An automatic carrier used in combination with a roll changing integrated rack

Abstract

This invention discloses an automated transport vehicle used in conjunction with a roller changing integrated frame. It includes: a vehicle body; a first driving wheel pair, a second driving wheel pair, and a driven wheel pair arranged parallel to each other below the vehicle body; wherein the first and second driving wheel pairs are connected by chain drive; a single drive motor is mounted on the vehicle body, and the drive motor is connected to either the first or second driving wheel pair via a reducer; a support, positioning, and locking system is installed on the platform of the vehicle body. This invention allows for automatic movement and precise positioning on a transverse track; it enables rapid roller changing processes and features high automation, short roller changing time, and reliable roller changing technology.

Description

Technical Field

[0001] This invention relates to an automated transport vehicle used in combination with a roller changing integrated frame in a combined frame straightening machine. Background Technology

[0002] The straightening line adopts a combined rack type straightening machine. In order to match the rolling line capacity, reduce roll change time, and improve roll change efficiency, the line adopts an integrated group roll change process.

[0003] The integrated roll changing process refers to the use of an automatic roll changing cart to remove / load all straightening rolls from a combined frame straightening machine in one go.

[0004] 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 the longitudinal track along the axis of the lower straightening roller, the other frames in the combined frame are relatively fixed with corresponding interlocking parts and connections. When changing rollers, the frame must be opened to disassemble or install the straightening roller. 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 fastening conditions, the combined frame opens. Driven by a hydraulic cylinder, the operating side frame carries the straightening roller along the longitudinal track along the roller's axis. Upon reaching the roller changing position, the straightening roller can be radially removed.

[0005] 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.

[0006] 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.

[0007] 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.

[0008] The automatic roll changing vehicle structure mainly consists of a lower equipment system with track running and positioning functions, and an upper equipment system. The upper equipment system is generally a roll changing integrated frame for replacing the straightening rolls as a whole; the number and positional relationship of the rollers suspending the straightening rolls on the integrated frame are determined by the straightener structure and the set vertical adjustment position of the straightening rolls. The main equipment of the lower equipment system is generally the automatic transport vehicle and the connection system between the upper and lower equipment within it.

[0009] Based on the process site conditions, the preparation method determines the application mode of the roll changing integrated frame and its connection mode with the automated guided vehicle (AGV). There are two main types of connection methods between the roll changing integrated frame and the AAV: simple direct fastener connection or welding, and a quick-positioning connection system. The AAV is a key piece of equipment in the automated roll changing machine (AGM), and its structural form and connection method with the roll changing integrated frame have a significant impact on the AAV's process application, functionality, and the performance required for roll changing operations.

[0010] Currently, in modular frame straightening machine production lines, automatic roll changers are basically fixed to the roll changer integrated frame by direct fastening or welding. Its structural feature is that the frame of the roll changer integrated frame is directly welded to the body of the automatic transport vehicle. Its operation feature is that multiple automatic roll changers are arranged on the transverse track to shorten the roll change time. Moreover, the process of assembling and disassembling the straightening rolls on the automatic roll changer must be carried out on site.

[0011] Due to limitations in the site conditions of the straightener area or other site constraints, it is not possible to arrange an automatic roll changer at each end of the straightener's inlet and outlet on the transverse track. Furthermore, the height of the automatic roll changer itself can obstruct the operator's view of the straightening operation when placed near the straightener area. Therefore, a novel automatic roll changer system and process solution is needed, which can functionally meet the requirements of the overall automated roll change process, satisfy site conditions, provide good operator visibility, eliminate the need for on-site spare rolls, and minimize roll change time. Summary of the Invention

[0012] To address the aforementioned issues, this invention provides an automated transport vehicle that can be used in conjunction with a roll changing integrated frame. This vehicle can accommodate either two combined automated roll changing vehicles simultaneously on a transverse track or a single combined automated transport vehicle, thus achieving the same equipment system and process solution for the overall group roll changing process.

[0013] To achieve the above objectives, the present invention provides an automated transport vehicle for use in conjunction with a roll changing integrated frame, the automated roll changing transport vehicle comprising:

[0014] 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;

[0015] The first and second drive wheelsets are connected by a chain drive.

[0016] 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.

[0017] A support positioning and locking system is installed on the platform of the vehicle body.

[0018] Furthermore, an on-board hydraulic station is installed at the rear of the vehicle.

[0019] Furthermore, a vehicle positioning frame is installed on the right side of the front face of the vehicle body, and a vehicle positioning frame is installed on the left side of the rear face of the vehicle body.

[0020] Furthermore, the drive motor and reducer are installed in the middle of the drive shaft of the first drive wheelset; the two output shafts of the reducer are respectively connected to two couplings, and the drive wheel and sprocket are then connected to both sides of the couplings in sequence.

[0021] Furthermore, the drive motor is a variable frequency motor; it also includes a control device for receiving distance signals from the laser rangefinder and outputting drive signals to control the operation of the variable frequency motor, thereby controlling the running position and speed of the automated transport vehicle.

[0022] Furthermore, the support positioning and locking system 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.

[0023] Furthermore, the front left support 341, the front right support 342, the rear left support 343, and the rear right support 344 each include: a support body 345, and a transverse positioning pin 346, a hinge bolt assembly 347, and a locking hydraulic cylinder 348 installed on the support body; the integrated frame longitudinal positioning support 349 includes, from bottom to top, a base 350, a lower support 351, and a longitudinal positioning pin 352.

[0024] The transverse positioning pins 345 on the front left support 341 and the front right support 342 are orthogonal to the axis of the longitudinal positioning pins 351 in the longitudinal positioning support 348 of the integrated frame.

[0025] Furthermore, the automatic transport vehicle's roller changing process includes the following steps:

[0026] During the roll changing operation, under the control of the laser position detection device, the automatic transport vehicle travels on the transverse track to the roll changing position in the roll changing space of the combined straightener frame;

[0027] When the automatic transport vehicle reaches the preset position of the roller changing position on the transverse track, it decelerates.

[0028] Upon reaching the preset roller 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.

[0029] When the roller changing integrated frame 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, the piston rods of the four locking hydraulic cylinders 348 extend simultaneously, and the head pressure tongue presses the roller changing integrated frame 400 to the matching position, thus completing the locking of the roller changing integrated frame 400.

[0030] This invention provides a quick-combination method for the roll changing integrated frame and the automated transport vehicle, allowing one automated transport vehicle to be matched with multiple roll changing integrated frames. The roll changing integrated frames are interchangeable, thus optimizing roll preparation conditions.

[0031] The automatic transport vehicle of this invention has the functions of precise positioning and rapid clamping of the roller changing integrated frame.

[0032] The automatic transport vehicle of this invention, equipped with an integrated roller changing frame, can automatically travel and accurately position itself on a transverse track; it can quickly implement the roller changing process and features high automation, short roller changing time, and reliable roller changing process.

[0033] The roller changing integrated frame of this invention can be applied to various environmental conditions, so that the preparation of rollers is not dependent on the straightening area and can be carried out in places other than the parking position of the automatic roller changing car, and the preparation of rollers is diversified. Attached Figure Description

[0034] Figure 1 This is a three-dimensional schematic diagram of an embodiment of the present invention.

[0035] Figure 2 for Figure 1 The front view of the embodiment shown.

[0036] Figure 3 for Figure 1 The bottom view of the embodiment shown.

[0037] Figure 4 This is a three-dimensional schematic diagram of the orbital system.

[0038] Figure 5 for Figure 1 The diagram shows the layout of the automated transport vehicle platform in the embodiment shown.

[0039] Figure 6 for Figure 1 The illustrated embodiment shows an automated transport vehicle that serves as a support frame.

[0040] Figure 7 for Figure 6 The GG view.

[0041] Figure 8 for Figure 6 The view at point C.

[0042] Figure 9 for Figure 1 Electrical Arrangement of the Embodiments Figure 1 .

[0043] Figure 10 for Figure 1 Electrical Arrangement of the Embodiments Figure 2 .

[0044] Figure 11 for Figure 1 A three-dimensional schematic diagram of the embodiment shown. Detailed Implementation

[0045] The invention will now be further described with reference to the accompanying drawings.

[0046] The automatic transport vehicle 300 of the present invention is used to carry the roller changing integrated frame and has functions such as automatic driving, automatic positioning and automatic locking of the roller changing integrated frame.

[0047] The automated transport vehicle 300 mainly consists of: a vehicle body and running system 301, a support, positioning and locking system 340, a hydraulic system 360, and an electrical system 370;

[0048] 301 Car body and running system

[0049] 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.

[0050] A support positioning and locking system 340 is installed on the car body 302. The drive shaft assembly 305, the active shaft assembly 310, and two sets of driven shaft assemblies 313 are used to support the car body and for travel. A car body positioning frame 304 is installed on the front right side of the car body 302, and a 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. A 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 to install the guide rail 362; a distribution block 364 is arranged in the rear section of the car body 302. Hydraulic lines 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 there.

[0051] After the drive shaft assembly 305, the active shaft assembly 310, and the two sets of driven shaft assemblies 313 are assembled in the vehicle body 302, with all the wheel treads in contact with the transverse track surface, the support bodies on the platform of the vehicle body 302 for connecting with the front left support 341, the front right support 342, the rear left support 343, the rear right support 344, and the bottom surface of the longitudinal positioning support 349 base 350 of the integrated frame are on the same horizontal plane.

[0052] Support positioning and locking system 340

[0053] System Functional Requirements

[0054] 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.

[0055] For ease of description below, 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 and 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.

[0056] The support positioning and locking system consists of 340 components.

[0057] 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.

[0058] The front left support 341, the front right support 342, the rear left support 343, and the rear right support 344 are each composed of a support body 345, a transverse positioning pin 346, a hinge bolt assembly 347, a locking hydraulic cylinder 348, and corresponding fasteners.

[0059] 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.

[0060] The four corner supports serve as a support and height reference.

[0061] 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.

[0062] 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 components; the upper top surface is the support surface for the roller changing integrated frame; the upper part is equipped 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.

[0063] The front left support 341 and the front right support 342 are simultaneously embedded with the transverse positioning pins of the car body in their support surfaces; 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.

[0064] 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 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.

[0065] 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.

[0066] After adjustment, the top surfaces of the front left support 341, front right support 342, rear left support 343, and rear right support 344 are on the same horizontal plane as the top surface of the lower support 351 of the longitudinal positioning support 348 of the integrated frame, 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.

[0067] Positioning function of the support

[0068] The three-point positioning structure system, consisting of 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, forms a three-point positioning structure system on the X and Y planes. When the roller changing integrated frame rests on the base support surface of the automated transport vehicle, the elevation positioning of the roller changing integrated frame is determined by the top surface of the support arranged on the automated 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.

[0069] 1) Three-point positioning principle

[0070] The transverse positioning pins 346 on the front left support 341 and the front right support 342 are orthogonal to the axis of 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.

[0071] 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.

[0072] 2) Adjustment of positioning components on the automated transport vehicle

[0073] 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.

[0074] (a) Adjustment of the top surface of the support to the same horizontal plane and height setting value

[0075] 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.

[0076] 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.

[0077] (b) Adjustment of the parallelism and coaxiality of the centerline of the transverse locating pin 346 with the Y-axis.

[0078] 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=L4 between the adjustment reference plane and the longitudinal centerline of the vehicle body are all constant values.

[0079] 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.

[0080] (c) Longitudinal positioning pin 352 orientation adjustment

[0081] 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.

[0082] In the matching method of matching multiple roller changing integrated frames with an automated transport vehicle for roller changing, since the cylindrical pin is fixed to the lower support 351 with screws, the center line 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.

[0083] (d) Adjustment of the X-axis projection size between the vehicle body positioning bracket 304 and the transverse positioning pin 346

[0084] 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.

[0085] (e) Adjustment of the X-axis projection size between the vehicle body positioning frame 304 and the vehicle body positioning frame 314

[0086] 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.

[0087] 3) Positioning and adjustment of one automated transport vehicle paired with multiple roller changing integrated frames

[0088] The upper support 353 and corresponding fasteners in the longitudinal positioning support 348 of the integrated frame are connected to the roller changing integrated frame. Since the matching method of matching multiple roller changing integrated frames with one automated transport vehicle 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 automated transport vehicle.

[0089] 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.

[0090] 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.

[0091] Locking function

[0092] 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.

[0093] The piston rod head of the locking hydraulic cylinder 347 is tongue-shaped, also serving 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, located on the vehicle body, is normally in the retracted state. With the piston rod of the locking hydraulic cylinder 347 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 automated transport vehicle 300, the front left support 341, front right support 342, rear left support 343, and rear right support 344...

[0094] The piston rods of the four locking hydraulic cylinders 348 extend simultaneously, and the head pressure tongue presses against the matching position of the roller changing integrated frame 400, completing the locking of the roller changing integrated frame 400.

[0095] When not performing roll changing operations or when the roll changing integrated frame 400 is placed on an automated transport vehicle and placed on the maintenance integrated frame storage base, the roll changing integrated frame is locked and fixed with hinge bolts 346.

[0096] Hydraulic system 360

[0097] The hydraulic system 360 consists of a hydraulic station 361, a guide rail 362, a hydraulic hose assembly 363, a distribution block 364, hydraulic lines 365, and a hydraulic hose assembly 365 with quick couplings.

[0098] Hydraulic station 361 is located in the hydraulic station compartment at the lower rear of the transport vehicle body and is used to provide the hydraulic power required for the locking cylinder and the roller changing integrated frame.

[0099] Since the hydraulic power unit 361 is installed inside the vehicle body 302, to facilitate disassembly during maintenance, the hydraulic power unit 361 adopts an integrated design and a pull-out installation structure. The pull-out structure system consists of rollers on the hydraulic power unit's oil tank and guide rails 362. Two pairs of combined bearing-type rollers are respectively installed on both sides of the oil tank of the hydraulic power unit 361; the guide rails 362 are made of gantry steel; the guide rails are welded and fixed to the corresponding structures inside the hydraulic power unit 361; the rollers roll within the guide rails, realizing the overall insertion / removal function of the hydraulic power unit 361.

[0100] The distribution block 364 is used for branching and expanding the supply circuit of the hydraulic locking cylinder 347 on the automatic roll changing carrier and for intermediate connection of the hydraulic circuit of the roll changing integrated frame. The distribution block 364 is fixed in the hydraulic connector compartment of the vehicle body 302 by a bracket. To facilitate the overall disassembly of the hydraulic station, the valve block of the hydraulic medium output of the hydraulic station 361 is connected to the distribution block 364 by a hydraulic hose assembly 363. One circuit output from the hydraulic station is split through the distribution block 364 and led to the user points of the four hydraulic locking cylinders 347 by several rigid pipes of the hydraulic lines 365 in the vehicle body 302; another circuit output from the hydraulic station is connected to the distribution block 364 and then connected to it by a hydraulic hose assembly 365 with quick couplings, and the medium is used for the roll changing integrated frame.

[0101] The hydraulic hose assembly 365 with quick-connect couplings connected to the distribution block 364 is housed in the cabin structure of the vehicle body 302 where the hydraulic distribution block 364 is located. The hydraulic hose with quick-connect couplings can be taken out by opening the hatch.

[0102] Electrical System 370

[0103] The electrical system 370 consists of a cable reel 371, a reel protective cover 372, a rigid conduit for laying electrical cables 373, electrical cables 374, a vehicle-mounted control box 375, an electrical cable group with plug-in connectors 376, and a terminal box 377.

[0104] The electrical system 370 is mainly used for power supply to the cable reel 371, power supply and control of the hydraulic station 361, and power supply, control and communication of the roller changing integrated frame.

[0105] The cable reel is installed on the right side of the rear end face of the vehicle body 302. The cable reel provides power to the vehicle while it is in motion. The cable reel has a cover for protection. It uses multi-core cables, which are used for the power circuits of the on-board control box, the vehicle's traveling motor, the cable reel motor, and the signal transmission circuit. The vehicle's traveling motor is driven by real-time feedback of position and speed parameters from a monitoring and control device, powered by a ground-based fixed control cabinet, which also controls braking.

[0106] The vehicle control box 375 is connected to the input and output cables via plug-in connectors for quick disassembly and maintenance.

[0107] In summary, the automated transport vehicle of the present invention is used to carry the roller changing integrated frame and has functions such as automatic driving, automatic positioning of the roller changing integrated frame, and automatic locking. Specifically, it includes the following features:

[0108] 1) The automatic roll changing vehicle, together with the roll changing integrated frame, can automatically travel and accurately position itself on the transverse track, and quickly implement the roll changing process. It features high automation, short roll changing time, and reliable roll changing process.

[0109] It features precise positioning and quick clamping of the roller changing integrated frame on the transport vehicle; during roller changing operations, the automatic roller changing transport vehicle and the roller changing integrated frame are quickly combined, with the roller changing integrated frame installed on the automatic roller changing transport vehicle.

[0110] The roll changing integrated frame can be used independently, and the spare roll working environment does not rely on the straightening area. It can be carried out in places other than the parking position of the automatic roll changing car, and the spare roll conditions are diversified.

[0111] 2) One-to-many usage method

[0112] It can accommodate either two combined automatic roll changers or a single combined automatic roll changer on the transverse track, thus achieving the same overall group roll change process.

[0113] The automated roll changing vehicle used in conjunction with the roll changing integrated frame can match multiple straightening rolls with one vehicle.

[0114] The roll changing integrated frame on the transport vehicle is interchangeable, thus optimizing the conditions for spare rolls.

[0115] 3) Three-dimensional positioning structure system

[0116] Because the roller changing process of the combined frame straightener's transverse track automatic roller changing trolley for replacing straightener rollers as a whole is an automated process of automatic disassembly and assembly of straightener rollers in a three-dimensional coordinate system, the dimensional and coaxiality accuracy requirements between the roller axis centerline of the straightener roller suspended on the roller changing trolley and the roller axis centerline on the operating side frame of the straightener are achieved through the positioning system structure in the support seat set on the automatic transport vehicle platform.

[0117] The three-point positioning structure system, consisting of 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, forms a three-point positioning structure system on the X and Y planes. When the roller changing integrated frame is placed on the base support surface of the transport vehicle, the elevation positioning of the roller changing integrated frame is determined by the top surface of the support arranged on the 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 positioning of the roller changing integrated frame in the three-dimensional coordinate system.

[0118] 4) Two locking methods meet the needs of different occasions.

[0119] The automated transport vehicle is equipped with two roller-changing integrated frames for locking and fixing, using a hydraulic locking cylinder and a hinged bolt.

[0120] The locking hydraulic cylinder is used for quick locking of the roll changing integrated frame; it helps to simplify operation and shorten roll changing time.

[0121] Hinged bolts are used in offline applications of roll changing frames, such as roll preparation, maintenance, and long-term storage; they are helpful for applications without hydraulic pressure.

[0122] 5) Vehicle-mounted hydraulic station

[0123] The automated transport vehicle is equipped with an onboard hydraulic station to facilitate the maintenance of the correct working condition of the hydraulic system by the onboard user under mobile application conditions, thereby improving safety performance.

[0124] The vehicle-mounted hydraulic station adopts an integrated design and a pull-out installation structure, which facilitates disassembly during maintenance.

[0125] The hydraulic circuit between the vehicle-mounted hydraulic station and the roller changing integrated frame is connected by a hydraulic hose with a quick connector; this helps to simplify operation and shorten roller changing time.

[0126] 6) Built-in hydraulic and electrical wiring

[0127] The hydraulic and electrical wiring is built into the automated transport vehicle, which is beneficial for the safety protection of the wiring and also makes the appearance neat.

Claims

1. An automated transport vehicle used in conjunction with a roller changing integrated frame, characterized in that, 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 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.

2. The automated transport vehicle used in combination with the roller changing integrated frame as described in claim 1, characterized in that, An onboard hydraulic station is installed at the rear of the vehicle.

3. The automated transport vehicle used in combination with the roller changing integrated frame as described in claim 1, characterized in that, A vehicle positioning frame is installed on the right side of the front face of the vehicle body, and a vehicle positioning frame is installed on the left side of the rear face of the vehicle body.

4. The automated transport vehicle used in combination with the roller changing integrated frame as described in claim 1, characterized in that, The drive motor and reducer are installed in the middle of the drive shaft of the first drive wheelset; the two output shafts of the reducer are respectively connected to two couplings, and the drive wheel and sprocket are connected to both sides of the couplings in sequence.

5. The automated transport vehicle used in combination with the roller changing integrated frame as described in claim 1, characterized in that, The drive motor is a variable frequency motor; it also includes a control device for receiving distance signals from the laser rangefinder and outputting drive signals to control the operation of the variable frequency motor, thereby controlling the running position and speed of the automated transport vehicle.

6. The automatic carriage for use in combination with a roll change integrated rack of claim 1, wherein, The automatic transport vehicle roller changing process includes the following steps: During the roll changing operation, under the control of the laser position detection device, the automatic transport vehicle travels on the transverse track to the roll changing position in the roll changing space of the combined straightener frame; When the automatic transport vehicle reaches the preset position of the roller changing position on the transverse track, it decelerates. Upon reaching the preset roller changing position, the motor of the motor reducer stops running and brakes under the action of electrical control. After a short while, the brake is released, and the piston pin in the secondary positioning hydraulic pin cylinder set on the transverse track rises and inserts into the car body positioning frame and car body positioning frame 314. When the roller changing integrated frame falls into the front left support, front right support, rear left support, and rear right support of the automated transport vehicle, the piston rods of the four locking hydraulic cylinders extend simultaneously, and the head pressure tongue presses the roller changing integrated frame to the matching position, thus completing the locking of the roller changing integrated frame.

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