-1 to be replaced and the operating side side guide 4-2 to be replaced in the side guide preparation area 1-2, and then controls the servo motor of the replacement position boom in the Z-axis direction to drive the boom transmission mechanism to descend and grab the transmission side side guide 4-1 to be replaced and the operating side side guide 4-2 to be replaced, and lift the transmission side side guide 4-1 to be replaced and the operating side side guide 4-2 to be replaced; S4. When the PLC logic controller receives the instruction to replace the side guide, and at the same time receives the position values ​​of the on-machine transmission side side guide 4-3 and the on-machine operation side side guide 4-4, the PLC logic controller outputs the side guide replacement instruction to the side guide quick replacement mechanism, and the second servo motor 7-3 and the third servo motor 8-3 controlled by the master-slave control in the Y-axis direction drive the cantilever transmission mechanism to extend the recovery position booms of the first transverse cantilever 7-2 and the second transverse cantilever 8-2 to above the positions of the on-machine transmission side side guide 4-3 and the on-machine operation side side guide 4-4, and the Z-axis direction recovery position boom servo motor drives the boom transmission mechanism to drive the first operation side recovery position boom 7-4, the first transmission side recovery position boom 7-6, the second operation side recovery position boom 8-4, and the second transmission side recovery position boom 8-6 to descend and grab the on-machine transmission side side guide 4-3 and the on-machine operation side side guide 4-4, and lift the on-machine transmission side side guide 4-3 and the on-machine operation side side guide 4-4; S4, the second servo motor 7-3 and the third servo motor 8-3 in the Y-axis direction are controlled by the master-slave mechanism to drive the cantilever transmission mechanism to move the first transverse cantilever 7-2 and the second transverse cantilever 8-2 transversely, so that the side guide 4-1 on the transmission side to be replaced and the side guide 4-2 on the operating side to be replaced are moved to the upper side guide position of the machine; S5, the boom servo motor controlled by the master-slave mechanism in the Z-axis direction drives the boom transmission mechanism to lower the transmission side guide 4-1 to be replaced and the operating side guide 4-2 to be replaced to the upper side guide position through the boom; S6, the second servo motor 7-3 and the third servo motor 8-3 under master-slave control in the Y-axis direction drive the cantilever transmission mechanism to move the first transverse cantilever 7-2 and the second transverse cantilever 8-2 transversely, so that the transmission side side guide 4-3 on the recovery position boom machine and the operation side side guide 4-4 on the machine are transported to the top of the side guide preparation area 1-2; the boom servo motor under master-slave control in the Z-axis direction drives the boom transmission mechanism to place the transmission side side guide 4-3 on the recovery position side guide machine and the operation side side guide 4-4 on the machine back to the side guide preparation area 1-2 of the side guide bracket 1 through the boom, and finally, the first servo motor 3-1 under drive control in the X-axis direction drives the side guide transmission mechanism to send the transmission side side guide 4-3 on the recovery position side guide machine and the operation side side guide 4-4 on the machine back to the side guide reserve area 1-1.

[0020] The present invention utilizes the Siemens S1200 programmable controller to receive side guide replacement instructions from the production line, processes X, Y, and Z axis position data information, and realizes automated control of the side guide replacement process, replacing the traditional overhead crane lifting method, thereby improving the automation level and replacement efficiency. The controller introduces X, Y, and Z axes to drive the transmission mechanism in the corresponding direction through servo motors, thereby realizing precise positioning and motion control of the side guide in three-dimensional space, ensuring smooth and accurate replacement action. The Y-axis direction adopts a master-slave controlled servo motor to drive the cantilever transverse movement structure, which can realize rapid positioning and resetting of the cantilever, and cooperates with the up and down movement of the Z axis to complete the grabbing of the old side guide and the installation of the new side guide. The Z-axis action is divided into "boom recovery position" and "boom replacement position", which correspond to the old side guide recovery and new side guide installation operations respectively. The control logic is clear and the action process is clear. The system achieves high-precision position control by collecting the actual position of the side guide on the machine (including Y-axis and X-axis coordinates) and comparing it with the set value in a closed loop, thereby ensuring the accuracy of side guide replacement. After the side guide to be replaced is installed, the old side guide can be automatically recovered to the side guide bracket and sent back to the side guide reserve area through the X-axis servo drive, completing the entire replacement closed-loop process. The modular design of the structure of the present invention is convenient for deployment on production lines of different specifications, and the replacement logic or reserve area capacity can be expanded according to on-site needs.

[0021] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A cantilever double-stroke winding side guide automatic positioning and replacement device, characterized by: It includes a side guide bracket, a side guide quick change mechanism and a PLC logic controller. The side guide bracket is consistent with the roller elevation. The side guide bracket includes a side guide reserve area and a side guide preparation area. A side guide transmission mechanism is arranged between the side guide reserve area and the side guide preparation area. The side guide transmission mechanism is driven by a first servo motor; the side guide quick change mechanism includes a support frame and a suspension mechanism. The suspension mechanism includes a first suspension mechanism and a second suspension mechanism. The first suspension mechanism and the second suspension mechanism are fixed in parallel at both ends of the support frame. The first suspension mechanism and the second suspension mechanism respectively include a cantilever frame and a transverse cantilever. The transverse cantilever is driven by a cantilever servo motor to drive the cantilever transmission mechanism The transverse cantilever is made to move transversely on the cantilever frame. The operating side recovery position cantilever, the operating side replacement position cantilever, the transmission side recovery position cantilever and the transmission side replacement position cantilever are sequentially arranged on the side of the transverse cantilever away from the cantilever frame. The operating side recovery position cantilever, the operating side replacement position cantilever, the transmission side recovery position cantilever and the transmission side replacement position cantilever are respectively provided with a cantilever transmission mechanism and a cantilever servo motor. The cantilever transmission mechanism drives the cantilever to move longitudinally through the cantilever drive servo motor. The PLC logic controller adopts Siemens S1200, and the PLC logic controller is respectively connected to the first servo motor, the cantilever servo motor and the cantilever drive servo motor circuit.

2. The cantilever double-stroke winding side guide automatic positioning and replacement device according to claim 1 is characterized in that: The side guide bracket is provided with a positioning pin, and the positioning hole is used to position the transmission side side guide and the operating side side guide so that the distance between the transmission side side guide and the operating side side guide is fixed.

3. The cantilever double-stroke winding side guide automatic positioning and replacement device according to claim 1, characterized in that: The side guide transmission mechanism arranged between the side guide storage area and the side guide preparation area includes a transfer belt, a roller, and a motor belt. The first servo motor drives the motor belt, and the motor belt drives the roller to drive the transfer belt for transfer.

4. The cantilever double-stroke winding side guide automatic positioning and replacement device according to claim 1, characterized in that: The cantilever transmission mechanism includes a cantilever rack and a cantilever driving gear. The transverse cantilever is slidably connected to the cantilever frame. The cantilever frame is provided with a cantilever rack. A cantilever servo motor is installed on the transverse cantilever. The cantilever servo motor drives the cantilever driving gear, and the cantilever driving gear is engaged with the cantilever rack on the cantilever frame.

5. The cantilever double-stroke winding side guide automatic positioning and replacement device according to claim 1 is characterized in that: The boom transmission mechanism includes a boom drive gear and a boom rack. The transverse boom is slidably connected to the boom. A boom servo motor is fixedly installed on the transverse boom. The boom servo motor drives the boom drive gear. A boom rack is provided on the boom. The boom drive gear is engaged with the boom rack.

6. The control method of the cantilever double-stroke winding side guide automatic positioning and replacement device according to claim 1 is characterized in that: The steps include: S1. Set the transmission direction of the side guide transmission mechanism to the X-axis direction, which is parallel to the production line direction; the lateral movement direction of the lateral cantilever to the Y-axis direction, which is consistent with the direction of the roller; and the longitudinal movement direction of the cantilever to the Z-axis direction, which is perpendicular to the roller plane. S2. Place the side guide to be replaced on a side guide bracket with a positioning pin, drive the side guide transmission mechanism via a first servo motor to transport the side guide to be replaced from the side guide storage area to the side guide preparation area, and precisely control the side guide coordinates in the X-axis direction via the first servo motor; S3. When the side guide to be replaced arrives at the side guide preparation area, the PLC logic controller controls the cantilever servo motor in the Y-axis direction to drive the cantilever transmission mechanism, and moves the replacement arm to the top of the side guide to be replaced in the side guide preparation area. The servo motor in the Z-axis direction drives the cantilever transmission mechanism to descend, grab the side guide to be replaced, and lift the side guide to be replaced. S4. When the PLC logic controller receives the side guide replacement instruction and the position value of the side guide on the machine, the PLC logic controller outputs the side guide replacement instruction to the side guide quick replacement mechanism. The cantilever servo motor in the master-slave control direction of the Y-axis drives the cantilever transmission mechanism to extend the cantilever to above the position of the side guide on the machine. The cantilever servo motor in the Z-axis retraction position drives the cantilever transmission mechanism to descend, grab the side guide on the machine, and lift the side guide on the machine. S4, the cantilever servo motor in the master-slave control of the Y-axis direction drives the cantilever transmission mechanism to move the cantilever horizontally, so that the replacement position boom moves to the upper position of the machine; S5, the boom servo motor in the Z-axis direction drives the boom transmission mechanism to lower the side guide of the replacement position to the upper position through the boom; S6. The cantilever servo motor controlled by the master and slave in the Y-axis direction drives the cantilever transmission mechanism to move the cantilever horizontally, so that the recovery position boom moves above the side guide preparation area; the cantilever servo motor controlled by the master and slave in the Z-axis direction drives the boom transmission mechanism to place the recovery position side guide back to the side guide preparation area of ​​the side guide bracket through the boom, and finally, the first servo motor controlled by the X-axis direction drives the side guide transmission mechanism to send the recovery position side guide back to the side guide storage area.

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