A combined roll changing system for a rack straightener

Abstract

The application discloses a combined rack straightener roll changing equipment system. The integrated rack at least comprises a rack body, a vertical plate, a plurality of shaft sleeves arranged on the vertical plate, a bottom plate and a foot structure. The vertical plate is surrounded by a surrounding plate according to a contour. The shaft sleeves are perpendicular to the vertical plate. The bottom plate is perpendicular to the vertical plate. The bottom plate and the vertical plate are provided with the foot structure. The automatic roll changing vehicle integral roll changing integrated rack has the characteristics of simple structure, reliable action, easy centering during roll changing, maximum reduction of on-site equipment adjustment amount, automation, intelligent level and the like. Meanwhile, the roll changing equipment has the characteristics of short roll changing time, reliable roll changing process and the like, flexible application conditions, independent turnover application function of the integrated rack, preparation operation area not limited by site conditions, roll preparation away from the site and the like. The roll changing equipment has the advantages of single vehicle fast roll changing application conditions on the transverse moving track.

Description

Technical Field

[0001] This invention relates to a combined frame straightening machine, an integrated roll changing frame with an automatic roll changing trolley and a maintenance base, under the condition of a transverse track roll changing process. Background Technology

[0002] The section steel straightening production line adopts a combined rack type straightening machine. In order to match the rolling line capacity, reduce roll changing time, and improve roll changing efficiency, an automatic roll changing car is used for overall group roll changing process.

[0003] The combined straightening machine frame mainly consists of an operating side frame, a drive side frame, and front and rear frames that carry the vertical rollers, forming a closed frame. Except for the operating side frame, which can move along a longitudinal track aligned with the straightening roller's axis, the remaining parts of the combined frame are relatively fixed by corresponding connections. When changing rollers, the frame must be opened to disassemble or install the straightening rollers. During straightening operations, the straightening roller is positioned in the middle of the operating side frame and the drive side frame. During roller changing operations, after unlocking the straightening roller system and the operating side frame's fastenings, the operating side frame, driven by a hydraulic cylinder, moves the straightening roller along a longitudinal track along the straightening roller's axial direction. Upon reaching the roller changing position, the straightening roller can be radially removed.

[0004] Under the conditions of automatic roll changing car group roll changing process, the typical process layout and equipment configuration of the straightening operation area is as follows: a transverse track is arranged parallel to the straightening center line at a certain distance from the straightening machine for the automatic roll changing car to travel; on the transverse track, one automatic roll changing car is configured on the track in the direction of the straightening machine entrance and exit.

[0005] Before the straightening operation, the automatic roll changers remain in their respective waiting positions; one of the automatic roll changers is loaded with a new straightening roll. During the roll change operation, the combined frame opens, and the operating side frame carries the old straightening roll to the roll change position. The unloaded automatic roll changer enters the roll change area of ​​the frame and stops at the roll change position on the transverse track. Through the straightening roll carrying procedure, the old straightening roll is moved from the operating side frame to the automatic roll changer. After that, the automatic roll changer carrying the old straightening roll moves out of the combined straightening machine's roll change area. The automatic roll changer carrying a set of new straightening rolls enters the roll change area of ​​the frame and stops at the roll change position on the transverse track. Through the straightening roll carrying procedure, the new straightening roll is moved to the operating side frame. After that, the unloaded automatic roll changer moves out of the combined frame's roll change area. The operating side frame moves to the roll changing position, and the unloaded automatic roll changing trolley 1, located on the left side of the straightener, has entered the roll changing position on the transverse track inside the frame; the automatic roll changing trolley 2, loaded with a new straightening roll, is in the waiting position on the transverse track.

[0006] The automatic roll changing process of the combined frame straightener with a transverse track is an automated process of disassembling and assembling straightener rolls in a three-dimensional coordinate system. During this automatic roll changing process, whether it's the old straightener roll being transferred from the operating frame to the automatic roll changing trolley, or the new straightener roll being transferred from the automatic roll changing trolley to the operating frame, both the operating frame and the automatic roll changing trolley use cantilevered roller shafts for carrying the straightener rolls. The exchange method involves inserting a short, half-shaft-type cantilevered roller shaft into the center hole of the straightener roll, with one side locking the straightener roll with claws and the other side releasing it. At each stage of the roll changing process, both the operating frame and the automatic roll changing trolley have real-time position setting requirements. In the integrated roll changing frame on the automatic roll changing trolley, there are high requirements for axial dimensional positional accuracy and coaxiality between the roller shaft centerline suspending the straightener roll and the roller shaft centerline suspending the straightener roll on the bearing seat of the operating frame. The automatic transport vehicle carrying the integrated roll changing frame is used for automatic assembly. Geometric dimensions and motion position accuracy requirements are highly correlated. To address the dimensional and positional accuracy issues during the automatic roll changer process, the focus should be on resolving the structural, performance, and parametric issues of the automatic roll changer that is matched with the straightener as a reference. This requires analyzing the existing equipment structure, main structure, and connection methods to propose new solutions.

[0007] The automatic roll changing machine system mainly consists of a lower equipment system with functions such as running on lateral tracks and positioning the machine body, and an upper equipment system that carries the straightening rolls. The upper equipment system is generally an integrated roll changing frame used for replacing the straightening rolls as a whole; the main equipment of the lower equipment system is generally the automatic transport vehicle and the connection system between the upper and lower equipment.

[0008] The number and position of the straightening rollers suspended on the roller changing integrated frame are determined by the structural dimensions of the straightening machine and the set vertical roller changing position of the straightening rollers.

[0009] The application method of the roll changing integrated frame and its connection method with the transport vehicle are determined by the process site conditions and preparation methods. There are two main types of connection methods between the roll changing integrated frame and the transport vehicle: simple direct welding and positioning quick connection system.

[0010] The roll changing frame is a key piece of equipment in an automated roll changing trolley. Its structural form and connection method with the automated transport vehicle (AGV) significantly impact the application of the AGV and the performance requirements for roll changing operations. Currently, in modular stand straightening machine production lines, the AGV is primarily fixed to the roll changing frame using direct fastener connections or welding. Figure 2 As shown, its main technical features can be reflected in the following aspects:

[0011] 1) Structural system

[0012] In the structural system of the roller changing integrated frame, the roller shaft for suspending the straightening roller is located in a modular roller box unit; and multiple modular roller box units are then assembled into a roller changing integrated frame in the frame body.

[0013] 2) Roller box unit connection method

[0014] The bottom surface of the roller box unit and the mating surface of the frame are axially positioned by a flat key in the direction perpendicular to the roller shaft, and are connected and fastened by bolt assemblies in the vertical direction. At the same time, in order to coordinate the size and position requirements of the center line height of the same row of roller shafts and the upper and lower rows of roller shafts, shim sets are used for adjustment between the mating surfaces of each roller box unit and the frame.

[0015] 3) Frame structure and its connection method with the vehicle body

[0016] The frame is a welded component. The mating surfaces of the upper and lower roller box units in the frame structure are discontinuously distributed in a concave shape.

[0017] The frame is directly welded to the body of the transport vehicle.

[0018] 4) Adjustment method

[0019] To ensure the levelness of the automated guided vehicle, the wheel bearing housings located at the bottom of the vehicle body are adjusted in height using shims.

[0020] This type of automatic roller changer has the following problems.

[0021] 1) The inclusion of intermediate components in the roller box introduces adverse effects on structure, function, and performance.

[0022] The roller shaft used to suspend the straightening roller in the integrated frame of the roller box unit assembly is a basic functional component of the roller changing integration.

[0023] The requirements for dimensional accuracy, parallelism, coaxiality, and positional accuracy between rollers during the roller changing process not only require ensuring the manufacturing dimensions and geometric tolerances of the rollers within the unit roller box, but also the contour dimensions and geometric tolerances of the connection between the roller box unit and the frame, the contour dimensions and geometric tolerances of the frame, and the quality assurance of the connection assembly; multiple factors have a significant impact on the straightening roller's carrying capacity exchange function.

[0024] While the modular design of the roller box unit offers some convenience in manufacturing, it also complicates the structure of the roller changing integrated frame, leading to increased complexity in equipment assembly and adjustment, as well as disadvantages in on-site use and maintenance. From the perspective of the functional and performance requirements of the roller changing integrated frame, the inclusion of the roller box unit negatively impacts the performance of the rollers.

[0025] 2) Adverse effects of the frame structure

[0026] The roll changing process uses the centerline of the straightener's roll system as a reference; all lower straightening roll centerlines should be on the same horizontal line. Therefore, in the integrated frame, the mating surfaces of the roll box units where the lower rolls are installed should also be on the same horizontal plane. However, due to the discontinuous concave shape of the mating surfaces used for the bottom surfaces of the upper and lower roll box units in the frame structure, the connection structure between the roll box unit and the frame adopts a radial assembly method. This leads to the complexity of the manufacturing process and affects the consistency of the center height dimension of the mating surfaces. The method of adjusting all roll box units using shims directly reflects the inconsistency and non-horizontal phenomenon of the frame's center height dimension, and indirectly reflects the mismatch between the direct welding method between the frame and the transport vehicle body and the roll changing performance requirements.

[0027] Secondly, since the roller box unit and the frame are positioned axially using a flat key, this positioning method simultaneously controls the axial position of the roller shafts and the parallelism between the roller shafts. From the perspective of positioning a single roller box, it can ensure that the centerline of the roller shaft is perpendicular to the car body; however, due to the unfavorable influence of the discontinuously distributed concave shape of the frame mating surface on the keyway machining, it is difficult to achieve the accuracy requirements of the same axial position of the roller shafts and the parallelism between the roller shafts.

[0028] In addition, the abrupt changes in the cross-section of the frame structure also have a certain adverse effect on the deformation control of welded parts.

[0029] 3) The connection method between the frame structure and the vehicle body limits the application scope of the integrated frame function.

[0030] Because the center of gravity of the roller changing integrated frame mounted on the upper part of the automatic roller changing car is outside the dangerous overturning edge of the frame's own contour, the roller changing integrated frame itself lacks the ability to resist dangerous overturning. The roller changing integrated frame can only be directly and fixedly connected to the body of the transport vehicle as a whole, forming the center of gravity within the overall range of the automatic transport vehicle, and maintaining anti-overturning stability within the transverse track of the automatic transport vehicle. Therefore, the roller changing integrated frame cannot have the functional conditions to operate independently without the automatic transport vehicle. The automatic transport vehicle can only disassemble and load straightening rollers at the parking position on the transverse track, which greatly restricts the roller changing operation area and the spare roller operation area.

[0031] Secondly, the frame and vehicle body of the automated transport vehicle are directly and fixedly connected as one unit. Although the connection relationship seems simple, it brings difficulties in processing large-sized structural equipment and adverse factors such as deformation of the frame and vehicle body.

[0032] Due to the complex model system, unreasonable structural design, numerous assembly and adjustment steps, and limitations in process application and site conditions of the aforementioned automatic roll changing equipment, serious deviations in axis dimensions, parallelism, and coaxiality exist during the roll changing process. This leads to jamming during the straightening roll carrier exchange procedure, as the roller shaft in the roller box unit of the roll changing integrated frame is aligned with the cantilevered roller shaft on the bearing seat of the operating side frame. This makes actual adjustment difficult and causes jamming during the straightening roll carrier exchange procedure, affecting the smooth progress of the overall group roll changing process. Summary of the Invention

[0033] To address the aforementioned problems, the present invention aims to provide an integrated roll changing frame for a combined frame straightening machine under the condition of an automatic roll changing car on a transverse track.

[0034] To achieve the above objectives, the present invention provides a combined frame straightener roll changing equipment system, wherein the integrated frame includes at least:

[0035] The frame includes uprights, with the perimeter of the uprights edged by side panels according to the outline;

[0036] Multiple bushings are arranged at intervals on the vertical plate, and the bushings are welded perpendicular to the vertical plate.

[0037] A base plate perpendicular to the vertical plate is installed at the bottom of the vertical plate, and a foot structure is provided between the base plate and the vertical plate;

[0038] The roller shaft has a stepped profile and a hollow inner cavity. An insertion detection device is installed in the inner cavity of the roller shaft.

[0039] Furthermore, a through hole is provided on the side wall of the roller shaft, and the fitting detection device includes a contact guide sleeve installed in the through hole, a contact rod slidably disposed in the contact guide sleeve, and the head of the contact rod protruding outside the through hole for sensing the fitting of the straightening roller.

[0040] The contact rod is a stepped shaft-like part; the upper end has a threaded structure that engages with a nut to fix the sensing bracket; the middle section is equipped with a spring; the lower part of the middle section has an enlarged cylindrical structure to limit the position within the contact guide seat; the bottom is spherical to contact the cylindrical surface at the end of the straightening inner cavity and sense the straightening roller insertion position signal.

[0041] The free end of the sensing bracket is equipped with a sensing bolt, the position of which can be adjusted relative to the sensing bracket; a switch bracket is installed in the hollow part of the roller corresponding to the sensing bolt, and a micro switch is installed on the switch bracket. The system comprises three main functional units: a claw position detection mechanism, and a latching detection mechanism.

[0042] A corresponding pull claw safety locking mechanism is provided on the vertical plate above each roller shaft; the locking mechanism includes:

[0043] A chuck is used to mount a locking mechanism onto a frame.

[0044] The chuck has a hollow shaft hole;

[0045] A camshaft is slidably disposed within the aforementioned shaft hole;

[0046] A hydraulic cylinder is provided at the tail end of the camshaft;

[0047] A pull claw head is provided at the head of the camshaft;

[0048] Two or more 90° lines are provided on the outer surface of the middle part of the camshaft. 0 Rotary guide groove;

[0049] Each of the rotary guide grooves on the chuck is provided with a positioning ball that is adapted to it;

[0050] When the hydraulic cylinder moves forward, the camshaft is positioned by the positioning balls at 90°. 0 With the cooperation of the rotary guide groove, it moves forward and rotates 90 degrees. 0 This positions the pull claw head in the working position; when the hydraulic cylinder moves backward, the camshaft is positioned at the 90° of the positioning ball. 0 With the cooperation of the rotary guide groove, it moves backward and rotates 90 degrees. 0 This causes the pull claw head to disengage from the working position;

[0051] It also includes a puller position detection device, which includes: a horizontal positioning protrusion and a vertical positioning protrusion provided on the outer circumference of the tail of the camshaft, and a horizontal sensor and a vertical sensor provided on the upper edge of the frame.

[0052] When the camshaft rotates 90 degrees 0 When the puller head is in the working position, the horizontal positioning protrusion approaches the horizontal sensor and the horizontal sensor outputs a signal; when the camshaft rotates 90 degrees in the reverse direction... 0 When the puller head is disengaged from the working position, the vertical positioning protrusion comes into contact with the vertical sensor and the horizontal sensor outputs a signal.

[0053] The automatic roller changing car includes:

[0054] The vehicle body has a first driving wheel pair, a second driving wheel pair, and a driven wheel pair arranged parallel to each other below the vehicle body;

[0055] The first and second drive wheelsets are connected by a chain drive.

[0056] Only one drive motor is installed on the vehicle body, and the drive motor is connected to the first drive wheelset or the second drive wheelset through a reducer.

[0057] A support positioning and locking system is installed on the platform of the vehicle body;

[0058] The support positioning and locking system consists of a front left support, a front right support, a rear left support, a rear right support, and an integrated frame longitudinal positioning support.

[0059] The front left support, front right support, rear left support, and rear right support all include a support body, as well as a transverse positioning pin, a hinge bolt assembly, and a locking hydraulic cylinder installed on the support body; the integrated frame longitudinal positioning support, installed from bottom to top, includes a base, a lower support, and a longitudinal positioning pin.

[0060] The transverse positioning pins on the front left support and the front right support are orthogonal to the axis of the longitudinal positioning pin in the longitudinal positioning support of the integrated frame.

[0061] The base plate has two cylindrical pin grooves corresponding to the transverse positioning pins, and a longitudinal positioning groove in the middle of the base plate corresponding to the longitudinal positioning pins; the outer edge of the base plate has a hinge bolt hole groove that is compatible with the hinge bolt assembly.

[0062] The base plate is provided with a beveled structure that matches the tongue-shaped head of the hydraulic cylinder piston rod.

[0063] This invention relates to an integrated roll changing frame for automatic roll changing vehicles, characterized by its simple structure, reliable operation, easy alignment during roll changing, minimal on-site equipment adjustments, and high level of automation and intelligence. It also features short roll changing time, reliable roll changing process, flexible application conditions, independent reusability of the integrated frame, and the ability to prepare rolls off-site without site limitations. Furthermore, it offers the advantage of rapid roll changing for a single transport vehicle on a transverse track. Attached Figure Description

[0064] Figure 1 This is a front view of the roller changing integrated frame of the present invention.

[0065] Figure 2 for Figure 1 Side view.

[0066] Figure 3 for Figure 1 The left-facing view.

[0067] Figure 4 for Figure 1 Top view.

[0068] Figure 5 for Figure 2 Rear view.

[0069] Figure 6This is a front view of the frame.

[0070] Figure 7 for Figure 6 Side view.

[0071] Figure 8 for Figure 6 A sectional view.

[0072] Figure 9 for Figure 6 Top view.

[0073] Figure 10 Diagram of the security agency

[0074] Figure 11 for Figure 10 Schematic diagram of the safety locking mechanism of the middle camshaft.

[0075] Figure 12 for Figure 11 A sectional view along line AA.

[0076] Figure 13 for Figure 11 BB-direction cross-section

[0077] Figure 14 for Figure 11 CC-direction section view

[0078] Figure 15 for Figure 10 A schematic diagram of the detection device inserted into the middle.

[0079] Figure 16 A three-dimensional schematic diagram of the frame.

[0080] Figure 17 For valve assemblies and pipelines on the integrated rack.

[0081] Figure 18 Diagram of hydraulic branch circuit pipeline layout for pull claw locking mechanism.

[0082] Figure 19 This is a perspective view of an embodiment of the automatic roller changing vehicle in this invention.

[0083] Figure 20 for Figure 19 The front view of the embodiment shown.

[0084] Figure 21 for Figure 19 The bottom view of the embodiment shown.

[0085] Figure 22 This is a three-dimensional schematic diagram of the orbital system.

[0086] Figure 23 for Figure 19The diagram shows the layout of the automated transport vehicle platform in the embodiment shown.

[0087] Figure 24 for Figure 19 The illustrated embodiment shows a schematic diagram of the integrated support frame of the automated transport vehicle.

[0088] Figure 25 This is a schematic diagram of the secondary positioning process of the automated transport vehicle.

[0089] Figure 26 for Figure 25 A magnified view of a portion of the image;

[0090] Figure 27 The automated transport vehicle did not enter the gap area of ​​the transverse track;

[0091] Figure 28 The automated guided vehicle's drive wheelsets enter the gap area of ​​the transverse track.

[0092] Figure 29 For the autonomous vehicle's drive wheelset to enter the gap area of ​​the lateral track.

[0093] Figure 30 The automated transport vehicle enters the roller changing position of the straightener;

[0094] Figure 31 The automated transport vehicle is repositioned. Detailed Implementation

[0095] The invention will now be further described with reference to the accompanying drawings.

[0096] This invention relates to two connection methods for the lower equipment system of the roll changing integrated frame and the automatic roll changing trolley: One method involves an integrated automatic roll changing trolley with a fixed position at the bottom of the roll changing integrated frame; the mating surfaces are connected using fasteners. Under this connection method, the preparation of rolls on the roll changing integrated frame is performed on the stationary automatic roll changing trolley. The other method involves the automatic transport vehicle and the roll changing integrated frame being divided into two independent units; the automatic transport vehicle is arranged at both ends or one end of the straightener on the transverse track. During roll changing operations, the automatic transport vehicle and the roll changing integrated frame are quickly assembled. The roll changing integrated frame is quickly positioned and automatically clamped on the automatic transport vehicle, forming an automatic roll changing trolley that automatically travels, quickly positions, and automatically executes the straightener roll carrier exchange procedure. The roll changing integrated frame can also be used independently for roll preparation and maintenance operations; roll preparation and maintenance operations using the roll changing integrated frame can be carried out in the vicinity of the combined frame straightener, outside the stationary position of the automatic roll changing trolley.

[0097] An embodiment of the roller changing integrated frame of the present invention comprises a frame body (410), a roller assembly unit (430), a claw safety locking mechanism (434), a claw position detection mechanism (450), an insertion detection device (460), a hydraulic valve group and pipeline system (470), and an electrical control device (490).

[0098] Frame (410)

[0099] The frame is used to mount the roller unit (430), the claw safety locking mechanism (434), the claw position detection mechanism (450), the insertion detection device (460), the hydraulic valve group and pipeline (470), the electrical control device (480), etc. For a frame that is fixedly connected to the vehicle body, see [link to relevant documentation]. Figure 4 ; Frame that can be quickly connected to the vehicle body Figure 5 .

[0100] The frame is a composite structure consisting of uprights (411), side panels (412), bushings (413), a panel (415), sleeves (414), and a rear panel (416), a base structure (418) and a bottom plate (417), and several stiffeners welded together, serving as the main load-bearing structure.

[0101] The perimeter of the upright plate (411) is edged with a surrounding plate (412) according to the outline to improve the local rigidity of the frame (410). Two rectangular holes are reserved at the top and bottom of the surrounding plate (412) on one side of the frame (410) for installing the distribution block.

[0102] Ten bushings (413) are arranged in two rows on the vertical plate (411) and welded perpendicular to the vertical plate (411) for axial assembly of ten roller units. A surrounding panel (412) forms a protective structure on the upper part and ends of the vertical plate (411). The vertical plate (411) is connected to the combined structure consisting of the base structure (418) and the base plate (417) and is perpendicular to the base plate (417).

[0103] The bushing (413) is used to assemble the roller unit (430). The position and size of the bushing (413) on the frame upright plate (411) correspond to the center line of the roller changing position of the combined frame straightener. The bushing (413) has a stepped cylindrical structure; the front end has a raised disc structure, and the inner end face is used for welding and positioning with the upright plate (411); the outer end face is finished and serves as the mating surface of the roller unit (430); the inner cavity is a single cylindrical bushing (413), which is finished and used for axial positioning of the roller unit (430). The front end faces of all the bushings (413) welded on the upright plate (411) are on a vertical plane; the center line of the bushing (413) is parallel to the lower surface E of the frame base plate. Since the machine tool ensures the consistency of the center line position, size and end face of all the round holes on the frame used to assemble the roller unit (430) bushing (413), the axial assembly of the roller unit (430) does not need to be adjusted, thus avoiding assembly adjustment errors under the essential structural conditions and improving application performance.

[0104] The panel (414) is welded onto the surface of the frame upright plate (411), directly above the bushing (413). A sleeve (414) is welded onto the back of the frame upright plate (411) at the position corresponding to the panel (414), and the rear end of the sleeve (415) is sealed with a rear panel (416).

[0105] A portion of the frame upright plate (411), a panel (414), a sleeve (415), and a rear panel (416) constitute a unit assembly structure for mounting the straightening roller claw safety locking mechanism (434). The horizontal axis of the unit assembly structure is parallel to the axis of the bushing (413).

[0106] A portion of the frame upright plate (411), a panel (415), a sleeve (414), and a rear panel (416) constitute a unit assembly structure for mounting the straightening roller claw safety locking mechanism (434). The rear panel (416) of this unit assembly structure can also be omitted. When installing a camshaft-driven straightening roller safety locking mechanism, the sleeve (414) can have a square outline with a rectangular hole on its top surface for mounting the claw position detection switch assembly.

[0107] The lower part of the frame has a combination structure of footing structure (418) and bottom plate (417) on both sides, which serves as the load support. The combined structure of footing structure (418) and bottom plate has sufficient area relative to the platform of the transport vehicle to ensure that the center of gravity of the integrated frame itself and the combined center of gravity after being loaded are within the outline polygon of the combined structure, thereby obtaining a greater safety capability against dangerous overturning. This safety capability against dangerous overturning is extremely important when the integrated frame is used without the transport vehicle; it can ensure that it sits on a horizontal surface and will not overturn without the aid of other fixing measures, thus improving the inherent safety of the integrated frame.

[0108] The frame has four base plates (417) at the four corners and one base plate (346) in the middle. The bottom surface E is on the same plane. From the perspective of the roller changing process, it serves as the joint surface connecting the roller changing integrated frame and the transport vehicle. From the perspective of machining, the line connecting the center lines of the five bushings (413) used to install the lower straightening roller shaft on the frame (410) takes the bottom surface E as the reference. The large plane formed by the four corners as the reference helps to ensure the parallelism between the center line of the bushing (413) and the reference plane and the parallelism between the sleeves (414); at the same time, it helps to ensure that the front end face of all bushings (413) is on a vertical plane.

[0109] Depending on whether the connection with the vehicle body is fixed or quick, the structure of the frame base plate (417) and base plate (346) is slightly different.

[0110] The frame base plate (417) and base plate (346) that are fixedly connected to the vehicle body have relatively simple structures; the bottom surface of the base plate is on the same horizontal plane; bolt holes for connecting with the vehicle are distributed on the base plate.

[0111] The integrated frame that can be quickly connected to the vehicle body has multiple functional structures on the base plate (417) for positioning the frame in the vehicle, quick locking and fixing, and fixing in maintenance preparation situations, due to considerations such as quick connection function and matching multiple integrated frames to one vehicle.

[0112] Under the condition of quick connection between the integrated frame and the transport vehicle, the bottom surface of the base plate (417) is on the same horizontal plane; the base plate is provided with: hinge bolt hole groove 4171, two cylindrical pin grooves 4172 for lateral positioning, and longitudinal positioning groove 4173 after the base plate (347) is fixed.

[0113] The U-shaped opening marked D on the outer edge of the base plate (417) is the hinge bolt hole groove 4171, which is the fastening part of the hinge bolt. It cooperates with the hinge bolt on the transport vehicle and undertakes the function of connecting and fastening the integrated frame.

[0114] Two cylindrical pin slots are arranged coaxially for lateral positioning of the integrated frame and the transport vehicle. The cylindrical pin slots are semi-circular, with their axis on the base plate (417) and parallel to the axis of the bushing (413).

[0115] The cylindrical pin groove on the fixed base plate (347) is used for longitudinal positioning of the integrated frame and the transport vehicle. Under the condition of quick connection between the integrated frame and the transport vehicle, due to the interchangeability requirement of matching multiple integrated frames in one transport vehicle, the longitudinal positioning support of the integrated frame adopts the method of fixing after assembly; therefore, in order to accommodate the upper base plate (347) of the longitudinal positioning support, the middle section of the bottom of the frame is concave. The base plate (346) is connected to the upper base plate (347) in the longitudinal positioning support of the integrated frame and then welded. After the upper base plate (347) is permanently fixed on the frame (410), the bottom surface of the upper base plate (347) and the bottom surface of the base plate (417) are on the same horizontal plane.

[0116] On the base plate (417) at the four corners of the frame (410), the inner side of point D is a sloping structure adapted to the tongue-shaped head of the hydraulic cylinder piston rod. When the hydraulic cylinder piston rod extends, the tongue-shaped head presses against the sloping surface at point D, quickly pressing the integrated frame onto the relevant structure of the transport vehicle (see...). Figure 10 ).

[0117] The upper two sides of the frame are equipped with lifting structures. The lifting structures are horizontally welded to the vertical plate (411) by sleeves (419). Before the roller changing operation, the tubular beam of the special lifting tool can be inserted into the inner cavity of the sleeve (419).

[0118] Roller assembly unit (430)

[0119] The roller assembly unit (430) is used to load the straightening roller; it works in conjunction with the claw safety locking mechanism (434), the claw position detection mechanism (450), and the insertion detection device (460) to achieve the function of safely carrying the straightening roller.

[0120] The roller assembly unit (430) consists of a roller (431) and axial locking positioning screws.

[0121] The roller shaft (431) has a stepped shaft structure; the inner cavity is hollow. In the stepped profile of the roller shaft (431), the front cylindrical structure is used to suspend the straightening roller; the end has a small inlet section, a conical structure, used to introduce the straightening roller. The bearing section of the front cylindrical main body structure has a diameter slightly smaller than the diameter of the circular hole of the straightening roller mating part, forming a clearance fit when the straightening roller is fitted in; the parallelism between the straightening roller and the roller shaft axis is within the tolerance range, and the straightening roller can be easily installed / removed from the roller shaft. This facilitates the exchange of straightening rollers between the automatic roller changing trolley and the operating side frame. The bearing section is also provided with a positioning hole 1 and screw holes on both sides for installing the fitting detection mechanism (460).

[0122] The front and rear sections of the roller (431) profile are truncated cone structures, and the cone surface fits with the cone surface of the inner hole of the straightening roller.

[0123] The roller (431) has a stepped profile with a disc-shaped structure in the middle, and the front end face serves as the axial positioning surface of the straightening roller. The rear section of the disc-shaped structure has positioning holes 2 and screw holes on both sides for mounting the detection mechanism (460).

[0124] The rear section of the roller (431) has a hollow shaft structure and is inserted into the bushing (413) on the frame by axial insertion. The roller (431) and the bushing (413) are tightly fitted, and the tail is axially positioned by screw locking.

[0125] The roller (431) has a cylindrical inner cavity for mounting the insertion detection mechanism (460) of the straightening roller.

[0126] Pull claw safety locking mechanism (490)

[0127] The claw safety locking mechanism (490), the claw position detection mechanism (450), and the insertion detection device (460) constitute the inherent safety measures of the integrated frame. Because the straightening roller and the roller shaft are in clearance fit, and the integrated frame undergoes multiple lifting operations, it is necessary to install safety measures to prevent the straightening roller from falling off when it is inserted into the integrated frame.

[0128] The present invention employs an externally mounted safety locking mechanism for the straightening roller pull claws, with the pull claw safety locking mechanism 490 positioned above the roller shaft. A pull claw position detection mechanism is also included to check whether the locking actuator conforms to the design position, thus verifying the reliability of the safety measures. An insertion detection device (460) is provided to control the timing of the locking actuator to meet safety requirements. This externally mounted pull claw safety locking mechanism offers advantages such as convenient observation, reliable operation, and easy maintenance. The pull claw safety locking mechanism, combined with the pull claw position detection mechanism and insertion detection device, provides advantages such as high automation and short roller changing process time.

[0129] In this invention, the claw in the safety locking mechanism has two working positions. When the claw is in a vertical position, the straightening roller is allowed to be inserted into the roller shaft. After the straightening roller is inserted into the roller shaft, the claw rotates to a horizontal position, and the hook end is embedded in the groove of the straightening roller, preventing the straightening roller from accidentally slipping on the roller shaft, thereby achieving a safety locking function. Due to the limitation of the width of the straightening roller groove, there are potential failure factors such as the straightening roller not being inserted or the claw itself not rotating into a horizontal position. Therefore, a claw position detection mechanism and an insertion detection mechanism are set up to verify and ensure the effectiveness of the safety measures.

[0130] The following explanation will take the camshaft-driven straightening roller safety locking mechanism as an example.

[0131] The camshaft-driven straightening roller safety locking mechanism is located on the upper part of the upper and lower straightening roller bearing seat structure on the operating side frame and above the roller shaft of the automatic roller changing car. It is used to lock the straightening roller and ensure that the carrying body meets the set requirements when the straightening roller carrying and exchanging procedure is executed.

[0132] The camshaft-driven straightening roller safety locking mechanism is mainly composed of a pull claw head (471), screw (472), camshaft (473), chuck (474), chuck cover (475), screw (476), ball (477), guide rod (478), spring (479), pressure block (481), screw (482), horizontal sensing block (483), vertical sensing block (484), screw (485), hydraulic cylinder (486), proximity switch (487), base plate (488), copper tile (489), etc. It is divided into three main functional units: camshaft assembly, chuck assembly, and pull claw position and insertion detection mechanism.

[0133] As shown in the figure, the camshaft-driven straightening roller safety locking mechanism consists mainly of a pull claw head (471), a screw (472), a camshaft (473), a horizontal sensing block (483), a vertical sensing block (484), a screw (485), and a piston rod of a hydraulic cylinder (486), forming a camshaft assembly (470) to perform the locking function of the straightening roller.

[0134] The pull claw head (471) and the camshaft (473) are connected by an assembly structure. The pull claw head (471) is equipped with a countersunk hole structure to mate with the camshaft (473), and is fastened to the camshaft (473) with screws (472).

[0135] The camshaft (473) is used to make the puller head (471) move 90 degrees. 0 A combined motion of rotation and linear displacement. The head of the camshaft (473) has a section of anti-rotation flat head structure used to fix the circumferential orientation between the pull pawl head (471) and the camshaft (473). The middle section of the camshaft (473) has a cylindrical profile, with the cylindrical surface engraved with a 120° angle. 0 The distribution features three cylindrical spiral lines and a curved groove composed of straight lines; the curved segment is used for the claw head (471)90. 0 The straight segment is used for the puller head (471) to complete 90 degrees of rotation. 0 The linear displacement after rotation; the cross-sectional shape of the curved groove only allows half of the ball to slide within it. The camshaft (473) has a section of anti-rotation flat head structure at the tail end, which is used to determine the orientation of the horizontal sensing block (483), and the central screw hole is used to connect with the hydraulic cylinder (486).

[0136] The horizontal sensing block (483) is used in conjunction with the proximity switch (487) to sense that the pull claw head fixed at the front end of the camshaft (473) is in a vertical position; the vertical sensing block (484) is used in conjunction with the proximity switch (487) to sense that the pull claw head fixed at the front end of the camshaft (473) is in a horizontal position. The horizontal sensing block (483) is assembled on the anti-rotation flat head structure at the tail of the camshaft (473), and the vertical sensing block (484) is assembled on the anti-rotation flat head structure at the piston rod head of the hydraulic cylinder (486). After the threaded section of the piston rod head is screwed into the central threaded hole at the tail of the camshaft (473), the two are connected and fastened with screws (485).

[0137] Chuck assembly: The chuck (474), chuck cover (475), screw (476), ball bearing (477), guide rod (478), spring (479), pressure block (481), screw (482), etc., constitute the chuck assembly (480). The chuck assembly (480) is fixed to the bearing seat of the operating side frame or the automatic roller changer; it is used to control the camshaft to move 90 degrees. 0 A combined motion of rotation and linear displacement.

[0138] The chuck (474) has a cylindrical front and rear profile and a rectangular middle section; the four corners of the rectangle have bolt holes for fixing, and the middle section has a chuck cover (475) for use. 0 Distributed threaded holes. Copper bushings (489) are inlaid at both ends of the chuck (474); used for centering the camshaft (473). The cross-section of the part where the chuck (474) mates with the chuck cover (475) has a 120° angle. 0 The structure features a perforated design. The section near the center of the perforated design serves as the working channel for the ball bearings (477); the section near the outer circle is a countersunk hole structure, allowing the guide rod (478) and spring (479) to make slight movements within it. The cylindrical profile at the rear end of the chuck (474) serves as the mating surface for assembly with the bearing housing on the operating side frame or related parts of the automatic roller changer.

[0139] The chuck cover (475) has a disc-shaped structure; its inner circle mates with the cylindrical surface of the front end of the chuck (474), and its end face is fixed to the rectangular surface of the chuck (474). The chuck cover (475) has three 120° grooves corresponding to the chuck (474). 0 The distributed perforated structure accommodates the guide rod (478), spring (479), pressure block (481), and screw (482).

[0140] 3) Insert into testing agency

[0141] The straightening roller insertion detection mechanism is assembled inside the hollow structure of the cantilevered roller shaft 501 of the automatic roller changing car; by measuring the influence of the straightening roller insertion position on the position change of the contact rod in the insertion detection mechanism, the signal is extracted to sense whether the straightening roller is in place during the roller shaft insertion process.

[0142] The straightening roller insertion detection mechanism mainly consists of a contact rod (454), a spring (455), a contact guide sleeve (456), a contact guide seat (457), a nut (458), a sensing bracket (459), a sensing bolt (461), a micro switch (462), a switch bracket (463), a sensing mechanism fixing seat (464), a fixing pin (465), and an auxiliary mounting handle (466).

[0143] The contact rod (454) is used to sense the insertion of the straightening roller. The contact rod (454) is a stepped shaft-like part; the upper end has a threaded structure that engages with a nut to fix the sensing bracket (459); the middle section is used to mount a spring (455); the lower part of the middle section has an enlarged cylindrical structure to limit the position within the contact guide seat (457); the bottom is a spherical structure to contact the cylindrical surface at the end of the straightening inner cavity to sense the insertion position signal of the straightening roller.

[0144] The inner cavity of the contact guide sleeve (456) is used to assemble parts such as the contact rod (454), spring (455), and nut (458). The upper outer surface of the contact guide sleeve (456) has a threaded structure, the middle part is cylindrical, and the lower part has a clamping structure. The contact guide sleeve assembly consists of the contact guide sleeve (456), spring (455), and nut (458).

[0145] The contact guide seat (457) is used to mount the contact guide sleeve assembly. The lower contour of the contact guide seat (457) matches the inner diameter of the cantilever roller shaft, and the two sides are provided with countersunk screw holes for positioning and fixing in the inner cavity of the roller shaft; the front face is provided with screw holes for installing the auxiliary handle (466).

[0146] The sensing bracket (459) is a "Z"-shaped sheet metal component, with one end for connecting to the top of the contact rod (454) and the other end for mounting the sensing bolt (461). The sensing bolt (461) is adjustable in position on the sensing bracket (459).

[0147] The contact rod (454) is inserted into the spring (455) and then into the contact guide seat (457), and then locked with the nut (458). The working stroke of the spring (455) is slightly greater than the chord height of the ball end of the contact rod, ensuring that the contact rod (454) can make a vertical displacement within the contact guide seat (457). The nut (458) can also finely adjust the stroke of the contact rod (454) within the contact guide seat (457).

[0148] A micro switch (462) is assembled on a switch bracket (463); the switch bracket (463) is fixed on a sensing mechanism mounting base (464). The sensing mechanism mounting base (464) is used to mount the micro switch (462), the switch bracket (463), etc. The lower contour of the sensing mechanism mounting base (464) matches the inner diameter of the cantilever roller shaft, and the two sides are provided with countersunk screw holes for positioning and fixing in the inner cavity of the roller shaft; the middle part is provided with a screw hole for assembling the fixing pin (465); the rear vertical surface is provided with a screw hole for installing the auxiliary handle (466).

[0149] Since the straightening roller is inserted into the detection mechanism assembly position within the limited space of the cantilever roller shaft cavity, during assembly, the auxiliary installation handle (466) is used and screwed into the contact guide seat (457) and the sensing mechanism fixing seat (464) respectively. After the assembly is completed, the auxiliary installation handle (466) is screwed out.

[0150] The working principle of the testing agency is as follows:

[0151] When the detection mechanism is inserted into the inner cavity of the roller, only the ball head of the contact rod (454) is exposed on the cylindrical surface of the inner cavity of the roller; when the straightening roller is not inserted into the cantilever roller or is not in place, the ball head of the contact rod inserted into the detection mechanism remains exposed; the sensing bracket (459) and sensing bolt (461) linked with the contact rod remain in the same position, and the top surface of the sensing bolt (461) leaves a certain gap with the micro switch (462).

[0152] When the straightening roller is installed in place, the constraint of the cylindrical surface of the inner cavity of the roller shaft at the ball head of the contact rod (454) causes the contact rod (454) to compress the spring (455) in the contact guide sleeve (456) during the axial movement of the straightening roller, which in turn drives the sensing bracket (459) to move upward. When the sensing bracket (459) moves upward to the position, the head surface of the sensing bolt (461) contacts the contact of the micro switch (462), causing it to retract. This triggers the relevant mechanism inside the micro switch (462) to send a signal, indicating that the straightening roller has reached the preset position after axial movement on the roller shaft.

[0153] Based on the signal from the detection mechanism that the straightening roller has reached the preset position, the change of the pull claw from the vertical position to the horizontal position can uniquely indicate that the straightening roller has been fitted into the cantilever roller shaft and has reached the preset position; this will not lead to a false judgment of pull claw lock-up.

[0154] Automated transport vehicle (300)

[0155] The automated transport vehicle mainly consists of: the vehicle body and running system (301), the support, positioning and locking system (340), the hydraulic system (360), and the electrical system (370);

[0156] Vehicle body and running gear (301)

[0157] The vehicle body and running system (301) mainly consists of: vehicle body (302), drive shaft assembly (305), drive shaft assembly (310), driven shaft assembly (313), vehicle body positioning frame (304), vehicle body positioning frame (314), etc.

[0158] A support positioning and locking system (340) is installed on the car body (302). The drive shaft assembly (305), the drive shaft assembly (310), and two sets of driven shaft assemblies (313) are used to support the car body and for travel. The car body positioning frame (304) is installed on the front right side of the car body (302), and the car body positioning frame (314) is installed on the rear left side of the car body (302) for secondary precise positioning of the car body (302) at the roller changing position on the transverse track. The recessed structure at the rear end of the car body (302) is used to house the hydraulic station (361) in the hydraulic system (360) and the mounting rail (362); the distribution block (364) is arranged in the rear section of the car body (302). Hydraulic pipelines (365) and electrical conduits (373) for electrical cables (374) are laid in the car body (302), and the on-board control box (375) and terminal box (377) are housed.

[0159] After the drive shaft assembly (305), the active shaft assembly (310), and the two sets of driven shaft assemblies (313) are assembled in the car body (302), under the condition that the treads of the wheels are all in contact with the transverse track surface, the bottom plane of the support body of the support body (341), the support body (342), the support body (343), the support body (344), and the support body (349) of the longitudinal positioning support (340) of the integrated frame and the bottom plane of the support body (350) of the longitudinal positioning support (349) of the integrated frame are on the same horizontal plane.

[0160] The car body positioning frame (304) and car body positioning frame (314) are used for positioning the automated transport vehicle on the transverse track. To facilitate the installation and adjustment of the automated transport vehicle's positioning on the transverse track, the car body positioning frame is arranged at the head and tail ends of the car body. The car body positioning frame (304) and car body positioning frame (314) are welded structural components; the structure has a machined end face, which is connected to the head and tail face of the automated roller changer car body (302). Adjustment shims are provided between the car body positioning frame (304) and car body positioning frame (314) and the car body (302) connecting face for fine-tuning the position. The horizontal components of the positioning frame (304) and car body positioning frame (314) are provided with holes for cooperating with the secondary positioning hydraulic pin cylinder (624) set on the transverse track (620) to perform secondary precise positioning of the automated roller changer car. To avoid mechanical over-constraint, the upper end of the hole in the horizontal component of the vehicle body positioning frame (304) is cylindrical and the lower end is conical; the upper end of the hole in the horizontal component of the vehicle body positioning frame (314) is waist-shaped columnar and the lower end is a conical hole adapted to the waist-shaped columnar structure.

[0161] Under traverse track conditions, the automatic roll changing vehicle's method of replacing straightening rolls in groups is a process requiring precise control of the displacement changes of various mechanical parts within a three-dimensional coordinate system. The disassembly and assembly of the straightening rolls is fully mechanized and automated. During the roll changing process, the centerline of the roller shaft suspending the straightening roll in the integrated roll changing frame mounted on the automatic transport vehicle has strict requirements for positional dimensional accuracy and coaxiality tolerance between it and the centerline of the roller shaft suspending the straightening roll in the bearing seat of the operating side frame. Relying solely on the electrical braking performance of the drive motor cannot meet the positioning accuracy requirements of the automatic transport vehicle on the traverse track.

[0162] The precise positioning of the automated guided vehicle (300) on the transverse track is achieved through the combined action of the braking of the drive motor and the secondary positioning mechanism. The effectiveness of the secondary positioning mechanism relies on the interaction between the piston pin in the hydraulic pin cylinder on the transverse track and the positioning blocks on the front and rear ends of the automated guided vehicle (300) body. With positioning blocks configured at the front and rear ends of the automated guided vehicle (300) body, the drive motor of the automated guided vehicle (300) adopts an energy-consuming braking method.

[0163] The vehicle body (302) is equipped with a vehicle body positioning frame (304) and a vehicle body positioning frame (314) for secondary precise positioning of the automated transport vehicle. The vehicle body positioning frame (304) is used for precise positioning of the vehicle body (302) in the direction of travel of the transverse track; the vehicle body positioning frame (304) cooperates with the vehicle body positioning frame (314) to control the parallelism between the vehicle body (302) and the center line of the transverse track, that is, to control the parallelism between the vehicle body (302) and the center line of the straightening machine.

[0164] The concept and process of achieving secondary precise positioning of the roller changing position on the transverse track in the roller changing area of ​​the combined frame straightener by the automated transport vehicle are as follows:

[0165] A laser position detection device 900 is installed at a fixed distance X from the waiting position of the automated guided vehicle (AGV) to monitor its position on the transverse track and feed the signal back to the electronic control device for controlling the AGV's running position and speed.

[0166] During the roll changing operation, under the control of the laser position detection device, the automatic transport vehicle travels on the transverse track towards the roll changing position in the roll changing space of the combined straightener frame. When it reaches the preset position of the roll changing position on the transverse track, the automatic transport vehicle decelerates. Upon reaching the preset roll changing position, under the action of electrical control, the motor of the motor reducer (306) stops running and brakes. After a short while, the brake is released, and the piston pin in the secondary positioning hydraulic pin cylinder (624) set on the transverse track (620) rises and inserts into the car body positioning frame (304) and the car body positioning frame (314). When the automatic transport vehicle stops under the action of electrical control, due to the deviation of the stopping accuracy, during the extension of the hydraulic pin (624), the cone head part contacts the wall of the lower cone-shaped hole of the car body positioning frame (304) and the car body positioning frame (314) first. Under the action of the inclined plane component force, the automatic transport vehicle makes adaptive horizontal coordinated movement and parallel attitude adjustment in the direction of travel on the transverse track (620). Since the positional relationship between the car body positioning frame (304), the car body positioning frame (314) and the hydraulic pin cylinder (624) on the car body (302) was set during the debugging according to the state that the cantilever roller shaft of the roller changing integrated frame on the automatic transport vehicle and the cantilever roller shaft on the operating side frame are simultaneously inserted into the straightening roller, the interaction process between the car body positioning frame and the secondary positioning hydraulic pin cylinder enables the automatic transport vehicle to achieve secondary precise positioning of the roller changing position on the transverse track.

[0167] Support positioning and locking system (340)

[0168] System Functional Requirements

[0169] Since the automatic roll changing process of the combined frame straightener is an automated process of automatic disassembly and assembly of straightening rolls in a three-dimensional coordinate system, the dimensional and coaxiality accuracy requirements between the center line of the roller shaft suspended on the roller shaft integrated frame and the center line of the roller shaft on the operating side frame of the straightener are achieved by integrating the dimensional and positional accuracy of the automatic transport vehicle itself, the positional accuracy of the roll changing on the track, and the positioning system structure set on the automatic transport vehicle platform.

[0170] For ease of description, a coordinate system is established with the center line of the transverse track of the automated transport vehicle as the X-axis, the center line of the longitudinal track as the Y-axis, the intersection of the transverse center line of the transverse track and the center line of the roller changing position of the longitudinal track as the origin of the X and Y planes (the center point of the roller changing position), and the direction perpendicular to the center point of the roller changing position as the Z-axis.

[0171] The support positioning and locking system (340) consists of

[0172] The support positioning and locking system (340) consists of a front left support (341), a front right support (342), a rear left support (343), a rear right support (344), and an integrated frame longitudinal positioning support (349).

[0173] The front left support (341), the front right support (342), the rear left support (343), and the rear right support (344) are all composed of a support body (345), a transverse positioning pin (346), a hinge bolt assembly (347), a locking hydraulic cylinder (348), and corresponding fasteners.

[0174] The integrated rack longitudinal positioning support (349) consists of a base (350), a lower support (351), a longitudinal positioning pin (352), an upper support (353), and corresponding fasteners.

[0175] The four corner supports serve as a support and height reference.

[0176] The front left support (341), the front right support (342), the rear left support (343), and the rear right support (344) are distributed at the four corners of the platform of the car body (302) for supporting, positioning, and locking the roller changing integrated frame.

[0177] The support bodies of the front left support (341), front right support (342), rear left support (343), and rear right support (344) are all welded structural parts; the upper top surface is the support surface of the roller changing integrated frame; the upper part is provided with a U-shaped groove structure for installing the hinge bolt assembly (347) and a plane and stop structure for installing the locking hydraulic cylinder (348). The hinge bolt assembly (347) is used to lock and fix the roller changing integrated frame; the locking hydraulic cylinder (348) is used to quickly lock and fix the roller changing integrated frame.

[0178] The front left support (341) and the front right support (342) are simultaneously inlaid with the transverse positioning pins of the vehicle body; the transverse positioning pins (346) are respectively fixed with screws in the semi-cylindrical groove structure on the upper top surface of the support; the semi-cylindrical part is exposed on the bearing plane of the base, serving as the corresponding coupling part with the roller changing integrated frame.

[0179] The bottom surfaces of the support bodies of the front left support (341), the front right support (342), the rear left support (343), and the rear right support (344) are bolted to the vehicle body (302), and an adjustment shim is provided in the middle; the adjustment shim is only used to adjust the height setting value of the support in the Z coordinate.

[0180] In the longitudinal positioning support (349) of the integrated frame, the longitudinal positioning pin (352) is fixed to the lower support (351) with screws, and the semi-cylindrical part is exposed on the bearing plane of the lower support (351). The bottom surface of the base (350) is bolted to the vehicle body (302), and an adjusting shim is provided in the middle; the adjusting shim is only used to adjust the height setting value of the support in the Z coordinate.

[0181] After adjustment, the top surfaces of the front left support (341), front right support (342), rear left support (343), and rear right support (344) and the top surface of the lower support (351) of the longitudinal positioning support (348) of the integrated frame are on the same horizontal plane, and their height in the Z-axis is a fixed value, which serves as the reference plane for the roller changing integrated frame; the set value is adjusted by adjusting the shims under the base.

[0182] Positioning function of the support

[0183] The three-point positioning structure system is formed by two transverse positioning pins (346) in the front left support (341) and the front right support (342) and one longitudinal positioning pin (352) in the longitudinal positioning support (351) of the integrated frame on the X and Y planes; when the roller changing integrated frame is placed on the base support surface of the automatic transport vehicle, the elevation positioning of the roller changing integrated frame is determined by the top surface of the support arranged on the automatic transport vehicle; the positioning pins in the three-point positioning structure system are coupled with the relevant parts of the roller changing integrated frame to quickly determine the directional positioning of the roller changing integrated frame on the X and Y planes in the coordinate system.

[0184] 1) Three-point positioning principle

[0185] The transverse positioning pins (346) on the front left support (341) and the front right support (342) are orthogonal to the longitudinal positioning pin (351) in the longitudinal positioning support (348) of the integrated frame. The two transverse positioning pins (346) and one longitudinal positioning pin (352) forming the orthogonal shape constitute the A, B, and C three-point positioning system of the roller changing integrated frame, ensuring the angular position of the roller changing integrated frame around the Z-axis of the vehicle body, that is, the planar positioning in the X and Y directions.

[0186] In the three-point positioning system, the transverse positioning pin (346) is used to control the X-axis coordinate of the roller changing integrated frame, and the longitudinal positioning pin (352) is used to control the Y-axis coordinate of the roller changing integrated frame.

[0187] 2) Adjustment of positioning components on the automated transport vehicle

[0188] Considering the operation mode of using one automated roll changer with multiple roll changer frames in the combined automated roll changer system, and the limitations on the positioning accuracy and interchangeability requirements of the roll changer frames and automated roll changer under the above-mentioned conditions, the relevant components and structures on the automated roll changer involving positioning are adjusted in the following ways and steps.

[0189] (a) Adjustment of the top surface of the support to the same horizontal plane and height setting value

[0190] Using the line connecting the rail treads on the car body (302) as a reference, the top surfaces of the front left support (341), front right support (342), rear left support (343), rear right support (344), and integrated frame longitudinal positioning support (351) arranged on the car body (302) are adjusted to the same plane by adjusting shims, and the height value H calculated from the rail treads meets the set requirements.

[0191] With the front left support (341) and the front right support (342) on the same plane, the center lines of the two transverse locating pins (346) and the center line of the longitudinal locating pin (352) are in the same horizontal plane.

[0192] (b) Adjusting the centerline of the transverse locating pin (346) to be parallel and coaxial with the Y-axis.

[0193] The front left support (341), the front right support (342), the rear left support (343), and the rear right support (344) are all symmetrically arranged and adjusted with respect to the longitudinal centerline of the vehicle body passing through the X-axis. That is, the distances L1, L2, L3, and L4 between the adjustment reference plane and the longitudinal centerline of the vehicle body are all constant values.

[0194] Adjust the orientation of the front right support (342) and the rear left support (343) so that the center lines of the two transverse positioning pins (346) are coaxial and perpendicular to the X-axis.

[0195] c) Longitudinal positioning pin (352) orientation adjustment

[0196] Adjust the orientation of the longitudinal positioning pin (351) in the longitudinal positioning support (349) of the integrated frame so that its axis is in the X and Z axis plane, that is, in the symmetrical center plane of the front left support (341) and the front right support (342).

[0197] In the matching method of matching an automated transport vehicle with multiple roller changing integrated frames for roller changing, since the cylindrical pin has been fixed to the lower support (351) with screws, the axis of the longitudinal positioning pin (352) is adjusted to be in the X and Z axis planes. First, the lower support (351) and the base (350) are connected with bolts, and the base (350) and the vehicle body (302) of the automated transport vehicle are first connected with bolts. After all the roller changing integrated frames are adjusted, the lower support (351) and the base (350) are welded together.

[0198] d) Adjustment of the X-axis projection size between the vehicle body positioning bracket (304) and the transverse positioning pin (346)

[0199] Adjust the shims between the front mating surfaces of the vehicle body positioning frame (304) and the vehicle body (302) to meet the set value L5 requirement.

[0200] e) Adjustment of the X-axis projection size between the vehicle body positioning frame (304) and the vehicle body positioning frame (314)

[0201] Adjust the shims between the front mating surfaces of the vehicle body positioning frame (314) and the vehicle body (302) to meet the set value L6 requirement.

[0202] 3) Positioning and adjustment of one automated transport vehicle paired with multiple roller changing integrated frames

[0203] The upper support (353) and corresponding fasteners of the longitudinal positioning support (348) of the integrated frame are connected to the roller changing integrated frame. Since the matching method of using one automatic transport vehicle with multiple roller changing integrated frames for roller changing is adopted, the orientation of the upper support (352) is adjusted based on the structural functional components of the three-point positioning system on the automatic transport vehicle.

[0204] The upper support (352) is first connected to the frame (410) of the roller changing integrated frame with screws. After final adjustment and positioning, it is welded and fixed to the frame (410) of the roller changing integrated frame (400).

[0205] When the automatic roll changing car is located in the roll changing position of the combined frame roll changing area, the straightening roll exchange procedure is simulated, and then the longitudinal positioning base (350) is welded to the car body, and the upper support (352) is welded to the roll changing integrated frame.

[0206] Locking function

[0207] In the support positioning and locking system (340), the front left support (341), front right support (342), rear left support (343), and rear right support (344) are symmetrically arranged on the four corner bases of the upper part of the automatic transport vehicle. Four locking hydraulic cylinders (348) and four sets of hinge bolt assemblies (347) are used to lock and fix the roller changing integrated frame (400).

[0208] The piston rod head of the locking hydraulic cylinder (347) is tongue-shaped and also serves as a wedge-shaped pressure block that matches the pressing part of the roll changing integrated frame (400). The piston rod of the locking hydraulic cylinder (348) arranged on the vehicle body is usually set to the retracted state. When the piston rod of the locking hydraulic cylinder (347) is retracted, the positional space formed by the four pressure tongue edges allows the roll changing integrated frame (400) to fall into the automated transport vehicle (300) without interference. During the roll changing operation, when the roll changing integrated frame (400) falls into the front left support (341), front right support (342), rear left support (343), and rear right support (344) of the automated transport vehicle (300),

[0209] The piston rods of the four locking hydraulic cylinders (348) extend simultaneously, and the head pressure tongue presses the matching position of the roller changing integrated frame (400) to complete the locking of the roller changing integrated frame (400).

[0210] When the roll changing operation is not performed or the roll changing integrated frame (400) is placed on the automatic transport vehicle and placed on the maintenance integrated frame storage base, the roll changing integrated frame is locked and fixed with hinge bolts (346).

[0211] Hydraulic valve assembly and pipeline system

[0212] The safety locking claw mechanism (434) installed on the roller changing integrated frame (400) is driven by a hydraulic cylinder, and its hydraulic power source is provided by the hydraulic station on the automated transport vehicle. The hydraulic pipeline between the automated transport vehicle and the roller changing integrated frame (400) is connected by a hydraulic hose quick connector; the hydraulic hose is carried by the automated transport vehicle, and a female connector is installed on the roller changing integrated frame (400).

[0213] The integrated frame has 10 sets of roller units corresponding to 10 hydraulic cylinders. The upper and lower straightening rollers are divided into two groups, with 5 hydraulic cylinders in each group. Each hydraulic cylinder has two hydraulic hard pipes forming a branch circuit. Considering the inherent safety requirements of the roller changing integrated frame (400) and the fact that the integrated frame has the function of carrying loads through the empty roller conveyor, the hydraulic cylinders of the safety locking claw mechanism (434) are controlled separately, which determines the corresponding hydraulic circuit and pipe layout. Since the hydraulic cylinders are controlled separately, the problem of dense pipeline layout for the hydraulic cylinder oil supply circuit arises in a limited space. In this invention, the control valve group and pipeline system (470) adopts the method of building oil circuit blocks and pipelines as a strategy and solution to deal with the dense pipeline layout.

[0214] Two sets of control valve assemblies and pipeline systems (470) are distributed on the upper and lower sides of the frame enclosure (412) to control the safety locking claw mechanisms (434) corresponding to the upper and lower straightening rollers. The control valve console is located on the side of the integrated frame for easy operation; the reversing valve assembly (472) can be either a manual reversing valve assembly or an electromagnetic reversing valve assembly; when an electromagnetic reversing valve is used, the control valve console can also be arranged at the rear of the integrated frame.

[0215] The control valve assembly and piping system (470) consists of a valve assembly module (471), an inlet block and piping assembly (476), and a distribution piping assembly (482); see Figure 12 .

[0216] The valve assembly module (471) includes: a directional valve assembly (472), a hose assembly (473), a hose assembly (474), a base (475), and corresponding fastening screws, bolts, fittings, etc. The hose assembly (473) includes ten inlet hoses and fittings, used for connecting to the directional valve assembly (472) and the distribution block (483). The hose assembly (474) includes two inlet hoses and fittings, used for connecting to the directional valve assembly (472) and the inlet block 1 (477). Figure 13 As shown.

[0217] The oil inlet block and pipeline assembly (476) includes: oil inlet block 1 (477), quick coupling (478), two rigid pipes (479), oil inlet block 2 (481), connectors, fittings, pipe clamps, etc. Oil inlet block 1 (477) is 90... 0 A two-channel oil passage transition block is embedded around the perimeter and welded into the vertical plate (411); two interfaces on the outer side of the vertical plate (411) are used to connect to two hoses (474) in the valve group module (471). The oil inlet block 2 (481) is 90°. 0 The two-channel oil passage transition block is fixed to the back of the panel (411) by screws on the base plate; one end outlet is connected to the oil inlet block 1 (477) by a connector, fittings, and two rigid pipes (479); the two outlets at the other end of the vertical plate (411) are respectively connected to quick connectors (478). The two rigid pipes (479) are arranged vertically and fixed to the back of the vertical plate (411) by pipe clamps.

[0218] The distribution pipeline assembly (482) includes: a distribution block (483), a rigid pipe assembly (484), a connector (485), and a hose (486). The distribution block (483) is a 10-channel oil passage transition block, embedded around the perimeter and welded into a pre-reserved rectangular hole on the side of the enclosure plate (412). The 10 channels of the distribution block (483) are distributed in a 2-row, 5-column configuration; the interface of each column of channels is connected to a corresponding control valve in the reversing valve assembly (472) on the outside of the enclosure plate (412), and the interface on the inside of the channel is connected to the rigid pipe in the rigid pipe assembly (484) that is responsible for the oil supply circuit of a hydraulic cylinder through a pipe connector. Two sets of rigid pipe assemblies (484) are arranged on the upper and lower parts of the frame for locking the mechanically driven hydraulic cylinders of the upper and lower straightening rollers; each set has 5 rows and 10 rigid pipes. The rigid pipe assembly (484) passes through the pre-reserved holes on the rear stiffening plate of the frame, is arranged horizontally, and is fixed by pipe clamps. Figure 12 , Figure 14 (As shown). A row of two rigid pipes, one above the other, is used for the oil supply branch circuit of a hydraulic cylinder. Five circuits are distributed in a front-to-back arrangement within the frame. The two rigid pipe ends of each circuit are connected to a hydraulic connector, a hose (486), and then to the hydraulic cylinder.

[0219] Electrical device (490) The electrical device is used for signal processing of sensing elements in the integrated rack detection mechanism and communication with the transport vehicle.

[0220] The electrical device (490) on the roller changing integrated frame consists of a pull claw position detection mechanism (450), a sleeve detection device (460), a detection unit terminal box (491), a detection unit hose (492), a transition terminal box (493), a manifold (494), and a control box (495).

[0221] Each straightening roller is equipped with a claw position detection mechanism (450), a straightening roller insertion detection device (460), and a detection unit terminal box (491). The claw position detection mechanism (450) is located above the front of the claw mechanism to detect the vertical and horizontal positions of the claw. The straightening roller insertion detection device (460) is used to detect the horizontal depth of the straightening roller insertion into the cantilevered roller shaft to prevent misjudgment of empty roller locking. The sensing element signals in the claw position detection mechanism (450) are both inductive proximity switches, namely the vertical position detection switch (451) and the horizontal position detection switch (452). Since the claw only has vertical and horizontal position states, during operation, when one of the two detection switches is recording the sensing signal, the other is not. The signal cables of the vertical position detection switch (451) and the horizontal position detection switch (452) enter the terminal box (491) through the reserved channel on the vertical plate (411).

[0222] The cable from the detection unit hose (492) in the detection unit terminal box (491) is led to the transition terminal box (493) and then into the manifold (494), and finally connected to the control box (495).

[0223] The control box (495) is mainly used for signal processing of the vertical position detection switch (451), horizontal position detection switch (452) and micro switch (462) in the pull claw position detection mechanism (450) and the insertion detection device (460), as well as communication with the transport vehicle.

[0224] Due to the rapid combination of the roller changing integrated frame and the transport vehicle, and the requirement for independent use in the spare roller process stage, the power supply of the control box (495) in the integrated frame and the cable connection for communication with the transport vehicle are made by plug-in connectors.

[0225] In summary, the integrated roller changing frame of the present invention has the following characteristics:

[0226] The integrated frame structure is simple, highly resistant to deformation, and easy to process and use. The sleeves used for assembling the rollers are directly welded onto the frame; the sleeve holes and mating end faces are directly machined onto the frame. It does not rely on installation adjustments; the machining tool ensures the dimensional and geometric tolerances between the sleeve holes, thus guaranteeing high-precision positioning during roller changing. The main functional component of the suspended straightening roller is directly axially inserted into the frame for assembly, simplifying the process and ensuring good axial alignment consistency. The integrated frame connection method can meet both fixed connection requirements with the transport vehicle body and rapid assembly requirements. The integrated frame has independent turnover application capabilities; it can be used in combination or independently, offering flexibility in site conditions and configuration. The preparation work area is not limited by site conditions, and even a single transport vehicle configured on the transverse track can quickly complete the roller changing task.

[0227] The center of gravity of the roller changing integrated frame, both itself and when loaded, is within the polygonal outline of the frame's bottom, providing a strong resistance to dangerous overturning. It can be guaranteed to sit on a horizontal surface without tipping over, thus enhancing the inherent safety of the integrated frame.

[0228] The roller changing integrated frame is equipped with a claw safety locking mechanism, a claw position detection mechanism, and an insertion detection device, which constitute the inherent safety measures to prevent the roller changing integrated frame from falling off and enable it to be safely hoisted.

[0229] Considering the inherent safety requirements of the roller changing integrated frame and its ability to carry loads across the roller conveyor, the hydraulic cylinders of the safety locking claw mechanism are individually controlled, thus determining the corresponding hydraulic circuits and piping arrangements. Because the hydraulic cylinders are individually controlled, a problem arises in the limited space: the piping for the hydraulic cylinder supply circuits becomes densely arranged. This invention addresses this issue by using a configuration where the control valve group and piping system employ a system where oil manifold blocks are arranged vertically for the individual hydraulic cylinder supply circuits, and a group of pipes arranged sequentially for the upper and lower straightening roller groups. This approach serves as a strategy and solution to address the problem of densely arranged piping.

Claims

1. A combined frame straightener roll changing equipment system, characterized in that, The system includes at least: a roller changing track, an automated transport vehicle running on the roller changing track, and an integrated frame mounted on the automated transport vehicle; The automated transport vehicle includes: The vehicle body has a first driving wheel pair, a second driving wheel pair, and a driven wheel pair arranged parallel to each other below the vehicle body; The first and second drive wheelsets are connected by a chain drive. Only one drive motor is installed on the vehicle body, and the drive motor is connected to the first drive wheelset or the second drive wheelset through a reducer. A support positioning and locking system is installed on the platform of the vehicle body; The integrated rack includes: The frame includes uprights, with the perimeter of the uprights being edged with panels according to the outline; a base plate perpendicular to the uprights is installed at the bottom of the uprights, and a footing structure is provided between the base plate and the uprights; Multiple bushings are arranged at intervals on the vertical plate, and the bushings are welded perpendicular to the vertical plate. A roller unit is assembled on the bushing; The roller shaft has a stepped shaft structure; the inner cavity is a hollow structure; an insertion detection device is installed in the inner cavity of the roller shaft; a through hole is provided on the side wall of the roller shaft; the insertion detection device includes a contact guide sleeve installed in the through hole, a contact rod slidably disposed in the contact guide sleeve, and the head of the contact rod protruding outside the through hole for sensing the insertion of the straightening roller. The contact rod is a stepped shaft-like part; the upper end has a threaded structure that engages with a nut to fix the sensing bracket; the middle section is equipped with a spring; the lower part of the middle section has an enlarged cylindrical structure to limit the position within the contact guide seat; the bottom is spherical to contact the cylindrical surface at the end of the straightening inner cavity and sense the straightening roller insertion position signal. The free end of the sensing bracket is provided with a sensing bolt, the position of which can be adjusted relative to the sensing bracket; a switch bracket is provided in the hollow part of the roller corresponding to the sensing bolt, and a micro switch is provided on the switch bracket; the device consists of three main functional units: a claw position detection mechanism and a claw engagement detection mechanism; a claw safety locking mechanism is provided on the vertical plate above each roller; the locking mechanism includes: A chuck is used to mount a locking mechanism onto a frame. The chuck has a hollow shaft hole; A camshaft is slidably disposed within the aforementioned shaft hole; A hydraulic cylinder is provided at the tail end of the camshaft; A pull claw head is provided at the head of the camshaft; Two or more 90° lines are provided on the outer surface of the middle part of the camshaft. 0 Rotary guide groove; Each of the rotary guide grooves on the chuck is provided with a positioning ball that is adapted to it; When the hydraulic cylinder moves forward, the camshaft is positioned by the positioning balls at 90°. 0 With the cooperation of the rotary guide groove, it moves forward and rotates 90 degrees. 0 This positions the pull claw head in the working position; when the hydraulic cylinder moves backward, the camshaft is positioned at the 90° of the positioning ball. 0 With the cooperation of the rotary guide groove, it moves backward and rotates 90 degrees. 0 This causes the pull claw head to disengage from the working position; It also includes a puller position detection device, which includes: a horizontal positioning protrusion and a vertical positioning protrusion provided on the outer circumference of the tail of the camshaft, and a horizontal sensor and a vertical sensor provided on the upper edge of the frame. When the camshaft rotates 90 degrees 0 When the puller head is in the working position, the horizontal positioning protrusion approaches the horizontal sensor and the horizontal sensor outputs a signal; when the camshaft rotates 90 degrees in the reverse direction... 0 When the puller head is disengaged from the working position, the vertical positioning protrusion comes into contact with the vertical sensor and the horizontal sensor outputs a signal. Automatic roller changing carts include: The vehicle body has a first driving wheel pair, a second driving wheel pair, and a driven wheel pair arranged parallel to each other below the vehicle body; The first and second drive wheelsets are connected by a chain drive. Only one drive motor is installed on the vehicle body, and the drive motor is connected to the first drive wheelset or the second drive wheelset through a reducer. A support positioning and locking system is installed on the platform of the vehicle body; The support positioning and locking system consists of a front left support, a front right support, a rear left support, a rear right support, and an integrated frame longitudinal positioning support. The front left support, front right support, rear left support, and rear right support all include a support body, as well as a transverse positioning pin, a hinge bolt assembly, and a locking hydraulic cylinder installed on the support body; the integrated frame longitudinal positioning support, installed from bottom to top, includes a base, a lower support, and a longitudinal positioning pin. The transverse positioning pins on the front left support and the front right support are orthogonal to the axis of the longitudinal positioning pin in the longitudinal positioning support of the integrated frame. The base plate has two cylindrical pin grooves corresponding to the transverse positioning pins, and a longitudinal positioning groove in the middle of the base plate corresponding to the longitudinal positioning pins; the outer edge of the base plate has a hinge bolt hole groove that is compatible with the hinge bolt assembly. The base plate is provided with a beveled structure that matches the tongue-shaped head of the hydraulic cylinder piston rod.

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