JP7254353B2 - Automatic blade setting system and automatic blade setting method - Google Patents

Description

TECHNICAL FIELD The present invention relates to an automatic blade assembling system and an automatic blade assembling method for attaching a rotating member to the main shaft of a slitter.

Japanese Unexamined Patent Application Publication No. 2002-200002 proposes a technique of attaching a guide cap to the tip of a spindle, then grasping a rotating member (cutter or spacer) with a robot arm and attaching it to the spindle. According to this technique, since the guide cap is attached to the tip of the spindle, it is possible to smoothly perform the work of attaching the rotary member to the spindle.

By the way, in the conventional technology, the operator attaches and detaches the guide cap to and from the spindle. However, since the periphery of the slitter device is within the movement range of the robot arm, it is surrounded by a cage, and the procedures for workers to enter the cage are strictly defined. Therefore, there is a problem that such attachment/detachment work takes time and work efficiency is low.

Further, the operation of the robot arm in the conventional technology is limited to hooking and hanging the rotating member on the guide cap, and the operation itself of fitting the rotating member onto the main shaft must be performed by an operator.

However, since this work is carried out inside the cage, not only is there the above-mentioned problem of work efficiency, but also because the clearance between the main shaft and the rotating member is very small, a large force is required for fitting. There is also the problem that the burden on workers is large.

JP-A-2004-66426

The present invention has been made in view of the circumstances described above. A main object of the present invention is to provide a technique capable of efficiently performing the work of attaching a rotary member to the main shaft of a slitter device.

The present invention can be expressed as inventions described in the following items.

(Item 1)
An automatic blade assembly system for attaching a rotating member to the main shaft of a slitter,
A robot hand and a tip cover detachably attached to the tip of the spindle,
The robot hand has a plurality of fingers capable of gripping the tip cover from the outside,
The plurality of fingers are configured to be capable of gripping the rotating member by pressing a plurality of positions on the inner surface of the rotating member in an outward direction,
The outer surface of the tip cover is formed with a plurality of grooves extending in a direction substantially parallel to the axial direction of the tip cover,
The plurality of grooves are configured to ensure that the robot hand grips the tip cover by at least partially housing the plurality of fingers therein,
Further, the plurality of grooves are shaped such that the plurality of fingers gripping the rotating member while pressing the inner surface of the rotating member outward can pass through the grooves along the extending direction thereof. The automatic blade assembling system is characterized in that the rotating member gripped by the plurality of fingers can be transported in the proximal direction of the distal end cover.

(Item 2)
A recess is formed in the groove,
The automatic blade setting system according to item 1, wherein the fingers are provided with claws that are accommodated in the recesses at positions facing the recesses when the tip cover is gripped.

(Item 3)
3. The automatic blade setting system according to item 1 or 2, wherein the rotating member is a cutter or a spacer.

(Item 4)
at least one of the plurality of fingers is movable to a position slightly outside the outer diameters of the tip cover and the main shaft;
The robot hand moves the finger portion in the proximal direction of the main shaft to bring the finger portion into contact with the side surface of the rotating member, thereby moving the rotating member in the proximal direction of the main shaft. The automatic blade setting system according to any one of items 1 to 3.

(Item 5)
An automatic blade assembling method for attaching a rotating member to a main shaft of a slitter, comprising:
Using a robot hand and a tip cover detachably attached to the tip of the spindle,
The robot hand has a plurality of fingers capable of gripping the tip cover from the outside,
The outer surface of the tip cover is formed with a plurality of grooves extending in a direction substantially parallel to the axial direction of the tip cover,
An automatic blade setting method comprising the following steps (a)-(d):
(a) gripping the tip cover with the fingers of the robot hand while the fingers of the robot hand are housed in the grooves;
(b) moving the tip cover gripped by the fingers by the robot hand to attach it to the tip of the spindle, and then separating the fingers from the tip cover;
(c) gripping the rotatable member by pushing the fingers outwardly at a plurality of locations on the inner surface of the rotatable member; and (d) pushing the inner surface of the rotatable member outwardly. conveying the rotating member in the proximal direction of the distal end cover by passing the plurality of fingers gripping the rotating member in the extended state along the extending direction of the groove;

(Item 6)
The automatic blade setting method of item 5, further comprising steps (e) and (f) of:
(e) after step (d), moving at least one of the plurality of fingers to a position outside the outer diameters of the tip cover and the main shaft; and (f) the robot hand. moving the finger in the proximal direction of the main shaft by pressing the finger in contact with the side surface of the rotating member to move the rotating member in the proximal direction of the main shaft.

ADVANTAGE OF THE INVENTION According to this invention, using a robot hand, it becomes possible to carry out efficiently the rotation member to the main shaft of a slitter apparatus, and ensuring the safety for an operator.

FIG. 3 is an explanatory view of the automatic blade composing system according to one embodiment of the present invention, showing a state in which the main part is broken along line AA in FIG. 2 with the tip cover being gripped by the robot hand. be. FIG. 2 is a side view of the tip cover as seen from the right side of FIG. 1; FIG. 3 is a cross-sectional view of the robot hand at the same broken position as the AA line in FIG. 2; FIG. 3 is a cross-sectional view of the tip cover at the same broken position as the AA line in FIG. 2; FIG. 4 is an explanatory diagram of the attachment structure between the tip cover and the spindle, and is a partially enlarged view of the tip cover viewed from the side. FIG. 4 is an explanatory diagram showing a state in which a robot hand holds a rotating member from the inside; FIG. 5 is an explanatory diagram showing a state in which a robot hand pushes a rotating member into a main shaft;

An automatic blade setting system (hereinafter sometimes simply referred to as "system") according to an embodiment of the present invention will be described below with reference to the accompanying drawings. This system is for attaching a rotary member 2 (see FIG. 6) to a main shaft 1 (see FIG. 1) of a slitter device.

(Configuration of this embodiment)
This system comprises a robot hand 3 and a tip cover 4 detachably attached to the tip 11 of the spindle 1 .

(spindle)
The vicinity of the tip 11 of the spindle 1 has a shape in which the diameter gradually decreases toward the tip 11 , and a stepped portion 111 is formed in the vicinity of the tip 11 . A projection 12 that engages with an engagement groove 44 of the tip cover 4, which will be described later, is formed on the stepped portion 111 so as to protrude outward (see FIG. 5). However, the height of the projection 12 is set to a position lower than the outer peripheral surface of the rotating member mounting position on the main shaft 1 .

(Rotating member)
A conventional spacer 21 or slitter 22 (see FIG. 6) can be used as the rotating member 2 of this embodiment.

(robot hand)
The robot hand 3 includes a plurality of fingers 31 capable of gripping the tip cover 4 from the outside, and a base 32 for moving each finger 31 . Although the number of fingers 31 is three in this embodiment (see FIG. 2), it may be plural. However, considering the stability of the gripping state of the tip cover 4, the number is preferably three or more.

The robot hand 3 moves the finger portions 31 through the base portion 32 in the radially inward and outward directions with respect to the axial position (central position in FIG. 2) of the robot hand 3 with appropriate timing and stroke. It is designed to be able to Furthermore, the robot hand 3 can move the entire finger portion 31 via the base portion 32 in any three-dimensional direction (including the direction along the axial direction of the robot hand) with appropriate timing and stroke. It is possible.

Each finger 31 is configured to be able to grip the rotating member 2 by pushing the inner surface of the rotating member 2 outward at the contact position when moved radially outward by the base 32 . ing.

Further, each finger portion 31 of the present embodiment is provided with a claw 311 that is accommodated in a recess 411 (described later) of the tip cover 4 at a position facing the recess 411 (described later) of the tip cover 4 when the tip cover 4 is gripped. (See Figure 3).

Further, the plurality of fingers 31 can be moved by the base 32 to positions slightly outside the outer diameters of the tip cover 4 and the main shaft 1 .

Further, the robot hand 3 of the present embodiment moves the finger portion 31 in the proximal direction of the main shaft 1 via the base portion 32 to bring the finger portion 31 into contact with the side surface of the rotating member 2 . is moved in the proximal direction of the spindle 1 . Detailed operations of the robot hand 3 will be described later.

The configuration of the robot hand 3 other than the above points can be the same as that of the conventional one, so further detailed description will be omitted.

(Tip cover)
A plurality of grooves 41 extending in a direction substantially parallel to the axial direction of the tip cover 4 are formed on the outer surface of the tip cover 4 (see FIG. 4). The number and shape of the grooves 41 in this embodiment correspond to the finger portions 31 of the robot hand 3 described above.

Each groove 41 at least partially accommodates each finger 31, thereby ensuring gripping of the tip cover 4 by the robot hand 3 (see FIG. 2).

Furthermore, each groove 41 of the present embodiment has a shape such that each finger 31 gripping the rotating member 2 with the inner surface of the rotating member 2 pressed outward can pass through the groove 41 along its extension direction. It is said that In this embodiment, this allows the rotating member 2 gripped by the fingers 31 to be transported in the proximal direction of the distal end cover 4 . This point will also be described later.

In addition, as described above, each groove 41 of the present embodiment is formed with a recess 411 for accommodating the claw 311 of the finger 31 (see FIG. 4).

Further, a tapered portion 43 is formed on the distal end side (the right side in FIG. 4) of the distal end cover 4 of this embodiment.

A fitting portion 42 that fits into the stepped portion 111 of the spindle 1 is formed on the base end side (left side in FIG. 4) of the tip cover 4 of the present embodiment.

Further, the fitting portion 42 of the tip cover 4 is formed with an engagement groove 44 for accommodating the projection 12 of the spindle 1 (see FIG. 5). The engaging groove 44 is formed in a substantially L shape when viewed from the outer peripheral side of the tip cover 4 .

(Automatic blade setting method of the present embodiment)
Next, an example of a method of attaching the rotating member 2 to the main shaft 1 of the slitter device using the system described above will be described. In the description below, it is assumed that the motion of the robot hand 3 including the finger portion 31 is controlled according to a preset program, but it is also possible for the operator to appropriately input motion instructions. be.

(Gripping the tip cover)
First, with the fingers 31 of the robot hand 3 housed in the grooves 41 , the distal end cover 4 is gripped by the fingers 31 . Fig. 1 shows the gripped state. Here, in the present embodiment, since the claws 311 of the finger portions 31 are housed in the concave portions 411 of the tip cover 4 , the tip cover 4 can be securely gripped by the finger portions 31 .

(Installation of tip cover)
Next, the tip cover 4 gripped by the fingers 31 is moved by the robot hand 3 in the direction of the spindle 1 and attached to the tip 11 of the spindle 1 (see FIG. 1). Here, in this embodiment, the projection 12 of the spindle 1 is housed inside the engagement groove 44 of the tip cover 4 . Then, the tip cover 4 is pushed in the direction of the spindle 1 until the tip cover 4 abuts on the spindle 1 . At this time, the stepped portion 111 of the spindle 1 is accommodated in the fitting portion 42 of the tip cover 4 , and the protrusion 12 reaches the corner of the L-shaped engaging groove 44 .

Subsequently, in this embodiment, the robot hand 3 slightly rotates the tip cover 4 about its central axis. As a result, as shown in FIG. 5, the protrusion 12 can be arranged at the deepest position of the L-shaped engagement groove 44 (the tip position of the L-shape). By doing so, the positional relationship between the end cover 4 and the spindle 1 can be reliably stabilized.

After that, the robot hand 3 slightly moves each finger 31 radially outward. Thereby, the engagement between the claw 311 of the finger portion 31 and the concave portion 411 of the tip cover 4 can be released. Subsequently, the finger portion 31 is separated from the tip cover 4 by the robot hand 3 and returned to the initial position (see FIG. 1).

(Grip of rotating member)
Next, after each finger 31 is moved radially inward to reduce the overall outer diameter, the entire finger 31 is inserted into the rotary member 2 stored in a storage place such as a rack. Next, each finger 31 is slightly moved radially outward to push outward a plurality of positions on the inner surface of the rotary member 2 (see FIG. 6). As a result, the rotating member 2 can be reliably gripped by the robot hand 3 . Although FIG. 6 illustrates a state in which a plurality of rotating members 2 are already attached to the main shaft 1, the rotating members 2 may not be attached to the main shaft 1 as a matter of course.

(Transportation of rotating members)
Next, each finger 31 gripping the rotating member 2 with the inner surface of the rotating member 2 pressed outward is moved by the robot hand 3 toward the distal end 11 of the spindle 1 . Then, each finger portion 31 passes through the groove portion 41 of the tip cover 4 attached to the main shaft 1 along its extension direction. As a result, the rotating member 2 can be transported in the proximal direction of the tip cover 4 . Here, the position of the transported rotating member 2 is indicated by a dashed line in FIG. In this state, the inner surface of rotating member 2 rests on the outer surface of tip cover 4 . In other words, this operation allows the rotating member 2 to be temporarily supported by the tip cover 4 .

(Movement of fingers)
Next, the finger portion 31 is slightly moved radially inward of the robot hand 3 and slightly separated from the inner surface of the rotary member 2 . After that, the robot hand 3 moves the finger portion 31 to a position where it is separated from the rotating member 2 (a position on the right side of the rotating member 2 in FIG. 6). Thereby, interference between the finger portion 31 and the rotating member 2 can be prevented.

(Pressing of rotating member)
Next, each finger 31 is moved radially outward until it reaches a position slightly outside the outer diameters of the tip cover 4 and the main shaft 1 (see FIG. 7). At this time, the tip of each finger portion 31 faces the side surface of the rotating member 2 placed on the tip cover 4 (the right side surface in FIG. 7).

Next, the robot hand 3 moves the finger portion 31 toward the proximal end of the spindle 1 . Thus, according to the present embodiment, the finger portion 31 can be brought into contact with the side surface of the rotating member 2 and pushed. Thus, in this embodiment, the rotating member 2 can be moved in the proximal direction of the main shaft 1 (to the left in FIG. 7). As shown in FIG. 7, when the rotary member 2 is already attached to the main shaft 1, the already attached rotary member 2 is pushed in the proximal direction by the newly attached rotary member 2. As shown in FIG.

In this embodiment, since the finger portion 31 can pass through the groove portion 41, there is an advantage that the pushing operation of the rotary member 2 can be reliably performed even when the movement stroke of the finger portion 31 in the radial direction is kept small. . Here, the position of each rotating member 2 in the axial direction can be adjusted by adjusting the width and the number of spacers 21 .

In the prior art, when attaching the guide cap to the spindle, the procedure was complicated in order to ensure the safety of the operator, resulting in poor work efficiency. In addition, since the operator fits the rotating member into the main shaft, there is a problem of work efficiency as well as a large physical burden on the operator.

On the other hand, according to the system of the present embodiment, the tip cover 4 can be attached to the spindle 1 by the robot hand 3 without relying on human labor. can. Furthermore, since the rotating member 2 can be attached to the spindle 1 with the same robot hand 3 as when attaching the tip cover 4, the work load on the operator can be reduced, and the space efficiency of the system is good. There is also As a result, the system of this embodiment can be expected to reduce installation costs and operating costs.

In addition, the contents of the present invention are not limited to the above embodiments. The present invention allows various changes to be made to the specific configuration within the scope of the claims.

For example, in the present embodiment, the finger portion 31 is provided with the claw 311 and the groove portion 41 is provided with the concave portion 411 for engagement therewith. can be provided and function similarly.

Furthermore, in this embodiment, the main shaft 1 is provided with the protrusion 12 and the tip cover 4 is provided with the engagement groove 44. It is also possible to have a configuration that functions in the same way.

Further, in the above-described embodiment, it is assumed that each finger 31 basically moves in the same way. good. In short, it suffices if the same function as the above-described embodiment can be exhibited.

REFERENCE SIGNS LIST 1 spindle 11 tip 111 stepped portion 12 protrusion 2 rotating member 3 robot hand 31 finger portion 311 claw 32 base portion 4 tip cover 41 groove portion 411 recess portion 42 fitting portion 43 taper portion 44 engagement groove

Claims (5)

An automatic blade assembly system for attaching a rotating member to the main shaft of a slitter,
A robot hand and a tip cover detachably attached to the tip of the spindle,
The robot hand has a plurality of fingers capable of gripping the tip cover from the outside,
The plurality of fingers are configured to be capable of gripping the rotating member by pressing a plurality of positions on the inner surface of the rotating member in an outward direction,
The outer surface of the tip cover is formed with a plurality of grooves extending in a direction substantially parallel to the axial direction of the tip cover,
The plurality of grooves are configured to ensure that the robot hand grips the tip cover by at least partially housing the plurality of fingers therein,
Further, the plurality of grooves are shaped such that the plurality of fingers gripping the rotating member while pressing the inner surface of the rotating member outward can pass through the grooves along the extension direction thereof. With this configuration, the rotating member gripped by the plurality of fingers can be transported in the proximal direction of the distal end cover ,
Either a recess or a claw is formed in the plurality of grooves,
The plurality of finger portions have claws or claws accommodated in the concave portions at positions facing the concave portions or claws formed in the plurality of groove portions when the plurality of finger portions are gripping the tip cover. An automatic blade assembling system, comprising a concave portion for accommodating the claw . The automatic blade setting system according to claim 1 , wherein the rotating member is a cutter or a spacer. An automatic blade assembly system for attaching a rotating member to the main shaft of a slitter,
A robot hand and a tip cover detachably attached to the tip of the spindle,
The robot hand has a plurality of fingers capable of gripping the tip cover from the outside,
The plurality of fingers are configured to be capable of gripping the rotating member by pressing a plurality of positions on the inner surface of the rotating member in an outward direction,
The outer surface of the tip cover is formed with a plurality of grooves extending in a direction substantially parallel to the axial direction of the tip cover,
The plurality of grooves are configured to ensure that the robot hand grips the tip cover by at least partially housing the plurality of fingers therein,
Further, the plurality of grooves are shaped such that the plurality of fingers gripping the rotating member while pressing the inner surface of the rotating member outward can pass through the grooves along the extension direction thereof. With this configuration, the rotating member gripped by the plurality of fingers can be transported in the proximal direction of the distal end cover,
at least one of the plurality of fingers is movable to a position slightly outside the outer diameters of the tip cover and the main shaft;
The robot hand moves the finger portion in the proximal direction of the main shaft to bring the finger portion into contact with the side surface of the rotating member, thereby moving the rotating member in the proximal direction of the main shaft. Automatic blade composing system. An automatic blade assembling method for attaching a rotating member to a main shaft of a slitter, comprising:
Using a robot hand and a tip cover detachably attached to the tip of the spindle,
The robot hand has a plurality of fingers capable of gripping the tip cover from the outside,
The outer surface of the tip cover is formed with a plurality of grooves extending in a direction substantially parallel to the axial direction of the tip cover,
Either a recess or a claw is formed in the plurality of grooves,
The plurality of finger portions have claws or claws accommodated in the concave portions at positions facing the concave portions or claws formed in the plurality of groove portions when the plurality of finger portions are gripping the tip cover. A recess for accommodating the claw is provided,
An automatic blade setting method comprising the following steps (a)-(d):
(a) with the fingers of the robot hand housed in the grooves, the claws provided on the plurality of fingers are housed in the recesses formed in the plurality of grooves; a step of accommodating the claws formed in the grooves in the recesses provided in the plurality of fingers and gripping the tip cover with the fingers;
(b) moving the tip cover gripped by the fingers by the robot hand and attaching it to the tip of the spindle; detaching the finger from the provided pawl or recess and separating the finger from the tip cover;
(c) gripping the rotatable member by pushing the fingers outwardly at a plurality of locations on the inner surface of the rotatable member; and (d) pushing the inner surface of the rotatable member outwardly. conveying the rotating member in the proximal direction of the distal end cover by passing the plurality of fingers gripping the rotating member in the extended state along the extending direction of the groove; An automatic blade assembling method for attaching a rotating member to a main shaft of a slitter, comprising:
Using a robot hand and a tip cover detachably attached to the tip of the spindle,
The robot hand has a plurality of fingers capable of gripping the tip cover from the outside,
The outer surface of the tip cover is formed with a plurality of grooves extending in a direction substantially parallel to the axial direction of the tip cover,
An automatic blade setting method comprising the following steps (a)-(d):
(a) gripping the tip cover with the fingers of the robot hand while the fingers of the robot hand are housed in the grooves;
(b) moving the tip cover gripped by the fingers by the robot hand to attach it to the tip of the spindle, and then separating the fingers from the tip cover;
(c) gripping the rotatable member by pressing outwardly at locations on the inner surface of the rotatable member with the fingers; and
(d) by passing the plurality of fingers gripping the rotating member while pressing the inner surface of the rotating member outward along the extending direction of the groove, the rotating member is moved to the conveying proximally of the distal cover;
(e) after step (d), remove the plurality of fingers from the inner circumference of the rotating member, and remove at least one of the plurality of fingers from the outer diameter of the tip cover and the main shaft; and (f) moving the finger portion in the proximal direction of the main shaft by the robot hand so that the finger portion is brought into contact with the side surface of the rotating member and pushed into the rotating member. and moving the rotating member in the proximal direction of the main shaft.

Images