Automatic roll changing robot for full roll system of 20-roll mill

Abstract

The invention belongs to the technical field of roll changing of single-stand multi-roll mills, and relates to a 20-roll mill full-roll system automatic roll changing robot which comprises a roll changing robot body and a rail used for bearing the roll changing robot body, and the roll changing robot body is installed on the rail in a rolling and walking mode. The roller changing robot comprises a transfer trolley installed on a track in a rolling and walking mode, a lifting and rotating mechanism installed on the transfer trolley in the width direction of the transfer trolley in a sliding mode, and a roller changing tool assembly installed on the lifting and rotating mechanism. The rectangular guide frame is arranged on the lifting swing mechanism in a sleeving mode and can slide up and down along the lifting swing mechanism under the action of the lifting swing mechanism and rotate around the lifting swing mechanism. According to the automatic roll changing device, the mode that multiple execution ends are adopted, and each execution end is provided with an independent roll changing tool is adopted, the requirement for high-speed roll changing of working rolls is met while the requirement for automatic roll changing of a full-roll system of a 20-roll mill is met, production efficiency is improved, and labor intensity is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of roll changing for a single-frame multi-roller rolling mill, and relates to a full-roll system automatic roll changing robot for a 20-roller rolling mill. Background Art

[0002] The 20-roll mill is the core equipment of the ultra-thin plate production line, which is used to repeatedly roll plates of ordinary thickness to achieve the production of ultra-thin plates. The 20-roll mill is mainly composed of a frame, a roll system, a roll box, a press device, a drive device, etc. Among them, the roll system is a very important component, which is divided into two groups, upper and lower. Each group consists of 4 support rolls, 3 second intermediate rolls, 2 first intermediate rolls and 1 working roll, that is, a 20-roll mill has 4 groups of support rolls, 3 groups of second intermediate rolls, 2 groups of first intermediate rolls and 2 working rolls. The frame is a rectangular integral frame arch cast with high-quality steel, and the roll box is an upper and lower split roll box that slides with the arch window. It can be seen that the roll system of the 20-roll mill is very complex, with a large number of rolls, and there are also great differences in the structural dimensions of different types of rolls in the roll system, and the replacement frequency is very high.

[0003] At present, the second intermediate roll and support roll of the 20-roll mill are replaced by manually operated balance beams, the first intermediate roll is replaced by manually operated ordinary roll changing vehicles, and the working roll is replaced by manual direct handling; the roll changing tools are simple and diverse, the replacement efficiency is low, the labor intensity is high, and the safety is poor. At the same time, the working roll change frequency is very high, and the roll change cycle requirements are very tight. Therefore, how to achieve high-speed automatic roll change of the working roll is also crucial.

[0004] Therefore, it is very necessary to explore an efficient 20-roll mill full-roll automatic roll changing robot that can meet the needs of automatic roll changing of the 20-roll mill full-roll system while meeting the requirements of high-speed roll changing of working rolls, thereby improving production efficiency and reducing labor intensity. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a 20-roll mill full roll system automatic roll changing robot. By adopting multiple execution ends, each execution end is equipped with an independent roll changing tool. While realizing the need for automatic roll changing of the full roll system of the 20-roll mill, it meets the requirement of high-speed roll changing of the working rolls, improves production efficiency and reduces labor intensity.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A 20-roller mill full-roll system automatic roll-changing robot, comprising a roll-changing robot and a track for carrying the roll-changing robot, and the roll-changing robot is installed on the track for rolling travel;

[0008] The roll-changing robot comprises a transfer vehicle mounted on a track for rolling travel, a lifting and rotating mechanism mounted on the transfer vehicle for sliding along the width direction of the transfer vehicle, and a roll-changing tool assembly mounted on the lifting and rotating mechanism;

[0009] The roll changing tool assembly includes a second intermediate roll and support roll changing special tool, a working roll changing special tool, a first intermediate roll changing special tool, and a rectangular guide frame for installing the second intermediate roll and support roll changing special tool, the working roll changing special tool, and the first intermediate roll changing special tool, and the working roll changing special tool is two sets, and is installed on two adjacent sides of the rectangular guide frame, and the second intermediate roll and support roll changing special tool and the first intermediate roll changing special tool are respectively installed on the remaining two sides of the rectangular guide frame to form four execution ends with roll changing special tools to automatically clamp various types of rolls in the 20-roll mill;

[0010] The rectangular guide frame is sleeved on the lifting and rotating mechanism, and can slide up and down along the lifting and rotating mechanism and rotate around the lifting and rotating mechanism under the action of the lifting and rotating mechanism, so that the roller changing tool assembly can slide up and down along the lifting and rotating mechanism and rotate around the lifting and rotating mechanism.

[0011] Furthermore, the special tool for changing the working roll includes a working roll clamping mechanism and a vertical swing mechanism. The vertical swing mechanism is fixedly installed on the rectangular guide frame. The working roll clamping mechanism is swingably connected to the rectangular guide frame through the vertical swing mechanism, and swings vertically under the action of the vertical swing mechanism to lift the working roll upward.

[0012] Furthermore, the first intermediate roller changing special tool includes a first intermediate roller clamping mechanism and a second horizontal swing mechanism, the second horizontal swing mechanism is fixedly installed on the rectangular guide frame, the first intermediate roller clamping mechanism is swingably connected to the rectangular guide frame through the second horizontal swing mechanism, and swings horizontally under the action of the second horizontal swing mechanism.

[0013] Furthermore, the special tool for changing the second intermediate roller and the support roller includes a rotating clamping mechanism and a first horizontal swing mechanism for clamping the second intermediate roller and the support roller. The first horizontal swing mechanism is fixedly mounted on the rectangular guide frame. The rotating clamping mechanism is swingably connected to the rectangular guide frame through the first horizontal swing mechanism and swings horizontally under the action of the first horizontal swing mechanism.

[0014] Furthermore, the rotary clamping mechanism comprises a tooling shaft and an automatic rotary clamping device, wherein the tooling shaft is used to connect the second intermediate roller and the support roller, and is detachably fixedly connected to the automatic rotary clamping device;

[0015] The automatic rotary clamping device comprises a locking sleeve, a support, a push rod, a pull rod, a sleeve, an elastic member, a second gear and a top head, the locking sleeve is rotatably mounted in the support, a first stepped hole arranged along the axial direction is provided in the locking sleeve, and the large-diameter end of the first stepped hole is located at the front end of the locking sleeve, and a second gear is fixedly sleeved at the end of the locking sleeve to drive it to rotate; the pull rod is slidably mounted in the first stepped hole, and a blind hole for accommodating the end of the tooling shaft is provided at the front end of the pull rod, and a plurality of second stepped holes arranged radially and connected to the blind holes are provided around the front end of the pull rod, and the push rod is slidably placed in the second stepped hole; the sleeve is fixedly mounted in the locking sleeve and slidably sleeved on the pull rod, the elastic member is arranged on the sleeve, one end of which is connected to the sleeve, and the other end is connected to the pull rod, and provides a force for the pull rod toward the end, and the top head is arranged at the end of the pull rod, and is used to provide a thrust to the front end of the pull rod when the pull rod needs it;

[0016] A conical surface is also provided on the part of the tooling connecting shaft close to the 45-degree guide slot, and a conical hole matching the conical surface is provided in the locking sleeve, so that the tooling connecting shaft and the locking sleeve are in contact connection;

[0017] The end of the tooling shaft is inserted into the blind hole through the tapered hole of the locking sleeve, and a 45-degree guide slot is provided at the end of the tooling shaft. The length of the push rod is greater than the depth of the second step hole, so that the push rod can be inserted into the 45-degree guide slot and slide from the position of the second step hole on the pull rod to the small aperture of the first step hole. The push rod locks the 45-degree guide slot under the action of the locking sleeve.

[0018] Furthermore, a first 45-degree guide surface and a second 45-degree guide surface are respectively provided on both sides of the protrusion at one end of the 45-degree guide slot close to the ejector head, so as to push the ejector rod to move outward when the end of the tooling shaft is pulled out and inserted into the blind hole, thereby allowing the ejector rod to be inserted into the 45-degree guide slot.

[0019] Furthermore, a third 45-degree guide surface is provided at the step of the first stepped hole to enable the push rod to slide at the step.

[0020] Furthermore, both ends of the push rod are designed with spherical surfaces to respectively cooperate with the first 45-degree guide surface and the second 45-degree guide surface in the 45-degree guide slot and the third 45-degree guide surface in the first stepped hole.

[0021] Furthermore, the lifting and rotating mechanism includes a locking mechanism, a rectangular guide column, a rotating transmission mechanism, a rotating support, a lifting mechanism and a base.

[0022] The base is slidably mounted on the transfer vehicle so that the lifting and rotating mechanism slides along the width direction of the transfer vehicle, and the rectangular guide column is rotatably connected to the base through a slewing bearing, one end of the slewing bearing is fixedly connected to the rectangular guide column, and the other end is rotatably connected to the base so that the rectangular guide column rotates relative to the transfer vehicle;

[0023] The rotary transmission mechanism is installed on the rectangular guide column, and is used to cooperate with the rotary support to drive the rectangular guide column to rotate a predetermined angle. The locking mechanism is installed on the rectangular guide column, and is used to position and lock the rectangular guide column after the rectangular guide column is rotated into place. One end of the lifting mechanism is installed on the rectangular guide column, and the other end is installed on a rectangular guide frame sleeved on the rectangular guide column, and is used to drive the rectangular guide frame to move up and down along the rectangular guide column.

[0024] Furthermore, the transfer vehicle is used to provide support for the whole machine, including a vehicle body, a linear guide rail, a front-to-rear moving transmission mechanism, and a left-to-right moving transmission mechanism. The linear guide rail is fixedly mounted on the front end of the vehicle body and is slidably connected to the base in the lifting and rotating mechanism. The left-to-right transmission mechanism is mounted on the vehicle body and is used to drive the lifting and rotating mechanism to slide along the linear guide rail in the width direction of the vehicle body.

[0025] The bottom of the vehicle body is provided with rail wheels matched with the track, and the forward and backward moving transmission mechanism is used for driving the rail wheels to rotate, thereby driving the vehicle body to move forward and backward along the track.

[0026] The beneficial effects of the present invention are:

[0027] The present invention provides a 20-roller rolling mill full-roll system automatic roll changing robot, which meets the requirements for the layout of the full-roll system roll changing tools by adopting multiple execution ends, each of which is equipped with an independent roll changing tool, and adopts a double working roll execution end and a vertical swing mechanism to achieve high-speed roll changing of the working rolls, avoid interference, and reduce the working space; the first intermediate roll, the second intermediate roll and the support roll roll changing special tools are all equipped with a horizontal swing mechanism, which can make them parallel to the moving direction of the car body when they are not changing rolls, thereby avoiding interference and reducing the working space; the roll changing tool assembly is lifted and rotated by the lifting and rotating mechanism, thereby meeting the needs of automatic roll changing of the full roll system of different roll changing special tools, and a front and rear translation mechanism and a left and right translation mechanism are configured on the car body to meet the needs of roll changing of different spatial positions of the full roll system rolls, and finally the needs of automatic roll changing of the full roll system of the 20-roller rolling mill are achieved while meeting the requirements of high-speed roll changing of the working rolls, thereby improving production efficiency and reducing labor intensity.

[0028] Secondly, the special tool for changing the second intermediate roller and the support roller provided by the present invention fixes the second intermediate roller and the support roller by setting the second intermediate roller tooling connecting shaft and the support roller tooling connecting shaft, and provides an automatic rotating clamping device that is detachably fixedly connected to the tooling connecting shaft, thereby realizing automatic roller changing of the second intermediate roller and the support roller; the end structures of the connecting shafts in the second intermediate roller tooling connecting shaft and the support roller tooling connecting shaft are set to be consistent, which satisfies the needs of fixing and positioning the rollers and the use of the automatic rotating clamping device to clamp the two rollers, greatly reducing spare parts and improving the efficiency of roller changing; by adopting a locking sleeve with a tapered hole and a pull rod structure with a push rod, the positioning and clamping and locking of the rollers are realized; by adopting a disc spring group and an electro-hydraulic direct-drive cylinder to respectively provide locking and releasing power for the pull rod, and by adopting a servo motor to drive the gear transmission, the rotation positioning of the second intermediate roller and the support roller is realized, and finally the needs of automatic roller changing of the second intermediate roller and the support roller are met, the production efficiency is improved, and the labor intensity is reduced.

[0029] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0031] Figure 1 This is a schematic diagram of an application of a 20-roller rolling mill full-roll system automatic roll changing robot in the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of the full-roll system automatic roll changing robot in the present invention;

[0033] Figure 3 It is a structural schematic diagram of the roller changing tool assembly in the present invention;

[0034] Figure 4 It is a structural schematic diagram of the lifting and rotating mechanism in the present invention;

[0035] Figure 5 It is a structural schematic diagram of the transfer vehicle in the present invention;

[0036] Figure 6 It is a schematic diagram of the structure of the special tool for changing the second intermediate roll and the support roll in the present invention;

[0037] Figure 7 It is a structural schematic diagram of the rotary clamping mechanism in the present invention;

[0038] Figure 8 It is a schematic diagram of the structure of the automatic rotary clamping device in the present invention;

[0039] Fig. 9 It is a structural schematic diagram of the support roller fixture connecting shaft in the present invention;

[0040] Fig.10 It is a structural schematic diagram of the second intermediate roller fixture connecting shaft in the present invention;

[0041] Fig.11 It is a structural schematic diagram of the special tool for changing working rolls in the present invention;

[0042] Fig.12 It is a structural schematic diagram of the first intermediate roll changing special tool in the present invention;

[0043] Fig.13 It is a schematic diagram of the roll changing state of each roll changing tool assembly in the present invention.

[0044] Reference numerals: rolling mill body 1, roll changing robot 2, roll system structure 3, track 4;

[0045] Roller changing robot 2: roll changing tool assembly 21, lifting and rotating mechanism 22, transfer vehicle 23;

[0046] Roll changing tool assembly 21: a special tool 211 for changing the second intermediate roll and the support roll, a special tool 212 for changing the working roll, a rectangular guide frame 213, and a special tool 214 for changing the first intermediate roll;

[0047] Lifting and rotating mechanism 22: locking mechanism 221, rectangular guide column 222, rotating transmission mechanism 223, rotating support 224, lifting mechanism 225, base 226;

[0048] Transfer vehicle 23: vehicle body 231, linear guide rail 232, front and rear moving transmission mechanism 233, cable drum 234, left and right transmission mechanism 235;

[0049] The second intermediate roll and support roll replacement special tool 211: a rotating clamping mechanism 2111, a first oscillating mechanism 2112, and a transition connecting piece 2113;

[0050] Rotating clamping mechanism 2111: supporting roller tooling connecting shaft 21111, first connecting shaft 2111101, threaded pin 2111102, waist-shaped hole 2111103, second intermediate roller tooling connecting shaft 21112, set screw 2111201, second connecting shaft 2111202, automatic rotating clamping device 21113, locking sleeve 2111301, support 2111302, push rod 2111303, pull rod 2111304, sleeve 2111305, disc spring assembly 2111306, first gear 211 1307, second gear 2111308, servo motor 2111309, top head 21113010, electro-hydraulic direct drive cylinder 21113011, locking nut 21113012, bearing 21113013, tapered hole 21113014, third 45 degree guide surface 21113015, first stepped hole 21113016, second stepped hole 21113017, 45 degree guide slot 21114, first 45 degree guide surface 2111401, second 45 degree guide surface 2111402;

[0051] Special tool 212 for working roll changing: working roll clamping mechanism 2121, vertical swing mechanism 2122;

[0052] Rectangular guide frame 213: rectangular frame 2131, guide roller 2132;

[0053] The first intermediate roller changing special tool 214 includes a first intermediate roller clamping mechanism 2141 and a second oscillating mechanism 2142 . DETAILED DESCRIPTION

[0054] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0055] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0056] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0057] See also Figures 1 to 13 , which is a 20-roller mill full-roll system automatic roll changing robot, used for automatically changing the working rolls, the first intermediate rolls, the second intermediate rolls and the support rolls in the roll system structure 3 in the mill body 1, and includes a roll changing robot 2 and a track 4 for carrying the roll changing robot 2, and the roll changing robot 2 is installed on the track 4 for rolling travel;

[0058] The roll-changing robot 2 includes a transfer vehicle 23 that is mounted on a track 4 and rolls along the transfer vehicle 23 , a lifting and rotating mechanism 22 that is mounted on the transfer vehicle 23 , and a roll-changing tool assembly 21 that is mounted on the lifting and rotating mechanism 22 .

[0059] The roll changing tool assembly 21 includes a second intermediate roll and support roll changing special tool 211, a working roll changing special tool 212, a first intermediate roll changing special tool 214 and a rectangular guide frame 213 for installing the second intermediate roll and support roll changing special tool 211, the working roll changing special tool 212 and the first intermediate roll changing special tool 214, and the working roll changing special tool 212 is in two sets and is installed on two adjacent sides of the rectangular guide frame 213, and the second intermediate roll and support roll changing special tool 211 and the first intermediate roll changing special tool 214 are respectively installed on the other two sides of the rectangular guide frame 213 to form four execution ends with special roll changing tools for automatically clamping various types of rolls in the roll system structure 3 of the 20-roll mill.

[0060] The second intermediate roller and support roller replacement special tool 211 is integrally mounted on a rectangular guide frame 213, and includes a rotating clamping mechanism 2111 and a first oscillating mechanism 2112 for clamping the second intermediate roller and the support roller. The first oscillating mechanism 2112 is fixedly mounted on the rectangular guide frame 213. The rotating clamping mechanism 2111 is oscillatingly connected to the rectangular guide frame 213 through the first oscillating mechanism 2112, and performs horizontal oscillation under the action of the first oscillating mechanism 2112.

[0061] The rotating clamping mechanism 2111 is used to automatically clamp the second intermediate roll and the support roll, and can swing horizontally under the action of the first oscillating mechanism 2112 to place the old roll on the storage rack or clamp the new roll from the storage rack; the rotating clamping mechanism 2111 can also rotate the roll to adjust the predetermined angle so as to insert it into the slot in the rolling mill body. In the non-working state, the roll changing tool is adjusted to a position parallel to the car body, thereby reducing the working space and avoiding interference with the rolling mill body 1 and surrounding facilities during the working process.

[0062] Specifically, the special tool 211 for changing the second intermediate roll and the support roll comprises a support roll tooling shaft 21111, a second intermediate roll tooling shaft 21112 and an automatic rotating clamping device 21113. The support roll tooling shaft 21111 and the second intermediate roll tooling shaft 21112 can both be detachably fixedly connected to the automatic rotating clamping device 21113, and the structure of the connection between the support roll tooling shaft 21111 and the second intermediate roll tooling shaft 21112 and the automatic rotating clamping device 21113 is the same, so that the automatic rotating clamping device 21113 can clamp the support roll and the second intermediate roll respectively, so as to realize the automatic clamping and replacement of the second intermediate roll and the support roll of the 20-roll mill.

[0063] The automatic rotary clamping device 21113 is used to automatically clamp the support roller tooling shaft 21111 or the second intermediate roller tooling shaft 21112, and automatically rotate the corresponding roller to a set angle through the support roller tooling shaft 21111 or the second intermediate roller tooling shaft 21112, and includes a locking sleeve 2111301, a support 2111302, a push rod 2111303, a pull rod 2111304, a sleeve 2111305, a disc spring group 2111306, a first gear 2111307, a second gear 2111308, a servo motor 2111309, a push head 21113010 and an electro-hydraulic direct-drive cylinder 21113011;

[0064] The support is used to support the automatic rotating clamping device, and the locking sleeve 2111301 is installed in the support 2111302 through a bearing 21113013. A tapered hole 21113014 is provided at the front end for cooperating with the tooling shaft to achieve precise positioning of the roller connected to the tooling shaft; a first stepped hole 21113016 arranged along the axial direction is provided in the middle of the locking sleeve 2111301 to achieve scaling of the push rod 2111303 along its radial direction, thereby achieving locking and loosening of the tooling shaft; and a second gear 2111308 is provided at the fixed sleeve at its end for driving the locking sleeve 2111301 to rotate.

[0065] The push rod 2111303 adopts a stepped shaft design and is slidably installed in a second stepped hole 21113017 radially arranged in the pull rod 2111304, and the length of the push rod 2111303 is greater than the depth of the second stepped hole, and the end of the push rod 2111303 away from the pull rod 2111304 is a large diameter end, thereby meeting the requirements of movement and limitation of the push rod 2111303 at the same time;

[0066] The pull rod 2111304 is axially slidably installed in the locking sleeve 2111301, and a blind hole is provided at the front end for accommodating the 45-degree guide slot 21114 in the tooling shaft to provide an operating space for the end of the tooling shaft; and four second stepped holes arranged radially and connected to the blind holes are provided around the front end of the pull rod 2111304 for installing the push rod 2111303; the end of the pull rod 2111304 is provided with a thread for installing the locking nut 21113012;

[0067] The sleeve 2111305 is installed in the locking sleeve 2111301 and connected to the locking sleeve 2111301 at its end by bolts to fix the sleeve on the locking sleeve; the sleeve 2111305 is slidably sleeved on the pull rod 2111304, and a disc spring group 2111306 is arranged in the sleeve 2111305. The front end of the disc spring group 2111306 is connected to the sleeve 2111305, and the end is connected to the locking nut 21113012 on the pull rod. The sleeve 2111305 is used to provide guiding positioning for the pull rod 2111304, and at the same time provide installation support and reverse force for the disc spring group 2111306. The pull rod 2111304 moves toward the end under the action of the pre-tightening force of the disc spring group 2111306.

[0068] The inner diameter of the inner hole of the first stepped hole in the locking sleeve 2111301 near the front end is larger than the inner diameter of the inner hole adjacent to it and near the end, so that when the pull rod 2111304 moves toward the end under the action of the preload force of the disc spring group 2111306, the top rod 2111303 installed in the second stepped hole shrinks toward the center of the pull rod 2111304.

[0069] The second gear 2111308 is installed on the locking sleeve 2111301 and is connected to the first gear 2111307 meshing therewith. The first gear 2111307 is connected to the servo motor 2111309, so that the angle of the support roller bearing seat or the second intermediate roller can be accurately adjusted when the servo motor 2111309 drives the first gear 2111307, thereby realizing the installation of the support roller or the second intermediate roller in the slots arranged at different angles.

[0070] The electro-hydraulic direct-drive cylinder 21113011 is arranged at the end of the entire automatic rotary clamping device, and is used to provide a larger forward thrust for the ram 21113010 in a smaller space, while avoiding the need to set up a hydraulic station and arrange hydraulic pipelines. The ram 21113010 is in contact connection with the end of the pull rod 2111304, so that the force of the electro-hydraulic direct-drive cylinder 21113011 pushes the pull rod 2111304 forward through the ram 21113010 to overcome the pre-tightening force of the disc spring group 2111306, thereby allowing the ram 2111303 to enter the inner hole in the first step hole near the front end of the locking sleeve 2111301, thereby loosening the tooling coupling.

[0071] Preferably, both ends of the push rod 2111303 adopt a spherical design, and a third 45-degree guide surface 21113015 matching the spherical design is provided at the step of the first stepped hole 21113016, thereby achieving scaling of the push rod 2111303.

[0072] A 45-degree guide slot 21114 cooperating with the push rod 2111303 is provided at one end of the tooling shaft, and a first 45-degree guide surface 2111401 and a second 45-degree guide surface 2111402 are respectively provided on both sides of the protrusion of one end of the 45-degree guide slot 21114 close to the top head 21113010 to cooperate with the spherical design of the push rod 2111303, thereby pushing the push rod 2111303 to move outward.

[0073] The tooling connection shaft comprises a support roller tooling connection shaft 21111 connected to the support roller and a second intermediate roller tooling connection shaft 21112 connected and positioned with the second intermediate roller;

[0074] The main components of the support roller tooling connecting shaft include: a first connecting shaft 2111101, a threaded pin 2111102 and a waist-shaped hole 2111103. The first connecting shaft 2111101 is used to connect the support roller shaft end and the automatic rotating clamping device 21113, and the threaded pin 2111102 and the waist-shaped hole 2111103 are used to position and fix the support roller and the support roller bearing seat.

[0075] The front end of the first connecting shaft 2111101 is provided with a thread for connecting with the shaft end of the support roller; the middle part is provided with a threaded pin mounting hole and a waist-shaped hole 2111103, which are respectively used to position the support roller and the bearing seat to prevent the position of the bearing seat from changing when the support roller rotates; the end is provided with a 45-degree guide groove 21114, the first 45-degree guide surface 2111401 and the second 45-degree guide surface 2111402 are used to push open the push rod when the first connecting shaft 2111101 enters and exits the locking sleeve, the 45-degree guide groove 21114 is used for the push rod to lock the first connecting shaft 2111101, and a conical surface matching the conical hole 21113014 in the locking sleeve 2111301 is provided on the part of the first connecting shaft close to the 45-degree guide groove 21114.

[0076] The main components of the second intermediate roller tooling connecting shaft include: a second connecting shaft 2111202 and a locking screw 2111201, which are used to connect the second intermediate roller shaft end and the automatic rotating clamping device 21113, and to position and lock the second intermediate roller shaft end in the circumferential direction through the locking screw 2111201.

[0077] A third stepped hole is provided at the front end of the second connecting shaft 2111202 for mounting and cooperating with the shaft end of the second intermediate roller; the third stepped hole is provided with evenly distributed fixing screw mounting holes for cooperating with the fixing screw 2111201 to fix the second intermediate roller; the end structure of the second connecting shaft 2111202 is the same as that of the first connecting shaft, and is provided with a conical surface cooperating with the locking sleeve and a 45-degree guide groove, which are respectively used to push open the push rod and lock the connecting shaft when the second connecting shaft enters and exits the locking sleeve, so that the locking sleeve can simultaneously clamp the support roller and the second intermediate roller.

[0078] Furthermore, a transition connector 2113 is fixedly connected to the tail end of the automatic rotary clamping device 21113 , and the transition connector 2113 is swingably connected to the first oscillating mechanism 2112 , so that the rotary clamping mechanism 2111 is swingably connected to the first oscillating mechanism 2112 .

[0079] The working principle of the special tool for changing the second intermediate roll and the support roll of the 20-high rolling mill is as follows:

[0080] First, install the support roller tooling connecting shaft 21111 to the support roller shaft end, and position the support roller and the support roller bearing seat through the threaded pin 2111102 and the support roller bearing seat locating pin in conjunction with the threaded pin mounting hole and the waist-shaped hole 2111103. Similarly, install the second intermediate roller tooling connecting shaft 21112 to the second intermediate roller shaft end, and lock and fix it through the set screw 2111201 in conjunction with the set screw mounting hole.

[0081] Then the electro-hydraulic direct-drive cylinder 21113011 pushes the pull rod 2111304 forward through the push head 21113010, so that the push rod 2111303 is located in the larger stepped hole in the locking sleeve 2111301;

[0082] Then, the automatic rotary clamping device 21113 is moved forward as a whole, so that the end of the tooling connecting shaft (support roller tooling connecting shaft 21111 or the second intermediate roller tooling connecting shaft 21112) enters the locking sleeve 2111301, and the automatic rotary clamping device 21113 continues to move forward as a whole, so that the conical surface of the connecting shaft contacts the conical hole of the locking sleeve, and keeps pushing the top to move forward, while the second 45-degree guide surface 2111402 pushes the ejector rod to move outward, and then the ejector rod 2111303 falls into the 45-degree guide slot 21114 at the end of the connecting shaft;

[0083] Then the electro-hydraulic direct-drive cylinder 21113011 retracts, and the pull rod 2111304 and the push rod 2111303 move backwards under the drive of the disc spring assembly 2111306. First, the push rod 2111303 returns to the smaller stepped hole in the locking sleeve, so that the push rod moves toward the center of the pull rod;

[0084] The pull rod 2111304 then continues to move backward, so that the push rod 2111303 presses against the first 45-degree guide surface 2111401 of the connecting shaft, thereby pulling the connecting shaft tightly against the locking sleeve, completing the clamping of the support roller or the second intermediate roller;

[0085] Then the servo motor 2111309 drives the gear set consisting of the first gear 2111307 and the second gear 2111308 to rotate, adjusts the support roller or the second intermediate roller to a predetermined angle, and then inserts the support roller or the second intermediate roller into the corresponding installation position;

[0086] Finally, remove the support roller fixture coupling and the second intermediate roller fixture coupling to complete the roller change.

[0087] The working principle of removing the second intermediate roll and the support roll from the rolling mill is the same as the working principle of the above-mentioned roll changing process. After adjusting the support roll or the second intermediate roll to a predetermined angle, the support roll or the second intermediate roll is removed from the rolling mill.

[0088] The working roll changing special tool 212 is provided with two sets, and is arranged adjacently and installed on the rectangular guide frame 213, including a working roll clamping mechanism 2121 and a vertical swing mechanism 2122, which are used to realize high-speed automatic roll changing of the working roll; the vertical swing mechanism 2122 is fixedly installed on the rectangular guide frame 213, and the working roll clamping mechanism 2121 is swingably connected with the rectangular guide frame 213 through the vertical swing mechanism 2122, and vertically swings under the action of the vertical swing mechanism 2122 to lift the working roll upward. The working roll clamping mechanism 2121 is used to clamp two working rolls in the rolling mill or on the working roll storage rack at the same time. The specific structure can refer to the working roll changing device in the Chinese patent application with publication number CN118477893A, and this application will not repeat it.

[0089] The work roll change is divided into three stages: preparation stage, roll change stage and reset stage; the preparation stage and reset stage are offline operations, which do not affect the operation of the unit and do not take up production time, greatly improving the production rhythm. In the non-working state, the roll change tool stands up, thereby reducing the working space and avoiding interference with the rolling mill body and surrounding facilities during the working process.

[0090] The first intermediate roller changing tool 214 is integrally installed on a rectangular guide frame, and includes a first intermediate roller clamping mechanism 2141 and a second horizontal swinging mechanism 2142. The second horizontal swinging mechanism 2142 is fixedly installed on the rectangular guide frame 213. The first intermediate roller clamping mechanism 2141 is swingably connected to the rectangular guide frame 213 through the second horizontal swinging mechanism 2142, and swings horizontally under the action of the second horizontal swinging mechanism 2142. The specific structure of the first intermediate roller clamping mechanism 2141 can refer to the roller changing device in the Chinese patent application with publication number CN117282775A, and will not be repeated in this application.

[0091] The first intermediate roller clamping mechanism 2141 is used to automatically clamp two first intermediate rollers arranged horizontally at the same time, and can swing horizontally under the action of the second horizontal swing mechanism 2142 to place the old roller on the storage rack or clamp the new roller from the storage rack. In the non-working state, the first intermediate roller clamping mechanism 2141 is adjusted to a position parallel to the car body, thereby reducing the working space and avoiding interference with the rolling mill body and surrounding facilities during the working process.

[0092] The rectangular guide frame 213 is used to provide support for each special roller changing tool, including a rectangular frame 2131 and guide rollers 2132 installed on the rectangular frame; each side of the rectangular frame 2131 is provided with 4 guide rollers 2132, one guide roller on each of the two opposite sides is a non-eccentric guide roller, and the other side is an eccentric guide roller, which is used to adjust the gap between the rectangular guide frame 213 and the rectangular guide column 222.

[0093] The lifting and rotating mechanism 22 is integrally slidably mounted on the linear guide rail 232 of the transfer vehicle 23, and includes a locking mechanism 221, a rectangular guide column 222, a rotating transmission mechanism 223, a rotating support 224, a lifting mechanism 225 and a base 226; it is used to lift and rotate the roll changing tool assembly 21 to meet the needs of automatic replacement of the rollers of the entire roll system in the roll system structure 3 by different roll changing special tools.

[0094] The base 226 is slidably mounted on the linear guide rail 232, so that the lifting and rotating mechanism 22 slides along the linear guide rail 232, and the rectangular guide column 222 is rotatably connected to the base 226 through the slewing bearing 224. One end of the slewing bearing 224 is fixedly connected to the rectangular guide column 222, and the other end is rotatably connected to the base 226, so that the rectangular guide column 222 rotates relative to the transfer vehicle 23, so as to drive the rectangular guide frame to rotate around the lifting and rotating mechanism 22;

[0095] The rotary transmission mechanism 223 is integrally mounted on the rectangular guide column 222, and is used to cooperate with the rotary bearing 224 to drive the rectangular guide column 222 to rotate a predetermined angle. It includes a servo motor and gears, etc. The servo motor is fixedly mounted on the rectangular guide column 222, and its output end is connected to the gear. The gear is meshed with the rotary bearing 224 to drive the rotary bearing 224 to rotate, thereby driving the rectangular guide column 222 to rotate.

[0096] The locking mechanism 221 is integrally installed on the rectangular guide column 222, and is used to position and lock the rectangular guide column 222 after the rectangular guide column is rotated into place. It includes a locking cylinder, a support, a pin and a socket, etc. The locking cylinder is fixedly installed on the rectangular guide column 22 through the support, and a pin is provided at its output end, and a plurality of sockets matching the pin are provided on the base 226, so as to position and lock the rectangular guide column 222 after it is rotated into place.

[0097] The lifting mechanism 225 is integrally mounted on the rectangular guide column 222, and is used to drive the roller changing tool assembly 21 to move up and down along the rectangular guide column 22. The lifting mechanism 225 includes a gear motor with an absolute encoder and a ball screw structure, etc. The rectangular frame 2131 in the roller changing tool assembly 21 is sleeved on the rectangular guide column 22, and the guide roller 2132 is in contact with the rectangular guide column 22, so that the rectangular guide frame 213 is vertically slidably connected with the rectangular guide column 222. The gear motor is fixedly mounted on the rectangular guide column 222 to drive the screw in the ball screw structure to rotate, and the sliding nut in the ball screw structure is fixedly mounted on the rectangular frame 2131, so that the rectangular guide frame 213 moves up and down along the rectangular guide column 22 under the action of the lifting mechanism 225.

[0098] In another embodiment, the lifting mechanism 225 may also adopt other driving methods such as a hydraulic cylinder that can drive the rectangular guide frame 213 to move up and down along the rectangular guide column 22 .

[0099] The transfer vehicle 23 is used to provide support for the whole machine, and can drive the roll-changing tool assembly to move forward, backward, left and right, so as to meet the roll-changing needs of the rollers in different spatial positions of the whole roll system, including a vehicle body 231, a linear guide rail 232, a front and rear moving transmission mechanism 233, a cable drum 234 and a left and right moving transmission mechanism 235, etc.; the bottom of the vehicle body 231 has a rail wheel that cooperates with the track 4, the linear guide rail 232 is fixedly installed at the front end of the vehicle body 231, and is slidably connected to the base 226 in the lifting and rotating mechanism 22, and the left and right transmission mechanism 235 is installed on the vehicle body 231. The specific structure includes a gear motor with an absolute encoder and a ball screw structure, etc. The gear motor is fixedly mounted on the car body 231 to drive the screw in the ball screw structure to rotate, and the sliding nut in the ball screw structure is fixedly mounted on the base 226, so that the base 226 slides left and right along the linear guide rail 232 under the action of the left and right transmission mechanism 235 (in another embodiment, the lifting mechanism 225 can also use other driving methods such as hydraulic cylinders that can drive the rectangular guide frame 213 to move up and down along the rectangular guide column 22). The forward and backward moving transmission mechanism 233 is used to drive the rail wheel to rotate, thereby driving the car body 231 to move forward and backward along the track 4, and the cable drum 234 is used to retract and release the cable during the forward and backward movement of the car body, and is connected to an external power supply.

[0100] In another embodiment, the roll changing tool assembly 21 can be configured with multiple sets of special roll changing tools according to actual working conditions, such as arranging only two sets of adjacent working roll changing special tools 212, without arranging the second intermediate roll and support roll changing special tools 211 and the first intermediate roll changing special tools 214, thereby forming a corresponding number of execution ends.

[0101] The working principle of the above-mentioned 20-roll mill full-roll system automatic roll changing robot is as follows:

[0102] Working roll changing

[0103] The work roll change is divided into three stages;

[0104] Preparation stage: before the roll changing operation begins, the whole vehicle first moves to the roll storage position, then the side working roll changing special tool 212 first clamps the two new rolls at the same time through the working roll clamping mechanism 2121, then the new rolls are erected upwards through the vertical swing mechanism 2122, and then the roll changing robot 2 moves as a whole to the preparation position and is adjusted to the roll changing height through the lifting mechanism 225;

[0105] Roll changing stage: the roll changing robot 2 moves to the roll changing position, then clamps the upper and lower working rolls in the mill body 1 at the same time through the special tool 212 for roll changing of the working rolls on the other side, then moves backward to pull the working rolls out of the mill body 1, then stands the old working roll upright through the vertical swing mechanism 2122, then rotates the new working roll 90° to the working position through the rotary transmission mechanism 223, then lays the new roll flat downward by the vertical swing mechanism 223, then the roll changing robot moves as a whole to the roll changing position to insert the new roll into the mill body 1 and release the new roll, then the roll changing robot 2 moves as a whole backward to the preparation position, and the roll changing operation is completed.

[0106] Reset stage: the roll-changing robot moves as a whole to the roll storage area, then the vertical swing mechanism 2122 lays the new roll down flat, then the lifting mechanism 225 descends to place the old roll on the working roll storage rack, then the vertical swing mechanism lifts the working roll clamping mechanism 2121 upwards, and finally returns to the initial position; during the entire operation process, when performing the rotation operation, the working rolls are all erected upwards, thereby greatly reducing the turning radius and reducing the working space.

[0107] First intermediate roll, second intermediate roll and support roll change:

[0108] First, the roll-changing robot 2 adjusts the corresponding roll-changing tool (the second intermediate roll and support roll changing special tool 211 or the first intermediate roll changing special tool 214) to the roll-changing position through the lifting mechanism 225 and the left and right transmission mechanisms 235, and then moves as a whole to the roll-changing position and clamps the corresponding roll (wherein the first intermediate roll double rolls are clamped synchronously), then moves backward to extract the corresponding roll from the rolling mill body 1, and then moves as a whole to the roll storage area, and then the corresponding oscillating mechanism (the first oscillating mechanism 2142 or the second oscillating mechanism 2112) deflects the roll to the side, and then the lifting mechanism ( Figure 4 Component 5) descends to place the roller on the storage rack, and then the entire unit moves to the new roller storage location and clamps the new roller. Then the horizontal swing mechanism (the first horizontal swing mechanism 2142 or the second horizontal swing mechanism 2112) deflects the roller to the working position, and then the entire unit moves to the roll changing position and inserts the new roller into the rolling mill body 1. Then the entire unit returns to the initial position, and the roll changing operation is completed.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A 20-roller mill full-roll system automatic roll changing robot, characterized in that: It includes a roll-changing robot and a track for carrying the roll-changing robot, and the roll-changing robot is installed on the track for rolling travel; The roll-changing robot comprises a transfer vehicle mounted on a track for rolling travel, a lifting and rotating mechanism mounted on the transfer vehicle for sliding along the width direction of the transfer vehicle, and a roll-changing tool assembly mounted on the lifting and rotating mechanism; The roll changing tool assembly includes a second intermediate roll and support roll changing special tool, a working roll changing special tool, a first intermediate roll changing special tool, and a rectangular guide frame for installing the second intermediate roll and support roll changing special tool, the working roll changing special tool, and the first intermediate roll changing special tool, and the working roll changing special tool is two sets, and is installed on two adjacent sides of the rectangular guide frame, and the second intermediate roll and support roll changing special tool and the first intermediate roll changing special tool are respectively installed on the remaining two sides of the rectangular guide frame to form four execution ends with roll changing special tools to automatically clamp various types of rolls in the 20-roll mill; The rectangular guide frame is sleeved on the lifting and rotating mechanism, and can slide up and down along the lifting and rotating mechanism and rotate around the lifting and rotating mechanism under the action of the lifting and rotating mechanism, so that the roller changing tool assembly can slide up and down along the lifting and rotating mechanism and rotate around the lifting and rotating mechanism.

2. The 20-roller mill full-roll system automatic roll changing robot according to claim 1, characterized in that: The special tool for changing working rolls comprises a working roll clamping mechanism and a vertical swing mechanism. The vertical swing mechanism is fixedly mounted on the rectangular guide frame. The working roll clamping mechanism is swingably connected to the rectangular guide frame through the vertical swing mechanism and performs vertical swinging under the action of the vertical swing mechanism to lift the working roll upward.

3. The 20-roller mill full-roll system automatic roll changing robot according to claim 1, characterized in that: The first intermediate roller changing special tool includes a first intermediate roller clamping mechanism and a second horizontal swing mechanism, the second horizontal swing mechanism is fixedly installed on the rectangular guide frame, the first intermediate roller clamping mechanism is swingably connected to the rectangular guide frame through the second horizontal swing mechanism, and performs horizontal swing under the action of the second horizontal swing mechanism.

4. The 20-roller mill full-roll system automatic roll changing robot according to claim 1, characterized in that: The special tool for changing the second intermediate roller and the support roller includes a rotating clamping mechanism and a first horizontal swing mechanism for clamping the second intermediate roller and the support roller. The first horizontal swing mechanism is fixedly installed on the rectangular guide frame. The rotating clamping mechanism is swingably connected to the rectangular guide frame through the first horizontal swing mechanism and swings horizontally under the action of the first horizontal swing mechanism.

5. The 20-roller mill full-roll system automatic roll changing robot according to claim 4 is characterized in that: The rotary clamping mechanism comprises a tooling shaft and an automatic rotary clamping device, wherein the tooling shaft is used to connect the second intermediate roller and the support roller, and is detachably fixedly connected to the automatic rotary clamping device; The automatic rotary clamping device comprises a locking sleeve, a support, a push rod, a pull rod, a sleeve, an elastic member, a second gear and a top head, the locking sleeve is rotatably mounted in the support, a first stepped hole arranged along the axial direction is provided in the locking sleeve, and the large-diameter end of the first stepped hole is located at the front end of the locking sleeve, and a second gear is fixedly sleeved at the end of the locking sleeve to drive it to rotate; the pull rod is slidably mounted in the first stepped hole, and a blind hole for accommodating the end of the tooling shaft is provided at the front end of the pull rod, and a plurality of second stepped holes arranged radially and connected to the blind holes are provided around the front end of the pull rod, and the push rod is slidably placed in the second stepped hole; the sleeve is fixedly mounted in the locking sleeve and slidably sleeved on the pull rod, the elastic member is arranged on the sleeve, one end of which is connected to the sleeve, and the other end is connected to the pull rod, and provides a force for the pull rod toward the end, and the top head is arranged at the end of the pull rod, and is used to provide a thrust to the front end of the pull rod when the pull rod needs it; A conical surface is also provided on the part of the tooling connecting shaft close to the 45-degree guide slot, and a conical hole matching the conical surface is provided in the locking sleeve, so that the tooling connecting shaft and the locking sleeve are in contact connection; The end of the tooling shaft is inserted into the blind hole through the tapered hole of the locking sleeve, and a 45-degree guide slot is provided at the end of the tooling shaft. The length of the push rod is greater than the depth of the second step hole, so that the push rod can be inserted into the 45-degree guide slot and slide from the position of the second step hole on the pull rod to the small aperture of the first step hole. The push rod locks the 45-degree guide slot under the action of the locking sleeve.

6. The 20-roller mill full-roll system automatic roll changing robot according to claim 5, characterized in that: A first 45-degree guide surface and a second 45-degree guide surface are respectively provided on both sides of the protrusion at one end of the 45-degree guide slot close to the ejector head, so as to push the ejector rod to move outward when the end of the tooling shaft is pulled out and inserted into the blind hole, thereby allowing the ejector rod to be inserted into the 45-degree guide slot.

7. The 20-high rolling mill full-roll system automatic roll changing robot according to claim 6, characterized in that: A third 45-degree guide surface is provided at the step of the first stepped hole to enable the push rod to slide at the step.

8. The 20-roller mill full-roll system automatic roll changing robot according to claim 7, characterized in that: Both ends of the push rod are designed with spherical surfaces to respectively match with the first 45-degree guide surface and the second 45-degree guide surface in the 45-degree guide slot and the third 45-degree guide surface in the first stepped hole.

9. The 20-high rolling mill full-roll automatic roll changing robot according to claim 1, characterized in that: The lifting and rotating mechanism includes a locking mechanism, a rectangular guide column, a rotating transmission mechanism, a rotating support, a lifting mechanism and a base. The base is slidably mounted on the transfer vehicle so that the lifting and rotating mechanism slides along the width direction of the transfer vehicle, and the rectangular guide column is rotatably connected to the base through a slewing bearing, one end of the slewing bearing is fixedly connected to the rectangular guide column, and the other end is rotatably connected to the base so that the rectangular guide column rotates relative to the transfer vehicle; The rotary transmission mechanism is installed on the rectangular guide column, and is used to cooperate with the rotary support to drive the rectangular guide column to rotate a predetermined angle. The locking mechanism is installed on the rectangular guide column, and is used to position and lock the rectangular guide column after the rectangular guide column is rotated into place. One end of the lifting mechanism is installed on the rectangular guide column, and the other end is installed on a rectangular guide frame sleeved on the rectangular guide column, and is used to drive the rectangular guide frame to move up and down along the rectangular guide column.

10. The 20-roller mill full-roll system automatic roll changing robot according to claim 1, characterized in that: The transfer vehicle is used to provide support for the whole machine, including a vehicle body, a linear guide rail, a front-to-back moving transmission mechanism, and a left-to-right moving transmission mechanism. The linear guide rail is fixedly installed at the front end of the vehicle body and is slidably connected to the base in the lifting and rotating mechanism. The left-to-right transmission mechanism is installed on the vehicle body and is used to drive the lifting and rotating mechanism to slide along the linear guide rail in the width direction of the vehicle body. The bottom of the vehicle body is provided with rail wheels matched with the track, and the forward and backward moving transmission mechanism is used for driving the rail wheels to rotate, thereby driving the vehicle body to move forward and backward along the track.

Images