319results about "Counter-pressure devices" patented technology

A robot apparatus having a multi-link structure including a plurality of links and joints serving as link movable sections, and in which at least some of the links are driven by combination of position control and force control is disclosed. The apparatus includes: position control means for performing the position control on the links, which are driven by position control and force control; position control means with force constraint for placing the force control before the position control so as not to cause the magnitude of an external force to exceed a set value; force control means for performing the force control on the links; and integrated force/position control means for controlling driving of the joints by switching the position control means, the position control means with force constraint, and the force control means, and unifies the position control and the force control.

The invention relates to a method for configuring the shape of a supporting roll of a four-high mill and the shape of a working roll thereof, belonging to the technical field of steel rolling. According to three types of width specifications of band steel which are most rolled by hot-rolling band steel production line, sixth-power polynomial supporting roll shape technology and second-power working roll shape curve are used for configuration so as to lead the contact length of the supporting roll and the working roll and the width of the rolled band steel to be fit. The method has the advantages of eliminating hazardous contact areas in which the parts of the two ends of the supporting roll with the flat roll shape and the working roll expand out of the edge of the band steel to generate large deflection and deformation, solving the problems that the stress concentration of the edges of the supporting roll and the working roll in a hot continuous mill for wide band steel causes stripping and the mill roll with the flat roll shape has large wearing capacity and is not even, reducing the consumption of the mill rill, saving energy, reducing consumption and reducing cost for rolling steel; and by the technical configuration of R2 working roll shape and the supporting roll shape, the invention solves the plate-shape problems that the middle blank generates negative convexity and the wedge shape is large, and improves the control precision of the shape of hot-rolled band steel.

The invention discloses a method for rolling precision stainless steel strips with a Sendzimir rolling mill, which belongs to the field of stainless steel technology and steel rolling. In the method, a process regulation of rolling a strip with the thickness less than 0.3 mm is added on the basis of the prior rolling process regulations of a twenty high rolling mill; a computer system is adopted to perform control and rational roll system configuration so as to rationally assign the deformation rate of each pass and prevent the problems that strings of edge waves of the steel strip are drawn, or tension sides are ripped and broken, and string drawing easily occurs when the rolling mill is started; checking apparatuses, such as a thickness gauge, a plate shape gauge and the like, are corrected; and the surface conditions and the like of the rolled steel strip are checked in advance of two passes so as to comprehensively meet the requirements of producing the precision stainless steel strips of less than 0.3 mm. The method not only expands the rolling range of the twenty high Sendzimir rolling mill, but also can produce products with high value added and reduce investment cost of new precision rolling mills, and is good for producing and rolling the precision stainless steel strips with short time, higher speed and lower cost, and has great application and popularization values in the manufacturing industry.

The invention relates to a configuration method of a medium and heavy plate roll system with consideration of both rolling stability and cross-section shape, in particular to a fit way between a working roll and a supporting roll in different periods of service life of medium and heavy plate supporting roll. By comprehensively considering the impacts of a roll gap on the rolling stability and influencing factors of cross-section shape control, the invention provides the following scheme: the six-time polynomial curve supporting roll with big roll diameter at the middle and small roll diameter at two ends is adopted on a medium and heavy plate mill, and the six-time polynomial curve working roll with the small roll diameter at the middle and the big roll diameter at two ends is adopted for matching with the supporting roll; and the six-time polynomial curve working roll with the big roll diameter at the middle and the small roll diameter at two ends is adopted for matching with the supporting roll after abrasion during the later stage of the service life of the supporting roll. The configuration method of the roll system can solve the contradiction between the stability of medium and heavy plate rolling and the control of the cross-section shape, and the field application can obtain significant effects.

The invention relates to a method for controlling a plate shape of an X80 pipeline steel hot-rolled medium plate, which comprises a heating process, a roll crown matching process, a reduction schedule selecting process, a cooling control process and a straightening process. In the heating process, secondary heating temperature and soaking zone temperature are controlled; in the roll crown matching process, a working roll has a sinusoidal structure; the diameter of an upper roll is larger than that of a lower roll; period of a grinding roller and the crown of the working roll are determined by rolling capacity and plate width; in the reduction schedule selecting process, rolling pass and reduction ratio of each pass are distributed according to the thickness of a plate material during the process of precision rolling; in the cooling control process, water volume and pressure forming four cooling zones of a cooling bed, sheltering range of a controlled cooling edge part, proportion of upper surface cooling water and lower surface cooling water of a steel plate, distance from the steel plate surface are adjusted; and in the straightening process, positions of a guide-in roll and a delivery roll are reduced by positive and negative bowed roll straightening process. The method can greatly reduce the buckling rate of a high steel grade steel plate, improve the plate shape, improve production efficiency, and prolong service life of equipment.

The invention provides a continuously variable crown mill support roll to be matched with a roll curve of a continuously variable crown work roll. The roll shape is skew asymmetrical curve which essentially consists of a roll gap whole line contact curve section in the range of the strip width at the middle of the roll body and a contact line variable curve section at two ends of the roll; and the roll shape curves of an upper support roll and a lower support roll are the same but are arranged reversedly in an angle of 180 degrees The continuously variable crown mill support roll with the roll shape curve and the mill roll system with the continuously variable crown work roll can not only reduce uneven distribution and peak of the contact pressure between the roll, reduce or eliminate side spalling of the continuously variable crown mill support roll with normal crown, improve service cycle and service life of the support roll and reduce roll consumption of the support roll, but also overcomes harmful contact zone outside the rolled strip width and improves roll gap lateral rigidity of the mill and plate shape control efficiency of bending force, thereby improving plate shape quality of the rolling strip.

The invention discloses a supporting roller with a roughness keeping capability, comprising the following chemical components in mass percentage: 0.40-0.70% of C, 0.40-0.80% of Si, 0.50-0.80% of Mn, 4.5-5.5% of Cr, 0.40-1.00% of Mo, 0.30-0.50% of V, 0.40-0.60% of Ni. The supporting roller further comprises one or two of 0.05-0.30% of Nb and 0.05-0.30% of Ti, and residual amounts of Fe and unavoidable impurities. The invention further discloses a manufacturing method of the supporting roller; and the roughness keeping capability of the manufactured supporting roller is greatly improved.

Processes for continuous production of a thin metal strip, in particular a steel hot strip, directly from a metal melt and with a strip cast thickness of <10 mm by the roll-casting process. The cast metal strip is fed for in-line thickness reduction, and then to a storage device. To achieve a high-quality, hot-rolled metal strip with flatness tolerances comparable to those which can currently be achieved in the production of hot-rolled metal strip from continuous-cast thin slabs or slabs, at cast thicknesses of between 40 and 300 mm, in a continuous production process starting directly from metal melt. With the low strip cast thickness, a flatness measurement is performed on the moving metal strip, and the measurement results of this flatness measurement are used to influence the flatness of the metal strip in a targeted way.

The invention relates to a method for milling a thin plate by a four-high reversing cold mill, which belongs to the technical field of cold-milling hard rolling plates. The method comprises the steps: pickling raw materials of a hot-milling rolling plate and coldly milling a pickled hot-milling rolling plate, wherein the milling steps comprise a first milling step and a second milling step; a milling plate which is obtained from the first milling step is annealed after the first milling step and is milled after being annealed so as to obtain a thin plate with the thickness of 0.18 mm to 0.23 mm, and the pickled hot-milling rolling plate with the thickness of 3 mm to 4 mm is milled into a milling plate with the thickness of 1 mm in the first milling step. The method for milling a thin plate by a four-high reversing cold mill can change the ultimate milling thickness of 0.23 mm into the ultimate milling thickness of 0.18 mm to 0.23 mm in the prior art.

The invention discloses a support roll with a high abrasion resistant performance, which comprises the following chemical constituents by weight percent: 0.38 to 0.85 percent of C, 6.1 to 10.0 percent of Cr, 0.4 to 1.5 percent of Mo, 0.15 to 0.8 percent of V, as well as one or more of 0.35 to 1.20 percent of Si, 0.35 to 1.00 percent of Mn, 0.4 to 0.8 percent of Ni, 0.4 to 0.8 percent of Co, and Fe and unavoidable impurities in balancing amount. The invention further discloses a manufacturing method of the support roll; and the rigidity and the abrasion resistance of the support roll produced according to the manufacturing method are greatly improved.

The present invention provides a Cluster mill which utilizes a Cluster mill gauge control system, has a high mill stiffness, a large work roll gap for threading, a rapid work roll gap opening, accurate roll force computation, side to side tilting, and utilizes work rolls over a much wider diameter range.

A 6-high rolling mill in accordance with the present invention wherein each of the working rolls 2 which are equipped with a shifting means has a locally gradually-thickened-toward-end part (or a local concave crown 2a) on one end of the roll, the working rolls 2 are disposed so that the locally gradually-thickened-toward-end parts of the working rolls 2 may be vertically symmetrically with a point, a decremental bender 10b which works to narrow the gap between the working rolls is provided as a first shape control means, both the local concave crowns 2a and the roll bender 10b are used to control thermal crowns, and an incremental bender 11a which controls bending of the intermediate rolls 3 is provided as a second shape control means which controls so that the center of a strip may have a concave crown.

The invention provides an eighteen-roller rolling mill structure. Side supporting devices of working rollers are respectively arranged in the front and at the back of as well as on and below a rolling mill machine frame assembly; each side supporting device comprises a side supporting bearing pedestal, a side roller and a side supporting roller; the side supporting device comprises a side driving cylinder which is provided with a displacement sensor and a servo valve for controlling the advancing and retreating positions of the side supporting device; when in a rolling work, the side supporting positions are set according to various technical parameters, so that the side deformation caused by the working rollers in a rolling process is counteracted and the rigidities of the working rollers are improved; with the adoption of the small-diameter working rollers and a side driving roller system mode, the demand of roller rigidity in the rolling process is ensured, and meanwhile, the rolling demand of an ultra-thin belt material is satisfied; and the rolling mill structure has the following advantages of high rolling mill opening degree, favorable lubrication for the roller and belt material, high speed, convenience to maintain equipment and low manufacturing cost of the equipment.

A 6-high rolling mill has work rolls which have offsets, relative to the intermediate rolls, such that during operation there is a net horizontal force acting to urge the work rolls into engagement with the support rolls whereby substantially all horizontal support of the work rolls is provided by the support rolls. Support pads are located proximal the rolls' side faces, without exerting any substantial force on the work rolls during operation.

The invention relates to the technical field for repairing an ultra-large type backup roll, in particular to a repair process of a forging steel backup roll with Phi2100* 3400mm. Firstly, welding is carried out on the rib of the backup roll: the roll body of the backup roll which needs to be welded is preheated to 250 DEG C, and the temperature is preserved for 10 hours; then the door of a furnace is opened, rib welding is carried out, zigzag welding is carried out every 100mm, and the length of the weld pass is 50-60mm; oxygen is used on the welded part immediately, and ethyne is used for warming the welded part until the welded part becomes blue. After the rib welding is finished, preheating treatment, temperature preservation treatment and destressing treatment are carried out respectively according to a heat treatment curve when the roll body of the backup roll is overlaid for making a bottom layer, a transition layer and a working layer. Compared with the prior art, in the technology of the invention, the influence on the service performance caused by the temperature circulation and change of a heat influencing region during the overlaying is considered, uniformity and penetration of preheating workpieces and uniformity of temperature between layers are guaranteed in the repair process, the blank in the repair rebirth field of the domestic ultra-large type backup roll is filled in. The time for repair is short, the service life is prolonged, and the cost is saved.

The invention discloses a forging method of a large supporting roller forge piece, and relates to the technical field of free forging. The forging method comprises the following steps of pressing a riser of a steel ingot with a jaw, rounding an ingot body of the steel ingot and cutting off an ingot tail of the steel ingot to obtain a steel ingot blank; heating the steel ingot blank to 1220-1270 DEG C and preserving heat, wherein the heat preservation time is set according to the size of the ingot body of the steel ingot; upsetting the ingot body of the steel ingot until the ratio of H to D ranges from 0.37 to 0.50; uniformly cooling the surface of the steel ingot to 1000-1100 DEG C so as to enable the inside and outside of the ingot body to form a temperature difference; drawing the ingotbody of the steel ingot by adopting a wide flat anvil; and reheating the drawn blank, drawing out the step of each part of the forge piece to the designed size, cutting off water openings at the two ends of the steel ingot and riser leftovers and forming the finished product. According to the forging method, the effective compaction of a core of the steel ingot can be realized by means of one-timeupsetting and drawing, the technical problem that the large supporting roller forge piece usually needs two-time upsetting is solved, the kinetic energy consumption in the production process of the supporting roller is greatly reduced, and the product manufacturing period is further shortened.

The invention relates to a roll stand comprising a pair of work rolls 1, 2 for rolling a metal strip B, comprising back-up rolls 8, 9, 10, 11 which provide lateral support to their respectively allocated work rolls 1, 2, with support force directed towards the work rolls 1, 2 being able to be applied to said back-up rolls by means of a force generation device, and comprising support rolls or intermediate rolls 3, 4 which are borne by a chock which can be slid into the roll stand W1, W2 in the direction of the longitudinal axis of said chock 7, and wherein said chock can be withdrawn from said roll stand, with each support roll or intermediate roll supporting an associated work roll 1, 2 in a direction which is essentially perpendicular to the direction of movement of the metal strip B. In such a roll stand, changing of the rolls can be carried out more quickly and easily in that the back-up rolls 8, 9, 10, 11 can be positioned from an idle position in which they are arranged outside the region where the chock 7 of the support roll or intermediate roll 3, 4 moves during slide-in or withdrawal, to an operating position in which they rest against the work roll 1, 2.

The invention relates to a roll changing device for up-backup rolls of a multi-roll mill. The roll changing device comprises a roll changing bracket, and also comprises a lifting tool for lifting the roll changing bracket, wherein, the lifting tool comprises a beam (1), a lifting lug (2) sheathed on the beam (1) and a swing lifting frame (7) connected with the two ends of the beam (1) by a pin roll (6); and a limit bolt (4) is respectively arranged at the two sides of the lifting lug (2) on the beam (1); the roll changing bracket comprises a carriage (12) and rollers (13) arranged on the carriage (12), the carriage (12) comprises a main body carriage and a side guide (11) which is provided with an upward prominence (17) respectively arranged on at least two end parts of two opposite sides of the main body carriage, and the rollers (13) are distributed at the two sides of the side guide (11). The roll changing device can simultaneously replace two bed rolls, and has the advantages of convenient operation and short roll changing time, and the production operation rate is improved.

A flexible forming device for forming three-dimensional shaped workpieces, comprising a frame, at least two working rollers, one or more working roller driving mechanisms and one or more adjusting mechanisms, wherein the working rollers, the one or more working roller driving mechanisms and the one or more adjusting mechanisms are installed on the frame respectively. At least one of the working rollers is a flexible working roller, which is bendable and adjustable. The forming device need not use mold and can realize the continuous formation of a three-dimensional curved surface of a plate-shaped workpiece, and the gradual formation of a tube-shaped or bar-shaped three-dimensional shaped workpiece. The forming device can save manpower, material and time.

An improved roll bending system is described for the work rolls and intermediate rolls in a six high mill. New bending blocks apply improved roll bending forces to the roll chocks, and additionally, are designed to move vertically and rotate, which provide important benefits to maintenance and enhance the rolling operation. Additionally, important related details to the mill operation and bending blocks provide operational improvements during roll changing.

The invention discloses a support roller for a four-roller rolling mill with a wide thick board; the support roller has an axisymmetric roller type curve, and sequentially comprises a flat roller section, a cubic curve section and an oblique line segment from the centre of symmetry to two sides, wherein the cubic curve section has the length of L1 and the chamfering depth of H1; the L1 has a value range of 920-1090mm, and the H1 has a value range of 0.71-0.91mm; the cubic curve section has an equation as follows: y=ax3+bx2+cx+d, wherein a, b, c and d are roller type optimization coefficients related to rolling conditions; and the oblique line segment has the length L2 of 50mm and the height H2 of 0.7mm. The support roller type four-roller rolling mill can meet the rolling requirements on different board widths, and the contact stress distribution among rollers trends to be even, so that the service life of the support roller can be prolonged; and meanwhile, the thickness difference of strip steel is well controlled, and the production quality of a board strip can be guaranteed.