Gripper device and disassembly method for disassembling and transporting rolling mill roll ring assemblies

Abstract

A gripper device and disassembly method for disassembling and transporting rolling mill roll ring assemblies. The invention comprises: a gripper top plate connected to a fixed base via a guide connecting column; a floating plate mounted on the guide connecting column via a sliding bearing; a quick-change disc connected to the floating plate; a locking cylinder mounted at the bottom of the floating plate; a clamping cylinder fixed between an intermediate fixed plate and the fixed base; a clamping jaw control mechanism fixed to the clamping jaws; and a hydraulic buffer and photoelectric switch installed on the floating plate. This invention utilizes automated equipment operation, reducing manual labor intensity, improving work efficiency, ensuring coaxiality between the connection point and the roll ring assembly, meeting the working requirements of various rolling mill angles, optimizing the hydraulic system, and reducing some hydraulic pipelines.

Description

Technical fields:

[0002] This invention relates to a gripper device and a disassembly method for disassembling and transporting rolling mill roll ring assemblies. Background technology:

[0004] During the steel rolling process, wear is inevitable in the roller ring grooves. Excessive wear makes it difficult to guarantee the shape of the rolled steel, leading to a deterioration in product surface quality. Furthermore, when producing different specifications of products, the roller rings need to be adjusted and replaced accordingly. The roller ring and the main shaft are connected and fixed by a tapered sleeve. This invention is mainly used for the disassembly and handling of this roller ring assembly (roller ring + tapered sleeve).

[0005] Due to the structural characteristics of the rolling mill itself, special hydraulic tools are required for disassembly. The disassembly hydraulic pressure is about 40 MPa, and the maximum pressure is no more than 70 MPa.

[0006] Currently, the disassembly of this component can be done in two ways: First, manually. A specialized hydraulic tool is attached to the tapered sleeve, the hydraulic system is connected, the component is pulled out, and then the pressure is released to remove the tool. The tool and the roller ring assembly are then transported separately. Second, automated equipment (such as robots) is used. The roller ring assembly is pulled out using a hydraulic tool, and then clamped by a hydraulic cylinder for disassembly and transport.

[0007] When disassembling manually, the hydraulic tooling body is heavy and the roller ring assembly is also heavy. In addition, the hydraulic pipelines need to be disassembled in advance when docking and removing the hydraulic tooling. The handling and disassembly process is labor-intensive and inefficient.

[0008] The automated operation involves a main shaft with a random stop angle due to the inherent structural characteristics of the rolling mill. Disassembly requires the hydraulic tools to be deflected at a corresponding angle for successful connection, thus demanding high precision in the rotation around the shaft during disassembly. The existing structure uses a 45° arrangement, which places high demands on the machining and assembly of the gripper itself, making control complex, especially when repositioning the rotation angle around the shaft. Furthermore, the impact force is significant at the moment the roll ring assembly disassembles, and the system must simultaneously meet the requirements of different rolling mill angles, a feat difficult to achieve with the existing mechanism. Summary of the Invention:

[0010] The purpose of this invention is to provide a gripper device and disassembly method for disassembling and transporting rolling mill roll ring assemblies. The method uses automated equipment to reduce manual labor intensity, improve work efficiency, and meet the working requirements of various rolling mill angles.

[0011] The above objectives are achieved through the following technical solutions:

[0012] A gripper device for disassembling and transporting rolling mill roll ring assemblies, comprising:

[0013] Quick-change disc, which is connected to a floating plate;

[0014] The gripper top plate is connected to the fixed base via a guide connecting column;

[0015] A floating plate, which is mounted on the guide connecting column via a sliding bearing; a locking cylinder, which is mounted on the bottom of the floating plate;

[0016] A clamping cylinder is fixed between an intermediate fixing plate and a fixing seat;

[0017] A clamping jaw control mechanism is fixed to the clamping jaw.

[0018] Furthermore, the floating plate is equipped with a hydraulic damper and a photoelectric switch.

[0019] Furthermore, the clamping jaw control mechanism includes two clamping cylinders, each clamping cylinder is connected to a cylinder rod, the cylinder rod is fixedly connected to a rotating shaft, a drive gear is installed below the rotating shaft, the drive gear meshes with a large gear, the large gear meshes with three small gears, the small gears are fixedly connected to a rotating shaft, and the rotating shaft is fixed to the clamping jaw via a key.

[0020] Furthermore, the three small gears are evenly distributed around the circumference.

[0021] Furthermore, the pinion is fixedly connected to the second rotating shaft via a tensioning sleeve.

[0022] Furthermore, a special tool is installed inside the mounting base.

[0023] Furthermore, the two clamping cylinders are installed symmetrically relative to the center line of the large gear.

[0024] A disassembly method utilizing the aforementioned gripper device for disassembling and transporting rolling mill roll ring assemblies, the method comprising:

[0025] The automated equipment connects the gripper through a quick-change disc. The quick-change disc is connected to the center of the special tool for removing the rolls through a floating plate and a guide connecting column, so that the quick-change disc and the center of the special tool for removing the rolls are kept coaxial, that is, the rotation angle of the quick-change disc is the same as the rotation angle of the special tool for removing the rolls.

[0026] According to the position of the mill spindle, after the special tool for disassembling the rolls is connected to the tapered sleeve, the automated equipment rotates on a single axis to complete the deflection and connection of the gripper. After the connection is completed, the locking cylinder is activated to make the floating plate float. The floating state offsets the impact and jump of the roll ring assembly when it is disengaged, and prevents it from being transmitted to other mechanisms.

[0027] After the rollers are removed, the clamping cylinder is activated, and the driving force is transmitted to the large gear through the cylinder rod. The large gear meshes with the small gear, and the small gear is fixed to the second rotating shaft through the tensioning sleeve connection. The second rotating shaft is fixed to the clamping jaws through the key, thus converting the output force of the clamping cylinder into the clamping force of the clamping jaws.

[0028] During the clamping process, the locking cylinder operates synchronously to lock the floating plate in place and keep it fixed.

[0029] After the cylinder completes its operation, the roller ring assembly can be moved to complete the disassembly process.

[0030] The beneficial effects of this invention are:

[0031] This invention addresses the problem of rotation control around the axis during repositioning. Structurally, it adopts a concentric arrangement of upper and lower parts to ensure that the center of the gripper connecting plate is consistent with the center of the bottom roller disassembly tool, guaranteeing the coaxiality of the connection point with the roller ring assembly, meeting the coaxiality requirement, and facilitating control and use.

[0032] This invention addresses the issue of numerous hydraulic lines during use, which restrict the posture of automated equipment (such as robots). By adjusting the structure and designing to use cylinders as the drive source, the hydraulic system is optimized, and some hydraulic lines are reduced.

[0033] The floating mechanism of this invention adds a buffer device to reduce the impact of the instantaneous impact of the roll ring assembly detachment on other structures of the equipment. It is designed with a locking cylinder so that it can have both fixed and floating postures to meet the usage requirements of the rolling mill at different angles.

[0034] This invention utilizes automated equipment to reduce manual labor intensity and improve work efficiency.

[0035] This invention incorporates a gripper structure designed to meet the disassembly process requirements, ensuring coaxiality between the connection point and the roll ring assembly. A composite buffer mechanism is also designed to satisfy the operational needs of various rolling mill angles. Attached image description:

[0037] Appendix Figure 1 This is a schematic diagram of the structure of the present invention.

[0038] Appendix Figure 2 This is a schematic diagram of the structure of the present invention when it is covered by an outer shell.

[0039] Appendix Figure 3 This is a cross-sectional view of the floating plate of the present invention.

[0040] Appendix Figure 4 This is a schematic diagram of the clamping claw control mechanism of the present invention.

[0041] In the attached diagram: 1: Quick-change disc; 2: Top plate of gripper; 3: Sliding bearing; 4: Floating plate; 5: Cylinder rod; 6: Guide connecting column; 7: Pinion; 8: Large gear; 9: Rotating shaft two; 10: Clamping claw; 11: Fixed seat; 12: Special tool for removing rollers; 13: Clamping cylinder; 14: Intermediate fixed plate; 15: Locking cylinder; 16: Hydraulic buffer; 17: Photoelectric switch; 18: Rotating shaft one; 19: Drive gear. Detailed implementation method:

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Example 1:

[0045] The present invention provides a gripper device for disassembling and transporting rolling mill roll ring assembly. The gripper top plate 2 is connected to the fixed base 11 through the guide connecting column 6. The special tool for disassembling the roll is fixed inside the fixed base 11. The floating plate 4 is equipped with a sliding bearing 3 and is installed on the guide connecting column 6, which can slide axially. The quick change plate 1 is connected to the floating plate 4. The bottom of the floating plate 4 is equipped with a locking cylinder 15.

[0046] The floating plate 4 is equipped with a hydraulic buffer 16 and a photoelectric switch 17. The hydraulic buffer can buffer the impact and prevent hard impacts on the robot or automated equipment. The photoelectric switch is used to detect the position of the floating plate so that the robot or automated equipment can perform corresponding actions.

[0047] The clamping jaw control mechanism includes a clamping cylinder 13, which is fixed between the intermediate fixing plate 14 and the fixing seat 11. The clamping cylinder 13 transmits the driving force to the large gear 8 through the cylinder rod 5. The large gear 8 meshes with the small gear 7. The small gear 7 is fixed to the rotating shaft 9 through a tensioning sleeve connection. The rotating shaft 9 is fixed to the clamping jaw 10 through a key.

[0048] A three-point rotary clamping method is adopted to achieve a self-centering effect;

[0049] The three-point rotary clamping mechanism allows the clamping jaws to vary within a circular arc range, satisfying both the use in confined spaces and the adaptive clamping of workpieces of different sizes.

[0050] The three small gears 7 are evenly distributed around the circumference. The meshing structure of the circumferentially distributed gears maintains the consistency of the three-point action and realizes the synchronous clamping function.

[0051] Using pneumatic clamping instead of hydraulic cylinders reduces hydraulic lines and facilitates the execution of automated equipment actions.

[0052] Example 2:

[0053] According to the gripper device for disassembling and transporting rolling mill roll ring assemblies described in Embodiment 1, automated equipment (e.g., a robot) connects to the gripper via a quick-change disc 1. The quick-change disc 1 is connected to the center of the roll removal tool 12 via a floating plate 4 and a guide connecting column 6. The guide shaft is designed to be compatible, ensuring that the quick-change disc 1 and the center of the roll removal tool 12 maintain a certain coaxial relationship, thus achieving the same rotation angle between the quick-change disc 1 and the roll removal tool 12. Based on the rolling mill spindle position, after the roll removal tool 12 is docked with the tapered sleeve, the automated equipment can complete the gripper deflection docking with a single-axis rotation (or, if using a robot, only 6-axis rotation), without requiring multi-axis linkage, thus facilitating control.

[0054] After docking, the locking cylinder 15 actuates, causing the floating plate 4 to float. This floating state counteracts the impact and vibration of the roller ring assembly upon disengagement, preventing it from being transmitted to other mechanisms. After the rollers are disassembled, the clamping cylinder 13 actuates, transmitting the driving force to the large gear 8 via the cylinder rod 5. The large gear 8 meshes with the small gear 7, which is fixed to the rotating shaft 9 via a tensioning sleeve connection. The rotating shaft 9 is then fixed to the clamping jaw 10 via a key, ultimately converting the output force of the clamping cylinder 13 into the clamping force of the clamping jaw 10.

[0055] During the clamping process, the locking cylinder 15 operates synchronously to lock the floating plate 4 in place and keep it fixed. After the cylinder completes its operation, the roller ring assembly can be moved to complete the disassembly process.

[0056] Example 3:

[0057] According to the gripper device for disassembling and transporting rolling mill roll ring assemblies described in Embodiment 2, the cylinder rod 5 transmits driving force to the large gear 8. In this process: the cylinder rod 5 includes a rod, a rotating shaft 18, and a tensioning sleeve. The rod is connected to the clamping cylinder 13. One end of the rod is connected to the rotating shaft 18 via the tensioning sleeve. The other end of the drive gear 19 is connected to the rotating shaft 18 via a key. The drive gear 19 meshes with the large gear 8, and the large gear 8 meshes with three small gears 7. The small gears 7 are fixedly connected to the rotating shaft 9, and the rotating shaft 9 is fixed to the clamping jaws 10 via a key. This allows the clamping cylinder 13 to transmit driving force to the large gear 8 via the cylinder rod 5.

[0058] When the two clamping cylinders 13 extend and retract respectively, they will cause the shaft to rotate. The shaft has gears, which will convert the reciprocating motion of the cylinders into the driving force of the large gear. This is achieved by connecting rod 5, which converts the reciprocating motion of the cylinders into the driving force of the large gear.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gripper device for disassembling and transporting rolling mill roll ring assemblies, characterized in that, include: Quick-change disc (1), which is connected to the floating plate (4); The gripper top plate (2) is connected to the fixed seat (11) via a guide connecting column (6); A floating plate (4) is mounted on the guide connecting column (6) via a sliding bearing (3); Locking cylinder (15), said locking cylinder (15) is installed at the bottom of said floating plate (4); Clamping cylinder (13), which is fixed between intermediate fixing plate (14) and fixing seat (11); A clamping jaw control mechanism is fixed to the clamping jaw (10); The floating plate (4) is equipped with a hydraulic buffer (16) and a photoelectric switch (17). The clamping claw control mechanism includes two clamping cylinders (13). The clamping cylinders (13) are connected to cylinder rods (5). The cylinder rods (5) are fixedly connected to a rotating shaft (18). A drive gear (19) is installed below the rotating shaft (18). The drive gear (19) meshes with a large gear (8). The large gear (8) meshes with three small gears (7). The small gears (7) are fixedly connected to a rotating shaft (9). The rotating shaft (9) is fixed to the clamping claw (10) by a key. The fixed base (11) is equipped with a special tool (12) for disassembling rollers. Two clamping cylinders are symmetrically installed relative to the center line of the large gear (8); The automated equipment is connected to the gripper via a quick-change disc (1). The quick-change disc (1) is connected to the center of the roll removal tool (12) via a floating plate (4) and a guide connecting column (6), so that the quick-change disc (1) and the center of the roll removal tool (12) are kept coaxial, that is, the rotation angle of the quick-change disc (1) is the same as the rotation angle of the roll removal tool (12).

2. The gripper device for disassembling and transporting rolling mill roll ring assemblies according to claim 1, characterized in that, The three small gears (7) are evenly distributed around the circumference.

3. The gripper device for disassembling and transporting rolling mill roll ring assemblies according to claim 2, characterized in that, The pinion (7) is fixedly connected to the rotating shaft (9) via a tensioning sleeve.

4. A disassembly method using the gripper device for disassembling and transporting rolling mill roll ring assemblies as described in any one of claims 1-3, characterized in that, The method includes: The automated equipment is connected to the gripper via a quick-change disc (1). The quick-change disc (1) is connected to the center of the roller removal tool (12) via a floating plate (4) and a guide connecting column (6), so that the quick-change disc (1) and the center of the roller removal tool (12) are kept coaxial, that is, the rotation angle of the quick-change disc (1) is the same as the rotation angle of the roller removal tool (12). According to the position of the mill spindle, after the special tool for disassembling the rolls (12) is connected to the tapered sleeve, the automated equipment rotates on a single axis to complete the deflection and connection of the gripper. After the connection is completed, the locking cylinder (15) is activated to make the floating plate (4) float. The floating state offsets the impact and jump of the roll ring assembly when it is disassembled, and prevents it from being transmitted to other mechanisms. After the rollers are removed, the clamping cylinder (13) is activated, and the driving force is transmitted to the large gear (8) through the cylinder rod (5). The large gear (8) meshes with the small gear (7). The small gear (7) is fixed to the rotating shaft (9) through the tension sleeve connection. The rotating shaft (9) is fixed to the clamping claw (10) through the key. Finally, the output force of the clamping cylinder (13) is converted into the clamping force of the clamping claw (10). During the clamping process, the locking cylinder (15) operates synchronously to lock the position of the floating plate (4) and keep it fixed. After the cylinder completes its operation, the roller ring assembly can be moved to complete the disassembly process.

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