METHOD AND DEVICE FOR EQUIPING A KNIFE RING OF A KNIFE RING CLIPPER

Description

[0001] The invention relates to a device for equipping a knife ring of a knife ring shredder for comminuting materials according to claim 1 and a method for equipping a knife ring of a knife ring shredder for comminuting materials according to claim 14.

[0002] For the production of, for example, particleboard or OSB panels, wood must be supplied in long chips. For this purpose, knife ring chippers are used, such as those known from DE 199 07 415 B4 or DE 10 2015 005 642 A1. In the second disclosure, the knife ring chipper has a vibrating trough as a feeding device for the material to be shredded. A vertical counter-airflow then separates heavier material, and the material to be shredded is fed to a central area within the knife ring chipper. The airflow, which is intensified by the rotating rotor blade, presses the material against the stationary or, if applicable, also rotating knife ring and shreds it. After passing through the knife ring, the material enters a discharge chute and is, if necessary, conveyed further by a discharge device and transferred to a system for the production of engineered wood panels.As a rule, the shredded material is dried there if necessary, glued and spread into a pressing mat and finally pressed into a material sheet, preferably in a continuously operating press.

[0003] Sharpening and cleaning devices for knife rings are disclosed in German patent applications DE 197 18 681 A1, DE 199 00 924 A1, DE 199 01 887 A1, and DE 10 2015 003 520 B4. Typically, the knives are either removed from the knife ring or moved and sharpened on-site within the ring. While these methods and devices have proven effective in principle, they suffer from the disadvantage of still excessively long cycle times. Furthermore, the wear and tear on and caused by moving grinding devices is considerable. Over time, the accuracy of the grinding elements, which move axially along the knife ring, also deteriorates due to wear. In addition, these devices are designed for a specific type of knife ring and generally cannot process knife rings from other manufacturers. This forces operators of knife ring machining centers to either purchase from a single manufacturer or maintain several different setup devices.

[0004] The complex devices from the prior art also have the disadvantage that during repairs or maintenance the entire device has to be taken out of service and, in the case of major measures, the production itself is at risk.

[0005] DE 101 17 480 A1 discloses a method for resharpening a knife ring, in which the knife packs are manually removed from a knife ring and are provided with an automated device for disassembling the knife packs consisting of a clamping plate and knife, for sharpening the knives, for assembling the knife packs, and for transferring them to the operator. The dull and sharp knives can be stored in separate buffer stations. Used knives or clamping plates can be manually removed. Each clamping plate is reinstalled in the same knife ring. Further prior art is known from DE 101 25 923 A1 and US 10,661,406 B2.

[0006] The object of the present invention is to provide a method and a device with which highly accurate automated removal and installation of sharpened knives into the knife ring becomes possible and / or a faster change of the knife packages can be achieved.

[0007] An extension of the task should make it possible to carry out repairs and maintenance on the device or to maintain at least partial or rudimentary operation despite a shutdown of a sub-area.

[0008] An inventive device for equipping a knife ring of a knife ring shredder for shredding materials has a first and third sub-area for handling knife packages and / or knives, wherein in a third sub-area of ​​the device a grinding device for the blunt knives and for handling the knives an industrial robot, preferably with a double gripper for the simultaneous transport of two knives, is arranged, and wherein in the third sub-area a measuring station for measuring the blunt knives is arranged in the working area of ​​the industrial robot, preferably that a camera is arranged in the measuring station for the measurement.

[0009] Preferably, the device further comprises a second sub-section, wherein in the second sub-section of the device a station for disassembling knife packages into a blunt knife and a clamping plate and a station for assembling sharp knives with a clamping plate into a knife package as well as a cleaning device for the blunt knives and the clamping plate are arranged.

[0010] Preferably, at least one transfer area, preferably a storage area, for knife packages is arranged as an interface between the first and second sub-area and / or a transfer area for the knives is arranged as an interface between the second and third sub-area.

[0011] In an inventive method for equipping a knife ring of a knife ring shredder for comminuting materials, In a first part of the process, an industrial robot removes knife packages consisting of a clamping plate and a blunt knife from a knife ring and inserts knife packages with a sharp knife into the knife ring, and in a third part of the process, the blunt knives are sharpened to sharp knives by means of a grinding device and the knives are handled by an industrial robot, wherein the blunt knives in the third part are measured in a measuring station in the area of ​​operation of the industrial robot.

[0012] Preferably, in a second part of the process, knife packages are disassembled into a blunt knife and a clamping plate, and sharp knives are assembled with a clamping plate to form a knife package.

[0013] In a process for equipping a knife ring of a knife ring shredder for shredding materials, In the first part of the process, an industrial robot removes knife packages consisting of a clamping plate and a blunt knife from a knife ring and inserts knife packages with a sharp knife into the knife ring; in the second part of the process, knife packages consisting of a blunt knife and a clamping plate are disassembled and sharp knives are assembled with a clamping plate to form a knife package; and in the third part of the process, the blunt knives are sharpened to become sharp knives.

[0014] The first independent sub-area includes, in particular, the following procedural steps: A screw device releases the fastening of the blunt knife pack; the blunt knife pack is removed from the knife ring by an industrial robot; the industrial robot transfers the blunt knife pack to a transfer area between the first and second sections; the industrial robot picks up a sharp knife pack and positions it on the knife ring; the sharp knife pack is attached to the knife ring using the screw device.

[0015] The second independent sub-area includes, in particular, the following procedural steps: A blunt knife assembly 4 is removed from a transfer area between the first and second sub-areas, preferably a storage area, and transferred to a disassembly station. In the station, the blunt knife assembly is disassembled and separated into a clamping plate and a blunt knife. The clamping plate and the blunt knife are preferably cleaned side by side in a cleaning station. The clamping plate and the blunt knife are preferably positioned side by side in a transfer area between the second and third sub-areas. The blunt knife is replaced by a sharp knife. The sharp knife, along with the clamping plate, is transferred to the station and assembled there into a sharp knife assembly. The sharp knife assembly is then transferred to the transfer area between the first and second sub-areas.

[0016] The third independent sub-area includes, in particular, the following procedural steps: The blunt knife is picked up by a first gripper on a double gripper by an industrial robot at the transfer area between the second and third sections. The industrial robot repositions the grippers of the double gripper. A sharp knife on the second gripper is positioned by the industrial robot in the transfer area. The blunt knife is measured at the transfer area or on the gripper in a measuring station to determine the individual grinding dimension, preferably from two sides. A sharp knife is removed from a grinding device by the free gripper of the double gripper on the industrial robot, and the blunt knife on the gripper is transferred to the grinding device.

[0017] Alternatively or cumulatively, in the first section, all dull knife packs are removed. If necessary, at least one knife pack is measured as a reference, and then sharp knife packs are installed until the knife ring is complete. For continuous processing, it can be advantageous to remove all knife packs and, after removing the last one, to start inserting the sharp knife packs again. This would, for example, make it possible to clean the knife pack carriers once around the circumference, preferably in a cleaning station that is arranged around the circumference of the knife ring at a distance from the other devices and thus does not directly contaminate them. Preferably, a reference measurement is performed on at least one knife pack to determine the knife protrusion for the new knife packs. This reference measurement can be performed in addition to, or even solely with, a reference knife.

[0018] Alternatively or cumulatively, in the first sub-area, all free or, shortly before installation of the sharp knife pack, the corresponding knife pack carrier is cleaned by a cleaning device.

[0019] Alternatively or cumulatively, in the first sub-area, a measuring station measures all, specific or a predetermined wear plate with regard to its wear or thickness before mounting a sharp knife package, preferably with the aid of a zero knife to be inserted.

[0020] Alternatively or cumulatively, in the first sub-area and / or in the second sub-area, the sharp knife package is adjusted with regard to the knife projection, in particular with regard to the measurement results of the associated wear plate.

[0021] Alternatively or cumulatively, blunt knife packs will be removed from the first section until the first sharp knife pack from the second section is (again) available. The knife packs will then be swapped alternately until only the free knife pack carriers are occupied, at which point the armor setup would be complete.

[0022] Alternatively or cumulatively, in the first section, the position of the knife ring and / or the knife ring carrier in the bogie is measured using a measuring station during the insertion or positioning of the knife pack on the knife ring. This may be necessary to detect wear on the knife ring rings, for example, whether the required roundness is still present or whether other essential damage or out-of-roundness is visible. It can also be used to detect whether the knife projections need to be adjusted differently around the circumference, usually in specific areas.

[0023] Alternatively or cumulatively, in the first sub-area, a knife ring in the bogie is measured in its dimensions, its positioning and / or parts or their position in the knife ring using a measuring station, whereby in particular the wear plate, the thickness of the wear plate, the knife pack carrier, a zero knife to be inserted and / or the knives or the knife packs are measured.

[0024] Alternatively or cumulatively, in the case of a preferably dynamic storage of the sharpened knife packages in the transfer area, their installation location in the knife ring is selected based on their set knife projection, in particular with regard to the thickness or geometry of the associated wear plate to form a cutting gap.

[0025] Alternatively or cumulatively, the grippers on the industrial robot of the first sub-area will grasp the knife pack on the clamping plate and / or the grippers on the industrial robot of the second sub-area will grasp the knives on their contour, wherein preferably the knife packs are held substantially parallel to the surface side on projections of the clamping plate and / or the knives are held substantially perpendicular to the surface side on the gripper.

[0026] Alternatively or cumulatively, the three sub-areas will continue to operate with different cycle times during operation and / or during maintenance and / or a shutdown of at least one sub-area.

[0027] Alternatively or cumulatively, the clamping plates in the second sub-area are checked for wear and, if necessary, replaced with new clamping plates.

[0028] Alternatively or cumulatively, the knives and / or knife packs are stored and kept in common or separate storage areas, either statically, dynamically, or using a paternoster lift. Paternoster lifts offer the advantage that the transfer or retrieval point essentially always remains the same. The same applies to loading the paternoster lift. In static storage, the same knives or knife packs are stored everywhere. In dynamic storage, items are stored and retrieved at different locations.

[0029] Alternatively or cumulatively, information about the type and / or condition of the knife ring is read from a programmable memory on the knife ring before the setup process and stored there after the setup process.

[0030] Alternatively or cumulatively, the relevant data are transmitted to or from the control system of the knife ring cutter or an integrated large-scale industrial plant control system, whereby this data is used in particular to adapt the screwing device, the cleaning device, the rotary device, the supports and / or the double gripper to the incoming knife ring or to replace them with suitable alternatives.

[0031] Alternatively or cumulatively, the knife packs or clamping plates and knives are held by grippers near the center of gravity, and the knife packs or clamping plates and knives are held in a bearing on the outside, i.e., on the narrow sides. Removal by a robot arm is easier if it makes contact on the inside.

[0032] For the third independent sub-area, a procedure in conjunction with a quick changeover can be carried out with the following procedural steps: 18.1 A screw device makes contact with the screws or nuts that fix the knife pack to the knife ring, 18.2 The screw device loosens the screws or nuts which are held in the screw device. 18.3 The blunt knife pack is removed from the knife ring by a first gripper on a double gripper using an industrial robot. 18.4 The industrial robot performs a position change of the grippers of the double gripper, 18.5 A sharp blade pack on the second gripper is positioned in the blade ring by the industrial robot. 18.6 The sharp blade assembly is screwed onto the blade ring using the screw device. 18.7 The knife ring is rotated by a predetermined partial turn and process steps 18.1 to 18.7 are carried out until all dull knife packs have been replaced by sharp knife packs, wherein during process steps 18.6, 18.7, 18.1 and / or 18.2 the industrial robot transfers the blunt knife pack to a transfer area as an interface, preferably a storage area, removes a sharp knife pack from the transfer area and then grips the next blunt knife pack in the knife ring with the free gripper.

[0033] A device for equipping a knife ring of a knife ring shredder for shredding materials has a first, second and / or third sub-area for handling knife packs and / or knives; wherein in the first part of the device an industrial robot is arranged for removing knife packages consisting of a clamping plate and a blunt knife from a knife ring and for inserting other knife packages with a sharp knife into the knife ring, and / or wherein in a second part of the device a station for disassembling knife packages into a blunt knife and a clamping plate and a station for assembling sharp knives with a clamping plate into a knife package is arranged, and / or wherein in a third part of the device a grinding device for the blunt knives is arranged.

[0034] Alternatively or cumulatively, the device includes at least one transfer area, preferably a storage area, for knife packages as an interface between the first and second sub-area and / or a transfer area for the knives as an interface between the second and third sub-area.

[0035] Alternatively or cumulatively, an industrial robot, preferably with a double gripper for the simultaneous transport of two knives, is arranged in the third sub-area for handling the knives.

[0036] Alternatively or cumulatively, grippers for receiving the knife package on the clamping plate are arranged on the industrial robot of the first sub-area and / or grippers for receiving the knives over their contour are arranged on the industrial robot of the second sub-area, wherein preferably the grippers are suitable for holding the knife packages substantially parallel to the surface side on projections of the clamping plate and / or the knives substantially perpendicular to the surface side on the gripper.

[0037] Alternatively or cumulatively, a control system is arranged which is suitable for implementing the procedures or operation of the device in which the three sub-areas continue to operate with different cycle times and / or during maintenance and / or a standstill of at least one sub-area.

[0038] Alternatively or cumulatively, a rotator is arranged in the first section to rotate the knife ring.

[0039] Alternatively or cumulatively, a measuring station for measuring the knife packages, the knife ring, the knife package carrier and / or the wear plates is arranged in the first sub-area.

[0040] Alternatively or cumulatively, a measuring station for the terminal blocks is arranged in the second sub-area and, if necessary, a terminal block exchange device.

[0041] Alternatively or cumulatively, in the first sub-area a screw device, a cleaning device, a rotary device, a support and / or a double gripper of the industrial robot are arranged on the rotary device for the knife ring, which are preferably adaptable for different geometries of a knife ring or different knife rings or interchangeable with appropriately adapted parts.

[0042] The knife rings can vary, for example, in… in their diameter, with regard to the number of knives / knife packs on the circumference, with regard to the length of the knives, thus the width of the knife ring, with regard to the number, position, shape of the screws, and / or with regard to other adjusting means, projections, handle elements on the knife packs, etc.

[0043] Knife rings with the same diameter can also have different designs. They may have different mounting angles for the knives, different screw connections or mounting brackets, as well as different numbers of screws (type of screw, screw spacing, screw position). Furthermore, they may have different diameters, widths, or other geometries (rings, ring width, radii on the outer edges of the rings, etc.). This can also include knife rings from different manufacturers (design, ring types, size).

[0044] Alternatively or cumulatively, common or separate static, dynamic bearings or paternoster bearings are arranged for the knives and / or knife packages.

[0045] Alternatively or cumulatively, a control device for adjusting, selecting and / or mounting the sharpened knife packages at predetermined locations in the knife ring is arranged.

[0046] Alternatively or cumulatively, means for receiving or transmitting information about the state of the knife ring are arranged from a programmable memory on the knife ring, from the control of a knife ring cutter or an interconnected large-scale industrial plant control system.

[0047] Alternatively or cumulatively, the measuring station for measuring the blunt blades in the second section is arranged in conjunction with the transport device. It is advantageous if a camera is installed in the measuring station for this purpose.

[0048] Alternatively or cumulatively, in the first sub-area a storage capacity for sharp knife packages for one, preferably two or more, most preferably for different knife rings is arranged.

[0049] Alternatively or cumulatively, a turning station for storing knives is arranged in the third sub-area of ​​the device, preferably in conjunction with the measuring station for the knives.

[0050] The invention defines grinding and sharpening as two different methods for reconditioning and sharpening a dull or worn knife. Grinding devices restore the knife using rotating abrasives and an undefined cutting edge, while sharpening, or corresponding sharpening devices, achieve this using milling cutters or similar tools with a defined cutting edge. In this context, grinding and sharpening are considered synonymous according to the invention. For large-scale industrial applications, the present invention favors milling over sharpening for a large number of linear meters of cutting edge.

[0051] The invention therefore understands a grinding or sharpening robot to be not only a device with a high degree of automation, which removes the knives from the cutting tool and reinserts and sharpens them, but also the possibility of using an automated CNC milling machine as a grinding device, into which the dull knives are automatically inserted and the sharpened knives are automatically removed.

[0052] A cutter ring, as described in the aforementioned prior art, typically consists of two axially spaced support rings, the distance between which defines the cutter ring width. The cutters or cutter packs are arranged coaxially between these rings on cutter pack carriers, with the cutting edge facing inwards. Wear plates are arranged flat on the inner circumference next to the cutting edges. These wear plates define the cutter projection relative to the cutters and thus the cutting depth, and consequently the chip thickness, by virtue of their flat guide surface. Wear also occurs on the wear plates, which must be regularly inspected and, if necessary, resharpened, especially in cases of uneven wear across the width. The need for replacement should also be regularly checked and considered, and ideally, this can be implemented using a dedicated sub-device (in the first sub-section) within the control and automation system.

[0053] Basic procedural objectives are distinguished: the high-precision installation (to tenths) of the knife packs in the knife ring, in particular on a reference line, preferably relative to the wear plates or their thickness, and / or the fastest possible change of the knife packs, possibly with a limitation regarding accuracy.

[0054] The optimal process goal would be achieved if the process is optimized to such an extent that it allows for a highly precise adjustment of the knives or knife packs relative to the wear plates during a rapid change.

[0055] One or more cleaning devices may be provided for the cutter ring. Either the cutter ring is cleaned after use in a machining process, prior to or during the removal of the knives or knife packs, so that the handling equipment (industrial robots, grippers, screwdrivers) can easily make contact with the individual parts. For high-precision installation of the knife packs onto the knife pack carriers, a cleaning device, possibly with a drying device, may be provided after the removal of one or all knife packs. This device cleans the fixed knife pack carriers before the installation of a knife pack. Cleaning includes the application of pneumatic, hydraulic, or mechanical cleaning agents, as well as, if applicable, the drying and lubrication of parts of the cutter ring.

[0056] The interfaces between the sub-areas can be simple transfer areas or storage areas (static / dynamic) that receive the necessary machine elements or hold them for a varying length of time so they can be moved from one sub-area to another. These interfaces may be physically assigned to a sub-area, but are accessible from both sides of that sub-area for the exchange of machine elements, in this case, knives or knife sets.

[0057] It may well be intended that parts of the automation from the adjacent areas in the transfer area do not put the knives or knife packages down but transfer them directly in order to optimize cycle times.

[0058] For example, between the first and second sections, the industrial robot from the first section can directly transfer the blunt knife assembly to the knife assembly disassembly station and / or pick it up from the knife assembly assembly station. Conversely, it can also be advantageous if the disassembly station directly picks up the knife assembly from a transfer area, performs the disassembly, and then passes on the knife and clamping plate. If the clamping assembly assembly station is combined with the disassembly station, the assembly station can directly transfer the clamping assembly to the industrial robot or have it picked up by the robot.

[0059] The knife packs or the clamping plates of the knife packs typically have pins or projections to which a gripper of the industrial robot can engage for transport, either positively or non-positively. The knives themselves usually have a slot or a groove for variable adjustment of the knife projection relative to the clamping plate. The gripper of the second industrial robot can thus engage a contour, in particular a groove on the knife, either positively or non-positively.

[0060] Clamping plates, wear plates and knives usually have four narrow sides, possibly beveled, and two flat sides.

[0061] Measuring stations can be arranged for the cutter ring and / or for determining the position of the cutter ring and / or for measuring the wear plates or their thickness. For measuring the thickness of the wear plates, a zero-point gauge can be inserted at each cutter, at one cutter, or at predetermined intervals (every 3rd, 4th, 5th, etc.) to measure the current degree of wear or the thickness of the corresponding wear plate. The degree of wear or the remaining thickness of the wear plate determines the necessary (adjustable) cutter projection relative to the clamping plate, which is attached to the cutter pack carrier in the cutter ring at a fixed position (preferably at the location of the previous or batch-wise measurement).

[0062] The wear plate lasts disproportionately longer than the blade sharpness, so it rarely needs to be replaced. The measuring device can also be used to measure a blade ring or individual components during a continuous or intermittent 360° rotation, store the corresponding values, and transmit them to the control system. This allows the necessary blade packs with the required blade protrusions to be either set ad hoc and installed directly, or made available for installation in a timely manner according to the replacement cycle. For example, a blade ring can be completely stripped of its blade packs, the blade pack carriers can optionally be cleaned, and then, based on the measurements, the blade pack, set according to the specifications for each blade pack carrier and its associated wear plate, can be placed and fixed on the blade pack carrier.

[0063] In addition to the advantages of the invention for highly precise installation and / or quick replacement of the knife packs, it is further advantageous that, by decoupling the three sub-areas through arranged interfaces, the replacement on the knife ring can be carried out independently of the assembly / disassembly of the knife packs and independently of the sharpening process.

[0064] In summary, from a process engineering perspective, there are several distinct and completely independent procedures for removing and installing the knife packages in the first sub-area: Following a first example from the first sub-area: All knife packs are removed. If necessary, individual knife packs, all of them, or one pack are temporarily retained and used as a reference for measurement. Subsequently, all knife packs are sharpened and reinstalled. In between, all knife pack carriers can be cleaned and / or the wear plates measured, preferably using a zero knife inserted into the blade assembly. The new knife packs can be uniformly set with respect to the knife protrusion or, based on the measurement results, precisely adjusted to the corresponding wear plate for one or more specific positions in the knife ring. A control device ensures that the correct knife packs are set, provided, and installed.

[0065] In another example from the first sub-area: To increase system speed, it may be advantageous to insert a fresh knife pack immediately after removing the old one, preferably one specifically measured and / or adjusted for that location. In this case, the optional intermediate steps of cleaning or measuring the thickness of the associated wear plate are performed directly between removing or inserting the knife pack, or omitted if not absolutely necessary. The adjustment of the knife pack or the knife protrusion relative to the clamping plates can be carried out in either the first or second section.

[0066] In a third example from the first sub-area: In a third variant, dull knife packs can be removed until the first knife pack, with a freshly sharpened knife, returns to the first sub-area. The process then alternates until only the remaining empty knife pack carriers need to be occupied. Theoretically, this could be implemented after removing 3 to 8 knife packs. This is how long it could take for the first knife pack, or rather the corresponding knife, to pass through sub-areas two and three and return sharpened. The measuring, cleaning, and adjustment can be carried out either proactively or directly as needed, as required by the specifications, which include accuracy and speed for setting up the knife ring.

[0067] Measuring with a zero-point gauge offers the advantage of faster measurement and / or precise and simple determination of the thickness of the wear plate along its length. If it is detected along the corresponding cutting edge of the zero-point gauge that, for example, the wear plate is worn unevenly relative to the cutting edge of the zero-point gauge, the corresponding gauge can be fixed in the clamping plate accordingly, either unevenly or at an angle, so that a uniform cutting gap is restored along the length of the cutting edge.

[0068] A zero knife is understood to be a knife or knife assembly that corresponds to a new, unused knife. By simple scanning, the (remaining) thickness of the wear plate can be determined directly or indirectly, depending on the measuring method. Preferably, the zero knife is inserted into the knife ring by the industrial robot, and then the thickness of the wear plate, which together with the zero knife forms the cutting gap, is measured (directly or indirectly). Alternatively, the existing cutting gap can be measured directly or indirectly. With respect to the zero knife, which is positioned at a predetermined position relative to the knife assembly holder, preferably the position in its original state, a cutting gap is thus determined.If the measured or determined cutting gap deviates from a specified cutting gap, the knife projection in the clamping package must be adjusted accordingly so that the clamping package, after assembly with the cutting edge of the knife and the associated wear plate, has the necessary or specified cutting gap.

[0069] Especially in the first sub-area, it can be useful and advantageous in terms of a proprietary invention to use a triple or quadruple gripper on the industrial robot instead of a double gripper. For example, measuring devices or the zeroing knife can be permanently installed on the first industrial robot and thus engaged with the knife ring, particularly to optimize the measuring cycle for the individual adjustment of the knife packs.

[0070] The double gripper is designed such that, during a 180° rotation, it holds the blank knife or knife pack on one gripper and picks up or releases a knife pack with the other gripper. A triple or quadruple gripper is not to be understood as having a gripper arranged every 90° along the axis of rotation; preferably, for spatial reasons, the third or fourth gripper is located at the same end as the first or second gripper and is folded out or in accordingly, so that preferably only a 180° rotation is necessary to change the gripper or perform a folding movement.

[0071] In this context, it may also be provided that an adjustment device for the blade projection in the blade assembly is included in the first section. This device is particularly preferably located on or near the rotating frame and, for example, while the zero blade is positioned in the blade ring for measurement, adjusts the blade projection according to the measurement at another gripper of the triple or multiple gripper. Naturally, the industrial robot can also pivot to this adjustment device after the measurement; preferably, it will already have a sharp blade assembly positioned on one of the grippers during the measurement.

[0072] The invention defines an industrial robot as a multiaxially movable system that is universally programmable and suitable for handling, assembling, and, if necessary, machining workpieces. These robots have the advantage of being adaptable to various circumstances, parameters, sizes, etc., through relatively simple programming, and may not require manual reconfiguration but can be used adaptively through programming or by exchanging handling devices.

[0073] Preferably, the knife packs are automatically loosened or tightened using a screw device, whereby several screws must be manipulated along the length of the knife or knife pack. Preferably, the knife pack is held in position by the gripper of the industrial robot during the tightening process by the screw device.

[0074] In a preferred embodiment, the knife packs are moved or manipulated radially into or out of the knife ring relative to its axis of rotation by the industrial robot; particularly preferably, the industrial robot does not move the knife packs inside the ring but radially from the outside to insert or remove them.

[0075] In a measuring station, the following parameters, settings, machine elements, or the like can be advantageously measured on the knife ring: Knife projection of the knife pack relative to the wear plate in the knife ring. Condition, thickness and / or wear of the wear plate. Distance measurement from the sensor to the ring. Height profile of the knife ring depth.

[0076] The results of the survey can be determined directly or indirectly by converting other values / dimensions.

[0077] A zeroing gauge can be used for surveying or other processes. A zeroing gauge (usually a new gauge) is used on its own or preferably attached to a new clamping plate. "New" also includes the use of a sample part that has been measured. Alternatively, a zeroing gauge can be manufactured to match the dimensions of a clamping assembly, thus mimicking an ideal clamping plate with a gauge.

[0078] Further advantageous measures and embodiments of the subject matter of the invention will become apparent from the dependent claims and the following description with the drawings.

[0079] The following descriptions should not be considered direct solutions to individual cases, but also contain general advice and solutions to problems. Individual sentences should be viewed as individual characteristics.

[0080] In particular, different embodiments are to be regarded as separate means and ways of implementing the invention.

[0081] They show: Fig. 1 a schematic view of a device for the automated maintenance or sharpening of the knives from a knife ring of a knife ring cutter, Fig. 2 a side view of a universal transport carriage for knife rings and a knife ring stored therein, Fig. 3 a schematic side view of a part of the first module for removing knife packs from a knife ring with associated devices for intermittent rotation, cleaning, a part of an industrial robot and automatic screwdriver, Fig. 4 a schematic view of the double gripper for the knife packs or the knives from two sides and Fig. 5 a schematic view of a knife pack installed in a knife ring with a knife which forms a cutting gap with an associated spaced-apart wear plate.

[0082] Figure 1Figure 14 shows a schematic top view of a device 14 for the automated maintenance, replacement, or sharpening of the knives 2, 3 for a knife ring 1 of a knife ring cutter (not shown). The device 14 is subdivided into three different sections 37, 38, 39, which can operate independently of each other.

[0083] In the first sub-area 37, an industrial robot removes 10 knife packages 4 consisting of a clamping plate 6 and a blunt knife 2 from a knife ring 1 and inserts other knife packages 5 with a sharp knife 2 into the knife ring 1.

[0084] In a second sub-section 38, the knife packages 4 are disassembled into a blunt knife 2 and a clamping plate 6, and sharp knives 3 are assembled with a clamping plate 6 to form a knife package 5.

[0085] In the third sub-area 39, the blunt knives 2 are measured if necessary and sharpened to become sharp knives 3.

[0086] Interfaces are arranged between the three sub-areas 37, 38, and 39, serving as transfer points and, if necessary, buffer storage, so that the sub-areas 37, 38, and 39 can perform their tasks independently of each other in cycles. This advantageously makes it possible to cycle some sub-areas 37, 38, and 39 faster than others.

[0087] In the first subsection 37, a bogie 11 is arranged for a knife ring 1. This bogie 11 is loaded with knife rings 1 by a universal wagon 27, and the knife rings 1 are transported away again on it after they have been fitted with sharpened knives, cf. Figure 2The goal here can be an automated storage system or directly the production of shredded materials, i.e., a knife ring shredder. The universal carriage 27 has supports 28 which are preferably suitable for receiving and fixing geometrically different knife rings 1.

[0088] The universal vehicle 27 proceeds according to Figure 1 or 3 The knife ring 1 is lifted from the universal carriage 27 by means of supports 16 on the bogie 11 and rotatably mounted in the bogie 11. A rotary device 15 is arranged on the bogie 11 for intermittent or continuous operation. Alternatively, a crane or forklift can be used instead of a universal carriage.

[0089] In a separate embodiment of the device, a turret rotary head 18 is arranged coaxially on both sides of the knife ring 1, which, after determining the type of knife ring 1, provides the corresponding supports 16 for engagement. Not shown are any means for lifting the supports 16 or the turret rotary head 18 to transfer the knife ring 1 from the universal carriage 27.

[0090] Only the same type of knife rings 1 can be used. Alternatively, the type of knife ring 1 to be machined is specified to the rotary frame 11 or the device 14, and the device 14 or the corresponding sections 37, 38, 39 will adjust accordingly. This is particularly necessary because different knife rings 1 may have a different number of knives on their circumference; therefore, the rotation angle of the rotary device 15 must also be adjusted accordingly. Other devices on the rotary frame 11 may also need to be adjusted accordingly, for example, a cleaning device 13, the screwing device 12 for the knife packs 4, 5, or the selection of the supports 16. For different widths of the knife rings 1, adjusting drives or corresponding devices can be provided that adapt or are interchangeable, similar to the supports.For example, the cleaning device can also be arranged linearly and coaxially to the knife ring 1 in order to be able to cover different widths of the knife ring 1.

[0091] At least one measuring station 17 is arranged around the circumference of the knife ring, in particular for measuring the position of the knife ring 1 on the support before or during the exchange of the knife packs 4, 5. Knife rings can deform due to their own weight or are regularly subjected to slight variations during manufacturing. To ensure that the positioning of a sharp knife pack 5 or knife 3 is carried out according to specifications or requirements when inserting it, for example depending on the thickness of the wear plates 40, various areas of the knife ring, preferably the wear plate 40, can be measured relative to a zero knife or the current knife pack.The measuring station can also be equipped with a linear drive to measure a knife ring temporarily stored on the transport carriage, so that the corresponding parameters can be adjusted on the bogie or generally in the three areas as feedback. For example, the knife width, circumference, number of knives on the circumference, etc., can vary.

[0092] For cleaning parts of the cutter ring 1, at least one cleaning device 13 is provided. In a first embodiment, a basic cleaning of the cutter ring 1 can be carried out, in which the blunt cutter packs 4 are passed by the cleaning device 13 and at least the rear sides (outer circumference) with the nuts or screw heads that fix the cutter pack 4 to the cutter ring 1 or to a cutter pack carrier 42 are cleaned. In a special cleaning, the cutter pack carriers 42 themselves are cleaned by a cleaning device 13 after the cutter packs 4 have been removed, before the cutter packs 5 are inserted.

[0093] The cleaning can be carried out once continuously along the 360° or intermittently.

[0094] In Figure 5Figure 1 is a schematic view of a knife assembly 4, 5 installed in a knife ring 1, with a spaced-apart wear plate 40 on the right side, which together with the knife 2, 3 forms the cutting gap 41. A wood chip or the material to be reduced in size is pressed against the wear plate 40 by centrifugal force or an airflow, then enters the cutting gap 41 and is cut there by the knife 2, 3, which is fixed by the clamping plate 6 and screwed to the knife assembly carrier 42 as a knife assembly 4, 5. The clamping plate 6 has a slope towards the cutting edge of the knife 2, 3 so that the material being cut can pass by with minimal wear.

[0095] The following section discusses various process-related and independent possibilities.

[0096] As a first option, from a cleaning perspective, it may be useful to remove all knife packs 4 and clean all knife pack carriers 42 once in a single pass.

[0097] For a higher speed according to a second option of the system, it may be useful to insert the fresh knife pack 5 directly after removing the knife pack 4; then cleaning is preferably carried out in an intermediate step.

[0098] In a third variant, knife packs 4 can be removed until the first knife pack 5, with a freshly sharpened knife 3, returns to section 37, after which the process alternates. Theoretically, this could be implemented after 3 to 8 knife packs 4 have been removed; it could take that long for the first knife pack, or rather the corresponding knife, to traverse sections 38 and 39 and return sharpened.

[0099] A preferred variant, a quick-change system, is discussed below. This system could proceed as follows: An automated screwdriving device 12 is moved to the screws or nuts after the knife ring has come to a standstill and loosens them. The loosened screws or nuts are held by the screwdriving device 12. A free gripper 8, 9 of the industrial robot 10 has typically already made contact with the knife pack 4, which has a blunt knife 2, and will remove the knife pack 4 from the knife ring 1 after the screwdriving device 12 has finished its operation. Preferably, the industrial robot 10 is equipped with a double gripper 7, which has two grippers 8, 9. While the blunt knife pack 4 has been picked up by the free gripper 8, a sharp knife pack 5 should already be present on the other gripper 9.The double gripper 7 will preferably perform a position change 19 along a rotary axis and position the sharp knife pack 5 in the knife ring 1 after it has now come close to the screw device 12, cf. . Figure 4 Then we tighten the screws or nuts on the new knife pack 5 with the screw device 12, move out of engagement and the rotary device 15 can cycle to the next knife pack 4 with a blunt knife 2.

[0100] Meanwhile, the industrial robot 10 can transfer the blunt knife pack 4 to a storage unit 20 and pick up a sharp knife pack 5 from the same storage unit or another storage unit 21 using the gripper 8 or 9. During this time, the rotation of the knife ring 1 should be completed, and the screwing device 12 should have had the necessary time to gently engage the screws or nuts and loosen them accordingly. To improve the cycle time, the screwing device 12 can also be configured to hold the knife pack 4 or 5 in place during the screwing process until the gripper 8 or 9 of the industrial robot 10 is in position. Once the knife ring 1 is fully loaded with fresh knife packs 5, it can be transported away by the universal carriage 27. During the setup time of the rotary device 11, the second and third sections 38 and 39 can be operated independently.

[0101] Another preferred variant, a highly accurate and precise installation of the knife packs, is discussed below; this could proceed as follows: After removing all, individual, or only one blunt knife pack 4, the thickness of the wear plate 40 is measured, preferably from inside the knife ring 1, using the measuring station 17. Preferably, several measuring points are taken along the cutting gap 41. The thickness can be measured and calculated directly or indirectly via other reference lines on the knife ring 1. In a preferred embodiment, however, a zero knife, most preferably with a standardized setting, for example, an unused knife, optionally with auxiliary markings for the measuring station 17, is inserted into the knife ring 1 at a specific position. The thickness of the wear plate 40, or the cutting gap 43, can thus be measured directly or indirectly.Based on the measurement results, the sharp blade 3 is adjusted accordingly during assembly or in the blade assembly 5, either in the second sub-area 38 or in the first sub-area 37, and inserted into the blade ring 1 by the industrial robot 10 in place of the blank blade. It is then screwed to the blade ring 1 or the blade assembly carrier 42 using the screw device. Depending on the specifications, it is not necessary to measure every thickness of the wear plate for the corresponding blade 3; instead, a measurement can be taken empirically at every 3, 5, 7 blade assembly carrier or wear plate 40.

[0102] The special feature for the high accuracy is that the knife projection or knife package 5 is individually adjusted for preferably each knife pack carrier 42 or wear plate 40.

[0103] An exemplary embodiment for the second subsection 38 is described below: In the second subsection 38, the knife packs 4 are removed from the transfer area 44, preferably a storage area 20, during the loading of the knife ring 1 by the industrial robot or during the setup time with another knife ring 1. A transfer device or a linear slide 26 can be provided for this purpose. This device moves the knife pack 4 onto a transport device 22, which transfers the knife pack 4 to a station 23 for disassembly. This can also be done such that the disassembly station 23 takes over the knife pack 4 from the transfer area 44 or disassembles it immediately if the transfer operation and the assembly / disassembly are carried out in one station 23.In station 23, the clamping plate 6 is detached from the blunt blade 2 using suitable means, for example, a screw device (not shown), and placed side by side, preferably longitudinally parallel to the transport direction 22. The separated clamping plate 6 and the blunt blade 2 are then moved through the cleaning station 24, which performs a continuous cleaning process, for example, using rotating brushes. Finally, the cleaned parts reach the transfer area 25, which serves as the interface to sub-area 39. If sub-area 39 is not in operation, a separate storage area can alternatively be provided in sub-area 38, where the parts are transferred for temporary buffering. Two separate storage areas are particularly preferred. This is symbolized by relatively thin lines analogous to storage areas 35 and 36 in sub-area 39. Alternatively, the parts can also be transferred directly to the storage areas there.Sharp knives 3 are dispensed from these bearings and transported back along the transport device 22 in section 38 towards bearing 21 for the sharp knife packs 5. During the return journey, the sharp knives 3 and / or the clamping plate 6 are, for example, lubricated, but at least once again assembled into a knife pack 5 at station 23 with the clamping plate 6. At the level of bearing 21, a linear slide 29 is again provided, which moves the knife pack 5 from the transport device 22 into the transfer area 44, or bearing 21.

[0104] The bearings 20, 21, 35, 36 can be static or dynamic, but preferably designed as paternoster bearings. Dynamic bearings have the advantage that they can preferably store different knife packages with respect to knife projection or width, and the control device activates the bearing and / or the industrial robot 10 as needed to remove the correct knife package.

[0105] Finally, an embodiment is described for the third sub-section 39: In this sub-section 39, which is also independently operable and arranged in the device 14, an industrial robot 30 is arranged for transporting the knives 2, 3. In a separate and special embodiment for a high cycle frequency, a double gripper 7 is again provided, which has two grippers 8 and 9 suitable for holding the knives 2, 3.

[0106] At the transfer area, similar to sub-area 1, the industrial robot 30 will already be holding a sharp knife 3 on gripper 8, 9 when picking up a blunt knife 2. After picking up the knife 2, the double gripper 7 only needs to perform a position change 31, preferably a rotation, to place the sharp knife 3 in the transfer area 25, the interface between the two sub-areas 38 and 39.

[0107] Furthermore, storage areas 35 and 36 can be loaded with knives 2 and 3 by the industrial robot 30, or the knives can be removed from these storage areas. This is generally done to replace small parts or for buffering when the adjacent area 38 cannot accommodate them.

[0108] During the processing of the knives 2, 3, the industrial robot 30 presents the dull knife 2 to a measuring station 32, which subjects the knife 2, preferably to a cutting edge measurement or a camera inspection. The corresponding measured value is used to determine the maximum necessary material removal from the knife 2 before it is transferred to the grinding device 34 for grinding or sharpening by the industrial robot 30.

[0109] It is preferably provided here that a sharp knife 3 is removed from the grinding device 34 by the double gripper 7 and then, or simultaneously, a blunt knife 2 is transferred to the grinding device 34. Thus, the usual rotation sequence in section 39 for the industrial robot would always be counterclockwise, preferably with no rotational movement being performed without a knife on the double gripper 7.

[0110] Measuring with a camera at measuring station 32 offers the advantage of a fast measurement method. Either two cameras are arranged, or a turning point 33 can be provided where the gripper 8, 9 briefly sets down the knife 2 to reposition it. For clarity, the turning point 33 is shown at a distance from measuring station 32; preferably, it is located within reach of or in front of measuring station 32. This is necessary if the knife is to be sharpened.

[0111] When sharpening a knife, for example with an industrial milling cutter, it is sufficient to measure the knife from only one side. The measurement can also be performed in the milling fixture or during input by the industrial robot.

[0112] It may also be possible for the industrial robot to use the turning position 33 as a static rest for more precise measurement, in order to avoid the influence of vibrations from the drive or mass oscillations of the industrial robot 30. However, in today's high-quality industrial robot designs, the robot can simply hold the knife within the measuring range of the measuring device or towards the camera.

[0113] In a further, preferably independent embodiment, the double gripper 7 and the associated interfaces 25, 44 between the corresponding sub-areas 39, 38, 37 are suitable for simultaneously or almost simultaneously taking on and releasing the knives 2, 3 or the knife packages 4, 5 in order to further improve the cycle time. The change of position 19, 31 can also be only a slight displacement or angular alignment of the double gripper, for example, if the distance between the grippers 8, 9 on the double gripper corresponds exactly or substantially to the distance between the corresponding sharp or blunt parts.

[0114] Especially in the first sub-area 37, it can be advantageous to use a triple or quadruple gripper. For example, measuring devices or the zeroing probe can be permanently installed on the first industrial robot 10 and thus engaged with the knife ring 1621. Reference symbol list:

[0115] 1. Knife ring 23. Disassembly / assembly station 2. dull knife 24. Cleaning station for 2 / 6 3. Knife sharp 25. Transfer area (38 / 39) 4. dull knife pack 26. Linear slide for 4 5. Knife set sharp 27. Universal trolley for 1 6. Clamping plate 28. Support for 1 in 27 7. Double gripper 29. Linear slide for 5 8. Gripper 1 30. Industrial robot for 39 9. Gripper 2 31. Change of position 10. Industrial robot for 37 32. Measuring station for 2 11. bogie for 1 33. Turning area 12. Screw device 34. Grinding device 13. Cleaning device for 4 35. Storage for 2 14. device 36. Storage for 3 15. Rotary device 37. Sub-area 1 16. Support for 1 in 11 38. Sub-area 2 17. Measuring station for 1 in 11 39. Sub-area 3 18. Turret rotating head for 16 40. Wear plate 19. Change of position 41. Cutting gap 20. Storage for 4 42. Knife package carrier 21. Storage for 5 43. Surface side 2 / 3 22. Transport device 44. Transfer area (37 / 38)

Claims

1. Device for tooling a knife ring of a knife ring shredder for shredding materials, with a first and third section (37, 39) for handling knife packages (4, 5) and / or gauges (2, 3), wherein in the first section (37) of the device (14) an industrial robot (10) is arranged for removing knife packages (4) consisting of a clamping plate (6) and a blunt knife (2) from a knife ring (1) and for inserting other knife packages (5) with a sharp knife (2) into the knife ring (1), and a screw device (12) is arranged for the knife packages (5, 6), and wherein in the third section (39) of the device (14) a grinding device (34) is arranged for the blunt knives (2) and for handling the knives (2, 3), an industrial robot (30), preferably with a double gripper (7) is arranged for the simultaneous transport of two knives (2, 3), and wherein in the third section (39) a measuring station (32) is arranged within the operating range of the industrial robot (30) for measuring the blunt knives (2), preferably such that a camera is arranged for the measurement in the measuring station (32).

2. Device according to device claim 1, further comprising a second section (38), wherein a station (23) is arranged in the second section (38) of the device (14) for disassembling knife packages (4) into a blunt knife (2) and a clamping plate (6), and a station (23) for assembling sharp knives (3) with a clamping plate (6) into a knife package (5), as well as a cleaning device for the blunt knives (2) and the clamping plate (6).

3. Device according to one or more of the preceding device claims 1 or 2, characterized in that, at least one transfer area (44), preferably a bearing (20, 21) for knife packages (4, 5) is arranged as an interface between the first and the second section (37, 38), and / or a transfer area (25) for the knives (2, 3) is arranged as an interface between the second and the third section (38, 39).

4. Device according to one or more of the preceding device claims 1 to 3, characterized in that grippers (8, 9) are arranged on the industrial robot (10) of the first section (37) for receiving the knife package (4, 5) at the clamping plate (6) and / or grippers (8, 9) are arranged on the industrial robot (30) of the second section (39) for receiving the knives (2, 3) via their contour, wherein preferably the grippers (8, 9) are suitable for holding the knife packages (4, 5) substantially parallel to the surface side at projections of the clamping plate (6) and / or for holding the knives (2, 3) substantially perpendicular to the surface side on the gripper (8, 9).

5. Device according to one or more of the preceding device claims 1 to 4, characterized in that a control system is arranged which is suitable for carrying out the methods or an operation of the device in which the three sections (37, 38, 39) operate with different cycle times and / or during the maintenance and / or a stoppage of at least one section (37, 38, 39).

6. Device according to one or more of the preceding device claims 1 to 5, characterized in that in the first section (37) a bogie (11) is arranged for rotating the knife ring (1) and / or in that in the first section (37) a measuring station (17) is arranged for measuring the knife packages (5), the knife ring (1), the knife package carriers (42) and / or the wear plates (40).

7. Device according to one or more of the preceding device claims 1 to 6, characterized in that a measuring station for the clamping plates (6) and, if applicable, also an exchange device for clamping plates (6) is arranged in the second section (38).

8. Device according to one or more of the preceding device claims 1 to 7, characterized in that a screw device (12), a cleaning device (13), a rotating device (15), a support (16) and / or a double gripper (7) of the industrial robot (10), which are preferably adaptable for different geometries or properties of a knife ring (1) or exchangeable with correspondingly adapted parts, is arranged in the first section (37) on the rotating device (11) for the knife ring (1).

9. Device according to one or more of the preceding device claims 1 to 8, characterized in that common or separate static or dynamically operating bearings (20, 21, 35, 36), preferably paternoster bearings, are arranged for the knives (2, 3) and / or the knife packages (4, 5).

10. Device according to one or more of the preceding device claims 1 to 9, characterized in that a control device is arranged for setting, selecting and / or mounting the sharpened knife packages (5) at predetermined locations in the knife ring (1).

11. Device according to one or more of the preceding device claims 1 to 10, characterized in that means are arranged for receiving or transmitting information about the condition of the knife ring (1) from a programmable memory on the knife ring (1), from the control system of a knife ring shredder or from an operationally connected large-scale industrial plant control system.

12. Device according to one or more of the preceding device claims 1 to 11, characterized in that a measuring station (32) for measuring the blunt knives (2) is arranged in the second section (39) in operative connection with the transport device (22) and preferably a camera is arranged for the measurement in the measuring station (32).

13. Device according to one or more of the preceding device claims 1 to 12, characterized in that in the first section (37) a storage capacity for sharp knife packages (5) is arranged for one, preferably two or more, most preferably for different knife rings (1), and / or in that in the third section (39) of the device a turning station (33) is arranged for placing down knives (2, 3), preferably in connection with the measuring station (32) for the knives (2).

14. Method for tooling of a knife ring of a knife ring shredder for shredding materials, wherein in a first section (37) of the method, knife packages (4) consisting of a clamping plate (6) and a blunt knife (2) are removed from a knife ring (1) by an industrial robot (10), and knife packages (5) with a sharp knife (2) are inserted into the knife ring (1), and wherein in a third section (39) of the method, the blunt knives (2) are sharpened into sharp knives (3) by means of a grinding apparatus (34) and the knives (2, 3) are handled by means of an industrial robot (30), wherein the blunt knives (2) are measured in a measuring station (32) in the third section (39) within the operating range of the industrial robot (30).

15. Method according to method claim 14, characterized in that in a second section (38) of the method, knife packages (4) are disassembled into a blunt knife (2) and a clamping plate (6), and sharp knives (3) are assembled with a clamping plate (6) into a knife package (5).