A roller changing method without stopping the machine

Abstract

This invention provides a non-stop roller changing method. In this method, a steel plate grinding area and a roller changing channel are first divided within the frame. Then, a roller changing module with a new roller is placed in the roller changing channel on the side of the clamping module. The roller changing module is then controlled to move forward and cooperate with the clamping module to complete the replacement of the brush roller. Since the roller changing is carried out automatically within the roller changing channel inside the frame, it avoids contact between the old and new brush rollers and the workers, eliminates operational hazards during brush roller replacement, and reduces brush roller replacement time. This means that the steel plate grinding area does not need to stop during brush roller replacement, thus improving the efficiency of steel plate production.

Description

Technical Field

[0001] This invention relates to the field of metal surface treatment, and in particular to a roller changing method that does not require stopping the machine. Background Technology

[0002] After steel plates are produced, they are made into corresponding parts according to different usage requirements. However, before the steel plates are put into the manufacturing process, preparation time for processing the steel plates is always required. During this time, the steel plates will react with moisture and chemicals in the air, causing the surface material of the steel plates to peel off or rust. In order to remove the rust layer, the earliest method was to pickle the surface of the steel plates to remove rust. However, this method is costly and polluting. Therefore, grinding equipment that removes rust by brushing the surface of the steel plates has emerged. This equipment uses brush rollers to physically grind the surface of the steel plates, which improves the rust removal efficiency of the steel plates and has less pollution. Therefore, it has been accepted by people. However, this equipment requires the brush rollers to contact the surface of the steel plates during grinding. After the brush rollers have been used for a long time, the grinding effect will also decrease. Therefore, the brush rollers need to be placed on the roller changing car for replacement with new rollers. However, the existing roller changing method has defects.

[0003] For example, in the patent for a roller changing vehicle with publication number CN 211103286, such as in the patent... Figures 1-3 As shown in Figure 8, the roller changing trolley is usually located on the side of the grinding equipment. During the roller changing operation, the roller changing support device extends into the steel plate surface rust removal machine along the roller changing track. The lifting motor drives the lifting mechanism to operate, causing the working beam 132 to descend. After the descaling roller falls onto the roller changing support device and disengages, the roller changing support device retracts, taking the old descaling roller out. The new roller is then sent into the steel plate surface rust removal machine through the roller changing support device to complete the roller changing. However, this roller changing method directly sends the roller changing support device to the production line, and it must go through the process of the old roller being taken out by the roller changing support device, the new roller being placed, and the new roller being sent into the equipment by the roller changing support device in sequence. These three processes take a long time. At the same time, in order to avoid interference and collision between the roller changing support device and the moving parts on the production line, the steel plate surface rust removal machine must be stopped for a long time during these three processes, which greatly affects the efficiency of steel plate grinding.

[0004] In addition, since the process of placing the new roll is still carried out on the side outside the steel plate derusting machine, the workers may experience the new roll slipping during the placement process due to insufficient operating space, which could create a safety hazard. Summary of the Invention

[0005] To address the aforementioned technical problems, the present invention aims to provide a non-stop roller changing method. In this method, a steel plate brushing area and a roller changing channel are first defined within the machine frame. Then, a roller changing module carrying a new roller is placed within the roller changing channel on the side of the clamping module. The roller changing module is then controlled to move forward and cooperate with the clamping module to complete the roller replacement. Since the entire roller changing process is performed automatically within the roller changing channel inside the machine frame, contact between the new first roller and the worker is avoided, eliminating operational hazards during roller replacement and reducing replacement time. This allows the steel plate brushing area to operate without stopping during roller replacement, thereby improving the efficiency of steel plate production.

[0006] The technical solution of this invention is implemented as follows:

[0007] A roll changing method without shutting down the machine includes the following steps:

[0008] S1: Area division; The steel plate grinding area and the roller changing channel are divided within the frame. The roller changing channel is located in the side area of ​​the steel plate grinding area; A clamping module is provided on the steel plate grinding area; The steel plate grinding area contains a working brush roller that does not need to be replaced and a first brush roller that needs to be replaced; Both the working brush roller and the first brush roller are clamped by the clamping module on the steel plate grinding area.

[0009] S2: Preset clamping module; the clamping module is controlled by a driving element and can slide horizontally in the up, down, left and right directions; the clamping module includes a fixed unit and a sliding unit, and a first brush roller is provided between the fixed unit and the sliding unit. The axis of the first brush roller is in the left and right direction; the sliding unit can slide in the left and right direction, so that the first brush roller is installed in place or disengaged on the clamping module.

[0010] S3: Pre-replacement roller module; The roller replacement module includes a traveling unit and two parallel support units aligned front to back. The support units are mounted above the traveling unit, and the traveling unit can drive the support units forward. The support unit includes a support frame that can slide in the left and right directions. The support frame on the front support unit is empty, while the support frame on the rear support unit is equipped with a second brush roller. The empty support frame has a telescopic component on its left end, which can extend or retract in the left and right directions.

[0011] S4: Unloading the roller; The driving element controls the clamping module to move the first brush roller from the steel plate brushing area to above the roller changing channel. Then, the traveling unit drives the support unit into the roller changing channel and moves in parallel until it stops at a position aligned with the clamping module. The driving element then controls the clamping module to move down and place the first brush roller on the empty support frame. After that, the sliding unit is controlled to slide to the right, so that the right end of the first brush roller is disengaged. Then, the telescopic part extends to the left and abuts against the fixed unit, so that the support frame drives the first brush roller to slide to the right until the first brush roller is completely disengaged from the fixed unit.

[0012] S5: Roller Loading; The driving element controls the clamping module to retract upwards and moves the traveling unit forward. Then, the clamping module is controlled to move downwards to the left and right sides of the second brush roller. Afterwards, the sliding unit is controlled to retract to the left, so that the right and left ends of the second brush roller are respectively engaged with the sliding unit and the fixing unit.

[0013] S6: Return to position; The driving element is used again to control the clamping module to drive the second brush roller to disengage from the support frame and return to the steel plate brushing area.

[0014] Preferably, an elastic support module is provided between the support unit and the walking unit. The upper and lower ends of the elastic support module are respectively hinged to the walking unit and the support unit. In step S3, the elastic support module is in a compressed state and generates an upward supporting elastic force on the support unit. In step S4, when the first brush roller is placed on the front support frame, the upper and lower ends of the elastic support module deflect, and the elastic support module is further compressed, so that the first brush roller remains stable and does not jump. The impact of the first brush roller on the support unit is reduced by elastic compression, avoiding the first brush roller and the support unit from generating huge reaction forces and thus jumping up and down.

[0015] Preferably, two buffer units are symmetrically arranged above the walking unit. Each buffer unit includes a column and an elastic buffer wheel, which is connected to the lower end of the support unit. On the outer wall surface of the column in the front-back, left-right, and right directions, the left or right side is empty, while on the other three sides of the column, there are corresponding elastic buffer wheels that abut against it. In step S4, when the support frame drives the first brush roller to slide to the right, the elastic support module drives the support unit to deflect in the up-down direction. At this time, the elastic buffer wheel is squeezed against the column and undergoes elastic deformation, generating a reaction force on the support unit, so that the first brush roller returns to horizontal. This avoids the situation where the roller changing module overturns due to the deflection of the first brush roller.

[0016] Preferably, a front and rear guide unit is provided between the support unit and the clamping module. The front and rear guide unit includes an elastic swing wheel and a guide block. The elastic swing wheel is disposed on the support unit and can be elastically deflected relative to the support unit. The guide block is disposed on the fixed unit and has a guide slope. In steps S4 and S5, when the clamping module moves downward, the guide slope contacts the elastic swing wheel, causing the elastic swing wheel to rotate and be elastically deflected, which in turn causes the elastic buffer wheel under the support unit to undergo elastic deformation, so that the clamping module is aligned with the support frame front and rear. This ensures accurate positioning of the support unit in the front and rear directions during roller changing and improves the efficiency of roller changing.

[0017] Preferably, a guide groove is provided below the support frame, and a guide rail is provided on the support unit extending in the left and right direction. In step S4, the guide groove and the guide rail cooperate to allow the support frame to slide in the left and right direction on the support unit, thereby making the adjustment of the position of the support frame faster and smoother.

[0018] Preferably, a left and right guide unit is provided between the support unit and the clamping module. The left and right guide unit includes a guide seat and a guide post. The guide seat is set on the support unit, and the guide post is set on the fixed unit. The guide seat has a slot, and the top of the slot is a through V-shaped opening. In steps S4 and S5, when the clamping module moves downward, the guide post rotates after contacting the inclined surface of the V-shaped opening and is gradually guided into the slot, thereby causing the elastic buffer wheel under the support unit to undergo elastic deformation, so that the clamping module and the support frame are aligned left and right. This ensures the accurate positioning of the support unit in the left and right directions when changing rollers and improves the efficiency of changing rollers.

[0019] Preferably, the support unit is provided with a drive telescopic component, which can extend or retract in the left and right directions; the drive telescopic component is connected to the lower part of the support frame; in step S4, the drive telescopic component extends and drives the support frame to slide in the left and right directions to keep the support frame in place. By utilizing the extension and retraction of the drive telescopic component, the position of the support frame can be quickly adjusted so that the support frame can be quickly aligned with the clamping module.

[0020] Preferably, at least two chains connect the support unit and the walking unit. In step S4, when the first brush roller is placed on the support frame, the chain is in a relaxed state. In step S3, the chain is kept taut under the support elastic force generated by the elastic support module. In step S4, when the first brush roller is placed on the support frame, the chain switches to a relaxed state. In step S5, when the second brush roller is disengaged from the support frame, the chain switches back to a taut state. The chain can cause the walking unit to tighten the support unit, and the tension of the chain can be used to determine whether the brush roller is properly placed on the support seat.

[0021] Preferably, the sliding unit is controlled by the control unit. In step S4, when the first brush roller is placed on the support frame, the control unit sends a command to the sliding unit to slide to the right, thereby disengaging the right end of the first brush roller. The control unit can control the sliding timing of the sliding unit, further automating the process of loading and unloading the roller.

[0022] Preferably, the walking unit is equipped with at least one sensing component, which includes a rotating base and a sensing element; at least one chain connecting the support unit and the walking unit is hinged at the bottom to the rotating base; the rotating base is hinged to the walking unit; an elastic member in an elastic deformation state is provided between the rotating base and the walking unit. In step S4, when the chain is in a relaxed state, the elastic force generated by the elastic member drives the rotating base to rotate downward, and sends the action signal to the control unit through the sensing element. The control unit issues a command to make the sliding unit slide to the right, so that the right end of the first brush roller disengages from the sliding unit; by utilizing the characteristic of the chain relaxing when subjected to gravity, the chain becomes a switch to control the disengagement of the sliding unit, which is simple and ingenious in design.

[0023] Preferably, a positioning unit is provided between the walking unit and the ground. The positioning unit includes a positioning telescopic component and a positioning seat. The positioning telescopic component is set on the walking unit and can extend and retract vertically. The positioning seat is fixed on the ground. In step S4, when the walking unit stops, the positioning telescopic component extends and cooperates with the positioning seat to keep the walking unit fixed front and back, so that the unloading process can proceed stably. In step S5, when the walking unit needs to slide, the positioning telescopic component retracts and disengages from the positioning seat, so that the walking unit moves forward. This drives the second brush roller to the designated position for roller loading.

[0024] Preferably, a limiting unit is provided between the support unit and the clamping module. The limiting unit includes a first limiting member and a second limiting member. The first limiting member is located on the clamping module, and the second limiting member is located on the support unit. In step S4, when the clamping module controls the first brush roller to be placed in the support frame, the first limiting member and the second limiting member abut against each other, preventing the clamping module from continuing to move downward. This prevents the clamping module from continuing to descend after the unloading roller is in place, and avoids interference and collision between the clamping module and the support unit.

[0025] The principle and beneficial effects of the present invention, which adopts the above technical solution, are as follows:

[0026] This invention provides a roller changing method without stopping the machine. A roller changing module carrying the new roller is arranged in the roller changing channel on the side of the clamping module. The roller changing module is then controlled to move forward and cooperate with the clamping module to complete the replacement of the brush roller. The beneficial effects are as follows:

[0027] The roller changing module is positioned on the side of the clamping module and moves forward to complete the roller changing process. This allows the entire brush roller replacement process to take place inside the frame, avoiding contact between the equipment or brush roller and the worker during the roller changing process, making the brush roller replacement process safer and more efficient.

[0028] The new second brush roller is pre-positioned on the support unit of the roller changing module and driven forward by the traveling unit. This allows the second brush roller to be clamped and replaced immediately after the old first brush roller is replaced, greatly reducing the time spent on the roller changing process and improving the efficiency of steel plate production.

[0029] The roller changing module does not need to extend into the steel plate grinding equipment to perform roller changing operations, avoiding interference and collision between the roller changing module and the internal components of the steel plate grinding equipment. This allows the entire steel plate production line to operate without stopping during roller changing, thus ensuring that the steel plate grinding can proceed normally. Attached Figure Description

[0030] Figure 1 This is a front view of the roller changing module located within the roller changing channel on the side of the clamping module.

[0031] Figure 2 A front view showing the clamping module aligned vertically with the empty support frame;

[0032] Figure 3 A front view of the clamping module driving the first brush roller to slide downwards;

[0033] Figure 4 A schematic diagram showing the first brush roller placed on the support frame for the clamping module;

[0034] Figure 5 This is an enlarged view of the contact between the telescopic component and the fixed unit;

[0035] Figure 6 An enlarged view showing the first brush roller disengaging from the fixed unit after the telescopic component comes into contact with it;

[0036] Figure 7 This is a schematic diagram showing the upward translation of the clamping module after the first brush roller is removed.

[0037] Figure 8 A front view showing the clamping module lowered and aligned with the left and right sides of the second brush roller;

[0038] Figure 9 A side view showing the clamping module aligned vertically with the empty support frame;

[0039] Figure 10 A side view showing the clamping module lowered and aligned with the left and right sides of the second brush roller;

[0040] Figure 11 This is an enlarged view of the front and rear guidance units and the left and right guidance units;

[0041] Figure 12 A side view showing the clamping module driving the first brush roller to slide downwards;

[0042] Figure 13 An enlarged view of the contact between the guide support plate and the elastic swing wheel;

[0043] Figure 14 This is an enlarged view of the contact between the elastic swing wheel and the guide block in the front and rear guide units;

[0044] Figure 15 This is an enlarged view of the contact between the first and second limiting members in the limiting unit.

[0045] Figure 16 This is a schematic diagram of the elastic buffer wheel.

[0046] Figure 17 This is an enlarged schematic diagram of the positioning unit;

[0047] Figure 18 An enlarged schematic diagram of the drive telescopic component on the support base;

[0048] Figure 19 A structural diagram showing the back of the support base;

[0049] Figure 20 This is an isometric view of the elastic support module.

[0050] Figure 21 This is a cross-sectional view of the elastic support module;

[0051] Figure 22 This is a schematic diagram of the walking unit.

[0052] Figure 23 This is an axonometric drawing of the elastic oscillating wheel.

[0053] Figure 24 This is an isometric view of the elastic oscillating wheel from another angle.

[0054] Figure 25 This is a schematic diagram of the swing angle of the elastic swing wheel;

[0055] Figure 26 This is a structural diagram of the front of the support frame;

[0056] Figure 27 This is a structural diagram of the back of the support frame;

[0057] Figure 28 This is a flowchart of the method steps of the present invention;

[0058] Figure 29 This is a schematic diagram showing the location of the roller changing channel and the steel plate brushing area inside the frame;

[0059] The accompanying figures are labeled as follows: 1-Clamping module, 2-Walking unit, 3-Support unit, 4-Brush roller, 101-Sliding unit, 102-Fixing unit, 103-Guide block, 104-Guide ramp, 105-Guide support plate, 106-First limiting component, 107-Guide column, 21-Walking chassis, 22-Elastic support module, 23-Sensing unit, 24-Column, 31-Support frame, 32-Support base. 33-Elastic swing wheel, 34-Elastic buffer wheel, 35-Guide seat, 36-Second limit component, 211-Positioning telescopic component, 212-Positioning telescopic rod, 221-Hinge seat, 222-Elastic component, 223-Outer shell, 224-Oil nozzle, 225-Earring, 226-Nut, 227-Support rod, 228-Support block, 229-Bushing, 231-Chain, 232-Rotating seat, 233-Elastic component, 2 34-Mounting base, 235-Bracket, 236-Rotating plate, 311-Pipe protector, 312-Telescopic component, 313-Telescopic rod, 314-Fixing block, 315-Connecting sleeve, 316-Slide groove, 317-Stroke limiting seat, 321-Guide rail, 322-Drive telescopic component, 323-Drive telescopic rod, 331-Guide wheel, 332-Swing seat, 333-First pin, 334-Second pin, 335-Horizontal Plate, 336-Mounting plate, 337-Elastic telescopic component, 338-Base, 339-Connecting shaft, 341-Rotating wheel, 342-Third pin, 343-Buffer seat, 345-Elastic buffer component, 346-Buffer base, 351-V-shaped opening, 4a-First brush roller, 4b-Second brush roller, a-Slide rail, b-Swing angle, c-Sensing element, d-Positioning seat, e-Detection element, s-Steel plate brushing area. Detailed Implementation

[0060] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0061] In the description of this invention, the term "at least one" means one or more, unless otherwise expressly defined. The terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0062] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0063] The specific implementation methods of this invention are as follows:

[0064] like Figure 1-29 As shown, this embodiment provides a roller replacement method without shutting down the machine. This method is commonly used for replacing the upper brush roller in steel plate grinding equipment, and includes:

[0065] S1: Regional division; such as Figure 29 As shown, the frame is divided into a steel plate grinding area s and a roller changing channel. The steel plate grinding area s uses rotating rollers arranged vertically to grind the steel plate. The roller changing channel is located in the side area of ​​the steel plate grinding area s. The steel plate grinding area s is equipped with a clamping module 1. The steel plate grinding area s contains a working brush roller (not shown) that does not need to be replaced and a first brush roller 4a that needs to be replaced. Both the working brush roller and the first brush roller 4a are clamped by the clamping module 1 on the steel plate grinding area s. The roller changing channel provides sufficient space for the clamping module 1 to perform roller changing operations. At the same time, it confines the roller changing process within the enclosed frame, avoiding the possibility of collision between the roller changing device and the steel plate grinding area s during the roller changing process. It also avoids contact between the roller changing equipment and components and workers, thus improving the safety of equipment use.

[0066] S2: Pre-set clamping module 1; such as Figure 1-10 As shown, the clamping module 1 is controlled by a driving element and can slide and move in the up, down, left, and right directions. The driving element (not shown) is usually a controlled hydraulic component. Its working principle can be referred to the specific structure of the lifting motor 135, the corner device 136, the connecting shaft 137, and the lifting mechanism 138 in the patent with publication number CN211103286, which will not be described in detail here. The clamping module 1 includes a fixed unit 102 and a sliding unit 101. A first brush roller 4a is provided between the fixed unit 102 and the sliding unit 101, which is axially fixed and circumferentially rotating. The axis of the first brush roller 4a is in the left and right direction. The sliding unit 101 can slide in the left and right direction to install or disengage the first brush roller 4a on the clamping module 1.

[0067] Specifically, the fixed unit 102 and the sliding unit 101 are equivalent to the bearing seats of the first brush roller 4a. The left end of the bearing seat is the fixed unit 102, which is stationary. A motor is connected to the left end of the fixed unit 102. The motor drives the components in the fixed unit, so that the first brush roller 4a can rotate circumferentially, thereby brushing the surface of the steel plate. The sliding unit 101 at the right end of the bearing seat is a sliding bearing seat controlled by a cylinder or a hydraulic cylinder. The sliding position of the sliding bearing seat can be controlled by controlling the extension and retraction of the cylinder or hydraulic cylinder. The left and right sliding of the sliding unit 101 is controlled. The sliding unit 101 is controlled by a control unit (not shown). For example, the control unit can be a master controller. Only when the control unit sends a command will the hydraulic cylinder or cylinder in the sliding unit 101 pull the bearing seat to slide. When the sliding unit 101 slides to the right end of the first brush roller 4a, the left and right ends of the first brush roller 4a are clamped. When the sliding unit 101 slides to the right, the right end of the first brush roller 4a loses its support point for circumferential rotation, thereby causing the first pressure roller 4a to disengage from the clamping module 1.

[0068] S3: Pre-replacement roller module; such as Figure 12 As shown, the roller changing module includes a traveling unit 2 and two parallel support units 3 aligned front to back. The support units 3 are installed above the traveling unit 2, and the traveling unit 2 can drive the support units 3 forward. The support unit 3 includes a support frame 31, which can slide in the left and right directions. The support frame 31 on the front support unit 3 is empty, and the support frame 31 on the rear support unit 3 is equipped with a second brush roller 4b. The left end of the empty support frame 31 is provided with a telescopic member 312. The two telescopic members 312 are symmetrically arranged on the left end of the support frame 31, and the telescopic members 312 can extend or retract in the left and right directions.

[0069] Specifically, in order to keep the direction of travel of the roller changing module's traveling unit 2 unchanged, a slide rail a is also installed on the ground. The slide rail a separates the roller changing module from the ground, allowing the traveling unit 2 to move forward more smoothly on the slide rail a, without worrying about the roller changing module deviating in direction.

[0070] Furthermore, such as Figure 22 As shown, the traveling unit 2 includes a traveling chassis 21 located at the bottom of the roller changing module. The traveling chassis 2 has a frame structure, and pulleys are provided on the left and right sides of the traveling chassis 21. A motor is provided at the rear of the traveling chassis 21. The motor and the connecting mechanism drive the pulleys to make the traveling unit 2 slide on the slide rail a. A support unit 2 is connected above the traveling chassis 21. The support unit 2 is provided with a support base 32. A support frame 31 is provided on the support base 32. The support base 32 is the base for mounting the support frame 31, and the support base 32 is connected to the traveling chassis 21 to ensure that the support frame 31 will not interfere with the traveling unit 2 when sliding left and right.

[0071] Furthermore, such as Figure 18 , Figure 27 As shown, in order to make the left and right sliding of the support frame 31 smoother, a guide groove 316 is provided below the support frame 31, and a guide rail 321 extending in the left and right direction is provided on the support unit 3. Through the cooperation of the guide rail 321 and the guide groove 316, the support frame 31 can slide left and right on the support base 32, so that when receiving the first brush roller 4a, the position can be changed by sliding, and the receiving process of the first brush roller 4a can be completed smoothly.

[0072] Furthermore, to eliminate the need for manual roller loading, the unused second brush roller 4b is pre-placed on the rear support frame 31. The first brush roller 4a and the second brush roller 4b are the same size and specifications. When they are placed on the support frame 31, their left and right movements are restricted by the corresponding fixing blocks 314 on the support frame 31. The only difference is that the first brush roller 4a is an old roller used in the steel plate brushing area s. The mechanisms supporting the first brush roller 4a and the second brush roller 4b are the front empty support frame 31 and the rear support frame 31, respectively. The left side of the empty support frame 31 is provided with a telescopic component 312, which is usually a hydraulic cylinder. The telescopic component 312 contains a telescopic rod 31. 3. The telescopic rod 313 can extend or retract in the left and right directions. The telescopic rod 313 is an auxiliary component for the left end of the first brush roller 4a to detach from the fixing unit 102. On the support frame 31 on the rear side where the second brush roller 4b is mounted, the telescopic component 313 does not participate in the roller mounting process. Therefore, the rear support frame 31 may not be equipped with the telescopic component 31. However, in this embodiment, in order to ensure the universality of the support unit 2 in the roller changing module and to facilitate the maintenance and management of the support unit 2, the rear support frame 31 is configured the same as the front empty support frame 31. That is to say, in this embodiment, both the rear support frame 31 and the front empty support frame 31 can support the first brush roller 4a and the second brush roller 4b, and can work normally even if their positions are changed.

[0073] S4: Unload rollers; as shown in the image Figure 2-7 As shown, the clamping module 1 is controlled by the driving element to move the first brush roller 4a from the steel plate brushing area s to above the roller changing channel. Then, the walking unit 2 drives the support unit 3 into the roller changing channel and moves in parallel to the position aligned with the clamping module 1 before stopping. Then, the clamping module 1 is controlled by the driving element to move down and place the first brush roller 4a on the empty support frame 31. After that, the sliding unit 101 is controlled to slide to the right, so that the right end of the first brush roller 4a is disengaged. Then, the telescopic member 312 extends to the left and abuts against the fixing unit 102, so that the support frame 31 drives the first brush roller 4a to slide to the right until the first brush roller 4a is completely disengaged from the fixing unit 102.

[0074] Specifically, the sliding unit 101 is controlled by a control unit (not shown). When the first brush roller 4a is placed on the support frame 31, the control unit sends a command to the sliding unit 101 to slide to the right and disengage from the right end of the first brush roller 4a. At this time, the left end of the first brush roller 4a is still connected to the fixing unit 102. The reason for not setting a sliding unit 101 on the left end of the clamping module 1 is that the fixing unit 102 on the left end is connected to a motor. The motor drives the first brush roller 4a to rotate and grind the steel plate. Since the presence of the motor already occupies the axial space of the clamping module 1, making the left end of the clamping module 1 a sliding mechanism would make the axial structure of the clamping module 1 bulky, and repeated... Sliding also requires frequent connection and disconnection between the motor and the first brush roller 4a. In order to ensure good fit at the connection between the motor and the first brush roller 4a, a positioning mechanism must be added again, which will increase the processing difficulty, design difficulty and manufacturing cost. Therefore, in order to disconnect the left end of the first brush roller 4a, a telescopic member 312 is symmetrically arranged at the left end of the support frame 31. The telescopic rod 313 inside the telescopic member 312 extends out and abuts against the vertical plate at the end of the fixed unit 102. At this time, the clamping module 1 is in a stationary state. After being abutted by the telescopic rod 313, it will generate a reaction force on the support frame 31. The support frame 31 will slide to the right along the guide rail 321, disconnecting the left end of the first pressure roller 4a.

[0075] Furthermore, such as Figure 27 As shown, in order to ensure that the telescopic component 312 can remain stable and not wobble when it extends, a protective pipe seat 311 is provided below the telescopic component 312. The protective pipe seat 311 has a hollow structure and a hydraulic oil pipe connected to the telescopic component 312 passes through it. A support plate is installed on the protective pipe seat 312, and the lower part of the extended end of the telescopic component 312 is fixed to the support plate so that the telescopic component 312 can be stably supported when it extends.

[0076] Furthermore, such as Figure 18-27As shown, the support unit 3 is equipped with a drive telescopic component 322, which is typically a cylinder. The drive telescopic component 322 contains a drive telescopic rod 323, which can extend or retract in the left and right directions. To allow the support frame 31 to quickly adjust its position and align with the first brush roller 4a before it lands, the drive telescopic component 322 is connected to a T-shaped connecting sleeve 315 located below the support frame 31 via the T-shaped head of the drive telescopic rod 313. This allows the position of the support frame 31 to be controlled by the drive telescopic component 323. A stroke limiting seat 317 is located at a corresponding position below the support frame 31. When the drive telescopic component 322 extends, the support... The guide groove 316 below the frame 31 cooperates with the guide rail 321 on the support base 32, causing the support frame 31 to slide in the left and right direction. The cylinder bottom of the drive telescopic member 322 abuts against the stroke limiting seat 317 to limit the movement, keeping the support frame 31 in place. At this time, the extended drive telescopic member 322 is in an unloaded exhaust state and no longer controls the sliding process of the support frame 31. This is because when the first brush roller falls onto the support frame 31, the telescopic member 312 contacts the fixed unit and drives the support frame 31 to disengage to the right. If the drive telescopic member 323 still maintains the load control state when disengaging, it will inevitably generate unnecessary interference force on the support frame 31, which will have a negative impact on the unloading process.

[0077] Furthermore, such as Figure 17-21As shown, when the first pressure roller 4a is placed on the support frame 31, due to the large mass of the first pressure roller 4a, it will generate a large impact force on the support frame 31. In order to make the support frame 31 and the support base 32 To ensure a stable and safe connection of the first brush roller 4a and to prevent it from bouncing above the support frame 31, an elastic support module 22 is provided between the support unit 3 and the traveling unit 2. The upper and lower ends of the elastic support module 22 are respectively hinged to the support base 32 of the traveling unit 2 and the traveling chassis 21 of the support unit 3. Due to the gravity transmission of the support unit 3 to the elastic support module 22, the elastic support module 22 is in a compressed state. Specifically, both the support base 32 and the traveling chassis 21 are provided with hinge seats 221. The elastic support module 22 includes multiple elastic support cylinders, each of which includes an earring 225 hinged to both hinge seats 221. The earring 325 below the support base 32 is locked by a nut 226 and a cylindrical outer shell 223. A support block 228 is fixed inside the outer shell 223. The support block 228 and the traveling chassis 221 are connected to each other. The earrings above the chassis 21 are connected by a support rod 227. An elastic element 222 is fitted on the outer wall of the support rod 227. In order to absorb the impact load generated when the first pressure roller 4a presses down, the elastic element 222 is usually a number of disc springs stacked side by side and close together. The gravity of the support unit 3 makes the disc springs tightly locked between the support block 228 and the support rod 227, so that the support block 228 generates an upward preload, forming a stable support effect for the support chassis 32 and the support frame 31. When the first brush roller 4a is placed on the front support frame 31, the upper and lower ends of the elastic support cylinder rotate. At the same time, the pressure transmitted by the first brush roller 4a causes the disc spring to undergo elastic deformation, forming a buffer and shock absorption effect in the vertical direction and the axial direction of the first brush roller 4a, thereby reducing the impact of the first brush roller 4a on the support unit 3 and ensuring that the first brush roller 4a will not jump when it is removed.

[0078] Furthermore, since the first brush roller 4a cannot be absolutely placed in the center of the support frame 31 when it is placed on the front support frame 31, the support unit 3 will inevitably deflect slightly. If the support base 32 and the traveling chassis 21 are rigidly connected, that is, welded or threaded, the connection will inevitably be affected by the stress generated by the deflection. After repeated occurrences, the connection may crack or break. Therefore, the upper and lower ends of the elastic support cylinder are designed to be hinged. The hinged design can also meet and support the falling first brush roller 4a, so that the entire support unit 3 provides floating support for the first brush roller 4a while protecting the support unit 3 and the traveling unit 2 to the greatest extent.

[0079] Furthermore, such as Figure 21As shown, to prevent wear caused by frequent contact between the support block 228 and the disc spring, a bushing 229 is provided between the support block 228 and the disc spring. When the disc spring abuts against the support block 228, the bushing 229 can be a copper sleeve with low hardness, which can act as a buffer to prevent direct contact between the disc spring and the support block 228. The worn bushing 229 can also be directly replaced, thus avoiding wear problems and saving maintenance costs. In order to minimize wear caused by component contact, an oil nozzle 224 is provided on the outer shell 223. When maintaining the elastic support cylinder, lubricating oil can be added to the oil nozzle 224 to minimize component wear during the extension and retraction of the elastic support cylinder, thereby making the operation of the elastic support cylinder smoother.

[0080] like Figure 12-16 As shown, when the support frame 31 drives the first brush roller 4a to slide to the right, the support frame 31 deflects slightly. Since the positions of the first brush roller 4a and the support frame 31 on the support base 32 cause the center of gravity of the entire roller changing module to change, the direction of deflection of the support unit 3 cannot be absolutely determined. That is to say, the support unit 2 may deflect in any direction, such as forward, backward, left, or right. The deflected support unit 2 will cause the first pressure roller 4a to slide obliquely downward. In order to prevent this tendency and avoid the support unit 2 and the first brush roller 4a from tipping over, two buffer units are symmetrically arranged on the left and right sides above the traveling unit 2. The buffer unit includes a column 24. The elastic buffer wheel 34 is connected to the lower end of the support unit 3. The left or right side of the outer wall of the column 24 in the front, back, left and right directions is empty. On the other three sides of the column 24, there is a corresponding elastic buffer wheel 34 that abuts against it. In step S4, when the support frame 31 drives the first brush roller 4a to slide to the right, the elastic support module 22 drives the support unit 3 to deflect slightly in the up and down direction. At this time, the elastic buffer wheel 34 is squeezed against the column 24 and undergoes elastic deformation, and generates a reaction force on the support unit 3, so that the first brush roller 4a returns to horizontal so that the next roller unloading operation can be carried out.

[0081] Specifically, such as Figure 16As shown, the elastic buffer wheel 34 includes a buffer base 346 installed below the support base 32. A buffer assembly is connected to the buffer base 346 by screws. The buffer assembly includes a buffer seat 343 and a rotating wheel 341. The rotating wheel 341 is hinged to the buffer seat 343 by a third pin 342. An elastic buffer element 345 is provided between the buffer seat 343 and the buffer base 346. When a large external force is applied to the rotating wheel 341, in order to enable the elastic buffer element 345 to provide sufficient rebound force, the elastic buffer element 345 is usually a mold spring or disc spring made of metal material. In addition to providing a reverse support elastic force to the support base 32, the elastic buffer wheel 34 can also use the good rebound elasticity of the mold spring or disc spring to generate an elastic force on the support base 32 in the front-back and left-right directions, so that the support base 32 is fixed in the front-back and left-right directions, so as to install the support base 31 and the elastic support module 22.

[0082] like Figure 17 As shown, to keep the roller changing module fixed during roller unloading, a positioning unit is provided between the traveling unit 2 and the ground. The positioning unit includes a positioning telescopic component 211 and a positioning seat d. The positioning telescopic component 211 is set on the traveling chassis 21 of the traveling unit 2 and can extend and retract vertically. The positioning telescopic component 211 is usually a cylinder, and a positioning telescopic rod 212 is set inside it. The head of the positioning telescopic rod 212 is V-shaped. The positioning seat d is fixed on the ground and has a V-shaped groove on the top. During the roller unloading step, when the traveling unit 2 needs to stop unloading the roller, the positioning telescopic component 211 extends and cooperates with the positioning seat d. The head of the positioning telescopic rod 212 is inserted into the V-shaped groove, keeping the traveling unit 2 fixed front and back. After the roller unloading is completed, when the traveling unit 2 needs to slide to the next roller loading step, the positioning telescopic component 211 retracts, and the head of the positioning telescopic rod 212 disengages from the V-shaped groove, allowing the traveling unit 2 to move forward.

[0083] Specifically, the positioning telescopic component 211 is controlled by the receiving unit (not shown). When the walking unit 2 needs to slide to proceed to the next roller loading step, the telescopic rod 313 of the telescopic component 312 on the support frame 31 with the first brush roller 4a mounted in front retracts. At the side of the telescopic rod 313, a detection element e is provided on the tube holder 311. By utilizing the contact cooperation between the telescopic rod 313 and the detection element e, the telescopic rod 313 can have the function of controlling the state of the walking unit 2. When the telescopic rod 313 retracts, the rod head triggers the detection element e, and the detection element e will send an action signal to the receiving unit, causing the positioning telescopic rod 212 to retract and disengage from the positioning seat d, thereby allowing the walking unit 2 to move forward.

[0084] like Figure 15As shown, in order to prevent the clamping module 1 from moving downwards and aligning with the left and right sides of the support frame 31, thus avoiding misalignment between the clamping module 1 and the support frame 31 during roller changing, a limiting unit is provided between the support unit 3 and the clamping module 1. The limiting unit includes a first limiting member 106 and a second limiting member 36. The first limiting member 106 is a block-shaped body located on the clamping module 1, and the second limiting member 36 is a cylindrical body located on the support unit 3. When the clamping module 1 controls the first brush roller 4a to be placed in position on the support frame 31, the first limiting member 106 and the second limiting member 36 abut against each other. The area of ​​the lower end face of the block-shaped first limiting member 106 that contacts the second limiting member 36 is larger than the area of ​​the upper end face of the second limiting member 36, so that the first limiting member 106 and the second limiting member 36 can fully contact each other, preventing the clamping module 1 from moving downwards.

[0085] S5: Roller loading; as shown Figure 7-8 As shown, the clamping module 1 is controlled to move upward and backward by the driving element, and the walking unit 2 moves forward. Then, the clamping module 1 is controlled to move downward to the left and right sides of the second brush roller 4b. After that, the sliding unit 101 is controlled to move to the left and backward, so that the right and left ends of the second brush roller 4b are respectively inserted into the sliding unit 101 and the fixing unit 102.

[0086] like Figure 11 As shown, before the first brush roller 4a is placed onto the support frame 31, the support frame 31 is aligned with the first brush roller 4a on the clamping module 1 in the front-to-back direction by the drive of the telescopic member 322. Due to the inherent error of the equipment, this alignment is not absolute. Therefore, a front-to-back guide unit is provided between the support unit 3 and the clamping module 1. The front-to-back guide unit is symmetrically arranged and includes an elastic swing wheel 33 and a guide block 103. The elastic swing wheel 33 is mounted on the support base 32 of the support unit 3 and can be positioned relative to the support unit 3. The clamping module 1 undergoes elastic deflection; the guide block 103 is fixed on the fixed unit 102, and the guide block 103 is provided with a guide slope 104. During the loading or unloading of the roller, when the clamping module 1 moves downward, the guide slope 104 first contacts the elastic swing wheel 33, causing the elastic swing wheel 33 to rotate and undergo elastic deflection. The deflection force will be transmitted through the support frame 31 to the elastic buffer wheel 34 under the support base 32, and drive the elastic buffer wheel 34 under the support unit 3 to undergo slight elastic deformation, so that the clamping module 1 and the support frame 31 are aligned front and back.

[0087] Specifically, such as Figure 23-25As shown, conventional guide wheels rely on the elastic deformation of their own material for guidance. However, when a guide wheel is subjected to a large compressive load, the material itself may break. Therefore, in this embodiment, the guidance of the clamping module 1 is mainly achieved through an elastic swing wheel 33. The elastic swing wheel 33 includes a base 338 fixed on the support base 32. A swing assembly is hinged to the base 338 via a second pin 334. The swing assembly includes a swing seat 332. A rotatable guide wheel 331 is hinged to the swing seat 332 via a first pin 333. The guide wheel 331 is typically made of rubber with good resilience. To enable the guide wheel 331 to generate elastic swing when compressed by the fixing unit 102, the swing... A connecting shaft 339 is fixed on the base 332. The mounting plate 336 and the connecting shaft 339 are connected by bolts. On the outside of the bolts, an elastic telescopic member 337 in a compressed state is sleeved. The elastic telescopic member 337 is usually a mold spring or disc spring to cope with the large load generated by the extrusion force. A horizontal plate 335 is provided on the base 338. When the guide wheel 331 and the swing seat 332 are not squeezed by the guide block 103, the swing seat 332 will abut against the horizontal plate 335. When the guide wheel 331 and the swing seat 332 are squeezed by the guide block 103, the swing seat 332 and the guide wheel 331 will elastically swing relative to the base 338. The guide wheel 331 and the swing seat 332 have a swing angle b relative to the base 338. The swing angle b is usually 3°-10°.

[0088] Furthermore, such as Figure 13 As shown, in order to ensure that the clamping module 1 continues to slide down stably after being aligned with the support frame 31, guide support plates 105 are symmetrically arranged on the front and rear sides of the clamping module 1. Near the guide support plate 105, the support base 32 is also provided with elastic swing wheels 33. When the clamping module 1 is aligned with the support frame 31, the guide support plate 105 contacts the elastic swing wheel 33, providing a stable sliding support point for the clamping module 1 to move down, so that the clamping module 1 can move smoothly to the designated position.

[0089] like Figure 11As shown, before the first brush roller 4a is placed onto the support frame 31, the support frame 31 is aligned with the first brush roller 4a on the clamping module 1 in the left-right direction by the drive of the telescopic member 322. Due to the inherent error of the equipment, this alignment is not absolute. Therefore, a left-right guide unit is provided between the support unit 3 and the clamping module 1. The left-right guide unit includes a guide seat 35 and a guide post 107. The guide seat 35 is symmetrically arranged on the support base of the support unit 3, and the guide post 107 is also correspondingly installed on the fixing unit 102. Specifically, the guide post 107 is sleeved on the rotating shaft of the clamping module 1 in the front-to-back direction and can rotate circumferentially. The guide seat 35 is provided with a slot, and above the slot is a through V-shaped opening 351. When the clamping module 1 moves downward to load or unload the roller, the guide post 107 rotates after contacting the inclined surface of the V-shaped opening 351, and the guide post 107 is gradually guided into the slot, thereby causing the elastic buffer wheel 34 under the support unit 3 to undergo elastic deformation, so that the clamping module 1 and the support frame 31 are aligned left and right, thereby ensuring the normal loading and unloading of the brush roller 4.

[0090] like Figure 18-22 As shown, to make the floating support between the support base 32 on the support unit 3 and the walking chassis 21 more stable, at least two chains 231 are connected between the support base 32 and the walking chassis 21 of the support unit 3. The elastic support module 22 generates an upward preload in the compressed state, and the chains 231 remain taut under the support elastic force generated by the elastic support module 22. In the unloading step, when the first brush roller 4a is placed on the support frame 31, the disc spring in the elastic support module 22 is compressed, and the chains 231 switch to the relaxed state. In the loading step, when the second brush roller 4b is disengaged from the support frame 31, the chains 231 switch back to the taut state. By observing the tension of the chains 231, it is possible to better determine whether the brush roller 4 is properly placed on the support frame 31.

[0091] Furthermore, such as Figure 22As shown, the tension and relaxation states of chain 321 are switched instantaneously under the condition of gravity change. Utilizing this characteristic, it can have a control function similar to a switching device. At least one sensing component 23 can be installed on the chassis of the walking unit 2. The sensing component 23 includes a rotating base 232 and a sensing element c. The sensing element c is fixed on a bracket 235 next to the rotating base 232. Among the chains 231 connecting the support chassis 32 of the support unit 3 and the walking chassis 21 of the walking unit 2, at least one chain 231 is hinged to the rotating base 232 at its lower end. The rotating base 232 is hinged to the mounting base 234 of the walking chassis 21. The rotating base 232 is provided with a forward-extending rotating piece 236. An elastic member 233 in an elastic deformation state is provided between the rotating base 232 and the walking unit 2. The elastic member 233 can be hooked between the rotating base 232 and the walking chassis 21. The tension spring between them can also be a torsion spring hinged between the rotating seat 232 and the traveling chassis 21. During the unloading process, when the chain 231 is in a relaxed state, the elastic element 233 will undergo elastic deformation, causing the rotating plate 236 on the rotating seat 232 to rotate downwards. The action signal is sent to the control unit through the sensing element c. The control unit issues a command to make the sliding unit 101 slide to the right, so that the right end of the first brush roller 4a disengages from the sliding unit 101, and the remaining unloading operations are carried out successively. When loading the roller, the state of the chain 231 will only change after the second brush roller 4b is clamped and disengaged from the support frame 31. Therefore, although the support unit 3 where the second brush roller 4b is placed is configured the same as the support unit 3 in front, this is only to consider the commonality between the support units 3. The chain 231 and the sensing unit 23 do not participate in the control of the sliding unit 101 again during the loading process.

[0092] S6: Return to position; The second brush roller 4b is once again driven by the clamping module 1 to disengage from the support frame 31 and return to the steel plate brushing area s. Specifically, the returned second brush roller 4b will continue to work on the steel plate brushing area s. Since the method of the present invention does not require the new roller to be directly sent to the steel plate brushing area s when changing rollers, but is carried out in the roller changing channel throughout the process, the remaining brush rollers on the steel plate brushing area s will continue to work during the roller changing process. Therefore, the steel plate brushing area s does not need to stop work to complete the brush roller replacement, which greatly saves the roller changing time and improves the brushing efficiency of the steel plate.

[0093] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A method for changing rollers without stopping the machine, characterized in that, Includes the following steps: S1: Area division; The steel plate brushing area (s) and the roller changing channel are divided within the frame. The roller changing channel is located in the side area of ​​the steel plate brushing area (s); The steel plate brushing area (s) contains a working brush roller that does not need to be replaced and a first brush roller (4a) that needs to be replaced; Both the working brush roller and the first brush roller (4a) are clamped by the clamping module (1) on the steel plate brushing area (s); S2: Preset clamping module (1); The clamping module (1) is controlled by a driving element and can slide horizontally in the up, down, left and right directions; The clamping module (1) includes a fixed unit (102) and a sliding unit (101), and a first brush roller (4a) is provided between the fixed unit (102) and the sliding unit (101). The axis of the first brush roller (4a) is in the left and right direction; The sliding unit (101) can slide in the left and right direction so that the first brush roller (4a) is installed in place or disengaged on the clamping module (1); S3: Pre-replacement roller module; The roller replacement module includes a traveling unit (2) and two parallel support units (3) aligned front to back. The support units (3) are mounted above the traveling unit (2), and the traveling unit (2) can drive the support units (3) forward. An elastic support module (22) is provided between the support unit (3) and the traveling unit (2). The upper and lower ends of the elastic support module (22) are respectively hinged to the traveling unit (2) and the support unit (3). A connection is provided between the support unit (3) and the traveling unit (2). At least two chains (231); the chains (231) are kept taut under the support elastic force generated by the elastic support module (22); the support unit (3) includes a support frame (31), which can slide in the left and right direction; the support frame (31) on the front support unit (3) is empty, and the support frame (31) on the rear support unit (3) is equipped with a second brush roller (4b); the empty support frame (31) is provided with a telescopic member (312) on the left end, which can extend or retract in the left and right direction; S4: Unloading the roller; using the drive element to control the clamping module (1) to move the first brush roller (4a) from the steel plate brushing area (s) to above the roller changing channel, then the walking unit (2) drives the support unit (3) into the roller changing channel, and proceeds to a position aligned with the clamping module (1) before stopping. Then, using the drive element to control the clamping module (1) to move down, the first brush roller (4a) is placed on the empty support frame (31). When the first brush roller (4a) is placed on the support frame (31), the chain (231) is switched to the relaxed state. Then, the sliding unit (101) is controlled to slide to the right, so that the right end of the first brush roller (4a) is disengaged. Then, the telescopic member (312) is extended to the left, so that it abuts against the fixed unit (102), thereby allowing the support frame (31) to drive the first brush roller (4a) to slide to the right until the first brush roller (4a) is completely disengaged from the fixed unit (102). S5: Roller loading; control the clamping module (1) to move upward using the drive element and move the walking unit (2) forward, then control the clamping module (1) to move downward to the left and right sides of the second brush roller (4b), and then control the sliding unit (101) to move to the left, so that the right and left ends of the second brush roller (4b) are respectively inserted into the sliding unit (101) and the fixing unit (102). S6: Return to position; The clamping module (1) is controlled by the drive element to drive the second brush roller (4b) to disengage from the support frame (31) and return to the steel plate brushing area (s); When the second brush roller (4b) disengages from the support frame (31), the chain (231) switches back to the tensioned state.

2. The roller changing method without stopping the machine according to claim 1, characterized in that: In step S3, the elastic support module (22) is in a compressed state and generates an upward supporting elastic force on the support unit (3); In step S4, when the first brush roller (4a) is placed on the front support frame (31), the upper and lower ends of the elastic support module (22) deflect and the elastic support module (22) is further compressed, so that the first brush roller (4a) remains stable and does not jump.

3. The roller changing method without stopping the machine according to claim 2, characterized in that: Two buffer units are symmetrically arranged on the left and right sides above the walking unit (2). The buffer unit includes a column (24) and an elastic buffer wheel (34). The elastic buffer wheel (34) is connected to the lower end of the support unit (3). The column (24) is in an empty state on the left or right side of the outer wall surface in the front, back and left and right directions. On the other three directions of the column (24), there are corresponding elastic buffer wheels (34) that abut against it. In step S4, when the support frame (31) drives the first brush roller (4a) to slide to the right, the elastic support module (22) drives the support unit (3) to deflect in the up and down direction. At this time, the elastic buffer wheel (34) is squeezed and elastically deformed by the column (24), and generates a reaction force on the support unit (3), so that the first brush roller (4a) returns to the horizontal.

4. The roller changing method without stopping the machine according to claim 3, characterized in that: A front and rear guide unit is provided between the support unit (3) and the clamping module (1). The front and rear guide unit includes an elastic swing wheel (33) and a guide block (103). The elastic swing wheel (33) is set on the support unit (3) and can be elastically deflected relative to the support unit (3). The guide block (103) is set on the fixed unit (102). The guide block (103) is provided with a guide slope (104). In steps S4 and S5, when the clamping module (1) moves downward, the guide slope (104) contacts the elastic swing wheel (33), causing the elastic swing wheel (33) to rotate and be elastically deflected, and causing the elastic buffer wheel (34) under the support unit (3) to undergo elastic deformation, so that the clamping module (1) and the support frame (31) are aligned front and rear.

5. The roller changing method without stopping the machine according to claim 3, characterized in that: A left and right guide unit is provided between the support unit (3) and the clamping module (1). The left and right guide unit includes a guide seat (35) and a guide post (107). The guide seat (35) is set on the support unit (3), and the guide post (107) is set on the fixed unit (102). The guide seat (35) is provided with a slot, and the top of the slot is a through V-shaped opening (351). In steps S4 and S5, when the clamping module (1) moves downward, the guide post (107) rotates after contacting the inclined surface of the V-shaped opening (351) and is gradually guided into the slot, thereby causing the elastic buffer wheel (34) under the support unit (3) to undergo elastic deformation, so that the clamping module (1) and the support frame (31) are aligned left and right.

6. The method for changing rollers without stopping the machine according to claim 1, characterized in that: The support frame (31) is provided with a guide groove (316) below it, and the support unit (3) is provided with a guide rail (321) extending in the left and right direction. In step S4, the guide groove (316) and the guide rail (321) cooperate to allow the support frame (31) to slide in the left and right direction on the support unit (3).

7. The roller changing method without stopping the machine according to claim 1, characterized in that: The support unit (3) is provided with a drive telescopic component (322), which can extend or retract in the left and right directions; the drive telescopic component (322) is connected to the lower part of the support frame (31); in step S4, the drive telescopic component (322) extends and drives the support frame (31) to slide in the left and right directions so that the support frame (31) is kept in place.

8. The roller changing method without stopping the machine according to claim 1, characterized in that: The sliding unit (101) is controlled by the control unit. In step S4, when the first brush roller (4a) is placed on the support frame (31), the control unit sends a command to the sliding unit (101) to slide to the right, thereby disengaging the right end of the first brush roller (4a).

9. A roller changing method without stopping the machine according to claim 8, characterized in that: The walking unit (2) is provided with at least one sensing component (23), which includes a rotating seat (232) and a sensing element (c). The rotating seat (232) is hinged to the walking unit (2). Among the chains (231) connecting the support unit (3) and the walking unit (2), at least one chain (231) is hinged to the rotating seat (232) at its lower end. An elastic member (233) in an elastic deformation state is provided between the rotating seat (232) and the walking unit (2). In step S4, when the chain (231) is in a relaxed state, the elastic force generated by the elastic member (233) drives the rotating seat (232) to rotate downward, and sends the action signal to the control unit through the sensing element (c). The control unit issues a command to make the sliding unit (101) slide to the right, so that the right end of the first brush roller (4a) disengages from the sliding unit (101).

10. A roller changing method without stopping the machine according to claim 1, characterized in that: A positioning unit is provided between the walking unit (2) and the ground. The positioning unit includes a positioning telescopic component (211) and a positioning seat (d). The positioning telescopic component (211) is set on the walking unit (2) and can extend and retract vertically. The positioning seat (d) is fixed on the ground. In step S4, when the walking unit (2) stops, the positioning telescopic component (211) extends and cooperates with the positioning seat (d) to keep the walking unit (2) fixed in front and behind. In step S5, when the walking unit (2) needs to slide, the positioning telescopic component (211) retracts and disengages from the positioning seat (d) to make the walking unit (2) move forward.

11. A roller changing method without stopping the machine according to claim 1, characterized in that: A limiting unit is provided between the support unit (3) and the clamping module (1). The limiting unit includes a first limiting member (106) and a second limiting member (36). The first limiting member (106) is located on the clamping module (1), and the second limiting member (36) is located on the support unit (3). In step S4, when the clamping module (1) controls the first brush roller (4a) to be placed in the support frame (31), the first limiting member (106) and the second limiting member (36) abut against each other, preventing the clamping module (1) from continuing to move downward.

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