JP6901779B2 - Scrap material processing equipment and slitter line - Google Patents

Description

The present invention is a scrap strip processing apparatus for treating a side scrap strip generated by cutting a strip base metal unwound from a base roll in the longitudinal direction while moving it in the longitudinal direction, and such. Regarding a slitter line equipped with a scrap material processing device.

Conventionally, a side trimmer device (strip material processing device) used for a slitter line has been proposed (Patent Document 1). In the slitter line, the strip material (strip plate base material: for example, steel material) is continuously cut into a plurality of strips in the longitudinal direction by the slitter while being transferred in the longitudinal direction. Of the plurality of strips generated by cutting the strip, each of the strips located at both end ends is removed by the side trimmer device as strip-shaped cutting chips (side scraps).

The side trimmer device has a scrap winder and a wire winding mechanism, and a wire having one end fixed in advance to the tip of a strip-shaped cutting scrap is wound by the winding mechanism. Then, the strip-shaped cutting chips move toward the scrap winder while being guided according to the transfer of the strip material by pulling the wire wound by the winding mechanism, and the tip of the strip-shaped cutting chips is the scrap winder. After being locked to the locking bracket, the wire is cut at the take-up mechanism. Then, as the scrap winder rotates, the strip-shaped cutting chips (side scraps) that extend in accordance with the transfer of the strip material are wound up by the scrap winder.

Japanese Unexamined Patent Publication No. 2005-125422

In the conventional side trimmer device (scrap material processing device) as described above, every time the strip-shaped cutting scrap (side scrap material) is wound around the scrap winder, the wire is wasted, and the wire is used in advance. One end of the strip must be joined to the tip of the strip-shaped scrap, which hinders efficient processing.

The present invention has been made in view of such circumstances, and is capable of efficiently removing side scraps generated by cutting the strip base material without using wasteful materials. It provides the device.

The scrap strip processing apparatus according to the present invention is a scrap strip material that processes a side scrap strip material generated by cutting along the longitudinal direction while moving the strip base material unwound from the base metal roll in the longitudinal direction. The processing device includes a scrap winder that winds up the side scrap strip that extends with the movement of the strip base material, and a robot device that sets the tip of the side scrap strip on the scrap winder. The scrap winder has a receiving portion in which the tip end portion of the side scrap strip material is set, and the robot device has a picking mechanism for releasably picking the tip portion of the side scrap strip material, and the above. The pinching mechanism in a state where the tip of the side scrap strip is picked is placed at a delivery position for delivering the tip of the side scrap strip to the receiving portion of the scrap winder. At the moving mechanism to move according to the movement and the delivery position, the pinching of the tip portion of the side cut strip material by the picking mechanism is released, and the tip portion of the side cut strip material is released from the scrap winder. It has a set mechanism that is delivered to the receiving portion and set.

With such a configuration, the tip end portion of the side end cutting strip material generated by cutting the strip base material unwound from the base material roll in the longitudinal direction is pinched by the picking mechanism of the robot device. The picking mechanism that picks the tip of the side piece strip material is moved to the delivery position by the moving mechanism in accordance with the movement of the strip base material. At the delivery position, the setting mechanism of the robot device delivers the tip of the side scrap strip material released by the picking mechanism to the receiving portion of the scrap winder and sets it. When the tip of the side scrap strip is set in the receiving portion of the scrap winder, the side scrap strip that extends with the movement of the strip base material is wound up by the scrap winder.

In the scrap winder processing apparatus according to the present invention, the scrap winder has a rotatable take-up shaft portion and one or a plurality of rod-shaped arms extending outward from the take-up shaft portion, and the one or a plurality of rod-shaped arms. At least one tip of the plurality of rod-shaped arms can be configured to be formed as the receiving portion.

According to such a configuration, at the delivery position, the tip of the side scrap strip material whose picking by the picking mechanism is released by the setting mechanism is set at the tip of the scrap winder as a receiving portion of the rod-shaped arm. Will be done. Then, the side scrap strip material whose tip is set on the tip of the rod-shaped arm is wound around the rotating winding shaft of the scrapwinder.

In the scrap strip processing apparatus according to the present invention, the picking mechanism is arranged with a gap, and a pinch position for picking the tip of the side strip strip inserted into the gap and a release for releasing the picking. It is possible to have a configuration having a pair of block bodies that can move between positions and a block reciprocating drive mechanism that reciprocates the pair of block bodies between the picking position and the release position. ..

With such a configuration, when the tip of the side end cutting strip is inserted into the gap between the pair of block bodies at the release position, the pair of block bodies can be moved to the picking position by the block reciprocating drive mechanism. .. As a result, the tip end portion of the side scrap strip material is pinched by the pair of block bodies.

In the scrap strip processing apparatus according to the present invention, the pair of blocks are rotated by a predetermined angle in a state where the tip of the side scrap strip is pinched by the pair of blocks to rotate the side. It is possible to have a configuration having a block rotation mechanism for winding the cut-off strip material around the pair of block bodies.

With such a configuration, the pair of blocks in a state where the tip of the side end piece strip is pinched is rotated by a predetermined angle by the block rotation mechanism, and the pair of blocks with the tip pinched. The side scrap strip is wrapped around the body. In this state, the picking mechanism (a pair of block bodies, the block reciprocating mechanism) can be moved to the delivery position.

In scraps strip material processing apparatus according to the present invention, before kissing clap winder includes a rotatable winding shaft portion, and one or more rod-like arms extending outwardly from said winding shaft portion, wherein A groove into which the tip of the side scrap strip can be inserted is formed in the tip of at least one of the one or a plurality of rod-shaped arms as the receiving portion, and the set mechanism of the robot device has the tip. The wound portion of the side scrap strip material wound around the pair of block bodies is pushed out from the pair of block bodies together with the tip portion, and the tip of the side scrap strip material is pushed out. The structure is configured to have a extrusion mechanism for moving the portion into the groove at the tip of the rod-shaped arm of the scrap winder and fitting the wound portion of the side end strip material into the tip of the rod-shaped arm. Can be done.

With such a configuration, at the delivery position, the wound portion of the side scrap strip material wound around the pair of blocks with the tip inserted in the gap, together with the tip, the pair of blocks by the extrusion mechanism. It is extruded from the body, the tip of the side scrap strip is moved to the groove of the rod-shaped arm of the scrapwinder, and the wound portion of the side scrap strip is fitted into the tip of the rod-shaped arm. In this way, the tip of the side scrap strip is set on the tip of the rod-shaped arm of the scrapwinder. Then, in this state, the side scrap material is wound around the rotating winding shaft of the scrap winder.

In the scrap winder processing apparatus according to the present invention, the scrap winder has a first posture in which each of the one or a plurality of rod-shaped arms extends outward from the winding shaft portion and downward from the winding shaft portion. It can be configured to have an operation mechanism for reciprocating with the extending second posture.

With such a configuration, after each of the plurality of rod-shaped arms of the scrap winder is in the first posture extending outward from the take-up shaft portion, the side end strip material is wound around the take-up shaft portion. When the operating mechanism operates each of the plurality of rod-shaped arms in a second posture extending downward from the take-up shaft portion, the side scrap strip material wound around the take-up shaft portion is moved from the take-up shaft portion into the rod shape. It can slide down while being guided by the arm. This facilitates the recovery of the side scrap strips.

The scrap strip processing device according to the present invention has a camera that moves together with the picking mechanism, and the picking mechanism is a side scrap strip material that is recognized based on image information obtained by photographing with the camera. The tip may be pinched, and the moving mechanism may be placed at the delivery position recognized based on image information about the receiving portion of the scrapwinder obtained by photographing with the camera. It is also possible to have a configuration in which the picking mechanism is moved.

Further, the slitter line according to the present invention is generated by a slitter that is fed out from a base material roll and cuts a strip base material that moves in the longitudinal direction into a plurality of strips, and a slitter that cuts the moving strip base material with the slitter. It is configured to include any of the above-mentioned scrap strip processing devices for processing the side scrap strips.

With such a configuration, the side scrap strips generated by cutting with the slitter from the strip base metal that is unwound from the base metal roll and moves in the longitudinal direction is wound up by the scrap winder in the scrap winder.

In the slitter line according to the present invention, the cutting start position of the strip base material by the slitter is a position entered from the tip of the strip base material, and the cutting start position of the strip base material that has passed through the slitter. It is possible to have a configuration having an edge cutter that cuts a predetermined position on the upstream side of the position or the cutting start position in a direction crossing the longitudinal direction to generate the side edge cutting material.

With such a configuration, after the slitter starts cutting the strip base material unwound from the base material roll from the cutting start position which is the position where the strip base material is inserted from the tip portion thereof, the edge cutter moves the cutting start position or the cutting start position thereof. The strip base material is cut in a direction crossing the longitudinal direction at a predetermined position on the side upstream from the cutting start position. As a result, the side scrap strips move away from the tip of the strip base material and grow as the strip base material moves.

According to the present invention, the tip of the side end cut strip generated by cutting the strip base material unwound from the base material roll in the longitudinal direction is received by a robot device (picking mechanism, moving mechanism, setting mechanism) to receive the scrap winder. Since it is set on the portion, it becomes possible to efficiently remove the side scrap material generated by cutting the strip base material without using a wasteful material.

FIG. 1 is a plan view showing the overall configuration of the slitter line according to the embodiment of the present invention and showing the path from the slitter to the scrap winder. FIG. 2 is a side view showing the configuration of the slitter line in the vicinity of the slitter and showing the path from the slitter to the scrap winder. FIG. 3 is a view of the slitter line including the slitter in the moving direction of the strip base material. FIG. 4A is a diagram showing a strip base material (steel plate) in which a plurality of (five) cuts are made by a slitter. FIG. 4B is a diagram showing a side edge cut strip cut out from both edge edges of the strip base material having a plurality of strips (five rows) cut. FIG. 5 is a side view showing a robot hand fixed to the tip of the arm portion of the robot device. FIG. 6 is a front view showing a pair of picking blocks (picking mechanisms) at the tip of the robot hand and an extrusion block. FIG. 7A is a front view showing a state in which a pair of picking blocks pinch the tip end portion of the side end piece strip material. FIG. 7B is a front view showing a state in which a side piece strip material is wound around a pair of picking blocks. FIG. 8 is a side view showing an extrusion mechanism (moving mechanism) for extruding a side piece strip material from a pair of picking blocks. FIG. 9A is a front view showing a guide roller machine that can be divided. FIG. 9B is a front view showing a guide roller machine in a divided state. FIG. 10 is a front view showing a traverse machine having a splittable guide roller machine. FIG. 11 is a side view showing a scrap winder. FIG. 12 is a front view showing a scrap winder. FIG. 13A is a flowchart showing the operation procedure (No. 1) of the slitter line. FIG. 13B is a flowchart showing the operation procedure (No. 2) of the slitter line. FIG. 13C is a flowchart showing the operation procedure (No. 3) of the slitter line. FIG. 13D is a flowchart showing the operation procedure (No. 4) of the slitter line. FIG. 14 is a side view showing a state in which the picking mechanism (head portion) of the robot hand faces the tip surface of the winding arm of the scrap winder at the delivery position. FIG. 15 is a bottom view showing a state in which the picking mechanism (head portion) of the robot hand faces the tip surface of the winding arm of the scrap winder at the delivery position. FIG. 16A is an enlarged side view showing a state in which the picking mechanism (head portion) of the robot hand faces the tip surface of the winding arm of the scrap winder at the delivery position. FIG. 16B is an enlarged bottom view showing a state in which the picking mechanism (head portion) of the robot hand faces the tip surface of the winding arm of the scrap winder at the delivery position. FIG. 17A is an enlarged side view showing a state in which the tip portion and the winding portion of the side scrap strip material are extruded from the picking mechanism of the robot hand and delivered to the tip portion of the winding arm of the scrap winder to be set. It is a figure. FIG. 17B is an enlarged bottom view showing a state in which the tip portion and the winding portion of the side scrap strip material are extruded from the picking mechanism of the robot hand and delivered to the tip portion of the winding arm of the scrap winder to be set. It is a figure. FIG. 18 is an enlarged side view showing a state in which the side scrap strip material is wound around the scrap winder winding machine (winding shaft portion). FIG. 19 is an enlarged side view showing a state in which the side scrap strips wound on the scrap winder winder (winding shaft) fall downward from the winder (winding shaft). is there.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The slitter line according to the embodiment of the present invention is configured as shown in FIGS. 1, 2 and 3. FIG. 1 is a plan view showing the overall configuration of the slitter line and showing the path from the slitter to the scrap winder, and FIG. 2 shows the configuration of the slitter line in the vicinity of the slitter and from the slitter. It is a side view which shows the path which a side scrap strip material reaches a scrap winder, and FIG. 3 is a view which looked at the slitter line including a slitter in the moving direction of a strip base material. In FIG. 2, the robot device, which is a component of the scrap strip processing device, is omitted.

In FIG. 1, the slitter line 1000 has an uncoiler 11 installed at the start end of the line and a recoiler 18 installed at the end of the line, and a transfer path 20 is provided between the uncoiler 11 and the recoiler 18. It is laid. A base material roll BR formed by winding a strip-shaped steel plate (strip plate base material) in a roll shape is set in the anchorer 11, and the strip base material BM (steel plate) is unwound from the base material roll BR by the rotation of the anchorer 11. Then, the strip base material BM moves on the transfer path 20 toward the recoiler 18.

A slitter 13 is installed at a predetermined position between the uncoiler 11 and the recoiler 18. The slitter 13 has a plurality of strips of the strip base metal BM (steel plate) that is unwound from the base metal roll BR set in the uncoiler 11 and moves in the transfer path 20 so as to be a plurality of strips having an instructed width. Cut to. The slitter 13, together with FIG. 1, includes a pair of vertically arranged arbors, an upper arbor 131 and a lower arbor 132, which extend across the transfer path 20 as shown in FIGS. 2 and 3. Both ends of the upper arbor 131 and the lower arbor 132 are rotatably supported by the first support frame 133 and the second support frame 134, which have elevating functions, respectively. The first support frame 133 and the second support frame 134 are connected by a connecting bar 135 so as to maintain a predetermined interval. The second support frame 134 can be released from the connection with the connecting bar 135, and in the state where the connection is released, the operating position for supporting the upper arbor 131 and the lower arbor 132 (see the solid line portion in FIG. 3). ) And the retracted position (see the alternate long and short dash line portion in FIG. 3) away from the upper arbor 131 and the lower arbor 132.

A plurality of upper round blades 136 are mounted on the upper arbor 131 in a state of being partitioned by spacers (not shown) corresponding to the width of the strip to be cut out, and similarly, spacers (not shown) are also attached to the lower arbor 132. ), A plurality of lower round blades 137 are mounted so as to correspond to the upper round blade 136. When the upper round blade 136 and the lower round blade 137 are attached to the upper arbor 131 and the lower arbor 132, the upper arbor 131 is raised by the raising / lowering function of the first support frame 133 and the second support frame 134 connected by the connecting bar 135. In a state where the first support frame 133 and the second support frame 134 are disconnected by the connecting bar 135 and the second support frame 134 is moved to the retracted position (see the alternate long and short dash line portion). Will be done. Then, when the mounting of the upper round blade 136 and the lower round blade 137 on the upper arbor 131 and the lower arbor 132 is completed, the second support frame 134 is returned to the operating position, and the upper arbor 131 on which the upper round blade 136 is mounted is returned. The lower arbor 132 to which the lower round blade 137 is mounted is rotatably supported by the first support frame 133 and the second support frame 134. After that, the first support frame 133 and the second support frame 134 are connected by the connecting bar 135, and the upper arbor 131 is moved to the upper round blade 136 and the lower by the elevating function of the first support frame 133 and the second support frame 134. It is lowered to a position where the strip base material BM can be cut by the round blade 137. In this state, the upper arbor 131 and the lower arbor 132 are rotated by the rotation drive mechanism (not shown), and the strip base material BM passing through the slitter 13 is formed by the plurality of upper round blades 136 and the corresponding lower round blades 137. It is cut into multiple strips along the longitudinal direction.

As shown in FIG. 2, a feed roller machine 12 is installed in the vicinity of the upstream side of the slitter 13. The strip base material BM delivered from the base material roll BR is supplied to the slitter 13 through the feed roller machine 12, and is cut into a plurality of strips as described above.

Here, the slitter 13 does not start cutting by the upper round blade 136 and the lower round blade 137 from the tip edge of the moving strip base material BM, but follows the control by the control device (see FIG. 13A) described later. As shown in FIG. 4A, cutting is started from the cutting start position Pc that has entered from the tip edge. Therefore, the strip base material BM in which the slitter 13 has cuts of a plurality of rows (for example, four rows) is transferred in a state where the tip portion T is not separated. For example, as shown in FIG. 4A, the strip base material BM is cut into five strips LS1, S1, S2, S3, and LS2 in which the tip portion T is not separated by making four cuts. I will go. If there is a surplus in the cutout dimensioning in the width direction (direction orthogonal to the longitudinal direction) of the strip base material BM, both side edges extending in the longitudinal direction of the strip base material BM passing through the slitter 13 correspond to the surplus. It will be cut out as scrap strips (side scrap strips) Ls1 and Ls2.

A pair of lateral guide rollers 14a and 14b are provided in the vicinity of the downstream side of the slitter 13 so as to sandwich the transfer path 20. The pair of lateral guide rollers 14a and 14b guide both side edge ends of the strip base material BM passing through the slitter 13. Further, these lateral guide rollers 14a and 14b can be moved in the width direction according to the width of the moving strip base material BM, and the distance between the pair of lateral guide rollers 14a and 14b can be adjusted.

Further, two edge cutters 15a and 15b are provided in the vicinity of the downstream side of the lateral guide rollers 14a and 14b so as to sandwich the transfer path 20. As described above (see FIG. 4A), these two edge cutters 15a and 15b are cut-off strips located at both end portions of the strip base material BM having a plurality of (four-row) cuts passing through the slitter 13. (Side cut strip) The tip portions of Ls1 and Ls2, specifically, the cutting start position Pc or a predetermined position on the upstream side thereof are cut in the width direction (direction crossing the longitudinal direction). As a result, the side scrap strips Ls1 and Ls2 are separated from the plurality (three) strips S1, S2, and S3 to be joined at the tip T of the strip base material BM, as shown in FIG. 4B. Further, similarly to the lateral guide rollers 14a and 14b, the two opposing edge cutters 15a and 15b can move in the width direction according to the width of the strip base material BM, and the opposite edge cutters 15a and 15b The interval can be adjusted. As described above, the side edge cut strips Ls1 and Ls2 separated from the strip base material BM having a plurality of cuts do not move to the recoiler 18 located at the end of the slitter line 1000, and the slitter 13 It is processed by the scrap strip processing devices 30 (1) and 30 (2) provided on both sides of the transfer path 20 on the downstream side of the above. The details of the scrap material processing devices 30 (1) and 30 (2) will be described later.

An outlet cutting machine 16 and a roller machine 17 are installed in the vicinity of the upstream side of the recoiler 18. The strip base material BM in which a plurality of cuts are made by the slitter 13 is transferred in a state where the tip portion T is not separated (see FIG. 4B) as described above. Then, the tip portion T is cut by the outlet cutting machine 16, and the strips S1, S2, and S3 separated by the cutting are cut by the roller machine 17, and the strip rolls SR1 and SR2 are applied to the recoiler 18. , SR2.

Here, the scrap scrap material processing devices 30 (1) and 30 (2) described above will be described. Since the two scrap processing devices 30 (1) and 30 (2) have the same structure, one of the scrap processing devices 30 (1) will be described.

The scrap processing device 30 (1) includes a robot device 31, a guide roller machine 32, a traverse machine 33, and a scrap winder (SW) 34. The robot device 31 has an articulated arm 31a (moving mechanism) and a robot hand 31b attached to the tip of the articulated arm 31a. An articulated arm 31a (movement mechanism) driven by a drive mechanism (including a motor, etc .: not shown) provided at the base and each joint moves the robot hand 31b from the standby position P0 and the strip base material BM to the slitter. It is moved along a route passing through a position P1 for picking the tip of the side cut strip Ls1 cut out by 13 and a position P2 for delivering the tip of the side scrap strip Ls1 to the scrap winder 34. ..

Although the robot device 31 is omitted in FIG. 2, as shown in FIG. 2, the robot hand 31b does not interfere with the transfer path 20 when pinching the tip portion of the side end cut-off strip Ls1. The table 201 of the transfer path 20 corresponding to the position (position P1: see FIG. 1) where the robot hand 31b is expected to pinch the tip of the side end strip Ls1 is transferred by the advancing / retreating of the rod of the cylinder 21. It can swing between the road surface position and the retracted position (see the two-dot chain line portion in FIG. 2).

In the robot hand 31b, as shown in FIG. 5, the support 311, the head portion 312, and the motor 313 are connected in series. The support 311 is attached to the tip of the articulated arm 31a so that the head 312 can rotate about an axis extending in the connecting direction of the support 311, the head 312 and the motor 313. It is attached to the support 311. The motor 313 is fixed to the side opposite to the connection side of the support 311 with the head portion 312, and is coupled to the head portion 312 via a transmission system (not shown) in the support 311. As a result, the rotational movement of the motor 313 is transmitted to the head portion 312 via the transmission system in the support 311, and the head portion 312 supported by the support 311 rotates.

As shown in FIG. 6, the head portion 312 has a pair of picking blocks (block bodies) 314a and 314b facing each other with a gap G opened, and the picking blocks 314a and 314b having a narrow picking position of the gap G. An actuator 315 (solenoid valve or the like: a block reciprocating mechanism) that reciprocates between the and a wide release position of the gap G is provided as a pinching mechanism for pinching the tip of the side end cutting strip Ls1. When the picking blocks 314a and 314b are in the release position, the tip portion E of the side end cutting strip Ls1 inserted in the gap G is as shown in FIG. 7A when the picking blocks 314a and 314b move to the picking position. In addition, they are picked by the picking blocks 314a and 314b. In this state, when the head portion 312 (picking blocks 314a and 314b) is rotated by the transmission system in the motor 313 and the support 311, the side portions are cut off on the outer periphery of the picking blocks 314a and 314b as shown in FIG. 7B. The strip material Ls1 will be wrapped around (see R). The picking blocks 314a and 314b are rotated by, for example, an angle of 270 degrees (block rotation mechanism). Further, when the picking blocks 314a and 314b return to the release position in this state, the tip E of the side end cutting strip Ls1 sandwiched between the picking blocks 314a and 314b and the wound portion wound around the picking blocks 314a and 314b. R can escape from the picking blocks 314a and 314b as they are.

Further, although the head portion 312 is not shown in FIG. 5, as shown in FIGS. 6 and 8, an extrusion block 316 provided so as to be able to move forward and backward along the pair of knob blocks 314a and 314b, and an actuator 315. An air cylinder machine 317, which is fixed to the outer wall of the machine and moves the extrusion block 316 forward and backward, is provided as an extrusion mechanism. The extrusion block 316 is integrated with the extrusion plate portion 316a that has entered the gap G between the pair of picking blocks 314a and 314b from the side and the extrusion plate portion 316a, and is formed from the block portion 316b that protrudes to the outside of the picking blocks 314a and 314b. It has become. The air cylinder machine 317 is coupled to the block portion 316b, and by acting on the block portion 316b, it is between the retracted position (see the solid line portion in FIG. 8) and the advanced position (see the alternate long and short dash line portion in FIG. 8). Then, the extrusion plate portion 316a in the gap G of the picking blocks 314a and 314b is moved forward and backward together with the block portion 316b.

In the head portion 312, with the extrusion block 316 (extruded plate portion 316a, block portion 316b) in the retracted position (see the solid line portion in FIG. 8), the tip portion E of the side end cutting strip Ls1 is attached to the picking blocks 314a and 314b. Is pinched (see FIG. 7B) and wound (see winding portion R in FIG. 7B). Then, with the picking blocks 314a and 314b in the release position, the side edge cutting strip is formed by the extrusion block 316 (extruded plate portion 316a, block portion 316b) that advances to the advanced position (see the two-dot chain line portion in FIG. 8). The tip portion E and the winding portion R of the material Ls1 are extruded from the picking blocks 314a and 314b as they are.

As shown in FIG. 5, the tip of the articulated arm 31a of the robot device 31 has a 3D camera 35 so that the direction in which the tip of the head portion 312 (picking blocks 314a and 314b) faces is the imaging region. It is attached by a bracket 36. As will be described later, the tip portion of the side edge cut strip Ls1 is recognized based on the information of the image captured by the 3D camera 35, and the head portion 312 (picking blocks 314a and 314b) is side edge cut based on the recognition result. The robot device 31 is controlled so as to pinch the tip of the strip Ls1. Further, the information of the image captured by the 3D camera 35 is also used for recognizing the tip end portion of the winding arm of the scrap winder 34, as will be described later.

The guide roller machine 32 arranged along the transfer path 20 guides the side scrap strip Ls1 cut out from the strip base material BM toward the scrap winder 34 (see FIGS. 1 and 2). As shown in FIG. 9A, the guide roller machine 32 has a lower frame 321 corresponding to two orthogonal sides of the rectangle and an upper frame 322 corresponding to the other two orthogonal sides of the rectangle. .. The lower frame 321 rotatably accommodates a first vertical roller 323 arranged along the vertical side and a lower horizontal roller 324 arranged along the lower horizontal side. The upper frame 322 rotatably accommodates a second vertical roller 325 arranged along the vertical side and an upper horizontal roller 326 arranged along the upper horizontal side. The side edge cutting strip Ls1 passes through the space SP surrounded by the first vertical roller 323, the lower horizontal roller 324, the second vertical roller 325, and the upper horizontal roller 326. The side scrap strip Ls1 guided by these four rollers advances toward the scrap winder 34.

As shown in FIG. 9B, the guide roller machine 32 can move up and down together with the second vertical roller 325 and the upper horizontal roller 326 that the upper frame 322 accommodates. With the portion of the upper frame 322 raised to the raised position, the robot device 31 (robot hand 31b) passes the side scrap strip Ls1 between the lower frame 321 and the upper frame 322 as described later. Becomes possible. Then, by lowering and returning the upper frame 322, as shown in FIG. 9A, the side edge cutting strip Ls1 can be guided by the four rollers 323, 324, 3225, and 326.

The traverse machine 33 arranged on the downstream side of the guide roller machine 32 further guides the side scrap strip Ls1 passing through the guide roller machine 32 toward the scrap winder 34 (see FIG. 1), and will be described later. As described above, the side scrap strip Ls1 is moved up and down so as to be uniformly wound around the scrap winder 34 (see FIG. 2).

As shown in FIG. 10, the traverse machine 33 has an outer case body 331 and a guide roller machine 332 housed in the outer case body 331 so as to be vertically movable. The guide roller machine 332 has the same structure as the guide roller machine 32 (see FIGS. 9A and 9B) described above, and has a lower frame 333 for accommodating the first vertical roller 335 and the lower horizontal roller 336, and a second vertical roller machine 332. It is composed of a roller 337 and an upper frame 334 that accommodates the upper horizontal roller 338, and the upper frame body 334 can move up and down. The outer case body 331 includes a body portion 331a for accommodating the guide roller machine 332 so as to be vertically movable, a bottom plate portion 331b for closing the bottom surface of the body portion 331a, and a top plate portion for detachably closing the top surface of the body portion 331a. It is equipped with 331c. A support bar 333 is provided so as to penetrate the top plate portion 331c of the outer case body 331, and the upper frame 334 of the guide roller machine 332 is fixed to the tip of the support bar 333.

The support bar 333 penetrates the top plate portion 331c of the outer case body 331 so as to be vertically movable in a state of being prevented from coming off. The guide roller machine 332 supported by the support bar 333 moves up and down in the outer case body 331 (body portion 341a) together with the support bar 333 by a drive mechanism (not shown). By moving the guide roller machine 332 up and down in the outer case body 331, the space SP surrounded by the first vertical roller 345, the lower horizontal roller 336, the second vertical roller 337, and the upper horizontal roller 338 of the guide roller machine 332 is created. While the side scrap strip Ls1 passing through is guided by these four rollers, the side scrap strip Ls1 moves up and down in the direction toward the scrap winder 34.

In the traverse machine 33, the top plate portion 331c is removed from the body portion 331a of the outer case body 331, and the upper frame 334 of the guide roller machine 332 is raised to the ascending position together with the top plate portion 331c and the support bar 333, which will be described later. As such, the robot device 31 (robot hand 31b) can pass the side scrap strip Ls1 between the lower frame 333 and the upper frame 334. Then, by lowering and returning the upper frame 334 together with the top plate portion 331 and the support bar 333, as shown in FIG. 10, the side end cutting strip Ls1 is formed by the four rollers 335, 336, 337 of the guide roller machine 332. It will be in a state of being guided by 338.

The scrap winder 34 is configured as shown in FIGS. 11 and 12.

In FIGS. 11 and 12, the scrap winder 34 is fixed on the base 340 so that the case body 341 extending upstream along the transfer path 20 (see FIG. 1) projects from the base 340. There is. A motor 342 and a torque limiter (clutch) 343 are installed on the case body 341, and a take-up machine 345 is provided so as to project from the lower surface of the overhanging portion of the base 340 of the case body 341. The take-up machine 345 has a take-up shaft portion 346, and the rotational movement of the motor 342 is transmitted via a transmission mechanism 344 configured from the upper part to the inside of the torque limiter 343 and the case body 341 to take up the take-up shaft portion 346. It is designed to be transmitted to. Further, at the tip of the take-up shaft portion 346, as shown in FIG. 15 described later, together with FIGS. 11 and 12, six winding arms extending radially outward from the take-up shaft portion 346, the first winding. The attachment arm 347a, the second winding arm 347b, the third winding arm 347c, the fourth winding arm 347d, the fifth winding arm 347e, and the sixth winding arm 347f are provided. The take-up machine 345 has a first posture (see FIGS. 11, 12, and 17) in which each of the six take-up arms 347a to 347f extends outward from the take-up shaft portion 346, and downward from the take-up shaft portion 346. It is provided with an operation mechanism 348 for reciprocating with the second posture (see the broken line portion of FIGS. 11 and 12) extending to. Further, slit-shaped receiving grooves 349a to 349f (particularly, see FIG. 15: receiving portion) that open outward are formed on the tip surfaces of the winding arms 347a to 347f.

In the slitter line 1000 described above, each operating portion (feed roller machine 12, edge cutters 15a, 15b, outlet cutting machine) including the transfer path 20, the anchorer 11, the recaller 18, and the slitter 13 provided for the transfer path 20 16, the roller machine 17 and the like), and the control and processing necessary for the operation of the scrap cutting devices 30 (1) and 30 (2) are performed by one or more control devices (not shown).

The slitter line 1000 controlled by the control device operates according to the procedure shown in FIGS. 13A to 13D.

In the initial state of the slitter line 1000, the robot hand 31b of the robot device 31 is in the standby position P0 (see FIG. 1), and the picking blocks 314a and 314b of the robot hand 31b are in the wide release position of the gap G and rotate 0 degrees. It is in the moving position (see FIG. 7A), and the extrusion block 316 of the robot hand 31b is in the retracted position. The strip base material BM that is unwound from the base material roll BR is in a state in which the tip portion thereof stands by at a position immediately before the slitter 13. Further, the guide roller machine 32 is in a state where the upper frame 321 is in the raised position (see FIG. 9B), and the traverse machine 33 is also in the raised position of the upper frame 334 of the guide roller machine 332 together with the top plate portion 341c and the support bar 333. The edge cutters 15a and 15b are retracted. Further, the table 201 of the transfer path 20 is located at the transfer path surface position (see FIG. 2), and the first winding arm 347a of the scrap winder 34 delivers the side end cut strip Ls1 (tip portion E and winding portion R). It is in a fixed position.

In FIG. 13A, the strip base material BM in a state where the tip portion stands by at a position immediately before the slitter 13 is sent at a constant speed sizing and enters the slitter 13 (S1). When the strip base material BM enters the slitter 13, the slitter 13 makes a plurality of cuts in the strip base material BM from the cutting start position Pc (S2: see FIG. 4A). The strip base material BM that moves while making a plurality of cuts by the slitter 13 moves to a position to be cut by the edge cutters 15a and 15b and stops (S3). The edge cutters 15a and 15b move to positions corresponding to the width dimension of the strip base material BM based on the data from the control device (S4). Then, as shown in FIG. 4B, the edge cutters 15a and 15b set the cutting start position Pc of the side end cutting strips Ls1 and Ls2 of the strip base material BM or the side portion predetermined position on the upstream side of the cutting start position pc. Cut (S5). As a result, the side end cut strips Ls1 and Ls2 are separated from the plurality (three) strips S1, S2, and S3 joined by the tip portion T (see FIG. 4B). After that, the strip base material BM moves to a position where the tips of the side end cutting strips Ls1 and Ls2 are pinched by the robot hand 31b (robot device 31) (see position P1 in FIG. 1) and stops (see position P1 in FIG. 1). S6). Here, the table 201 of the transfer path 20 descends to the retracted position so that the robot hand 31b does not interfere with the transfer path 20 (see S7: the alternate long and short dash line portion in FIG. 2).

Subsequently, the robot hand 31b, which was in the standby position P0, shifts to the operation of FIG. 13B and moves to the position P1 for pinching the tip portion of the side end cutting strip Ls1 by the operation of the articulated arm 31a. Then, while changing the posture of the robot hand 31b, the 3D camera 35 photographs the tip of the side scrap strip Ls1 from two directions, from above (flat surface) and from the side (side surface) (S8, S9). .. Based on the image information obtained by the photographing, the tip portion of the side edge cut strip Ls1 is recognized (detected). Then, based on the recognition result (detection result), the position of the robot hand 31b is fine so that the tip end portion of the side end cutting strip Ls1 can be inserted into the gap G of the picking blocks 314a and 314b at the release position from the side. It is adjusted (S10). In this way, the picking blocks 314a and 314b move to the picking position with the tip of the side end cutting strip Ls1 in the gap G of the picking blocks 314a and 314b of the robot hand 31b, as shown in FIG. 7A. In addition, the tip end E of the side scrap strip Ls1 is in a state of being pinched by the picking blocks 314a and 314b (S11).

In this state, the head portion 312 of the robot hand 31b is rotated by 270 degrees, and as shown in FIG. 7B, the side end cutting strip Ls1 whose tip portion E is pinched by the picking blocks 314a and 314b is the picking block 314a and 314b. (S12: see winding portion R in FIG. 7B). After that, the robot hand 31b is raised (S13), and the table 201 of the transfer path 20 is raised and returned to the transfer path surface position (see the solid line portion in FIG. 2) (S14).

After that, the operation shifts to the operation shown in FIG. 13C, and the side edge cut strip Ls1 is picked so that the side edge cut strip Ls1 passes through the guide roller machine 32 in which the upper frame 322 is in the raised position (see FIG. 9B). The robot hand 31b including the picking blocks 314a and 314b moves toward the traverse machine 33 and stops in conjunction with the movement of the strip base material BM on the transfer path 20 (S15). Then, the upper frame 322 descends and returns (see FIG. 9A), and the side end cutting strip Ls1 is accommodated in the guide roller machine 32 (S16). Further, in the robot hand 31b, the upper frame 334 of the guide roller machine 332 was raised together with the top plate portion 331c and the support bar 333 in a state where the picking blocks 314a and 314b were pinching the tip portion E of the side scrap strip Ls1. In conjunction with the movement of the strip base material BM, the traverse machine 33 in the state moves toward the scrap winder 34 and stops so that the side scrap strip Ls1 passes through the traverse machine 33 (S17). Then, the upper frame 334 of the guide roller machine 332 descends and returns together with the top plate portion 331c and the support bar 333, and the side end cutting strip Ls1 fits in the guide roller machine 332 of the traverse machine 33 (S18).

At this time, in the scrap wonder (SW) 34, the first winding arm 347a is moved from the picking block 314a and 314b of the robot hand 31b to the delivery position, and the tip portion E and the winding portion R of the side end cutting strip Ls1 are It is set in place to be delivered (S181).

The robot hand 31b is moved to the vicinity of the tip of the first winding arm 347a set at a fixed position of the scrap winder 34 (S19). In this state, while changing the posture of the robot hand 31b, the 3D camera 35 photographs the tip of the first winding arm 347a, and based on the image information obtained by the imaging, the first winding arm 347a The tip of the is recognized (detected) (S20). Then, based on the recognition result (detection result), as shown in FIGS. 14 and 15, and as enlarged and shown in FIGS. 16A and 16B, the picking blocks 314a and 314b (picking mechanism) are in the delivery position. The position of the robot hand 31b is finely adjusted so that the tip surface thereof faces the tip surface of the first winding arm 347a of the scrap wonder 34 (S21: movement to the delivery position).

After that, the operation shifts to the operation shown in FIG. 13D, and the pair of picking blocks 314a and 314b facing the tip surface of the first winding arm 347a of the scrapwinder 34 are opened from the picking position to the release position (S22: see FIG. 17B). As a result, the tip portion E of the side end cutting strip Ls1 is released from the picking by the picking blocks 314a and 314b. In this state, the extrusion block 316 (extruded plate portion 316a, block portion 316b) advances to the advanced position by the operation of the air cylinder machine 317 (S23). As a result, the tip end E of the side scrap strip Ls1 in the gap G of the picking blocks 314a and 314b is pushed out by the extrusion plate portion 316a of the extrusion block 316, and the receiving groove 349a (receiving portion) of the first winding arm 347a. ), And the winding portion R of the side end cutting strip Ls1 wound around the picking blocks 314a and 314b is pushed out to the block portion 316b of the extruded block to the outer periphery (receiving portion) of the first winding arm 347a. Fit (see FIGS. 17A and 17B).

After that, due to the operation of the air cylinder machine 317, the extrusion block 316 (extrusion plate portion 316a, block portion 316b) returns to the retracted position (S24: see FIG. 8). Then, the robot hand 31b leaves the scrap wonder 34 and returns to the retracted position P0 (see FIG. 1) (S251).

On the other hand, in the scrap winder 34, the take-up machine 345 operates, and the take-up shaft portion 346 starts rotating at a very low speed in conjunction with the movement of the strip base material BM on the transfer path 20 (S25). After that, the take-up shaft portion 346 rotates three times, and the tension of the side end cut strip Ls1 with the slitter 13 is maintained to some extent (S26), and in that state, the constant speed is maintained until the side end cut strip Ls1 disappears. The take-up shaft portion 346 rotates at (S27). As a result of the rotation of the take-up shaft portion 346, the side end cutting strip Ls1 whose tip portion is set at the tip end portion of the first winding arm 347a is wound around the rotating take-up shaft portion 346 as shown in FIG. Taken.

In the control device, it is determined whether or not the winding operation of the side end cut strip Ls1 by the winding machine 345 (winding shaft portion 346) of the scrap winder 34 is completed (S28). Whether or not this winding operation is completed is determined, for example, by the amount of the side scrap strip Ls1 wound by the winding machine 345 (winding shaft portion 346) and the end instruction input to the control device. It can be done based on the presence or absence of. When it is determined that the winding operation is not completed (NO in S28), the slitter line 1000 is returned to the above-mentioned initial state (S29).

After that, according to the same procedure as described above (see FIGS. 13A to 13D), the side scrap strip Ls1 cut out from the strip base material (steel material) BM of the base material roll BR sequentially mounted on the uncoiler 11 is scrapped. It is wound up by the winder 34. At that time, in the scrap wonder (SW) 34, the tip end E and the winding portion R of the side end cutting strip Ls1 are set at the fixed positions to be delivered from the picking blocks 314a and 314b of the robot hand 31b moved to the delivery position. The winding arm is sequentially switched to the second winding arm 347b, the third winding arm 347c, ... (S181). Then, the side end cutting strip Ls1 having the tip set at the tip (receiving portion) of each winding arm 347b, 347c, ... Is sequentially wound by the rotation of the winding shaft portion 346.

Then, when it is determined that the winding operation of the side end cut strip Ls1 by the scrap winder 34 winding machine 345 (winding shaft portion 346) is completed (YES in S28), the scrap winder 34 has an operation mechanism. 348 operates all the take-up arms 347a to 347f in a downwardly extending posture (second posture) as shown in FIG. 19 (S30). As a result, as shown by the alternate long and short dash line in FIG. 19, the side scrap strip Ls1 wound around the winding shaft portion 346 slides downward while being guided by all the winding arms 347a to 347f. For example, if a recovery vat is placed below the take-up machine 345, the side scrap strip Ls1 that slides down from the take-up shaft portion 346 can be collected by the recovery vat.

According to the scrap processing devices 30 (1) and 30 (2) provided in the slitter line 1000 as described above, it is generated by cutting the strip base material BM unwound from the base material roll BR in the longitudinal direction by the slitter 13. The tip of the side scrap strip Ls1 is formed by a robot device 31 (picking block 314a, 314b, actuator 315, articulated arm 31a, extrusion block 316, air cylinder machine, etc.) of the scrapwinder 34 winding arms 347a to 374. Since it will be set at the tip, the side scrap strip Ls1 generated by cutting the strip base material BM efficiently can be wound around the scrap winder 34 and removed without using wasteful materials. Can be done.

Further, receiving grooves 349a to 349f (receiving portions) are provided in each of the plurality of winding arms 347a to 347f of the scrap winder 34, and the tip portions of the side end cutting strips Ls1 are continuously connected to the winding arms 347a to 347f. Since it can be set in, a plurality of side scrap strips Ls1 cut out from the strip base material BM from the plurality of base material rolls BR can be sequentially wound around the winding shaft portion 346 of the scrap winder 34. Therefore, the side scrap strip Ls1 can be efficiently removed and recovered. It should be noted that not all of the plurality of winding arms 347a to 347f, but one or a plurality of winding arms may be provided with a receiving groove (receiving portion) at the tip end portion.

Further, in a state where the tip end portion of the side end cut strip Ls1 is pinched by a pair of picking blocks 314a and 314b in the robot head 31b (head portion 312) of the robot device 31, the side end cut strip Ls1 is picked and blocked. It is designed to be wrapped around 314a and 314b. Therefore, the robot hand 31b moved by the articulated arm 31a securely holds the tip of the side end strip Ls1 cut out from the strip-shaped base material BM moving on the transfer path 20 and moves it to the scrap winder 34. be able to. Then, with the pair of picking blocks 314a and 314b open at the release positions, the tip portion E and the winding portion R of the side end cutting strip Ls1 are extruded by the extrusion block 316, and one winding of the scrap winder 34 is performed. Since it is set on the tip of the arm 347a (~ 347f) (the outer periphery thereof and the receiving groove 349a (~ 349f)), the tip of the side scrap strip Ls1 can be easily and surely scraped the scrap winder 34. It can be set on the tip of the winding arm 347a (~ 347f). Therefore, the side scrap strip Ls1 can be reliably wound around the winding shaft portion 346 (winding machine 345).

In the slitter line 1000 described above, the scrap processing devices 30 (1) and 30 (2) are installed on both sides of the transfer path 20, respectively, but the present invention is not limited to this, and one side of the strip base material BM is not limited to this. When the scrap material is cut out only from the end, the scrap processing device 30 can be installed only on one side of the transfer path 20 correspondingly.

The edge cutting devices 30 (1) and 30 (2) were installed in the slitter line 1000, but they should also be applied to the leveler line in which the side edge cutting strip Ls1 is cut out from the plate-shaped base material BM. Can be done.

The present invention is not limited to the above-described embodiments and modifications thereof. Various modifications can be made based on the gist of the present invention, and these are not excluded from the scope of the present invention.

The scrap cutting apparatus according to the present invention has the effect of being able to efficiently remove the side scrap strips generated by cutting the strip base material without using wasteful materials, and is fed out from the base material roll. It is useful as a scrap strip processing device for treating the side scrap strips generated by cutting along the longitudinal direction while moving the strip base material in the longitudinal direction.

11 Uncoiler 12 Feed roller machine 13 Slitter 14a, 14b Horizontal guide roller 15a, 15b Edge cutter 16 Outlet cutting machine 17 Roller machine 18 Recoiler 20 Transfer path 21 Cylinder 30 (1), 30 (2) Truncation processing device 31 Robot device 31a Many Joint arm 31b Robot hand 32 Guide roller machine 33 Traverse machine 34 Scrap winder 131 Upper arbor 132 Lower arbor 133 1st support frame 134 2nd support frame 135 Connecting bar 136 Upper round blade 137 Lower round blade 311 Support 312 Head part 313 Motor 314a, 314b Picking block 315 Actuator 316 Extrusion block 316a Extrusion plate part 316b Block part 317 Air cylinder machine 321 Lower frame 322 Upper frame 323 First vertical roller 324 Lower horizontal roller 325 Second vertical roller 326 Upper horizontal roller 331 Outer case body 332 Guide roller machine 333 Lower frame 334 Upper frame 335 1st vertical roller 336 Lower horizontal roller 337 2nd vertical roller 338 Upper horizontal roller 340 Base 341 Case body 342 Motor 343 Torque limiter 345 Winding machine 346 Winding shaft 347a 1st winding arm, 347b 2nd winding arm, 347c 3rd winding arm, 347d 4th winding arm, 347e 5th winding arm 347f 4th winding arm 348 Operating mechanism 349a to 349f Receiving groove

Claims (10)

It is a scrap strip processing device that treats side scrap strips generated by cutting along the longitudinal direction while moving the strip base metal unwound from the base metal roll in the longitudinal direction.
A scrap winder that winds up the side scrap strip that extends with the movement of the strip base material, and
A robot device for setting the tip end portion of the side scrap strip material on the scrap winder is provided.
The scrap winder
It has a receiving portion in which the tip end portion of the side scrap strip material is set.
The robot device
A pinching mechanism that can release the tip of the side piece strip material,
The pinching mechanism in a state where the tip of the side scrap strip is picked is placed at a delivery position for delivering the tip of the side scrap strip to the receiving portion of the scrap winder, and the strip base material. A movement mechanism that moves according to the movement of
At the delivery position, the setting mechanism is set by releasing the pinching of the tip of the side scrap strip by the picking mechanism and delivering the tip of the side scrap strip to the receiving portion of the scrap winder. Scrap strip processing device with. The scrap winder
With a rotatable take-up shaft
It has one or more rod-shaped arms extending outward from the take-up shaft.
The scrap strip processing device according to claim 1, wherein the tip portion of at least one of the one or a plurality of rod-shaped arms is formed as the receiving portion. The picking mechanism
A pair of block bodies that are arranged with a gap and can be moved between a pinching position for pinching the tip of the side end piece strip material inserted into the gap and a release position for releasing the pinching.
The scrap strip processing device according to claim 1 or 2, further comprising a block reciprocating drive mechanism for reciprocating the pair of blocks between the picking position and the releasing position. With the pair of blocks pinching the tip of the side piece, the pair of blocks is rotated by a predetermined angle to turn the side piece into the pair of blocks. The scrap strip processing device according to claim 3, further comprising a block rotating mechanism for winding. Before kiss Clap winder,
With a rotatable take-up shaft
It has one or more rod-shaped arms extending outward from the take-up shaft.
At the tip of at least one of the one or more rod-shaped arms, a groove into which the tip of the side end strip can be inserted is formed as the receiving portion.
The set mechanism of the robot device is
The wound portion of the side scrap strip material wound around the pair of block bodies with the tip portion inserted into the gap is extruded from the pair of block bodies together with the tip portion, and the side scrap strip material is extruded. The present invention has an extrusion mechanism for moving the tip end portion of the scrap winder into the groove at the tip end portion of the rod-shaped arm of the scrap winder and fitting the winding portion of the side end cutting strip material into the tip end portion of the rod-shaped arm. 4. The scrap material processing apparatus according to 4.
The scrap winder
A claim having an operation mechanism for reciprocating each of the one or a plurality of rod-shaped arms between a first posture extending outward from the winding shaft portion and a second posture extending downward from the winding shaft portion. Item 2. The scrap-line processing device according to item 2 or 5. It has a camera that moves with the picking mechanism
The scrap strip treatment according to any one of claims 1 to 6, wherein the picking mechanism picks the tip end portion of the side strip strip that is recognized based on the image information obtained by photographing with the camera. apparatus. The piece according to claim 7, wherein the moving mechanism moves the picking mechanism to the delivery position recognized based on the image information about the receiving portion of the scrap winder obtained by photographing with the camera. Scrap processing equipment. A claim for processing a slitter that cuts a strip base material that is unwound from a base material roll and moves in the longitudinal direction into a plurality of strips, and a side scrap strip that is generated by cutting the moving strip base metal with the slitter. A slitter line comprising the scrap strip processing apparatus according to any one of Items 1 to 8. The cutting start position of the strip base material by the slitter is a position where the strip base material is inserted from the tip of the strip base material.
An edge cutter that cuts the cutting start position of the strip base material that has passed through the slitter or a predetermined side portion on the upstream side of the cutting start position in a direction that crosses the longitudinal direction to generate the side edge cutting strip material. 9. The slitter line according to claim 9.

Images