A swinging lifting type spring-damping gravity billet tilter

Abstract

The present invention provides a swing-lifting spring-damping gravity billet tilter. The sliding spiral cam adjustment mechanism is connected to the variable four-link swing mechanism, and the swing power mechanism is connected to the variable four-link swing mechanism. The lifting power mechanism is respectively connected to the variable four-link swing mechanism and the adjustable tensioning sprocket lifting mechanism. The lifting power mechanism is used to provide power for the adjustable tensioning sprocket lifting mechanism. The adjustable tensioning sprocket lifting mechanism is arranged on the column and is connected to the gravity spring tilting mechanism. This swing-lifting spring-damping gravity billet tilter can perform a 90° flip on the high-temperature billets discharged from the heating furnace of the section / bar hot rolling production line before rolling, meet the on-site rolling deformation process requirements, can remove the overheated iron oxide on the surface of the billets, improve the surface appearance quality of the rolled materials, increase the on-site production rhythm, and reduce process failures.

Description

Technical Field

[0001] The present invention relates to the technical field of steel rolling, and particularly to a swing-lifting spring-damping gravity billet turnover machine. Background Art

[0002] At present, in domestic hot rolling production lines, manual intervention for steel turnover or mechanical turnover is generally adopted to solve the problem of on-site hot billet turnover. Manual intervention for manual steel turnover has a large on-site workload, a harsh environment, is prone to causing personal safety accidents and requires special personnel to guard, which is not conducive to the reasonable allocation of human resources; mechanical turnover mostly uses a hydraulic turnover steel rolling machine, which has a complex structure and is bulky, requires a dedicated hydraulic transmission mechanism, and the actuator is arranged below the furnace discharging roller table. On-site installation, operation and maintenance are extremely inconvenient, and it is necessary to separately re-pour and install a concrete foundation, with a high cost. Moreover, it is extremely easy to cause the accumulation of scale in the slag discharge trench, affecting the working efficiency of the roller table and the slag flushing system, with high requirements for the professional skills and maintenance costs of on-site personnel. Once a hydraulic system leakage fault occurs, it is extremely easy to cause a sudden oil fire accident, resulting in heavy losses to on-site personnel and property. Therefore, how to develop an automatic billet turnover machine with a simple structure, flexible and efficient operation, convenient disassembly and assembly, and low maintenance and use costs to meet the requirements of on-site rolling processes is an urgent technical bottleneck problem in current hot rolling production sites. Summary of the Invention

[0003] The purpose of the present invention is to provide a swing-lifting spring-damping gravity billet turnover machine, which can turnover the high-temperature billets discharged from the heating furnace of the section / bar hot rolling production line by 90° before rolling, change the order of the biting surfaces of the conjugate pass of the billets between the two rolling mills, improve the control accuracy of the incoming material shape of the rolling mill, meet the requirements of on-site rolling deformation processes, and can remove the overheated iron oxide on the surface of the billets, improve the surface appearance quality of the rolled products, increase the on-site production rhythm, reduce the rolling current, and reduce process failures.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A swing-lifting spring-damping gravity billet tilter, comprising a swing power mechanism, a lifting power mechanism, a sliding spiral cam adjustment mechanism, a variable four-bar swing mechanism, an adjustable tensioning sprocket lifting mechanism and a gravity spring tilting mechanism; the sliding spiral cam adjustment mechanism is connected to the variable four-bar swing mechanism, and the sliding spiral cam adjustment mechanism is used to adjust the abscissa and / or ordinate of the swing rod seat in the variable four-bar swing mechanism, so as to linearly adjust the swing angle of the column in the variable four-bar swing mechanism; the swing power mechanism is connected to the variable four-bar swing mechanism, and the swing power mechanism is used to provide power for the variable four-bar swing mechanism; the lifting power mechanism is respectively connected to the variable four-bar swing mechanism and the adjustable tensioning sprocket lifting mechanism, and the lifting power mechanism is used to provide power for the adjustable tensioning sprocket lifting mechanism; the adjustable tensioning sprocket lifting mechanism is arranged on the column, the adjustable tensioning sprocket lifting mechanism is connected to the gravity spring tilting mechanism, and the adjustable tensioning sprocket lifting mechanism is used to change the direction of the power output by the lifting power mechanism to drive the gravity spring tilting mechanism to move up and down in a reciprocating straight line; the billet is placed at the end of the gravity spring tilting mechanism, and the gravity spring tilting mechanism moves up and down in a reciprocating straight line or swings left and right to make the billet reach the critical balance tilting angle, so as to realize the tilting of the billet.

[0006] Further, in the above-mentioned swing-lifting spring-damping gravity billet tilter, the sliding spiral cam adjustment mechanism includes a sliding spiral mechanism, a wedge-type sliding cam mechanism and a push rod frame; the sliding spiral mechanism includes a first reduction motor, a transverse adjustment nut and a transverse adjustment screw rod, the output end of the first reduction motor is fixedly connected to one end of the transverse adjustment screw rod, and the transverse adjustment nut is in threaded connection with the transverse adjustment screw rod; the wedge-type sliding cam mechanism includes a swing frame, a longitudinal adjustment nut, a longitudinal adjustment screw rod, an inclined slideway and a push rod; the bottom of the swing frame is hinged to the upper plane of the transverse adjustment nut, the longitudinal adjustment screw rod is rotatably arranged inside the swing frame, the longitudinal adjustment nut is in threaded connection with the longitudinal adjustment screw rod, the bottom of the longitudinal adjustment screw rod is hinged to the upper plane of the transverse adjustment nut, one end of the inclined slideway is hinged to the longitudinal adjustment nut, and the other end of the inclined slideway is hinged to the upper plane of the transverse adjustment nut; one end of the push rod is hinged to the inclined slideway, the other end of the push rod is fixedly connected to the bottom of the swing rod seat, a sleeve is arranged at the top of the push rod frame, the bottom of the push rod frame is fixedly arranged, and the push rod is arranged inside the sleeve.

[0007] Further, in the above-mentioned swing-lifting spring-damping gravity billet tilter, the sliding spiral cam adjusting mechanism further includes an L-shaped slideway and a locking bolt; the bottom of the L-shaped slideway is fixedly arranged, and the bottom of the ejector rod frame is slidably connected to the top of the L-shaped slideway; the locking bolt is arranged between the bottom of the ejector rod frame and the top of the L-shaped slideway, and the locking bolt is used to fixedly connect the bottom of the ejector rod frame to the top of the L-shaped slideway.

[0008] Further, in the above-mentioned swing-lifting spring-damping gravity billet tilter, the variable four-bar swing mechanism further includes a connecting rod, a swing rod, a base, an upper swing rod slide, a lower swing rod slide and a lifting arm; one end of the column is hinged to the base, and one end of the swing rod is hinged to one end of the swing rod seat; one end of the lifting arm is adjustably and slidably connected to one side of the column, and the other end of the lifting arm is hinged to one end of the connecting rod; one end of the upper swing rod slide is adjustably and slidably connected to one side of the swing rod, and the other end of the upper swing rod slide is hinged to the other end of the connecting rod; one end of the lower swing rod slide is adjustably and slidably connected to the other side of the swing rod, and the other end of the lower swing rod slide is hinged to the output end of the swing power mechanism, the end of the swing power mechanism is hinged to the base, and the end of the lifting power mechanism is hinged to the connecting rod.

[0009] Further, in the above-mentioned swing-lifting type spring-damping gravity billet tilter, the connecting rod includes a connecting rod sleeve, two connecting rod beams, a set screw, a support, an adjusting rod, and a fixing nut; the connecting rod sleeve is a hollow box-shaped structure, and the other ends of the two connecting rod beams symmetrically insert from both ends of the connecting rod sleeve; two groups of threaded holes are symmetrically arranged on both sides of the connecting rod sleeve in a mirror image manner, and the set screw is screwed into the threaded hole and contacts the connecting rod beam to fixedly connect the connecting rod beam and the connecting rod sleeve; the other end of the lifting arm is hinged to one end of a connecting rod beam, and the other end of the upper slider of the swing rod is hinged to one end of the other connecting rod beam; the support is fixedly arranged on the connecting rod beam, the fixing nut is fixedly arranged on the connecting rod sleeve, one end of the adjusting rod is rotationally matched with the support, the other end of the adjusting rod is matched with the fixing nut, and the end of the lifting power mechanism is hinged to the connecting rod sleeve; the variable four-bar swing mechanism further includes two sets of swing rod rocker arm pull rod mechanisms, and each set of swing rod rocker arm pull rod mechanisms includes a rocker arm pull rod, two rocker arm ear rings, and a rocker arm; one end of the rocker arm is hinged to the swing rod, the other end of the rocker arm is hinged to one end of a rocker arm ear ring, one end of the other rocker arm ear ring in one set of swing rod rocker arm pull rod mechanisms is hinged to the upper slider of the swing rod, and one end of the other rocker arm ear ring in the other set of swing rod rocker arm pull rod mechanisms is hinged to the lower slider of the swing rod; the rocker arm pull rod is a double helix structure that rotates synchronously, and both ends of the rocker arm pull rod are respectively matched with the other ends of the two rocker arm ear rings by fine-pitch external threads with opposite thread directions.

[0010] Further, in the above-mentioned swing-lifting type spring-damping gravity billet tilter, the variable four-bar swing mechanism further includes a lifting arm drum, a fixed pulley, a lifting arm drum support, a fixed pulley support, a second reduction motor, and a steel wire rope; the fixed pulley is fixedly arranged at the top of one side of the column through the fixed pulley support, the lifting arm drum is fixedly arranged at the bottom of one side of the column through the lifting arm drum support, the output end of the second reduction motor is fixedly connected to the lifting arm drum, and the lifting arm is slidably connected to one side of the column; one end of the steel wire rope is fixedly connected to the lifting arm, and the other end of the steel wire rope bypasses the fixed pulley and is fixedly connected to the lifting arm drum.

[0011] Further, in the above-mentioned swing-lifting spring-damping gravity billet tilter, the adjustable tensioning sprocket lifting mechanism comprises a tensioning sprocket assembly, a sleeve roller chain and a lifting trolley; the tensioning sprocket assembly comprises a sprocket, a sprocket shaft and a tensioning plate; the sprocket is rotatably arranged at one end of the tensioning plate through the sprocket shaft, and the other end of the tensioning plate is fixedly arranged at the top end of the column; the lifting trolley comprises a trolley wheel shaft, a trolley pressing plate, a lifting plate and two telescopic beams; the telescopic beam is a long strip-shaped plate member, and a groove slideway is arranged in the middle of the telescopic beam in the height direction, the groove slideway extends from the rear end face of the telescopic beam to the front end face of the telescopic beam, and the length direction of the groove slideway is consistent with the length direction of the telescopic beam; the lifting plate is fixedly arranged on the upper surfaces of the two telescopic beams, the two ends of the trolley pressing plate are fixedly arranged on the rear end faces of the two telescopic beams, and the gravity spring tilting mechanism is fixedly arranged on the front end face of the telescopic beam; the trolley wheel shaft is slidably arranged in the groove slideway, guide slideways are arranged on the opposite inner side walls of the column, and the two ends of the trolley wheel shaft are respectively slidably connected with the guide slideways; one end of the sleeve roller chain is fixedly connected with the output end of the lifting power mechanism, and the other end of the sleeve roller chain bypasses the sprocket and is fixedly connected with the lifting plate.

[0012] Further, in the above-mentioned swing-lifting spring-damping gravity billet tilter, the lifting trolley further comprises an adjusting rod and a second deep groove ball bearing; a stepped blind hole is arranged at the geometric symmetry center line of the trolley wheel shaft, the second deep groove ball bearing is arranged in the stepped blind hole, a fine thread nut is arranged at the middle position of the trolley pressing plate and is screwed with the adjusting rod; one end of the adjusting rod passes through the trolley pressing plate and is matched with the second deep groove ball bearing.

[0013] Further, in the above-mentioned swing-lifting spring-damping gravity billet tilter, the gravity spring tilting mechanism includes a cross beam, two groups of load-bearing rod assemblies, two groups of material supporting arms, and two groups of rotary spring dampers; the two groups of load-bearing rod assemblies are fixedly arranged at both ends of the cross beam, the cross beam is fixedly arranged on the front end face of the telescopic beam, and the two groups of load-bearing rod assemblies are symmetrically arranged with respect to the geometric symmetry center line of the lifting trolley; the material supporting arm includes a transverse part, a vertical part, and a movable ear plate. The lower end of the vertical part is fixedly connected to the transverse part and divides the transverse part into a front section of the material supporting arm and a rear section of the material supporting arm. The length of the front section of the material supporting arm is greater than the length of the rear section of the material supporting arm. The movable ear plate is arranged on the front section of the material supporting arm, and one end of the load-bearing rod assembly is hinged to the upper end of the vertical part; the two groups of rotary spring dampers are respectively hinged to the outer sides of the tails of the two groups of symmetrically arranged material supporting arms; the rotary spring damper includes a guide rod, a damping spring, a spring seat, and a lifting nut; the lifting nut is in threaded cooperation with the load-bearing rod assembly. An articulated ear shaft is arranged on the side surface of the lifting nut, and the articulated ear shaft is hinged to the through hole on the side surface of the spring seat. The damping spring is axially sleeved on the guide rod. One end of the damping spring is fixed, and the other end of the damping spring is movable. The top of the guide rod slides in the long oval hole in the upper part of the spring seat, and the bottom of the guide rod is hinged to the outer side surface of the tail of the material supporting arm.

[0014] Further, in the above-mentioned swing-lifting spring-damping gravity billet tilter, the rotary spring damper further includes a base nut; the guide rod is a screw shaft with a full-length thread structure, and the base nut is in threaded cooperation with the lower part of the guide rod; the top of the damping spring is in pressing contact with the upper plane of the spring seat, and the bottom of the damping spring is fixedly installed on the base nut.

[0015] Analysis shows that the embodiments of the swing-lifting spring-damping gravity billet tilter disclosed in the present invention achieve the following technical effects:

[0016] This swing-lifting spring-damping gravity billet tilter can perform a 90° flip on the high-temperature billets discharged from the heating furnace of the section / bar hot rolling production line before rolling, change the order of the biting surfaces of the billets in the conjugate pass rolling between the two rolling mills, improve the control accuracy of the inlet material shape of the rolling mill, meet the requirements of the on-site rolling deformation process, and can remove the overheated iron oxide on the surface of the billets, improve the surface appearance quality of the rolled products, increase the on-site production rhythm, reduce the rolling current, and reduce process failures. At the same time, this swing-lifting spring-damping gravity billet tilter has the remarkable characteristics of simple structure, low cost, reliable operation, rapid response, and strong adaptability. It is a new type of billet turning machine with wide application, high automation, convenient installation, and strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings of the specification, which form a part of this application, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0018] Figure 1 is a schematic structural diagram of an embodiment of the present invention; Figure 2 is a system structure decomposition diagram of an embodiment of the present invention; Figure 3 is a kinematic diagram of a variable four-bar swing mechanism in an embodiment of the present invention; Figure 4 is a kinematic diagram of a swing frame adjustment mechanism in an embodiment of the present invention; Figure 5 is a kinematic diagram of a swing rod rocker arm pull rod mechanism in an embodiment of the present invention; Figure 6 is a kinematic diagram of a stock supporting arm mechanism in an embodiment of the present invention; Figure 7 is a schematic structural diagram of a swing power mechanism in an embodiment of the present invention; Figure 8 is a schematic structural diagram at the swing frame in an embodiment of the present invention; Figure 9 is a schematic structural diagram at the ejector rod frame in an embodiment of the present invention; Figure 10 is a schematic structural diagram of a swing rod in an embodiment of the present invention; Figure 11 is a schematic structural diagram at the connecting rod in an embodiment of the present invention; Figure 12 is Figure 11 a cross-sectional view taken along the A-A direction in Figure 13 is a schematic structural diagram of a column in an embodiment of the present invention; Figure 14 is Figure 13 a cross-sectional view taken along the A-A direction in Figure 15 is Figure 13 a cross-sectional view taken along the B-B direction in Figure 16 is Figure 13 a cross-sectional view taken along the C-C direction in Figure 17 is a schematic structural diagram of a lifting trolley and a stock supporting arm in an embodiment of the present invention; Figure 18 is Figure 17 a view in the M direction in Figure 19 is a pneumatic control schematic diagram of an embodiment of the present invention; Figure 20 is a schematic structural diagram of a lifting arm in an embodiment of the present invention; Figure 21 is a schematic structural diagram of a lifting arm drum in an embodiment of the present invention; Figure 22 is a schematic structural diagram of a fixed pulley in an embodiment of the present invention; Figure 23 is a schematic structural diagram of a tensioning sprocket in an embodiment of the present invention; Figure 24 is a schematic structural diagram of a sprocket in an embodiment of the present invention; Figure 25 is a schematic structural diagram of a lifting trolley in an embodiment of the present invention; Figure 26 is Figure 25 a cross-sectional view taken along the A-B-C direction in Figure 27Schematic diagram of the load-bearing rod assembly in an embodiment of the present invention; Figure 28 Schematic diagram of the material supporting arm in an embodiment of the present invention; Figure 29 Simplified kinematic diagram in an embodiment of the present invention; Figure 30 Schematic diagram of the process at the initial station in an embodiment of the present invention; Figure 31 Schematic diagram of the process at the no-load lifting station in an embodiment of the present invention; Figure 32 Schematic diagram of the process at the heavy-load lifting and tipping station in an embodiment of the present invention; Figure 33 Schematic diagram of the process at the falling-back gravity flipping station in an embodiment of the present invention; Figure 34 Schematic diagram of the process of restoring to the original position after the blank is tipped over in an embodiment of the present invention; Figure 35 Schematic diagram of the process at the heavy-load swinging station in an embodiment of the present invention; Figure 36 Schematic diagram of the process at the swinging and flipping station in an embodiment of the present invention.

[0019] Explanation of reference numerals:

[0020] 1 - Swing power mechanism, 11 - Swing cylinder, 111 - Swing cylinder earring, 1111 - Second pin shaft, 12 - First hinge seat, 13 - Second hinge seat, 14 - First pin shaft, 15 - Base, 2 - Lifting power mechanism, 21 - Lifting cylinder, 22 - Slide block, 23 - T-bolt, 3 - Sliding spiral cam adjustment mechanism, 31 - First reduction motor, 32 - Bearing seat, 321 - First sliding bearing, 33 - Transverse adjustment screw rod, 34 - Transverse adjustment nut, 341 - Third pin shaft, 342 - Fourth pin shaft, 35 - Swing frame, 351 - Swing frame gland, 352 - Swing frame cross beam, 353 - Handwheel, 354 - First deep groove ball bearing, 36 - Longitudinal adjustment nut, 361 - Fifth pin shaft, 37 - Longitudinal adjustment screw rod, 38 - Swing hinge ball head, 39 - Push rod, 391 - Sliding hinge ball head, 392 - Inclined slideway, 393 - Push rod bracket, 3931 - Locking bolt, 394 - L slideway, 4 - Variable four-link swing mechanism, 41 - Swing rod, 411 - First bushing, 412 - Swing rod seat, 413 - Sixth pin shaft, 414 - Upper slide block of swing rod, 4141 - Seventh pin shaft, 4142 - Second bushing, 415 - Lower slide block of swing rod, 4151 - Slide block bolt, 42 - Rocker arm, 421 - Eighth pin shaft, 422 - Rocker arm earring, 423 - Rocker arm pull rod, 424 - Ninth pin shaft, 43 - Connecting rod, 431 - Connecting rod beam, 432 - Support, 433 - Adjusting rod, 434 - Connecting rod bushing, 4341 - Set screw, 435 - Third bushing, 4351 - Tenth pin shaft, 44 - Column, 441 - Eleventh pin shaft, 442 - Third hinge seat, 45 - Lifting arm, 452 - Steel wire rope, 453 - Set screw, 454 - Second reduction motor, 455 - Lifting arm drum, 456 - Lifting arm drum support, 457 - Fixed pulley support, 458 - Fixed pulley, 5 - Adjustable tensioning sprocket lifting mechanism, 51 - Tensioning sprocket assembly, 511 - Sprocket, 512 - Sprocket shaft, 513 - Tensioning plate, 514 - Fixed bolt, 515 - Tensioning screw pair, 516 - Installation channel steel, 52 - Roller chain, 53 - Lifting trolley, 531 - Trolley wheel shaft, 532 - Second deep groove ball bearing, 533 - Trolley pressing plate, 534 - Adjusting rod, 535 - Counterweight, 536 - Third deep groove ball bearing, 5361 - Bearing stop, 537 - Lifting plate, 538 - Telescopic beam, 6 - Gravity spring tipping mechanism, 61 - Cross beam, 62 - Load-bearing rod assembly, 621 - Load-bearing rod, 622 - Handle, 623 - Upper gland, 624 - Fourth deep groove ball bearing, 625 - Sleeve, 626 - Load-bearing nut, 628 - Lower gland, 63 - Material supporting arm, 631 - Thirteenth pin shaft, 633 - Fourth bushing, 634 - Movable ear plate, 635 - Lead screw, 636 - Fifth bushing, 637 - Fourteenth pin shaft, 64 - Rotary spring damper, 641 - Lifting nut, 642 - Spring seat, 643 - Damper spring, 644 - Guide rod, 645 - Gasket. Detailed implementation manners

[0021] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention rather than a limitation thereof. In fact, those skilled in the art will appreciate that modifications and variations can be made to the present invention without departing from the scope or spirit thereof. For example, features shown or described as part of one embodiment can be used in another embodiment to yield yet another embodiment. Accordingly, it is intended that the present invention cover such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0022] In the description of the present invention, the orientation or positional relationship indicated by terms such as "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. The terms "connected", "coupled", and "disposed" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate component; it can be a wired electrical connection, a radio connection, or a wireless communication signal connection. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0023] One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numerical and alphabetical labels to refer to features in the drawings. Similar or like labels in the drawings and the description have been used to refer to similar or like parts of the present invention. As used herein, terms such as "first", "second", "third", and "fourth" etc. can be used interchangeably to distinguish one component from another, and are not intended to indicate the position or importance of individual components.

[0024] As Figures 1 to 36As shown, according to an embodiment of the present invention, a swinging lifting type spring damping gravity billet tilter is provided, which includes a swinging power mechanism 1, a lifting power mechanism 2, a sliding spiral cam adjusting mechanism 3, a variable four-bar swinging mechanism 4, an adjustable tensioning sprocket lifting mechanism 5 and a gravity type spring tilting mechanism 6; the sliding spiral cam adjusting mechanism 3 is connected to the variable four-bar swinging mechanism 4, and the sliding spiral cam adjusting mechanism 3 is used to adjust the abscissa and / or ordinate of the swing rod seat 412 in the variable four-bar swinging mechanism 4, so as to linearly adjust the swing angle of the column 44 in the variable four-bar swinging mechanism 4; the swinging power mechanism 1 is connected to the variable four-bar swinging mechanism 4, and the swinging power mechanism 1 is used to provide power for the variable four-bar swinging mechanism 4; the lifting power mechanism 2 is respectively connected to the variable four-bar swinging mechanism 4 and the adjustable tensioning sprocket lifting mechanism 5, and the lifting power mechanism 2 is used to provide power for the adjustable tensioning sprocket lifting mechanism 5; the adjustable tensioning sprocket lifting mechanism 5 is arranged on the column 44, and the adjustable tensioning sprocket lifting mechanism 5 is connected to the gravity type spring tilting mechanism 6, and the adjustable tensioning sprocket lifting mechanism 5 is used to change the direction of the power output by the lifting power mechanism 2 to drive the gravity type spring tilting mechanism 6 to perform reciprocating linear motion up and down; the billet is placed at the end of the gravity type spring tilting mechanism 6, and the gravity type spring tilting mechanism 6 performs reciprocating linear motion up and down or swings left and right to make the billet reach the tipping angle of critical balance, so as to realize the flipping of the billet.

[0025] In the above embodiments, the swing power mechanism 1 and the lifting power mechanism 2 are the power mechanisms of this tilting machine, which are used to provide a power source for the movement of each mechanism of the tilting machine. The swing power mechanism 1 is arranged at the uppermost reaches of this tilting machine and is used to provide power for the variable four-bar swing mechanism 4. The lifting power mechanism 2 is arranged downstream of the variable four-bar swing mechanism 4 and provides power for the adjustable tensioning sprocket lifting mechanism 5. The sliding spiral cam adjustment mechanism 3 is arranged at the bottom of the variable four-bar swing mechanism 4 and is mainly composed of a sliding spiral mechanism and an inclined wedge type sliding cam mechanism. It mainly provides online real-time adjustment of the abscissa and ordinate for the swing rod seat 412 in the variable four-bar swing mechanism 4, thereby regularly changing the movement trajectory of the swing rod 41, and realizing the synchronous linear fine adjustment of the swing angle of the inner core component column 44 in the variable four-bar swing mechanism 4 to meet the on-site differential process requirements. The variable four-bar swing mechanism 4 is arranged downstream of the lower swing mechanism power unit and is used to convert the reciprocating linear motion of the lower swing power mechanism 1 into periodic rotational motion and then transmit it to the column 44, so that it swings left and right around the fixed hinge point. Through the local adjustment of its internal adjustable components and the linear fine adjustment of the external sliding spiral cam adjustment mechanism 3, the regular change of its own movement trajectory is realized, and the process requirements for the synchronous linear adjustment of the inclination angle of the inner core component column 44 are met; the adjustable tensioning sprocket lifting mechanism 5 is arranged upstream of the gravity spring tilting mechanism 6 and is used to change the direction of the acting force of the oblique tension force output by the upper lifting power mechanism 2 and transmit it to the lifting trolley 53, driving the lifting trolley 53 to reciprocate freely up and down along the slideway of the column 44; the gravity spring tilting mechanism 6 is arranged at the lowermost reaches of the entire system and is the core execution mechanism of the system. Through the up and down sliding of the lifting trolley 53, the supporting arm 63 realizes its own downward fixed-angle elastic damping swing while making a straight up and down reciprocating motion, and cooperates with the left and right swing of the upstream column 44 to tilt the billet to the critical balance tilting angle. And relying on the impact kinetic energy of the billet's own gravity during the rapid straight-down process of the supporting arm 63, a 90° flip is realized at the moment when the hot billet impacts the ground, and at the same time, the scale on the billet surface is removed. It can also directly fall back and flip in cooperation with the regular swing of the variable four-bar swing mechanism 4. Among them, the above two flipping methods, namely the lifting impact type and the lifting swing type, can be selected according to the actual on-site working conditions. Such as Figures 29 to 36As shown in the figure, the lifting impact type here means that through the lifting movement of the lifting trolley 53 in the column 44, the blank supporting arm 63 realizes its own elastic damping swing at a fixed downward angle while moving linearly upward, so that the billet is flipped to the critical equilibrium tipping angle, and during the rapid linear descent of the blank supporting arm, relying on the impact kinetic energy of the billet's own gravity, the attitude balance of the hot billet is destroyed, realizing a 90° flip at the moment of impact on the ground, and at the same time removing the scale on the surface of the billet. Specifically, it goes through 5 steps: ① Initial working position, ② No-load lifting position, ③ Heavy-load lifting and tipping position, ④ Falling back and gravity flipping position, ⑤ Returning to the original position after the billet is tipped over; while the lifting swing type means that through the lifting movement of the lifting trolley 53 in the column 44, the blank supporting arm 63 realizes its own elastic damping swing at a fixed downward angle while moving linearly upward, so that the billet is flipped to the critical equilibrium tipping angle, and under the directional swing of the upstream variable four-link swing mechanism 4, the column 44 continuously drives the blank supporting arm 63 to continue tilting and flipping, so that the billet makes a complex parabolic trajectory movement until the billet touches the roller table plane, realizing an instantaneous gravity fall and flip. The first 2 steps and the last 1 step are exactly the same as those of the lifting impact type, but the middle 2 steps are completely different. The tipping angle of the billet in the swing arm of the lifting impact type is much smaller than that of the lifting swing type, and the former relies on the vertical up and down movement to make the billet impact and contact the working surface of the roller table, while the latter relies on the further inclined parabolic movement of the swing arm to make the billet contact the roller table. The billet has both horizontal movement and vertical downward movement, and its combined movement trajectory is a relatively complex parabola. The lifting swing type specifically goes through the following 6 steps: ① Initial working position, ② No-load lifting position, ③ Heavy-load lifting and tipping position, ④ Heavy-load swing position, ⑤ Swing and flip position, ⑥ Returning to the original position after the billet is tipped over. This tilter relies on the damping buffer of the rotary spring damper to realize the fixed-angle tilt during the upward movement of the hot billet in the blank supporting arm 63, so that it reaches the critical tipping angle, and during the descent of the lifting trolley 53, the upward potential energy is converted into the impact kinetic energy of the downward movement. Relying on the action of the instantaneous impact load, the attitude balance of the billet in the critical tipping state is broken at the moment of contacting the surface of the roller table, realizing the gravity impact flip, and removing the overheated scale on its surface, efficiently and conveniently achieving the purpose of automatically flipping the above billet by 90°.

[0026] Among them, as Figure 1 and Figure 19As shown in the figure, the swing power mechanism 1 and the lifting power mechanism 2 are an upper and lower stacked double-unit structure, which are divided into two groups in the spatial layout. The lifting power mechanism 2 is above, and the swing power mechanism 1 is below. It has the significant advantages of a compact layout space and convenient on-site installation and maintenance. These two independent power units are controlled independently by a double-cylinder and double-air circuit. They are respectively controlled by two sets of independent pneumatic electromagnetic directional control valves, flow regulating valves, pressure reducing valves and the remote electric control system PLC of the operation console on site, and are supplemented by multiple electromagnetic sensors installed on site, enabling the two groups of cylinders in the system to move independently or in a combination according to a certain logical programming, in sequence, and cooperate with each other. They can respond synchronously or delay and act sequentially to meet the process requirements of the action decomposition of the complex motion trajectory of the blank flipping.

[0027] At the same time, as Figure 1 and Figure 19As shown in the figure, the cylinder tails of the swing cylinder 11 in the swing power mechanism 1 and the lift cylinder 21 in the lift power mechanism 2 both adopt the same portable and quick disassembly and assembly structure design scheme. Their cylinder barrel tails are respectively connected to the first hinge seat 12 by bolts, but the other component of the hinge pair they match is significantly different. The swing cylinder uses bolts or welding to fix the second hinge seat 13 to the base 15 in space, and through the cooperation of the intermediate component the first pin shaft 14 and the spherical plain bearing, the first hinge seat 12 and the second hinge seat 13 form a fully spatial fixed hinge pair, completely restricting the movement freedom of the swing cylinder 11 in the horizontal plane in the transverse and longitudinal directions, only retaining its spatial rotation freedom. The Y-shaped earring at the head of its piston rod is hinged to the swing rod 41 through the second pin shaft 1111, forming the power unit of the lower swing mechanism, driving the swing rod 41 to swing left and right around the swing rod seat 412; while the first hinge seat 12 that matches the lift cylinder 21 forms an adjustable longitudinal sliding hinge pair with the slide block 22 through the first pin shaft 14 and the spherical plain bearing, and is integrally arranged on the upper plane of the connecting rod sleeve 434, forming the power source of the upper lift mechanism, and through the Y-shaped earring at the head of its piston rod is hinged to the inner link of the sleeve roller chain 52, transmitting the output tension of the lift cylinder 21 to meet the design requirements of precise fine-tuning of the cylinder stroke and the meshing wrap angle of the sprocket 511 on site. The upper plane of the connecting rod sleeve 434 that matches the slide block 22 is designed with an elliptical chute, and the lower bottom surface is milled with a long T-shaped groove. The slide block 22 can longitudinally slide within a certain range on the upper plane of the connecting rod sleeve 434 to adjust the horizontal abscissa position of the lift cylinder 21. After the adjustment is in place, it is finally connected and clamped by two groups of T-bolts 23. The swing cylinder 11 and the lift cylinder 21 in the above power mechanism are each controlled by two independent pneumatic electromagnetic directional control valves on site. The two cylinders can act independently, or they can be automatically coordinated and sequenced on site according to a certain logic order after being optimized by the electric control system. The length of their response time and the speed of the action rhythm are both realized by the electrical PLC logic programming on the control panel of the main operation console. The pneumatic control circuit uses a pressure reducing valve and a throttle valve to control the pressure and flow of the pneumatic system, regulate its operating speed, thereby changing the descending speed of the lift trolley 53, slowing down the instantaneous gravity impact during the billet flipping, and preventing sudden impact fatigue fracture on the working surface of the roller table. At the same time, a buffer damping spring can also be designed and installed on the lower bottom surface of the column 44. Through its instantaneous collision contact with the telescopic beam 538, it absorbs the descending impact kinetic energy of the lift trolley 53, slows down the gravity overload impact, and extends the service life of the equipment. The above buffer spring can be selected as a cylindrical helical compression spring or a disc spring according to the actual needs on site. It is preferred to use a disc spring. By different combination methods (stacking or butting) and quantity selection of the disc springs, the stiffness and load characteristic curve of the combined spring are changed to meet the actual working conditions on site.

[0028] In addition, the electric control system of this tilting machine adopts PLC auxiliary control. A photoelectric proximity switch can be additionally installed at an appropriate position on the billet conveying roller table. When the hot billet is conveyed close to the steel tilting area, the inductor captures the hot photoelectric signal and transmits it to the remote main control box through the data line. After being logically programmed by the internal core component PLC of the main control box, a DC digital electrical signal is output, causing the on-site pneumatic electromagnetic reversing valve to be energized and act in sequence, respectively controlling the sequential or synchronous logical movement of the two cylinders, realizing the 90° tilting during the lifting and falling process of the hot billet on the roller table, so as to change the rolling bite surface of the billet, meet the requirements of the on-site rolling process, and at the same time remove the overheated oxidized scale on the surface of the billet, improving the surface quality of the rolled product. Through the two-way interlock and logical operation between the main control box of the above-mentioned steel tilting machine and the PLC of the electric control system of the front driving roller table, the tilting machine can be remotely controlled automatically without human intervention, and the manual switching switch on the operating platform can be used to realize the manual remote control of the operating platform. The lifting cylinder 21 and the swing cylinder 11 preferably use the SC series cylinders with a magnetic ring on the internal piston. When the swing cylinder 11 acts, causing the column 44 to swing to a certain angle, or the lifting cylinder 21 acts, causing the lifting trolley 53 to rise to a certain height, the electromagnetic inductor installed on the external pull rod of the two cylinders receives the magnetic force signal of the magnetic ring on the internal piston of the cylinder and synchronously converts it into a DC digital electrical signal. After being programmed and converted by the PLC, it is transmitted to the electromagnetic reversing valve of the two cylinders, causing the two cylinders to stop acting instantaneously or complete the reverse movement synchronously, thus completing the action process of the 90° tilting of the billet. Therefore, the limit positions of the telescopic rods of the two cylinders can be controlled by adjusting the position of the electromagnetic inductor on the cylinder pull rod, and the fully automatic control of the billet tilting process can be realized by means of the logical programming of the electric control system PLC. If ordinary cylinders are selected, two sets of electromagnetic induction switches need to be installed at an appropriate position in the column 44 or the piston stroke of the cylinder to realize the above automatic control positioning action.

[0029] Preferably, as Figure 1 、 Figure 4 、 Figures 7 to 9As shown in the figure, in an embodiment of the present invention, the sliding spiral cam adjustment mechanism 3 adopts a unit combination design scheme of embedding and superimposing a wedge-type sliding cam mechanism above the sliding spiral mechanism. The lateral adjustment nut 34, the lateral adjustment screw rod 33 and other accessories together form the sliding spiral mechanism, which is placed below the sliding spiral cam adjustment mechanism 3; the swing frame 35, the inclined slideway 392, the ejector rod 39 and other related accessories form the wedge-type sliding cam mechanism, which is superimposed above the adjustment mechanism. The sliding spiral mechanism and the wedge-type sliding cam mechanism cooperate with each other to adjust the vertical coordinate of the swing rod seat 412. The sliding spiral mechanism and the wedge-type sliding cam mechanism are symmetrically arranged below the swing rod 41 and are integrally installed on the base 15. The first reduction motor 31 is directly flange-fixed on the drive-side bearing seat 32. The drive-side and non-drive-side bearing seats 32 have the same structural design and are jointly fixed on the base 15, which is convenient for spatial layout and on-site disassembly and assembly. Through the radial support and sliding friction reduction of the two groups of first sliding bearings 321, the circumferential forward and reverse rotation of the lateral adjustment screw rod 33 is driven, so that the lateral adjustment nut 34 that cooperates with it moves linearly left and right axially, driving the inclined slideway 392 fixed above the lateral adjustment nut 34 to slide linearly axially synchronously, driving the ejector rod 39 to move linearly vertically, thereby changing the vertical coordinate of the fixed hinge chain of the swing rod 41, and finally adjusting the inclination angle of the column 44 in real time.

[0030] Preferably, as Figures 7 to 9 shown, in an embodiment of the present invention, an L-shaped slideway 394 is welded and fixed above the bearing seat 32 arranged on the non-drive side. The bottom of the ejector rod frame 393 is designed in a concave structure and is integrally wrapped on the cantilever guide rail of the L-shaped slideway 394. Lubricating grease is applied on the mating surfaces of the two, so that the ejector rod frame 393 can be manually adjusted for its lateral positioning parameters and finally fixed by the locking bolt 3931, thereby changing the abscissa of the fixed hinge chain of the swing rod 41. It can be seen that two adjustment schemes are provided in the present invention, both of which can achieve the purpose of adjusting the inclination angle of the column 44. The vertical coordinate of the swing rod 41 can be automatically adjusted in real time by relying on the intermittent forward and reverse rotation of the first reduction motor 31 through the electromagnetic induction switch set on site; while its abscissa requires manual intervention to adjust the position of the ejector rod frame 393 on the L-shaped slideway 394, or the L-shaped slideway 394 and the bottom of the ejector rod frame 393 are designed as a sliding spiral pair structure and configured with a reduction motor and the corresponding electromagnetic induction switch, then the on-line automatic real-time adjustment of the abscissa of the fixed hinge chain of the swing rod 41 can be realized. Which adjustment scheme can be selected according to the actual working conditions on site.

[0031] Preferably, as Figure 4 、 Figures 7 to 9As shown, in an embodiment of the present invention, the lateral adjustment nut 34 is designed as an integral rectangular parallelepiped structure. The full-length fine-thread internal thread profile machined on its end face matches the lateral adjustment screw rod 33 to form a sliding screw pair. Two groups of fixed hinge pairs are designed on the upper plane of the lateral adjustment nut 34. One group is used to hinge the inclined slideway 392, and the other group compositely hinges the swing frame 35 and the swing hinge ball head 38. A longitudinal adjustment screw rod 37 is assembled inside the swing frame 35 and is integrated with the swing frame 35 through the first deep groove ball bearing 354 fixed in the swing frame gland 351 to form a swingable rigid integral component. The longitudinal adjustment screw rod 37 is made of 20Cr alloy steel. The tail of it is designed as an arc convexity that is wrapped and hinged with the arc concave groove of the swing hinge ball head 38, having a 360° omnidirectional rotation freedom. Among them, the central arc of the arc convexity is a semi-circle. The swing hinge ball head 38 matched with it is made of tin phosphor bronze ZCuSn10P1, having good anti-wear and anti-friction performance. It not only plays the role of radial and axial support of the thrust sliding bearing, provides an additional virtual constraint for the longitudinal adjustment screw rod 37, improves its stress condition, and prevents local eccentric load deformation, but also can swing left and right synchronously with the swing frame 35 and the longitudinal adjustment screw rod 37 to form a group of swing three-in-one components.

[0032] Preferably, as Figures 7 to 9 shown, in an embodiment of the present invention, the longitudinal adjustment nut 36 inside the swing frame 35 adopts a 60° fine-thread triangular internal thread with a large equivalent friction coefficient and good thread self-locking property, and cooperates with the longitudinal adjustment screw rod 37 to be movable up and down along its axis. A group of fixed hinge pairs are designed on the side of the longitudinal adjustment nut 36 and are hinged with the inclined slideway 392. When manually rotating the handwheel 353, the longitudinal adjustment screw rod 37 rotates circumferentially synchronously, causing the triple coaxial composite hinge component composed of the swing hinge ball head 38, the longitudinal adjustment screw rod 37, and the swing frame 35 to swing slightly left and right synchronously around the third pin shaft 341 fixed on the lateral adjustment nut 34, and at the same time driving the longitudinal adjustment nut 36 to slide up and down along the axis of the longitudinal adjustment screw rod 37, so that the inclined slideway 392 hinged with the longitudinal adjustment nut 36 swings left and right around the fixed hinge point, the fourth pin shaft 342, on the lateral adjustment nut 34, and finally changes the inclination angle between the inclined slideway 392 and the horizontal plane, and pushes the ejector rod 39 to move linearly up and down.

[0033] Preferably, as Figures 7 to 9As shown, in an embodiment of the present invention, the upper surface of the inclined slideway 392 is milled with a slideway having a groove structure. The sliding articulated ball head 391 is embedded in this groove slideway and can linearly slide along its groove. To reduce frictional resistance, the sliding articulated ball head 391 is made of tin-zinc-lead bronze, and extreme pressure lithium-based lubricating grease is applied in the groove of the inclined slideway 392. The sliding articulated ball head 391 is designed with a spherical groove and is wrapped and articulated with the ball head protrusion at the bottom of the ejector rod 39 at 360°. When the sliding articulated ball head 391 slides obliquely along the inclined slideway 392, it will push the ejector rod 39 to make a vertical up-and-down movement under the lateral displacement constraint of the ejector rod bracket 393. Preferably, the ejector rod bracket 393 is an integral welded and inserted member, with a sleeve designed at the top. A sliding bearing made of bronze is inlaid on its inner side wall and lubricating grease is applied to reduce friction. It moves in cooperation with the ejector rod 39 and restricts its lateral left and right movement degrees of freedom. The ejector rod 39 is a three-in-one assembled structure. A ball head protrusion is screwed at its bottom and matches with the sliding articulated ball head 391. A circular pressure plate is screwed at its top and matches with the T-shaped groove at the bottom of the swing rod seat 412, and is welded on-site to fix the swing rod seat 412 and the ejector rod 39 into a rigid integral member. To ensure the accuracy and convenience of on-site installation and positioning, a T-shaped groove is designed on the lower bottom surface of the swing rod seat 412 for easy cooperation with the ejector rod 39.

[0034] Among them, as Figure 4 shown, the swing frame 35, longitudinal adjustment screw rod 37, longitudinal adjustment nut 36, swing articulated ball head 38, inclined slideway 392 and transverse adjustment nut 34 in the upper half of the present sliding spiral cam adjustment mechanism 3 together form a typical planar link guide mechanism in mechanical design science. The upper plane of the transverse adjustment nut 34 is the carrier platform of the above planar link guide mechanism, and a third pin shaft 341 is designed on it, so that the swing frame 35, longitudinal adjustment screw rod 37 and swing articulated ball head 38 are coaxially and compoundly articulated. After being screwed with the longitudinal adjustment nut 36, they together form a planar II-level link group with a spatial degree of freedom of 0, and are rotationally articulated with the inclined slideway 392, which is a I-level mechanism, through the fifth pin shaft 361. The inclined slideway 392 is articulated on the upper plane of the transverse adjustment nut 34 through the fourth pin shaft 342 to jointly form a planar link swing mechanism with a spatial degree of freedom of 1. In addition, the inclined slideway 392 is a non-circular wedge-shaped cam.

[0035] Preferably, as Figures 1 to 5 、as Figures 10 to 16As shown in the figure, in an embodiment of the present invention, the variable four-bar swing mechanism 4 is an intermediate process component of the system and is a relatively typical planar four-bar mechanism in mechanical design. It is mainly composed of a column 44, a third hinge seat 442, a connecting rod 43, a swing rod 41, a swing rod seat 412, etc. Among them, the third hinge seat 442 is fixed on the base 15 and is rotationally hinged to the column 44. The abscissa and ordinate of its hinge pair are both fixed bidirectionally and cannot be adjusted; both ends of the connecting rod 43 are designed with a set of rotating pairs, which are respectively rotationally hinged to the column 44 and the swing rod 41. Significantly different from the ordinary planar four-bar mechanism, in the present invention, the swing rod seat 412 hinged to the swing rod 41 can change its own abscissa and ordinate in real time under the drive of the sliding spiral cam adjustment mechanism 3, so as to change the geometric motion trajectory of the swing rod 41 and ultimately affect the vertical inclination angle of the column 44 to meet the expected angle design process requirements in the steel turning action process. Among them, the connecting rod 43 adopts a combined sleeve split structure design scheme. Its main structure is assembled by inserting two sets of connecting rod beams 431 with exactly the same and symmetrically arranged structures into the connecting rod sleeve 434 from both ends. The connecting rod sleeve 434 is welded into a hollow box-shaped structure with steel plates. A long elliptical hole is milled on its upper plane and is fixedly connected to the sliding seat 22 of the lifting cylinder 21 through a T-shaped bolt 23. A T-shaped groove is milled on its lower plane to facilitate the sliding and fixing of the square head of the T-shaped bolt 23. The lifting cylinder 21 can slide back and forth on the upper plane of the connecting rod sleeve 434, thereby slightly adjusting its abscissa to meet the process requirements of accurate fine adjustment of the cylinder stroke and the sprocket meshing wrap angle on site. Two sets of M20 internal threads are symmetrically designed on the steel plates on both sides of the connecting rod sleeve 434. Through the clamping force of two sets of set screws 4341 screwed with it, the connecting rod beam 431 and the connecting rod sleeve 434 are fixedly connected into a three-in-one integral rigid component. A third bushing 435 made of tin-zinc-lead bronze is embedded and installed on the connecting rod beam 431 and is respectively movably hinged to the lifting arm 45 and the upper sliding seat 414 of the swing rod. The upper sliding seat 414 of the swing rod and the lifting arm 45 are respectively adjustable sliding and rotating pairs on the swing rod 41 and the column 44.

[0036] To facilitate adjusting the fitting telescopic length of the two sets of connecting rod beams 431 in the connecting rod sleeve 434, changing the longitudinal length geometric parameters of the connecting rod 43, thereby adjusting its motion trajectory, and ultimately affecting the vertical inclination angle of the column 44, preferably, as Figure 1 、 Figure 11 and Figure 12As shown, in an embodiment of the present invention, two sets of adjustment mechanisms are specially installed on the connecting rod 43. The support 432 adopts a split upper and lower structure design. The lower part is fixedly welded to the connecting rod beam 431. The support 432 and the adjusting rod 433 are rotationally matched through the convex and concave platforms inside it and bear axial push / pull forces. Here, the axial section at one end of the adjusting rod 433 is concave, that is, a groove is provided at a certain distance from the end face of one end of the adjusting rod 433. Correspondingly, a protrusion is formed in the through hole formed between the upper and lower parts of the support 432, that is, a convex and concave platform is formed. The protrusion cooperates with the groove at one end of the adjusting rod 433 to realize the rotational cooperation between one end of the adjusting rod 433 and the support 432. The other end of the adjusting rod 433 is screwed with an M36 nut fixed on the connecting rod sleeve 434. Through the axial push / pull force transmitted by the rotation of the adjusting rod 433, the connecting rod beam 431 can be conveniently and quickly telescoped freely in the connecting rod sleeve 434. After reaching the expected adjustment position, it is locked and positioned with the set screw 4341. These two sets of adjusting rods 433 are manually driven, can act independently respectively, or can also be adjusted in cooperation at the same time, and should be operated flexibly according to the actual on-site requirements. Thus, it can be seen that the above-mentioned telescopic split plug-in connecting rod scheme is one of the prominent invention highlights in the present invention.

[0037] Preferably, as Figure 1 and Figure 10As shown, in an embodiment of the present invention, the swing rod assembly is an adjustable three-link member with T-shaped slideways arranged symmetrically up and down. It is mainly composed of a swing rod 41, an upper swing rod slide 414, a lower swing rod slide 415, and two sets of relatively independent rocker link rods 423 up and down. It contains 2 sets of rotating pairs for manually sliding and adjusting the position coordinates and 1 set of rotating pairs for automatically linearly mechanically adjusting the coordinate parameters. The swing rod 41 is an integral plate-shaped special-shaped member with a symmetrical structure, cut by wire cutting from a 55-mm-thick steel plate. A first bushing 411 made of bronze is embedded at its bottom end and fixedly hinged to the swing rod seat 412. By the action of the sliding spiral cam adjustment mechanism 3 arranged below it, the horizontal abscissa of the swing rod 41 can be changed, and its own motion trajectory can be adjusted. The bottom of the upper swing rod slide 414 is designed with a T-shaped groove, which can be sleeved on the swing rod 41 and reciprocate freely on the T-shaped slideway of the swing rod 41. The top of the upper swing rod slide 414 is designed with 2 sets of rotating hinge pairs. One set is used to hinge the connecting rod 43 to transmit the power of the swing rod 41, and the other set is hinged to the rocker earring 422 and connected to the rocker 42 through the rocker link rod 423 screwed to it, forming a complete four-link adjustment mechanism for adjusting the spatial position coordinate parameters of the hinge pair at the end of the connecting rod 43 and changing the motion trajectory of the connecting rod 43. Among them, one end of the rocker 42 is hinged to the swing rod 41, and the other end is hinged to the rocker earring 422. A lengthened handle is designed at the top, which is equivalent to a labor-saving lever for easy manual operation. The rocker link rod 423 is designed with a double-spiral structure that rotates synchronously. The two ends are respectively screwed with fine-pitch external threads with opposite rotation directions to the two sets of rocker earrings 422 hinged to the rocker 42 and the upper swing rod slide 414. When the rocker link rod 423 rotates forward / backward, the linear distance in the plane between the centers of the two hinge rotating pairs on the rocker 42 and the upper swing rod slide 414 will be correspondingly lengthened or shortened, thus compensating for the problem of short adjustment sliding stroke distance of the upper swing rod slide 414 caused by the limitation of the swing angle of the rocker 42 and expanding its adjustment range. The lower swing rod slide 415 uses the same rocker link rod combination structure as above to manually adjust the spatial position coordinates of the swing cylinder earring 111 for compensating the stroke of the swing cylinder 11 to meet the process design requirements of the swing angle of the swing rod 41. In actual application, the first reduction motor 31 and the swing cylinder 11 can be adjusted separately, or they can cooperate according to a certain rule after being logically programmed by the electronic control system to achieve online real-time fine adjustment.

[0038] Among them, as Figure 1 , Figure 3 and Figure 5As shown in the figure, a total of two sets of rotation pairs that can be longitudinally slid and adjusted are designed on the main body of the swing rod 41, namely the second pin shaft 1111 and the seventh pin shaft 4141. They are respectively arranged on the lower swing rod seat 415 and the upper swing rod seat 414, and the position is finely adjusted through the swing rod rocker arm pull rod mechanism to change its own abscissa and ordinate, thereby changing the trajectory parameters of the connecting rod 43 and the swing cylinder 11, and further affecting the overall movement trajectory of the entire variable four-link swing mechanism 4. Structurally, the upper and lower two sets of swing rod rocker arm pull rod mechanisms matched with the upper swing rod seat 414 and the lower swing rod seat 415 adopt exactly the same structural design. The only difference is that the length of the rocker arm pull rod 423 is slightly different. The swing rod rocker arm pull rod mechanism also adopts the design scheme of a planar multi-link mechanism combining a class-I mechanism and a class-II link group in mechanical principle design science. The rocker arm 42 is hinged to the main body of the swing rod 41 through the eighth pin shaft 421 and can swing left and right to form a class-I mechanism. The rocker arm earring 422 and the rocker arm pull rod assembly form a class-II link group containing two moving components (the upper swing rod seat 414 or the lower swing rod seat 415 and the rocker arm earring 422 and the rocker arm pull rod assembly) and three lower pairs (two rotating lower pairs formed by the eighth pin shaft 421 and the ninth pin shaft 424 + one translating lower pair formed by the swing rod 41 and the upper swing rod seat 414 or the lower swing rod seat 415) through the ninth pin shaft 424 (the internal pair of the class-II link group). After the above class-I mechanism and class-II link group are connected through the eighth pin shaft 421, the swing rod rocker arm pull rod mechanism is formed. The design calculation of its internal degree of freedom is F = 3n - 2PL - PH = 3 * 3 - 2 * 4 - 0 = 1, which meets the degree-of-freedom requirements of the planar link motion design, and can make the upper swing rod seat 414 or the lower swing rod seat 415 slide regularly in a straight line when the rocker arm 42 swings, thereby changing the plane position parameter coordinates of the seventh pin shaft 4141 and the second pin shaft 1111.

[0039] Preferably, as Figure 1 、 Figures 13 to 17As shown in the figure, in an embodiment of the present invention, the column 44 is the core component in the entire variable four-link swing mechanism 4. The column 44 is a steel riveted and welded part with an integral frame structure. Its main function is that when the material supporting arm 63 is stressed and tilts under the self-weight of the billet to a certain angle, through the swing of the column 44, the material supporting arm 63 drives the billet to continue tilting, so that the tilting angle of the billet is superimposed on the gravity critical tipping angle. The column 44 body is formed by welding ordinary hot-rolled channel steels. There is a set of rotating hinge pairs designed at the bottom, which can swing left and right around the third hinge seat 442 fixed on the base 15. The size of its tilting angle will directly affect the final superimposed inclination angle of the subsequent material supporting arm 63. Preferably, the main frames on both sides of the column 44 adopt 180 hot-rolled channel steels. The channel steel grooves are used as guide slides, and the second deep groove ball bearings 532 in the trolley wheel shaft 531 are directly placed, so that it can roll linearly up and down along the channel steel grooves. And bearing stoppers 5361 are welded on the inner sides of the upper and lower flanges of the channel steel to prevent the axial movement of the trolley wheel shaft 531. Under the condition that the lifting trolley 53 reduces the lifting blockage by using rolling friction, only the longitudinal degree of freedom of up and down movement is retained, and its left and right lateral degrees of freedom are restricted. A tensioning sprocket assembly 51 is arranged at the top of the column 44, and the center line of the sprocket 511 is made to be consistent with the geometric symmetry center line of the column 44 and the axis of the piston rod of the lifting cylinder 21, preventing the chain from shaking / derailing caused by eccentric loading and facilitating the entry and exit of the chain links from the meshing.

[0040] Preferably, as Figure 1 , Figures 13 to 16 , Figures 20 to 24As shown in the figure, in an embodiment of the present invention, a set of L-shaped slide rails are welded and fixed to the flanks of the channel steel of the main frame of the column 44, arranged symmetrically with respect to the geometric symmetry center line of the column 44, and are in concave-convex fit with the base groove of the lifting arm 45, so that the lifting arm 45 can linearly slide up and down along the flank edge of the column 44, changing the ordinate of the tenth pin shaft 4351 on the lifting arm 45, thereby affecting the movement trajectories of the connecting rod 43 hinged to the lifting arm 45 and other components in the variable four-link swing mechanism 4, and ultimately affecting the tilting angle of the column 44. Among them, the up-and-down linear sliding of the lifting arm 45 is realized by the lifting arm drum 455 and the fixed pulley 458 arranged on the flanks of the channel steel of the main frame of the column 44. Through the programming of the electric control system PLC and the control cooperation of the electromagnetic induction switch, the whole process can be realized with synchronous automatic linear fine-tuning, and the tilting angle of the column 44 can be automatically adjusted during the operation of the equipment to meet the process design requirements of the critical superposition inclination angle for billet flipping. The lifting arm drum 455 is designed with a large axial width and a double-wing edge structure. One end is supported by the second reduction motor 454, and the other end is friction-reduced by a bronze sliding bearing sleeve on the lifting arm drum support 456. Similarly, the fixed pulley 458 also uses a bronze sliding bearing sleeve of the same material for friction reduction, and grooves are designed on the pulley to prevent the wire rope 452 from falling off. The fixed pulley 458 is welded and fixed to the top of the flank of the channel steel of the main frame of the column 44 through the fixed pulley support 457, the lifting arm drum 455 is welded and fixed to the bottom of the flank of the channel steel of the main frame of the column 44 through the lifting arm drum support 456, and the liftable and lowerable lifting arm 45 is arranged in the middle of the flank of the channel steel of the main frame of the column 44. When the lifting arm drum 455 rotates forward and backward under the drive of the second reduction motor 454, the wire rope 452 fixed on its surface will correspondingly elongate or shorten, and through the load transfer and the change of the force direction of the fixed pulley 458, the lifting arm 45 connected to the wire rope 452 will linearly slide up and down, thereby changing its ordinate in real time and realizing online synchronous fine-tuning. Here, the first reduction motor 31 and the second reduction motor 454 can be adjusted separately, or they can cooperate according to a certain rule after relying on the logic programming of the electric control PLC, so as to realize the online real-time fine-tuning of the parameters of two local key points. The descending action of the lifting arm 45 mainly relies on gravity, and the ascending action mainly relies on the lifting force of the lifting arm drum 455. In addition to realizing online linear fine-tuning, the lifting arm 45 can also be fixed on the L-shaped slide rail of the column 44 by the tightening force of its own set screw 453 to become a set of fixed rotating hinges, and the specific adjustment method can be selected according to the actual working conditions on site.Preferably, for the convenience of winding the wire rope 452 and to prevent the lifting arm 45 from slipping and jamming up and down due to eccentric loading, the present invention adopts a double wire rope synchronous lifting scheme. On-site, 2 sets of wire ropes 452 with exactly the same structure are used. Correspondingly, the number of pulley mounts 458 and fixed pulley supports 457 is two each. Using two fixed pulleys 458 can improve the stress environment of the lifting arm 45 and prevent eccentric loading from affecting the flexibility of its up and down sliding. The 2 sets of wire ropes 452 are arranged symmetrically with respect to the geometric axis of symmetry of the lifting arm 45 on both sides and are firmly connected thereto. After both of them bypass the fixed pulley 458, they are uniformly wound around both ends of the lifting arm drum 455. By relying on the rotation of the lifting arm drum 455, they are synchronously extended or shortened to drive the lifting and lowering of the lifting arm 45. In addition, lubricating grease is applied to the mating surfaces of the L-shaped slide rail and the groove at one end of the lifting arm 45 to reduce friction and facilitate the up and down sliding of the lifting arm 45 along the L-shaped slide rail.

[0041] Among them, as Figure 3 shown, the variable four-bar swing mechanism 4 is a typical planar four-bar mechanism in mechanical theory. The column 44 and the third hinge seat 442 fixed on the base 15 are fixedly hinged through the eleventh pin shaft 441 to form a class-I mechanism with a spatial degree of freedom of 1 and capable of swinging left and right; the connecting rod 43 and the swing rod 41 are movably hinged through an internal pair (the seventh pin shaft 4141) to jointly form a class-II link group including 2 sets of external pairs and 1 set of internal pairs and having a spatial degree of freedom of 0. Among the 2 sets of external pairs included in this class-II link group, one of them is movably hinged to the swing rod seat 412 through the sixth pin shaft 413, and the other set of external pairs is movably hinged to the next-level class-I mechanism, that is, the column 44, through the tenth pin shaft 4351, and are jointly combined into a class-II mechanism assembly that is flexibly hinged and regularly moves by 1 class-I mechanism and 1 class-II link group. In this variable four-bar swing mechanism 4, there are a total of 3 freely movable members (the column 44, the connecting rod 43, and the swing rod 41) and 4 sets of rotational lower pairs (the sixth pin shaft 413, the seventh pin shaft 4141, the tenth pin shaft 4351, and the eleventh pin shaft 441). Its spatial degree of freedom is F = 3n - 2PL - PH = 3*3 - 2*4 - 0 = 1, which fully meets the requirements of the spatial degree of freedom quantity of the driving member in mechanical design for the mechanism. Therefore, the entire variable four-bar swing mechanism 4 can drive the connecting rod 43 and the column 44 to move regularly along a fixed trajectory on the premise that the swing rod 41 driven by the swing power mechanism 1 is the driving member.

[0042] Preferably, as Figure 1 、 Figure 17 、 Figure 18 、 Figure 25 and Figure 26As shown, in an embodiment of the present invention, the adjustable tensioning sprocket lifting mechanism 5 is mainly composed of a tensioning sprocket assembly 51 and a lifting trolley 53, which is an important part in the power output transmission process of the present invention. The tensioning sprocket assembly 51 is arranged at the top of the column 44, mainly playing a role in force transmission and guiding. It adjusts the meshing wrap angle of the sprocket 511, and converts the obliquely downward output tension of the lifting cylinder 21 through the flexible connection of the sleeve roller chain 52 into a lifting tension in the vertical direction, pulling the lifting trolley 53 to move linearly up and down along the two main frame channel steels on both sides of the column 44. The mounting channel steel 516 at the top of the column 44 is the mounting base platform for the tensioning sprocket assembly 51. Taking the geometric symmetry center line of the column 44 as the assembly reference line, it is directly welded and fixed at the top of the column 44, so that the sprocket 511 and the piston rod of the lifting cylinder 21 are arranged collinearly. And on the back of the mounting channel steel 516, two strip-shaped steel plates with a thickness of 14 mm are welded to form a slideway, covering the tensioning plate 513, so that it can move linearly up and down along the slideway. There are 2 sets of spherical roller bearings designed inside the sprocket 511. After being assembled with the sprocket shaft 512, they are integrally sleeved on the tensioning plate 513 together. Long elliptical through holes are milled on the tensioning plate 513, so that the 2 sets of fixing bolts 514 fixed on the back of the mounting channel steel 516 can longitudinally slide relative to each other in the long elliptical holes. To facilitate the fine adjustment and fixation of the ordinate of the sprocket 511, a tensioning nut is welded on the back of the mounting channel steel 516 at the same time, and is screwed with the tensioning screw rod to form a tensioning screw rod pair 515, so that the tensioning screw rod pushes against the tensioning plate 513 to manually lift and fine-tune and slide along the slideway. After the adjustment is in place, the mounting channel steel 516 and the tensioning plate 513 are tightly connected into a rigid integral component with the fixing bolts 514.

[0043] Preferably, as Figure 1 、 Figure 17 、 Figure 25 and Figure 26As shown in the figure, in an embodiment of the present invention, the lifting trolley 53 is an extremely important sliding and lifting component in the system. The main function of the lifting trolley 53 is to change the ordinate of the load-bearing rod assembly 62 and the material supporting arm 63 in the gravity spring tilting mechanism 6, convert the power output of the lifting cylinder 21 into gravitational potential energy at the height of the billet, and provide energy reserve for the kinetic energy impact during the subsequent falling and flipping of the billet. The lifting trolley 53 is designed as a rectangular frame assembly structure, which is jointly composed of 2 telescopic beams 538 on both sides, 1 trolley pressing plate 533 at the back, and 1 lifting plate 537 at the top. The lifting plate 537 at the top is directly welded to the upper surfaces of the 2 telescopic beams 538 and is flexibly connected to the sleeve roller chain 52 to transmit the output tension of the lifting cylinder 21. The trolley pressing plate 533 is respectively fixed to the rear ends of the 2 telescopic beams 538 with bolts, and a fine-thread nut M36 is designed at the middle position thereof and is screwed with the adjusting rod 534. A counterweight block 535 is screwed on the adjusting rod 534 to balance the additional tilting moment caused by the material supporting arm 63 when carrying the billet and rising, and increase the stability of the column 44. During the actual use process, on-site, according to the actual weight of billets of different specifications, the counterweight block 535 can be rotated on the adjusting rod 534 to change its abscissa, so as to change the lever arm distance of the center of gravity of the counterweight block 535 relative to the center point of the rotating pair of the third hinge seat 442, meet the actual requirements of on-site tilting moment balance, improve the smoothness and flexibility of the system movement, and shorten the response time.

[0044] Preferably, as Figure 17 , Figure 25 and Figure 26As shown, in one embodiment of the present invention, the telescopic beam 538 is a long strip-shaped plate-shaped member, and a groove slide is provided in the middle of the telescopic beam 538 in the height direction, and the groove slide extends from the rear end face of the telescopic beam 538 to the front end face of the telescopic beam 538, and the length direction of the groove slide is consistent with the length direction of the telescopic beam 538, that is, the groove slide is milled in the middle of the telescopic beam 538 and covers the upper and lower surfaces of the trolley wheel shaft 531 of the square cross-section structure, so that it can slide longitudinally along the slide. A step blind hole is milled at the geometrically symmetrical center line position of the trolley wheel shaft 531, and a third deep groove ball bearing 536 is designed to cooperate with the adjustment rod 534, so that the adjustment rod 534 and the trolley wheel shaft 531 are connected as an integral member that is relatively movable and rotatable, and can slide longitudinally synchronously along the axis of the adjustment rod 534. When the adjustment rod 534 is manually rotated, since the wheel axle 531 of the trolley is stationary relative to the column 44, the internal thread on the trolley pressure plate 533 will move back and forth longitudinally along the axis of the adjustment rod 534, thereby driving the two telescopic beams 538 to be mounted on the upper and lower surfaces of the wheel axle 531, sliding and adjusting laterally along their own slideways, and finally changing the plane coordinates of the support arm 63 relative to the billet, so as to adapt to the special working conditions where the support arm 63 still cannot touch the billet or the contact amount is small when the base 15 has been installed and positioned due to the limitation of the installation structure layout on site. In order to reduce friction resistance and improve the flexibility and accuracy of the lifting movement of the lifting trolley 53, the two sides of the wheel axle 531 of the trolley are respectively equipped with second deep groove ball bearings 532, and the deep groove ball bearings are rolled and slid up and down in the grooves of the channel steel on both sides of the column 44 in the form of rolling friction. In order to prevent the axial stringing of the second deep groove ball bearing 532, the bearing block 5361 is welded on the side of the upper and lower flanges of the channel steel of the column 44 to fix the shaft system assembly.

[0045] Preferably, if Figure 1 , Figure 17 and Figure 27As shown, in an embodiment of the present invention, the gravity spring tipping mechanism 6 is mainly composed of a load-bearing rod assembly 62 and a material supporting arm 63, which together form the core executing component of the present invention. The load-bearing rod assembly 62 is a sliding screw pair mechanism with nut support rotation and linear axial movement of the screw. A total of 2 groups are designed, directly welded and fixed on the cross beam 61, and are arranged symmetrically with respect to the geometric symmetry center line of the lifting trolley 53. The sleeve 625 is designed as a cuboid hollow structure, with two sets of stepped holes bored inside, each independently sleeving two sets of deep groove ball bearings of the fourth type, and axially fixed bidirectionally by an upper gland 623 and a lower gland 628 respectively, forming a complete integral double-rolling bearing support seat, welded and fixed on the side of the cross beam 61, and finally integrally welded with the cross beam 61 to the front end face of the telescopic beam 538 in the lifting trolley 53, and fixedly connected with the lifting trolley 53 as a rigid integral component. The material supporting arm 63 is the last link in the system and also the most core key executing component in the whole system. There are a total of 2 groups, arranged symmetrically left and right with respect to the geometric symmetry center line of the lifting trolley 53. The design of its movement trajectory in the process will directly affect the action accuracy and operation efficiency of the billet flipping.

[0046] Among them, as Figure 1 , Figure 6 and Figure 28 shown, the material supporting arm 63 is the core part of the design of the present invention and also the key executing mechanism. The structural design here also adopts the motion design principle of a planar multi-link mechanism, and a new link mechanism is designed by the method of repeatedly superimposing a II-level link group with a degree of freedom of 0 on a I-level mechanism with a degree of freedom of 1. In the present invention, the material supporting arm 63 is hinged on the load-bearing rod 621 and can swing up and down, forming a I-level mechanism; the spring seat 642 is hinged on the lifting nut 641 fixed on the load-bearing rod 621 and is in internal auxiliary movement cooperation with the guide rod 644, forming a II-level link group. The thirteenth pin shaft 631 rotatably hinges the above-mentioned I-level mechanism and II-level link group, and a damping spring 643 is used for buffering and vibration absorption, jointly forming a new planar multi-link mechanism.

[0047] Preferably, as Figure 18 and Figure 27As shown, in an embodiment of the present invention, the load-bearing nut 626 has a hollow double-shouldered cylindrical structure. A through-hole is drilled in the center, and a fine-pitch M50 internal thread is machined. It is designed to be screwed with the external thread profile of the load-bearing rod 621. On its outer cylindrical surface, there are two sets of cylindrical shoulders symmetrically designed on the upper and lower sides, which are respectively sleeved on the inner rings of the two sets of fourth deep groove ball bearings of the sleeve 625. Four sets of handles 622 are welded and fixed on the top of the load-bearing nut 626 for easy manual operation with less effort. When the handle 622 is rotated forward / backward, the load-bearing nut 626 can freely rotate circumferentially around its own axis under the load-bearing and friction reduction of the fourth deep groove ball bearings in the sleeve 625. The load-bearing rod 621 screwed with the load-bearing nut 626 will rise or fall linearly synchronously, precisely adjusting the spatial distance between the working surface of the material-supporting arm 63 and the lower bottom surface of the billet. In the working condition where the base 15 has been installed and fixed and the overall elevation of the equipment cannot be adjusted further, the design stroke of the lifting cylinder 21 can be compensated to the maximum extent. The load-bearing rod 621 has a 60° triangular thread profile of a slender rod-like structure. An earring with a fork-shaped structure is welded at the bottom, and a fourth bushing 633 made of antifriction bronze is embedded in the earring and is movably hinged with the material-supporting arm 63. After the installation elevation of the material-supporting arm 63 is adjusted in place, it is prevented from suddenly slipping down in the load-bearing nut 626 by the self-locking property of the triangular thread of the above-mentioned sliding screw pair. In addition, two sets of locknuts are screwed on the top of the load-bearing rod 621 to increase the reliability of the fixed connection and prevent it from failing and falling. Among them, the material-supporting arm 63 adopts an asymmetric T-shaped plate-frame structure. The front-end bearing area is slightly longer for supporting the billet, and the tail is shorter, mainly for placing the rotary spring damper 64. It is integrally formed by linear cutting of a 50-mm thick steel plate, with a 10-mm wide transverse sliding track reserved in the middle for assembling the movable ear plate 634 to facilitate its left-right transverse movement during horizontal adjustment. At the upper end of the vertical part of the material-supporting arm 63, a rotating pair of sliding bearings is designed, and the fourth bushing 633 is embedded and assembled, and is hinged with the fork-shaped earring at the bottom of the load-bearing rod 621, and can freely rotate left and right around the axis of the fourteenth pin shaft 637 to change the horizontal inclination angle of the material-supporting arm 63 and the billet. At the bottom of the front section of the material-supporting arm, two sets of sliding bearings with significantly different inner and outer hole sizes are designed, and the fifth bushing 636 for sliding and antifriction is embedded and assembled to facilitate disassembly and assembly, so that the lead screw 635 can be longitudinally sleeved into the two sets of integral sliding bearings from the end face of the front section of the material-supporting arm.

[0048] Preferably, as Figure 18 、 Figure 27 and Figure 28As shown in the figure, in an embodiment of the present invention, an internal thread is designed at the bottom of the movable ear plate 634 to be screwed with the external thread profile of the lead screw 635, forming a set of manual sliding screw pairs. When the lead screw 635 is rotated manually forward / backward, the movable ear plate 634 will linearly reciprocate longitudinally along the axis of the lead screw 635 as a whole, thereby driving the block welded and fixed at the top of the movable ear plate 634 to move linearly left and right along the slideway in the middle of the front section of the blank supporting arm, so as to meet the precise position adjustment requirements for the cooperation between billets of different cross-sectional specifications and the blank supporting arm 63 at different longitudinal positions on the raceway, and make the billet tilt and flip at the best matching position on the blank supporting arm 63. Another main function of the movable ear plate 634 is to restrain the lateral slip of the billet, prevent the inclined billet from slipping off the upper surface of the blank supporting arm 63 during the ascending process of the lifting trolley 53, and play a role of bearing and tilting support at the moment when the billet touches the ground and flips during the rapid descending process of the blank supporting arm 63, so that the inclined billet breaks the moment dynamic balance of the inclined state along the contact side line with the movable ear plate 634 under the action of the self-weight and the descending impact load of the billet, crosses the dynamic balance inclination angle, and rotates around the fixed fulcrum to realize the automatic flipping of the billet. The thirteenth pin shaft 631 is welded and fixed at the tail section of the blank supporting arm and is rotationally hinged with the guide rod 644, and a set of rotary spring dampers 64 are respectively assembled, with a total of 2 groups, which are respectively hinged on the outer sides of 2 sets of mirror-symmetrically arranged blank supporting arms 63.

[0049] Preferably, as Figure 18 , Figure 27 and Figure 28As shown in the figure, in an embodiment of the present invention, the rotary spring damper 64 is mainly composed of components such as a guide rod 644, a damping spring 643, a spring seat 642, and a lifting nut 641. Its main function is to provide a reverse balance damping moment for the heavy-duty tilting of the billet supporting arm 63, slow down the swinging impact, and provide a reset flipping moment when the billet supporting arm 63 continues to descend empty after unloading the billet, so that it can swing back to the initial horizontal position again, and prepare the posture for the next round of billet flipping. The lifting nut 641 is sleeved on the load-bearing rod 621 and can slide up and down along its axis. An articulated trunnion is designed on the side and is rotationally articulated with the spring seat 642. Its main function is to adjust the horizontal angle between the guide rod 644 and the billet supporting arm 63, and then adjust the acting direction of the elastic force output by the damping spring 643, so that the guide rod 644 can move flexibly, and its top can freely slide without blockage in the long elliptical hole on the upper plane of the spring seat 642 and remain in a horizontal state after the billet supporting arm 63 is unloaded and reset. After the lifting nut 641 is adjusted and positioned through on-site experiments, it can be fixed and locked by two nuts, one upper and one lower, screwed on the load-bearing rod 621. If there is an obvious blockage in the movement of the guide rod 644, the screwing position between the two nuts, one upper and one lower, on the load-bearing rod 621 can also be adjusted so that they no longer tightly press and lock with the upper and lower planes of the lifting nut 641, but leave an appropriate fitting gap, so that the lifting nut 641 can slide up and down within a small range on the load-bearing rod 621, retaining its axial freedom. Among them, the spring seat 642 is a right-angled L-shaped structure, and a long elliptical hole is milled on the upper plane to cooperate with the guide rod 644, so that its top can slide in the long elliptical hole slideway. Here, the long elliptical hole means that the two ends of the cross-section of the hole are arc-shaped, and the corresponding endpoints of the two arcs are connected by a straight line to form a long elliptical hole shape. The through hole on the side of the spring seat 642 is articulated and matched with the pin shaft on the lifting nut 641, so that the spring seat 642 can freely rotate around the axis of the pin shaft of the lifting nut 641 to adapt to the change in the movement cooperation angle with the damping spring 643 and the guide rod 644, retain the freedom of movement, and ensure that the acting direction of the output elastic force does not tilt to cause eccentric load and sliding blockage. In addition, the guide rod 644 is a screw shaft with a full-length thread structure, and a gasket and a nut 645 are designed to be screwed with it at the lower part. The damping spring 643 is axially sleeved on the guide rod 644 and adopts a support and fixation method with one end fixed and one end floating. Its top is the fixed end and is in pressing contact with the upper plane of the spring seat 642. The bottom is the adjustable floating end, which is vertically installed on the gasket 645 and can slide up and down along the axis of the guide rod 644 with the gasket 645. The gasket 645 mainly plays the role of a spring installation base. When the gasket 645 is rotated, the pre-compression amount of the damping spring 643 can be adjusted, and its pre-tightening force can be changed, so as to optimize the load characteristic curve of the spring, so that the billet supporting arm 63 can not only swing freely with heavy-duty buffering and tilting, but also reset horizontally flexibly when empty.The damping spring 643 can be a cylindrical helical compression spring or a disc spring according to the actual on-site requirements. The disc spring is preferred. By different combination methods (stacked or opposed) and quantity matching of the disc springs, the stiffness and load characteristic curve of the combined spring can be changed to meet the actual working conditions on site.

[0050] Among them, bronze materials with sufficient stiffness, strength, wear resistance and anti-friction properties are used for all sliding friction parts involved in the present invention, and extreme pressure lithium-based lubricating grease is applied to reduce the friction resistance, lower the system friction power loss, and improve the operation flexibility. Considering the actual working conditions of high temperature, low speed and intermittent transmission on site and the good machining process performance of the materials, tin phosphor bronze ZCuSn10P1 and tin bronze CuPb5Sn5Zn5 with good anti-friction properties are preferred. Their remarkable characteristics are low hardness, high plasticity, small elastic modulus, good running-in performance, compliance and embeddability, and relatively high compressive and impact load fatigue strength. If limited by market supply and cost, aluminum bronze material ZCuAl10Fe3 with relatively high mechanical strength and wear resistance can also be used for substitution. For the load-bearing spiral components involved in the present invention, alloy steel material 20Cr with good comprehensive mechanical properties is preferred. If considering the comprehensive cost, high-quality carbon structural steel 45 after quenching and tempering treatment can also be used for substitution.

[0051] In addition, this tilting machine adopts an upper-mounted modular design concept with a unified installation platform. All mechanisms are centrally and symmetrically arranged on the base 15. The overall layout is simple and compact, which is convenient for on-site installation and maintenance. The installation elevation of the whole set of equipment is above the working surface of the roller table. The equipment can be hoisted as a whole onto the roller table cover plate by a crane, and the base 15 is firmly connected to the walking platform of the roller table cover plate by on-site welding or bolt connection. The tilting moment and impact load received on site are transmitted to the roller table foundation through the roller table cover plate and the roller table, and there is no need to separately make a concrete foundation for this billet tilting machine. It has the remarkable characteristics of fast disassembly and assembly, convenient maintenance and low cost.

[0052] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: This swinging and lifting spring damping gravity billet tilting machine is mainly composed of six major parts, namely a swinging power mechanism 1, a lifting power mechanism 2, a sliding spiral cam adjustment mechanism 3, a variable four-link swinging mechanism 4, an adjustable tensioning sprocket lifting mechanism 5 and a gravity spring tilting mechanism 6. This tilting machine relies on the damping and buffering of the rotary spring damper to realize the fixed-angle inclination of the hot billet in the lifting arm 63 during the rising process, so that it reaches the critical tilting angle, and converts the rising potential energy into the falling impact kinetic energy during the falling process of the lifting trolley 53. Relying on the action of the instantaneous impact load, the attitude balance of the billet in the critical tilting state is broken instantly when it contacts the surface of the roller table, realizing the gravity impact flipping and removing the overheated oxide scale on its surface, and efficiently and conveniently achieving the purpose of automatically flipping the above billet by 90°.

[0053] Among them, the tilter adopts a planar lower pair multi-link mechanism composed of a combination of revolute pairs and prismatic pairs, which has the characteristics of compact structure layout, large radial contact area, low bearing pressure, and wear resistance, and can accurately control the flipping of hot-rolled / cold-rolled steel billets of different specifications. The present invention adopts a unique design scheme in the sliding spiral cam adjustment mechanism 3, the variable four-bar swing mechanism 4, and the gravity spring tilting mechanism 6 to accurately control the local motion trajectories and stress distributions of the components in this tilter, and finally affects the trajectory parameters of the most downstream actuator, meeting the actual requirements of on-site working condition parameters. Due to the adoption of the above-mentioned designs of various auxiliary adjustment mechanisms in the present invention, the tilter has more degrees of freedom for phase adjustment of its components during actual operation. Therefore, the flexibility of the movement of each component and the variability of the trajectory are extremely strong, and it can adapt to various different working condition occasions. Moreover, due to the adoption of a modular design of unit combination, each subsystem such as the variable four-bar swing mechanism 4, the swing frame adjustment mechanism, the swing rod rocker arm pull rod mechanism, and the material supporting arm mechanism in the present invention can not only move in combination but also be disassembled and applied as relatively independent subsystems in other mechanical design-related fields to meet different design requirements and have good interchangeability and universality.

[0054] At the same time, this swinging lifting spring-damping gravity steel billet tilter can flip the high-temperature steel billets discharged from the heating furnace of the section / bar hot-rolling production line by 90° before rolling, change the order of the biting surfaces of the billets in the conjugate pass rolling between the two rolling mills, improve the control accuracy of the stock shape at the inlet of the rolling mill, meet the requirements of the on-site rolling deformation process, and can remove the overheated iron oxide on the surface of the steel billets, improve the surface appearance quality of the rolled products, increase the on-site production rhythm, reduce the rolling current, and reduce process failures. This tilter has the remarkable characteristics of simple structure, low cost, reliable operation, rapid response, and strong adaptability. It is a new type of steel billet turning machine with wide applications, high automation, convenient installation, and strong universality.

[0055] In addition, the tilter has the remarkable characteristics of multiple degrees of freedom, small volume, light weight, compact structure layout, convenient disassembly, installation, and maintenance, and high automation adjustment accuracy. It is especially suitable for the process optimization adjustment of the biting surface of the rolling mill in the most upstream rolling process after the hot-rolled section steel and the hot billets of sheet / wire rod are discharged from the furnace and the improvement of the surface quality of the finished product appearance, reducing the process failures of the rough rolling mill and increasing the on-site rolling rhythm.

[0056] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A swinging lifting type spring-damping gravity billet tilter, characterized in that, It includes a swing power mechanism, a lifting power mechanism, a sliding spiral cam adjustment mechanism, a variable four-bar swing mechanism, an adjustable tensioning sprocket lifting mechanism, and a gravity spring tipping mechanism; The sliding spiral cam adjustment mechanism is connected to the variable four-bar swing mechanism. The sliding spiral cam adjustment mechanism is used to adjust the abscissa and / or ordinate of the swing rod seat in the variable four-bar swing mechanism, so as to linearly adjust the swing angle of the column in the variable four-bar swing mechanism; The swing power mechanism is connected to the variable four-bar swing mechanism. The swing power mechanism is used to provide power for the variable four-bar swing mechanism; The lifting power mechanism is respectively connected to the variable four-bar swing mechanism and the adjustable tensioning sprocket lifting mechanism. The lifting power mechanism is used to provide power for the adjustable tensioning sprocket lifting mechanism; The adjustable tensioning sprocket lifting mechanism is arranged on the column. The adjustable tensioning sprocket lifting mechanism is connected to the gravity spring tipping mechanism. The adjustable tensioning sprocket lifting mechanism is used to change the direction of the power output by the lifting power mechanism to drive the gravity spring tipping mechanism to perform reciprocating linear motion up and down; The billet is placed at the end of the gravity spring tipping mechanism. The gravity spring tipping mechanism performs reciprocating linear motion up and down or swings left and right to make the billet reach the tipping angle of critical balance, so as to realize the flipping of the billet. The sliding spiral cam adjustment mechanism includes a sliding spiral mechanism, a wedge-type sliding cam mechanism, and a push rod frame; The sliding spiral mechanism includes a first reduction motor, a lateral adjustment nut, and a lateral adjustment screw rod. The output end of the first reduction motor is fixedly connected to one end of the lateral adjustment screw rod. The lateral adjustment nut is threadedly connected to the lateral adjustment screw rod; The wedge-type sliding cam mechanism includes a swing frame, a longitudinal adjustment nut, a longitudinal adjustment screw rod, an inclined slideway, and a push rod; The bottom of the swing frame is hinged to the upper plane of the lateral adjustment nut. The longitudinal adjustment screw rod is rotatably arranged inside the swing frame. The longitudinal adjustment nut is threadedly connected to the longitudinal adjustment screw rod. The bottom of the longitudinal adjustment screw rod is hinged to the upper plane of the lateral adjustment nut. One end of the inclined slideway is hinged to the longitudinal adjustment nut, and the other end of the inclined slideway is hinged to the upper plane of the lateral adjustment nut; One end of the push rod is hinged to the inclined slideway, and the other end of the push rod is fixedly connected to the bottom of the swing rod seat. A sleeve is arranged at the top of the push rod frame, and the bottom of the push rod frame is fixedly arranged. The push rod is arranged inside the sleeve; The variable four-bar swing mechanism further includes a connecting rod, a swing rod, a base, a swing rod upper sliding seat, a swing rod lower sliding seat, and a lifting arm; One end of the column is hinged to the base, and one end of the swing rod is hinged to one end of the swing rod seat; One end of the lifting arm is adjustably and slidably connected to one side of the column, and the other end of the lifting arm is hinged to one end of the connecting rod; One end of the swing rod upper sliding seat is adjustably and slidably connected to one side of the swing rod, and the other end of the swing rod upper sliding seat is hinged to the other end of the connecting rod; One end of the swing rod lower slide is adjustably and slidably connected to the other side of the swing rod. The other end of the swing rod lower slide is hinged to the output end of the swing power mechanism. The end of the swing power mechanism is hinged to the base. The end of the lifting power mechanism is hinged to the connecting rod. The gravity spring tipping mechanism includes a cross beam, two sets of load-bearing rod assemblies, two sets of material supporting arms, and two sets of rotary spring dampers. The two sets of load-bearing rod assemblies are fixedly arranged at both ends of the cross beam. The material supporting arm includes a horizontal part, a vertical part, and a movable ear plate. One end of the load-bearing rod assembly is hinged to the upper end of the vertical part. The two sets of rotary spring dampers are respectively hinged to the outer sides of the tails of the two sets of mirror-symmetrically arranged material supporting arms. The rotary spring damper includes a guide rod, a damping spring, a spring seat, and a lifting nut. The lifting nut is in threaded cooperation with the load-bearing rod assembly. An articulated ear shaft is arranged on the side of the lifting nut. The articulated ear shaft is hinged to the through hole on the side of the spring seat. The damping spring is axially sleeved on the guide rod. One end of the damping spring is fixed, and the other end of the damping spring is free. The top of the guide rod is slidably arranged in the long elliptical hole in the upper part of the spring seat. The bottom of the guide rod is hinged to the outer side of the tail of the material supporting arm.

2. The swing-lifting spring-damping gravity billet tilter according to claim 1, wherein, The sliding spiral cam adjustment mechanism further includes an L-shaped slideway and a locking bolt. The bottom of the L-shaped slideway is fixedly arranged. The bottom of the ejector rod frame is slidably connected to the top of the L-shaped slideway. The locking bolt is arranged between the bottom of the ejector rod frame and the top of the L-shaped slideway. The locking bolt is used to fixedly connect the bottom of the ejector rod frame to the top of the L-shaped slideway.

3. The swing-lifting spring-damping gravity billet tilter according to claim 1, wherein The connecting rod includes a connecting rod sleeve, two connecting rod beams, a set screw, a support, an adjusting rod, and a fixing nut. The connecting rod sleeve is a hollow box-shaped structure. The other ends of the two connecting rod beams symmetrically insert from both ends of the connecting rod sleeve. Two sets of threaded holes are respectively arranged on both sides of the connecting rod sleeve in a mirror-symmetric manner. The set screw is screwed into the threaded hole and contacts the connecting rod beam to fixedly connect the connecting rod beam to the connecting rod sleeve. The other end of the lifting arm is hinged to one end of a connecting rod beam. The other end of the swing rod upper slide is hinged to one end of the other connecting rod beam. The support is fixedly arranged on the connecting rod beam. The fixing nut is fixedly arranged on the connecting rod sleeve. One end of the adjusting rod is rotatably matched with the support. The other end of the adjusting rod is matched with the fixing nut. The end of the lifting power mechanism is hinged to the connecting rod sleeve. The variable four-bar swing mechanism further includes two sets of swing rod rocker arm pull rod mechanisms. Each set of swing rod rocker arm pull rod mechanisms includes a rocker arm pull rod, two rocker arm ear rings, and a rocker arm. One end of the rocker arm is hinged to the swing rod. The other end of the rocker arm is hinged to one end of a rocker arm ear ring. One end of the other rocker arm ear ring in one set of swing rod rocker arm pull rod mechanisms is hinged to the swing rod upper slide. One end of the other rocker arm ear ring in the other set of swing rod rocker arm pull rod mechanisms is hinged to the swing rod lower slide. The rocker pull rod has a double - helix structure that rotates synchronously. The two ends of the rocker pull rod are respectively fitted with the other ends of the two rocker ear rings by fine - pitch external threads with opposite helix directions.

4. The swing-lifting spring-damping gravity billet tilter according to claim 1, characterized in that, The variable four - link swing mechanism further includes a lifting arm drum, a fixed pulley, a lifting arm drum support, a fixed pulley support, a second reduction motor, and a steel wire rope. The fixed pulley is fixedly arranged at the top on one side of the column through the fixed pulley support. The lifting arm drum is fixedly arranged at the bottom on one side of the column through the lifting arm drum support. The output end of the second reduction motor is fixedly connected to the lifting arm drum. The lifting arm is slidably connected to one side of the column. One end of the steel wire rope is fixedly connected to the lifting arm, and the other end of the steel wire rope bypasses the fixed pulley and is fixedly connected to the lifting arm drum.

5. The swing-lifting spring-damping gravity billet tilter according to claim 1, characterized in that, The adjustable tensioning sprocket lifting mechanism includes a tensioning sprocket assembly, a roller chain, and a lifting trolley. The tensioning sprocket assembly includes a sprocket, a sprocket shaft, and a tensioning plate. The sprocket is rotatably arranged at one end of the tensioning plate through the sprocket shaft, and the other end of the tensioning plate is fixedly arranged at the top of the column. The lifting trolley includes a trolley wheel shaft, a trolley pressing plate, a lifting plate, and two telescopic beams. The telescopic beam is a long - strip plate - shaped member. A groove slideway is arranged in the middle of the telescopic beam in the height direction. The groove slideway extends from the rear end face of the telescopic beam to the front end face of the telescopic beam. The length direction of the groove slideway is the same as the length direction of the telescopic beam. The lifting plate is fixedly arranged on the upper surfaces of the two telescopic beams. The two ends of the trolley pressing plate are fixedly arranged on the rear end faces of the two telescopic beams. The gravity - type spring tipping mechanism is fixedly arranged on the front end face of the telescopic beam. The trolley wheel shaft is slidably arranged in the groove slideway. Guide slideways are arranged on the two opposite inner side walls of the column. The two ends of the trolley wheel shaft are respectively slidably connected to the guide slideways. One end of the roller chain is fixedly connected to the output end of the lifting power mechanism, and the other end of the roller chain bypasses the sprocket and is fixedly connected to the lifting plate.

6. The swing-lifting spring-damping gravity billet tilter according to claim 5, characterized in that, The lifting trolley further includes an adjusting rod and a second deep - groove ball bearing. A stepped blind hole is arranged at the geometric symmetry center line of the trolley wheel shaft. The second deep - groove ball bearing is arranged in the stepped blind hole. A fine - pitch nut is arranged at the middle position of the trolley pressing plate and is screwed with the adjusting rod. One end of the adjusting rod passes through the trolley pressing plate and cooperates with the second deep - groove ball bearing.

7. According to claim 5, the swing - lifting type spring - damping gravity billet tilting machine is characterized in that The cross beam is fixedly arranged on the front end face of the telescopic beam. Two groups of the load - bearing rod assemblies are mirror - symmetrically arranged with respect to the geometric symmetry center line of the lifting trolley. The lower end of the vertical part is fixedly connected to the horizontal part and divides the horizontal part into a front section of the material - supporting arm and a rear section of the material - supporting arm. The length of the front section of the material - supporting arm is greater than the length of the rear section of the material - supporting arm. The movable ear plate is arranged on the front section of the material - supporting arm.

8. The swing-lifting spring-damping gravity billet tilter according to claim 7, wherein, The rotary spring - damping body further includes a base nut. The guide rod is a screw shaft with a full-length threaded structure, and the base nut is in threaded fit with the lower part of the guide rod; The top of the damping spring is in pressing contact with the upper plane of the spring seat, and the bottom of the damping spring is fixedly installed on the base nut.

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