Top rod circulation replacement equipment, seamless steel pipe production line and top rod circulation replacement method

Abstract

This invention discloses a mandrel replacement device, a seamless steel pipe production line, and a mandrel replacement method, belonging to the field of hot-rolled seamless steel pipe production. To quickly replace piercing mandrels in hot-rolled seamless steel pipe production, the mandrel replacement device includes a crossbeam (505) and a mandrel traversing carriage (510). The mandrel traversing carriage (510) contains a first longitudinal beam (5101) and a second longitudinal beam (5100) arranged left and right. A first robotic arm (5104) is mounted on the first longitudinal beam (5101), and a second robotic arm (5103) is mounted on the second longitudinal beam (5100). Multiple mandrel placement positions are provided below the crossbeam (505). The mandrel replacement device can quickly and efficiently replace mandrels, with continuous operation and simple operation, greatly reducing labor intensity, improving production efficiency, reducing damage to equipment, mandrels, and mandrels, and achieving significant economic benefits.

Description

Technical Field

[0001] This invention relates to the field of hot-rolled seamless steel pipe production, specifically to a top rod circulation replacement device, a seamless steel pipe production line, and a top rod circulation replacement method. Background Technology

[0002] Piercing is a crucial process in the production of hot-rolled seamless steel pipes. The mandrel, equipped with a mandrel head, is a tool that participates in metal deformation along with the rolls and guide plates (or guide discs). During deformation, the mandrel bears significant axial and frictional forces. To ensure piercing accuracy and extend mandrel life, the mandrel and mandrel need to be cooled or replaced during the rolling intervals. In current traditional piercing production methods, the following three mandrel usage methods are commonly employed:

[0003] One method is to use a fixed push rod, with the push rod and the push head fixed together. The push rod is inserted, pulled out, and cooled at the same station until the push head wears out and is scrapped.

[0004] Another approach is to use a fixed push rod, but with a flexible connection between the push rod and the mandrel, allowing for automatic online mandrel replacement.

[0005] The third method is to use a push rod circulation method, where a push rod is replaced after each piercing operation. The push head and push rod are fixed together, and the push rod is cooled outside the line.

[0006] Piercing is the first deformation process in the production of hot-rolled seamless steel pipes. Normally, the pierced tube is sent to the next deformation process. In traditional large-diameter steel pipe production methods, the hollow tube after the first piercing is subjected to a second or even a third piercing. Secondary and tertiary piercing can be performed on a separate piercing mill, or on the same piercing mill by changing to a larger diameter mandrel.

[0007] If two or even three piercings are completed on a single piercing machine, in addition to replacing the mandrel and mandrel, a batch of steel pipes must be collected and reheated, which increases the burning and oxidation losses of the processed workpieces, not only wasting energy but also increasing the operating costs of production.

[0008] Definitions:

[0009] Piercing: Piercing is the process of turning a solid billet into a hollow tube, i.e., a rough tube. It is an important step in the production of hot-rolled seamless tubes.

[0010] Secondary perforation: The tube produced by the perforating machine is perforated on another (or the same) perforating machine to achieve the purpose of expanding the diameter and reducing the wall wall.

[0011] Tertiary perforation: The tube that has been perforated twice by a perforating machine is perforated again on another (or the same) perforating machine to further expand the diameter and reduce the wall thickness.

[0012] Mandrel: Typically consists of a mandrel, a rod body, and an internal water-cooling pipe. Used to withstand the axial force during rolling. Summary of the Invention

[0013] To facilitate the rapid replacement of piercing mandrels in the production of hot-rolled seamless steel pipes, this invention provides a mandrel circulation replacement device, a seamless steel pipe production line, and a mandrel circulation replacement method. The mandrel circulation replacement device can quickly and efficiently replace mandrels in a continuous and simple manner, greatly reducing labor intensity, improving production efficiency, and minimizing damage to equipment, mandrels, and mandrels, resulting in significant economic benefits.

[0014] The technical solution adopted by this invention to solve its technical problem is:

[0015] A push rod cyclic replacement device includes a crossbeam and a push rod traversing trolley. The push rod traversing trolley has a first longitudinal beam and a second longitudinal beam arranged left and right. The push rod traversing trolley can move left and right along the crossbeam. The first longitudinal beam and the second longitudinal beam can move closer to each other or further away. A first robotic arm is arranged on the first longitudinal beam, and a second robotic arm is arranged on the second longitudinal beam. Multiple push rod placement positions are arranged below the crossbeam. The multiple push rod placement positions include, from left to right, a second waiting position on the left, a first waiting position on the left, an online workstation, a first waiting position on the right, and a second waiting position on the right.

[0016] A seamless steel pipe production line includes a top rod circulation and replacement device, a second back stage, a first back stage, a piercing machine, and a front stage arranged sequentially from front to back. The top rod circulation and replacement device is the aforementioned top rod circulation and replacement device.

[0017] A method for cyclically replacing push rods, employing the aforementioned push rod cyclic replacement equipment, includes the following steps:

[0018] Step 1: The first push rod is located at the online workstation, the second push rod is located at the first waiting position on the right, and the third push rod is located at the second waiting position on the right.

[0019] Step 2: With the first and second longitudinal beams close to each other, the first robotic arm grabs the first push rod, and the second robotic arm grabs the second push rod. The push rod lateral movement vehicle moves to the left. The first robotic arm places the first push rod at the first waiting position on the left, and the second robotic arm places the second push rod at the online workstation.

[0020] Step 3: With the first and second longitudinal beams in a state of being far apart from each other, the push rod traverse car moves to the right, the first robot arm grabs the second push rod, the second robot arm grabs the third push rod, and the push rod traverse car moves to the left; the first robot arm places the second push rod at the second waiting position on the left, and the second robot arm places the third push rod at the online workstation;

[0021] Step 4: With the first and second longitudinal beams close to each other, the first robotic arm grabs the first push rod, the second robotic arm grabs the third push rod, and the push rod traverse vehicle moves to the right; the first robotic arm places the first push rod at the online workstation, and the second robotic arm places the third push rod at the first waiting position on the right.

[0022] Step 5: With the first and second longitudinal beams in a state of being far apart from each other, the push rod traverse vehicle moves to the left, the first robot arm grabs the second push rod, the second robot arm grabs the first push rod, and the push rod traverse vehicle moves to the right; the first robot arm places the second push rod at the online workstation, and the second robot arm places the first push rod at the second waiting position on the right.

[0023] Step 6: With the first and second longitudinal beams close to each other, the first robotic arm grabs the second push rod, the second robotic arm grabs the third push rod, and the push rod lateral movement vehicle moves to the left; the first robotic arm places the second push rod at the first waiting position on the left, and the second robotic arm places the third push rod at the online workstation;

[0024] Step 7: With the first and second longitudinal beams in a state of being far apart from each other, the push rod traverse car moves to the right, the first robot arm grabs the third push rod, the second robot arm grabs the first push rod, and the push rod traverse car moves to the left; the first robot arm places the third push rod at the second waiting position on the left, and the second robot arm places the first push rod at the online workstation;

[0025] Step 8: When the first longitudinal beam and the second longitudinal beam are close to each other, the first robotic arm grabs the second push rod, the second robotic arm grabs the first push rod, and the push rod traverse car moves to the right; the first robotic arm places the second push rod at the online workstation, and the second robotic arm places the first push rod at the first waiting position on the right side;

[0026] Step 9: With the first and second longitudinal beams in a state of being far apart from each other, the push rod traverse car moves to the left, the first robot arm grabs the third push rod, the second robot arm grabs the second push rod, and the push rod traverse car moves to the right; the first robot arm places the third push rod at the online workstation, and the second robot arm places the second push rod at the second waiting position on the right.

[0027] Step 10: The first longitudinal beam and the second longitudinal beam are in a state of close proximity. The first robotic arm grabs the third push rod, the second robotic arm grabs the first push rod, and the push rod lateral movement carriage moves to the left. The first robotic arm places the third push rod at the first waiting position on the left, and the second robotic arm places the first push rod at the online workstation.

[0028] Step 11: With the first and second longitudinal beams in a state of being far apart from each other, the push rod traverse car moves to the right, the first robot arm grabs the first push rod, the second robot arm grabs the second push rod, and the push rod traverse car moves to the left; the first robot arm places the first push rod at the second waiting position on the left, and the second robot arm places the second push rod at the online workstation;

[0029] Step 12: The first longitudinal beam and the second longitudinal beam are in a state of close proximity. The first robotic arm grabs the third push rod, and the second robotic arm grabs the second push rod. The push rod traverse car moves to the right. The first robotic arm places the third push rod at the online workstation, and the second robotic arm places the second push rod at the first waiting position on the right.

[0030] Step 13: With the first and second longitudinal beams in a state of being far apart from each other, the push rod traverse car moves to the left, the first robot arm grabs the first push rod, the second robot arm grabs the third push rod, and the push rod traverse car moves to the right; the first robot arm places the first push rod at the online workstation, and the second robot arm places the third push rod at the second waiting position on the right.

[0031] The beneficial effects of the present invention are: the top rod circulation replacement equipment, seamless steel pipe production line and top rod circulation replacement method are not only applicable to conventional piercing, but also to the second and third piercing of hollow capillary tubes. The operation is smooth and simple, the equipment is highly reliable, greatly reduces labor intensity, improves production efficiency and has significant economic benefits. Attached Figure Description

[0032] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0033] Figure 1 This is a top view schematic diagram of the top rod circulation replacement device described in this invention.

[0034] Figure 2 It is along Figure 1 Cross-sectional view along the AA direction.

[0035] Figure 3 It is along Figure 1 Cross-sectional view along the BB direction.

[0036] Figure 4 yes Figure 2A schematic diagram of the lateral movement section of the center top rod.

[0037] Figure 5 This is a top view of the connection between the first and second longitudinal beams.

[0038] Figure 6 This is a cross-sectional view of the connection between the first and second longitudinal beams.

[0039] Figure 7 This is a top view of a seamless steel pipe production line.

[0040] Figure 8 This is a schematic diagram showing the first, second, and third push rods located at their respective online workstations, the first waiting position on the right, and the second waiting position on the right.

[0041] Figure 9 This is a schematic diagram of the push rod cyclic replacement method.

[0042] The annotations in the attached figures are explained as follows:

[0043] 1. Front panel; 2. Perforating machine; 3. Back panel section 1; 4. Back panel section 2; 5. Top rod circulation and replacement equipment; 6. Front capillary tube transverse transfer car; 7. Return roller conveyor; 8. Rear capillary tube transverse transfer car;

[0044] 500. Top rod transport trolley; 501. Right first top rod placement platform; 502. Right second top rod placement platform; 503. Left first top rod placement platform; 504. Left second top rod placement platform; 505. Crossbeam; 506. Left column; 507. Right column; 508. Top rod;

[0045] 510. Top rod lateral movement vehicle; 5100. Second longitudinal beam; 5101. First longitudinal beam; 5102. Push-pull drive unit; 5103. Second robotic arm; 5104. First robotic arm; 5105. Upper sliding plate; 5106. Lower sliding plate; 5107. Side sliding plate; 5108. Front beam seat; 5109. Middle beam; 5110. Rear beam seat; 5111. Roller;

[0046] 5081, First push rod; 5082, Second push rod; 5083, Third push rod. Detailed Implementation

[0047] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] A push rod cyclic replacement device includes a crossbeam 505 and a push rod transverse moving vehicle 510. The push rod transverse moving vehicle 510 includes a first longitudinal beam 5101 and a second longitudinal beam 5100 arranged horizontally. The push rod transverse moving vehicle 510 can move left and right along the crossbeam 505. The first longitudinal beam 5101 and the second longitudinal beam 5100 can move closer to or further away from each other. Multiple first robotic arms 5104 are arranged on the first longitudinal beam 5101, and multiple second robotic arms 5103 are arranged on the second longitudinal beam 5100. Multiple push rod placement positions are arranged below the crossbeam 505. The multiple push rod placement positions include, from left to right, a left second waiting position b2, a left first waiting position b1, an online workstation O, a right first waiting position a1, and a right second waiting position a2. Figures 1 to 3 As stated above.

[0049] Both the first robotic arm 5104 and the second robotic arm 5103 can grip and release the push rod 508. Multiple first robotic arms 5104 and multiple second robotic arms 5103 are arranged at intervals along the front-to-back direction. The push rod traversing carriage 510 can drive the first robotic arms 5104 and the second robotic arms 5103 to move left and right along the crossbeam 505. The described push rod cyclic replacement equipment can quickly and efficiently cyclically replace the push rod, with smooth movements and simple operation, greatly reducing labor intensity, improving production efficiency, reducing damage to the equipment, push head, and push rod, resulting in significant economic benefits.

[0050] In this embodiment, the crossbeam 505 extends in the left-right direction, and the first longitudinal beam 5101 and the second longitudinal beam 5100 both extend in the front-back direction. When the push rod lateral moving vehicle 510 moves left and right along the crossbeam 505, the first longitudinal beam 5101 and the second longitudinal beam 5100 can move left and right synchronously accordingly. When the first longitudinal beam 5101 moves left and right along the crossbeam 505, it can synchronously drive the first robotic arm 5104 to move left and right. When the second longitudinal beam 5100 moves left and right along the crossbeam 505, it can synchronously drive the second robotic arm 5103 to move left and right, such as... Figures 1 to 4 As stated above.

[0051] When the first longitudinal beam 5101 and the second longitudinal beam 5100 are close to each other (also known as a closed state), the first robotic arm 5104 and the second robotic arm 5103 can correspond one-to-one with the two adjacent top rod placement positions; when the first longitudinal beam 5101 and the second longitudinal beam 5100 are far apart from each other (also known as a separated state), the first robotic arm 5104 and the second robotic arm 5103 can correspond one-to-one with the top rod placement positions at the left and right ends of the three adjacent top rod placement positions.

[0052] For example, when the first longitudinal beam 5101 and the second longitudinal beam 5100 are close to each other, after the top rod transverse moving car 510 moves left and right, the first robot arm 5104 and the second robot arm 5103 can correspond one-to-one with the second waiting position b2 on the left and the first waiting position b1 on the left, or the first robot arm 5104 and the second robot arm 5103 can correspond one-to-one with the first waiting position b1 on the left and the online workstation O, or the first robot arm 5104 and the second robot arm 5103 can correspond one-to-one with the online workstation O and the first waiting position a1 on the right, or the first robot arm 5104 and the second robot arm 5103 can correspond one-to-one with the first waiting position a1 on the right and the second waiting position a2 on the right.

[0053] For example, when the first longitudinal beam 5101 and the second longitudinal beam 5100 are in a state of being far apart from each other, after the push rod transverse transfer vehicle 510 moves left and right, the first robot arm 5104 and the second robot arm 5103 can correspond one-to-one with the second waiting position b2 on the left and the online workstation O, or the first robot arm 5104 and the second robot arm 5103 can correspond one-to-one with the first waiting position b1 on the left and the first waiting position a1 on the right, or the first robot arm 5104 and the second robot arm 5103 can correspond one-to-one with the online workstation O and the second waiting position a2 on the right.

[0054] In this embodiment, the crossbeam 505 is located below the front and rear ends of the top rod transverse transfer vehicle 510. The left column 506 and the right column 507 are respectively provided below the left and right sides of the crossbeam 505. The first longitudinal beam 5101 can drive the first robot arm 5104 to move left and right, and the second longitudinal beam 5100 can drive the second robot arm 5103 to move left and right. Both the first longitudinal beam 5101 and the second longitudinal beam 5100 can grip and release the top rod 508. Both the first robot arm 5104 and the second robot arm 5103 can be raised and lowered to move the top rod 508 in the vertical direction.

[0055] In this embodiment, the second longitudinal beam 5100 includes a front beam seat 5108, a middle beam body 5109, and a rear beam seat 5110 connected sequentially from front to back. The front and rear ends of the first longitudinal beam 5101 are located within the front beam seat 5108 and the rear beam seat 5110, respectively. The second longitudinal beam 5100 and the first longitudinal beam 5101 form a U-shaped structure. Multiple sets of rollers 5111 are provided at the lower parts of both the front beam seat 5108 and the rear beam seat 5110. The rollers 5111 are located on the crossbeam 505, allowing the second longitudinal beam 5100 to travel on the crossbeam 505 via the multiple sets of rollers 5111. Figures 4 to 6 As stated above.

[0056] In this embodiment, the second longitudinal beam 5100 is connected to a main drive unit. The main drive unit can drive the top rod transverse trolley 510 to move left and right along the crossbeam 505. That is, the main drive unit can drive the first longitudinal beam 5101 and the second longitudinal beam 5100 to move left and right synchronously along the crossbeam 505. The first longitudinal beam 5101 and the middle beam 5109 both extend in the front-rear direction. A push-pull drive unit 5102 (push-pull hydraulic cylinder) can be provided between the first longitudinal beam 5101 and the middle beam 5109. The push-pull drive unit 5102 can make the first longitudinal beam 5101 and the middle beam 5109 move closer or further apart.

[0057] When the first longitudinal beam 5101 and the second longitudinal beam 5100 are in a state of being close to each other (also known as a state of being together), the first longitudinal beam 5101 and the middle beam 5109 are in a state of being close to each other; when the first longitudinal beam 5101 and the second longitudinal beam 5100 are in a state of being far apart from each other (also known as a state of being separated), the first longitudinal beam 5101 and the middle beam 5109 are in a state of being far apart from each other.

[0058] In this embodiment, an upper sliding plate 5105, a lower sliding plate 5106, and a side sliding plate 5107 are provided between the first longitudinal beam 5101 and the front beam seat 5108, and the same upper sliding plate 5105, lower sliding plate 5106, and side sliding plate 5107 are also provided between the first longitudinal beam 5101 and the rear beam seat 5110. The first longitudinal beam 5101 slides in the second longitudinal beam 5100 via the sliding plates. The upper sliding plate 5105 and lower sliding plate 5106 restrict the vertical direction, and the side sliding plate 5107 restricts the longitudinal direction.

[0059] In this embodiment, a left second push rod placement platform 504 is provided at the left second waiting position b2, a left first push rod placement platform 503 is provided at the left first waiting position b1, a push rod transport trolley 500 is provided at the online workstation O, the push rod transport trolley 500 can move the push rod 508 in the front-back direction, a right first push rod placement platform 501 is provided at the right first waiting position a1, and a right second push rod placement platform 502 is provided at the right second waiting position a2.

[0060] The push rod 508 can be located on the push rod transport trolley 500, the first push rod placement platform 501 on the right, the second push rod placement platform 502 on the right, the first push rod placement platform 503 on the left, and the second push rod placement platform 504 on the left. The online station O is the initial mounting position. When the push rod 508 is located on the push rod transport trolley 500, after the tail shank of the push rod 508 is installed and the piercing rolling requirements are met, the push rod transport trolley 500 transports the push rod 508 backward to the rolling position of the seamless steel pipe production line. This push rod 508 is used for pipe rolling. After use, the push rod 508 is then transported forward by the push rod transport trolley 500 to the online station O.

[0061] The following describes a seamless steel pipe production line, which includes, from front to back, a top rod circulation and replacement device 5, a second backstage section 4, a first backstage section 3, a piercing machine 2, and a frontstage section 1. The top rod circulation and replacement device 5 is the aforementioned top rod circulation and replacement device, as follows: Figure 7 As shown.

[0062] In this embodiment, a front tube transverse transfer car 6 is provided on the right side of the back stage 3, and a rear tube transverse transfer car 8 is provided on the right side of the front stage 1. A return roller conveyor 7 is provided between the front tube transverse transfer car 6 and the rear tube transverse transfer car 8. The return roller conveyor 7 can transport the tube blank on the front tube transverse transfer car 6 to the rear tube transverse transfer car 8.

[0063] Alternatively, a front-to-front tube transverse transfer car 6 is set on the left side of the back section 3, and a rear tube transverse transfer car 8 is set on the left side of the front section 1. A return roller conveyor 7 is set between the front-to-front tube transverse transfer car 6 and the rear tube transverse transfer car 8. The return roller conveyor 7 can transport the tube blank on the front-to-front tube transverse transfer car 6 to the rear tube transverse transfer car 8.

[0064] The seamless steel pipe production line can perform conventional piercing, secondary piercing, and tertiary piercing. The top rod circulation and replacement equipment 5 is used to complete the conventional piercing of solid tube blanks, serving as a gantry crane for rapid top rod hoisting and replacement. The top rod circulation and replacement equipment 5 can also be used to complete the secondary and tertiary piercing of hollow tube blanks, enabling rapid top rod replacement.

[0065] The conventional piercing method is as follows: the solid tube blank is transported to the front stage 1 by the rear tube transverse transfer car 8. When the push rod output from the back stage 2 section 4 is in place, the hollow tube blank is pierced by the piercing mill 2 and output to the back stage 1 section 3. The tube blank is pulled out and transported to the next tube rolling process by the front tube transverse transfer car 6.

[0066] The two-stage piercing method is as follows: The solid tube blank is transported to the front stage 1 via the rear tube transverse transfer car 8. When the push rod (first-stage push rod) output from the second stage 4 of the back stage is in place, the hollow tube blank produced by the piercing mill 2 is output to the first stage 3 of the back stage, and is pulled out and placed on the return roller table 7 via the front tube transverse transfer car 6. It is then transported to the middle pick-up point of the rear tube transverse transfer car 8 via the return roller table 7. The rear tube transverse transfer car 8 picks up the tube blank and sends it back to the front stage 1 for secondary piercing. At this time, the push rod circulation replacement equipment 5 at the second stage 4 of the back stage has replaced the new push rod (second-stage push rod) and output it in place, completing the secondary piercing. The tube blank is pulled out and transported by the front tube transverse transfer car 6 to the next tube rolling process.

[0067] The three-pass piercing method is as follows: The solid tube blank is transported to the front stage 1 via the rear tube transverse transfer car 8. Under the condition that the push rod (first-pass push rod) output from the back stage second section 4 is in place, the hollow tube blank produced by the piercing mill 2 is output to the back stage first section 3, and pulled out and placed back on the return roller table 7 via the front tube transverse transfer car 6. It is transported to the middle picking point of the rear tube transverse transfer car 8 via the return roller table 7. The rear tube transverse transfer car 8 picks up the tube blank and sends it back to the front stage 1 for secondary piercing. At this time, the push rod circulation replacement equipment 5 at the back stage second section 4 has replaced the new push rod (second-pass push rod) and output it in place. The completed second-pass tube blank continues to return to the front stage 1. At that time, the push rod circulation replacement equipment 5 at the back stage second section 4 has replaced the new push rod for the third pass and output it in place, completing the third pass. The tube blank is pulled out and transported to the next tube rolling process via the front tube transverse transfer car 6.

[0068] The push rod 508 may include a first push rod 5081, a second push rod 5082, and a third push rod 5083. The first push rod 5081 may be a single-through push rod, the second push rod 5082 may be a double-through push rod, and the third push rod 5083 may be a triple-through push rod. The single-through push rod is smaller and completes the piercing of the tube blank; the double-through push rod is larger and is used for preliminary hole enlargement; and the triple-through push rod is the largest and is used to complete the final hole enlargement. Alternatively, all push rods 508 may be of the same specification for conventional piercing processes, or two different specifications of push rods may be used for single-through and double-through processes; or three different specifications of push rods may be used for single-through, double-through, and triple-through processes.

[0069] The top rod cyclic replacement device 5 can realize the cyclic replacement of top rods. The cyclic replacement of top rods is carried out simultaneously by removing the old top rods and placing the new top rods. Each time, two top rods are moved at the same time, according to the principle of "changing the distance to pick up the new one and placing the old one on the opposite side". The second robot arm 5103 and the first robot arm 5104 are used to grab and place the top rods 508 located at different material positions (i.e., top rod placement positions), respectively. They can grab and place simultaneously or sequentially.

[0070] The distance between the first robotic arm 5104 and the second robotic arm 5103 is achieved by the extension and retraction of the push-pull drive unit 5102, which causes the first longitudinal beam 5101 to slide on the left and right sides of the second longitudinal beam 5100 to switch between wide and narrow spacing, i.e., variable spacing; by changing the distance between the first robotic arm 5104 and the second robotic arm 5103, the gripping and placement of the top rod at different material positions can be satisfied. When replacing the push rod, the first robot arm 5104 or the second robot arm 5103 grabs the push rod that has been used (i.e., the old push rod) located at the online station O. The second robot arm 5103 or the first robot arm 5104 grabs the push rod to be used (i.e., the new push rod) from one side of the platform. Before each grabbing of the new push rod, the push-pull drive unit 5102 operates once to achieve a switch between wide and narrow spacing, so as to achieve the switching of different picking positions, i.e., variable spacing picking. The first robot arm 5104 or the second robot arm 5103 moves the used push rod out of the online station O. At the same time, the second robot arm 5103 or the first robot arm 5104 moves the push rod to be used into the online station O. At this time, the old used push rod is placed on the opposite side platform b (or a) of the platform a (or b) where the push rod to be used was previously placed, i.e., the old is placed on the opposite side.

[0071] For ease of understanding, the first push rod 5081 can be referred to as ① in the attached drawing, the second push rod 5082 can be referred to as ② in the attached drawing, and the third push rod 5083 can be referred to as ③ in the attached drawing. Initially, ①, ②, and ③ are located at the online workstation O, the first waiting position a1 on the right, and the second waiting position a2 on the right, respectively. Figure 8 As shown. When using the conventional piercing process, ①, ②, and ③ use push rods of the same diameter, and the push rods are used in a cyclical manner in the order of ①-②-③-①-②-③. When using the three-piercing process, ①, ②, and ③ use push rods of three different diameters, and the push rods are used in a cyclical manner in the order of ①-②-③-①-②-③. When using the two-piercing process, ① and ② use push rods of two different diameters, ③ is not needed, and the robot arm spacing does not need to be switched; the push rods are used in a cyclical manner in the order of ①-②-①-②.

[0072] The following describes a method for cyclically replacing push rods. This method utilizes the aforementioned push rod replacement equipment and includes the following steps:

[0073] Step 1: The first push rod 5081 is located at the online workstation O, the second push rod 5082 is located at the first waiting position a1 on the right, and the third push rod 5083 is located at the second waiting position a2 on the right.

[0074] Step 2: With the first longitudinal beam 5101 and the second longitudinal beam 5100 close to each other, the first robotic arm 5104 grabs the first push rod 5081, and the second robotic arm 5103 grabs the second push rod 5082. The push rod lateral moving vehicle 510 moves to the left. The first robotic arm 5104 places the first push rod 5081 at the first waiting position b1 on the left, and the second robotic arm 5103 places the second push rod 5082 at the online workstation O.

[0075] Step 3: With the first longitudinal beam 5101 and the second longitudinal beam 5100 in a state of being far apart from each other, the push rod traverse carriage 510 moves to the right, the first robot arm 5104 grabs the second push rod 5082, the second robot arm 5103 grabs the third push rod 5083, and the push rod traverse carriage 510 moves to the left; the first robot arm 5104 places the second push rod 5082 at the second waiting position b2 on the left, and the second robot arm 5103 places the third push rod 5083 at the online workstation O;

[0076] Step 4: The first longitudinal beam 5101 and the second longitudinal beam 5100 are in a state of close proximity. The first robotic arm 5104 grabs the first push rod 5081, and the second robotic arm 5103 grabs the third push rod 5083. The push rod lateral transfer vehicle 510 moves to the right. The first robotic arm 5104 places the first push rod 5081 at the online workstation O, and the second robotic arm 5103 places the third push rod 5083 at the first waiting position a1 on the right side.

[0077] Step 5: With the first longitudinal beam 5101 and the second longitudinal beam 5100 in a state of being far apart from each other, the push rod traverse carriage 510 moves to the left, the first robot arm 5104 grabs the second push rod 5082, the second robot arm 5103 grabs the first push rod 5081, and the push rod traverse carriage 510 moves to the right; the first robot arm 5104 places the second push rod 5082 at the online workstation O, and the second robot arm 5103 places the first push rod 5081 at the right-side second waiting position a2;

[0078] Step 6: With the first longitudinal beam 5101 and the second longitudinal beam 5100 in a close proximity state, the first robotic arm 5104 grabs the second push rod 5082, and the second robotic arm 5103 grabs the third push rod 5083. The push rod lateral moving carriage 510 moves to the left. The first robotic arm 5104 places the second push rod 5082 at the first waiting position b1 on the left side, and the second robotic arm 5103 places the third push rod 5083 at the online workstation O.

[0079] Step 7: With the first longitudinal beam 5101 and the second longitudinal beam 5100 in a state of being far apart from each other, the push rod traverse carriage 510 moves to the right, the first robot arm 5104 grabs the third push rod 5083, the second robot arm 5103 grabs the first push rod 5081, and the push rod traverse carriage 510 moves to the left; the first robot arm 5104 places the third push rod 5083 at the second waiting position b2 on the left, and the second robot arm 5103 places the first push rod 5081 at the online workstation O;

[0080] Step 8: The first longitudinal beam 5101 and the second longitudinal beam 5100 are in a state of close proximity. The first robotic arm 5104 grabs the second push rod 5082, and the second robotic arm 5103 grabs the first push rod 5081. The push rod lateral transfer vehicle 510 moves to the right. The first robotic arm 5104 places the second push rod 5082 at the online workstation O, and the second robotic arm 5103 places the first push rod 5081 at the first waiting position a1 on the right side.

[0081] Step 9: With the first longitudinal beam 5101 and the second longitudinal beam 5100 in a state of being far apart from each other, the push rod traverse carriage 510 moves to the left, the first robot arm 5104 grabs the third push rod 5083, the second robot arm 5103 grabs the second push rod 5082, and the push rod traverse carriage 510 moves to the right; the first robot arm 5104 places the third push rod 5083 at the online workstation O, and the second robot arm 5103 places the second push rod 5082 at the right-side second waiting position a2;

[0082] Step 10: The first longitudinal beam 5101 and the second longitudinal beam 5100 are in a state of close proximity. The first robotic arm 5104 grabs the third push rod 5083, and the second robotic arm 5103 grabs the first push rod 5081. The push rod lateral moving car 510 moves to the left. The first robotic arm 5104 places the third push rod 5083 at the first waiting position b1 on the left side, and the second robotic arm 5103 places the first push rod 5081 at the online workstation O.

[0083] Step 11: The first longitudinal beam 5101 and the second longitudinal beam 5100 are in a state of being far apart from each other. The push rod traverse carriage 510 moves to the right. The first robot arm 5104 grabs the first push rod 5081, and the second robot arm 5103 grabs the second push rod 5082. The push rod traverse carriage 510 moves to the left. The first robot arm 5104 places the first push rod 5081 at the second waiting position b2 on the left side, and the second robot arm 5103 places the second push rod 5082 at the online workstation O.

[0084] Step 12: The first longitudinal beam 5101 and the second longitudinal beam 5100 are in a state of close proximity. The first robotic arm 5104 grabs the third push rod 5083, and the second robotic arm 5103 grabs the second push rod 5082. The push rod lateral moving car 510 moves to the right. The first robotic arm 5104 places the third push rod 5083 at the online workstation O, and the second robotic arm 5103 places the second push rod 5082 at the right first waiting position a1.

[0085] Step 13: The first longitudinal beam 5101 and the second longitudinal beam 5100 are in a state of being far apart from each other. The push rod traverse carriage 510 moves to the left. The first robot arm 5104 grabs the first push rod 5081, and the second robot arm 5103 grabs the third push rod 5083. The push rod traverse carriage 510 moves to the right. The first robot arm 5104 places the first push rod 5081 at the online workstation O, and the second robot arm 5103 places the third push rod 5083 at the second waiting position a2 on the right side.

[0086] Step 14: Repeat steps 1 to 13 in sequence to perform the next push rod cycle replacement, as follows. Figure 9 As shown.

[0087] When the push rod 508 is in online station O, it is ready to perform tube rolling. When the push rod 508 is in the first waiting position b1 and the second waiting position b2 on the left, and the first waiting position a1 and the second waiting position a2 on the right, it is cooled. The push rod cyclic replacement method can make the cooling time of the three push rods 508 average and the longest.

[0088] For ease of understanding and description, this invention uses absolute positional relationships for description. Unless otherwise specified, the directional term "above" indicates perpendicular to. Figure 1 The direction of the paper and the direction pointing outwards from the paper; the directional word "down" indicates perpendicular to the direction of the paper. Figure 1 The direction of the paper and pointing inwards; the directional word "left" indicates... Figure 1 The upper direction in the middle, the directional word "right" indicates Figure 1 The lower direction in the middle, the directional word "front" indicates Figure 1 The right-hand direction in the text, the directional word "back" indicates Figure 1 The left-hand direction is indicated in the text. This invention is described from the perspective of the reader or user, but the aforementioned directional terms should not be understood or interpreted as limiting the scope of protection of this invention.

[0089] The above description is merely a specific embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any substitution of equivalent components or equivalent changes and modifications made within the scope of protection of this patent should still fall within the scope of this patent. Furthermore, the technical features, technical solutions, and embodiments of the present invention can be freely combined and used together.

Claims

1. A method for cyclically replacing push rods, characterized in that, The top rod cyclic replacement method employs a top rod cyclic replacement device, which includes a crossbeam (505) and a top rod transverse moving vehicle (510). The top rod transverse moving vehicle (510) contains a first longitudinal beam (5101) and a second longitudinal beam (5100) arranged on the left and right. The top rod transverse moving vehicle (510) can move left and right along the crossbeam (505). The first longitudinal beam (5101) and the second longitudinal beam (5100) can move closer to or further away from each other. A first robotic arm (5104) is provided on the first longitudinal beam (5101), and a second robotic arm (5103) is provided on the second longitudinal beam (5100). Multiple top rod placement positions are provided below the crossbeam (505). The multiple top rod placement positions include, from left to right, a second waiting position on the left, a first waiting position on the left, an online workstation, a first waiting position on the right, and a second waiting position on the right. The push rod replacement method includes the following steps: Step 1: The first push rod (5081) is located at the online workstation, the second push rod (5082) is located at the first waiting position on the right, and the third push rod (5083) is located at the second waiting position on the right. Step 2: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a close proximity state. The first robotic arm (5104) grabs the first push rod (5081), and the second robotic arm (5103) grabs the second push rod (5082). The push rod traversing vehicle (510) moves to the left. The first robotic arm (5104) places the first push rod (5081) at the first waiting position on the left, and the second robotic arm (5103) places the second push rod (5082) at the online workstation. Step 3: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a state of being far apart from each other. The push rod traverse carriage (510) moves to the right, the first robot (5104) grabs the second push rod (5082), the second robot (5103) grabs the third push rod (5083), and the push rod traverse carriage (510) moves to the left. The first robot (5104) places the second push rod (5082) in the second waiting position on the left, and the second robot (5103) places the third push rod (5083) in the online workstation. Step 4: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a close proximity state. The first robot (5104) grabs the first push rod (5081), and the second robot (5103) grabs the third push rod (5083). The push rod traversing vehicle (510) moves to the right. The first robot (5104) places the first push rod (5081) at the online workstation, and the second robot (5103) places the third push rod (5083) at the first waiting position on the right side. Step 5: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a state of being far apart from each other. The push rod traverse carriage (510) moves to the left, the first robot (5104) grabs the second push rod (5082), the second robot (5103) grabs the first push rod (5081), and the push rod traverse carriage (510) moves to the right. The first robot (5104) places the second push rod (5082) at the online workstation, and the second robot (5103) places the first push rod (5081) at the second waiting position on the right. Step 6: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a close proximity state. The first robotic arm (5104) grabs the second push rod (5082), and the second robotic arm (5103) grabs the third push rod (5083). The push rod traversing vehicle (510) moves to the left. The first robotic arm (5104) places the second push rod (5082) at the first waiting position on the left, and the second robotic arm (5103) places the third push rod (5083) at the online workstation. Step 7: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a state of being far apart from each other. The push rod traverse carriage (510) moves to the right, the first robot (5104) grabs the third push rod (5083), the second robot (5103) grabs the first push rod (5081), and the push rod traverse carriage (510) moves to the left. The first robot (5104) places the third push rod (5083) in the second waiting position on the left, and the second robot (5103) places the first push rod (5081) in the online workstation. Step 8: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a close proximity state. The first robot (5104) grabs the second push rod (5082), and the second robot (5103) grabs the first push rod (5081). The push rod traversing vehicle (510) moves to the right. The first robot (5104) places the second push rod (5082) at the online workstation, and the second robot (5103) places the first push rod (5081) at the first waiting position on the right side. Step 9: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a state of being far apart from each other. The push rod traverse carriage (510) moves to the left, the first robot (5104) grabs the third push rod (5083), the second robot (5103) grabs the second push rod (5082), and the push rod traverse carriage (510) moves to the right. The first robot (5104) places the third push rod (5083) at the online workstation, and the second robot (5103) places the second push rod (5082) at the second waiting position on the right. Step 10: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a close proximity state. The first robotic arm (5104) grabs the third push rod (5083), and the second robotic arm (5103) grabs the first push rod (5081). The push rod traverse vehicle (510) moves to the left. The first robotic arm (5104) places the third push rod (5083) in the first waiting position on the left, and the second robotic arm (5103) places the first push rod (5081) in the online workstation. Step 11: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a state of being far apart from each other. The push rod traverse carriage (510) moves to the right. The first robot (5104) grabs the first push rod (5081), and the second robot (5103) grabs the second push rod (5082). The push rod traverse carriage (510) moves to the left. The first robot (5104) places the first push rod (5081) in the second waiting position on the left, and the second robot (5103) places the second push rod (5082) in the online workstation. Step 12: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a close proximity state. The first robot (5104) grabs the third push rod (5083), and the second robot (5103) grabs the second push rod (5082). The push rod traversing vehicle (510) moves to the right. The first robot (5104) places the third push rod (5083) at the online workstation, and the second robot (5103) places the second push rod (5082) at the first waiting position on the right side. Step 13: The first longitudinal beam (5101) and the second longitudinal beam (5100) are in a state of being far apart from each other. The push rod traverse carriage (510) moves to the left. The first robot (5104) grabs the first push rod (5081), and the second robot (5103) grabs the third push rod (5083). The push rod traverse carriage (510) moves to the right. The first robot (5104) places the first push rod (5081) at the online workstation, and the second robot (5103) places the third push rod (5083) at the second waiting position on the right.

2. The push rod cyclic replacement method according to claim 1, characterized in that, When the first longitudinal beam (5101) and the second longitudinal beam (5100) are close to each other, the first robotic arm (5104) and the second robotic arm (5103) can correspond one-to-one with the two adjacent top rod placement positions; when the first longitudinal beam (5101) and the second longitudinal beam (5100) are far apart from each other, the first robotic arm (5104) and the second robotic arm (5103) can correspond one-to-one with the top rod placement positions at the left and right ends of the three adjacent top rod placement positions.

3. The push rod cyclic replacement method according to claim 1, characterized in that, The left and right columns (506 and 507) are respectively provided on the left and right sides of the crossbeam (505). The first longitudinal beam (5101) can drive the first robotic arm (5104) to move left and right. The second longitudinal beam (5100) can drive the second robotic arm (5103) to move left and right. Both the first longitudinal beam (5101) and the second longitudinal beam (5100) can grab and release the top rod (508). Both the first robotic arm (5104) and the second robotic arm (5103) can make the top rod (508) move in the vertical direction.

4. The push rod cyclic replacement method according to claim 1, characterized in that, The second longitudinal beam (5100) includes a front beam seat (5108), a middle beam body (5109), and a rear beam seat (5110) connected sequentially from front to back. The front and rear ends of the first longitudinal beam (5101) are located in the front beam seat (5108) and the rear beam seat (5110) respectively. Multiple sets of rollers (5111) are provided in the lower part of the front beam seat (5108) and the lower part of the rear beam seat (5110). The second longitudinal beam (5100) can travel on the crossbeam (505) through the multiple sets of rollers (5111).

5. The push rod cyclic replacement method according to claim 4, characterized in that, Both the first longitudinal beam (5101) and the middle beam (5109) extend in the front-to-back direction. A push-pull drive unit (5102) is provided between the first longitudinal beam (5101) and the middle beam (5109). The push-pull drive unit (5102) can make the first longitudinal beam (5101) and the middle beam (5109) move closer or further away from each other.

6. The push rod cyclic replacement method according to claim 5, characterized in that, An upper sliding plate (5105), a lower sliding plate (5106), and a side sliding plate (5107) are provided between the first longitudinal beam (5101) and the front beam seat (5108). An upper sliding plate (5105), a lower sliding plate (5106), and a side sliding plate (5107) are also provided between the first longitudinal beam (5101) and the rear beam seat (5110).

7. The push rod cyclic replacement method according to claim 1, characterized in that, A second left-side push rod placement platform (504) is provided at the second waiting position on the left side, a first left-side push rod placement platform (503) is provided at the first waiting position on the left side, a push rod transport trolley (500) is provided at the online workstation, the push rod transport trolley (500) can move the push rod (508) in the front-back direction, a first right-side push rod placement platform (501) is provided at the first waiting position on the right side, and a second right-side push rod placement platform (502) is provided at the second waiting position on the right side.

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