Steel rolling equipment applied to bearing steel

Abstract

The steel rolling equipment comprises a waste collecting vehicle, a waste classifying platform and a waste conveying platform, a waste grabbing unit is arranged on the waste collecting vehicle and used for grabbing waste generated by a rolling production line and putting the waste to the waste classifying platform, and a waste classifying unit is arranged on the waste classifying platform and used for conveying the waste to the waste conveying platform. The waste conveying platform is used for conducting multi-stage vibration screening on waste and separating the different waste into the corresponding collecting boxes, the waste conveying platform comprises a conveyor and a plurality of conveying areas arranged on the conveyor, and each conveying area corresponds to the different collecting boxes and is used for conveying the collecting boxes to a waste reprocessing area. A plurality of waste treatment machines are arranged in the waste reprocessing area and are used for treating different wastes respectively; the waste collecting vehicle, the waste classifying platform and the waste conveying platform are arranged to collect and classify waste generated in the rolling process, and the waste is conveyed to the waste reprocessing area to be smashed or recycled.

Description

Technical Field

[0001] This application relates to the technical field of steel rolling processing, and particularly relates to a steel rolling device applied to bearing steel. Background Art

[0002] Bearing steel is used to manufacture balls, rollers and bearing rings. It has high and uniform hardness and wear resistance, as well as high elastic limit. Its production process flow needs to strictly control the composition, purity and tissue uniformity to ensure high hardness, wear resistance, fatigue resistance and dimensional stability. Generally, it includes steelmaking, rolling, heat treatment, etc. Among them, the rolling step generally includes hot rolling and cold rolling. In this step, the continuous casting billet is formed into bars, wires or sheets through heating and multiple passes of rolling. However, after rolling, the continuous casting billet often generates waste materials such as scale, crop ends, tail ends and scrap. At present, physical recycling (such as grinding, shearing), chemical treatment (such as pickling and regeneration), reuse (such as substituting raw materials), environmental protection technologies (such as MEC descaling), etc. are often adopted to treat the waste materials. For example, crop ends are the two ends cut off during the bearing steel rolling process, usually with relatively large sizes (diameter of 50 - 200 mm, and the length may reach dozens of centimeters to several meters), which are the same as the finished bearing steel (belonging to high-quality scrap steel). After shearing, grinding and other treatments, they can be directly returned to the furnace as steelmaking raw materials; scrap, is the surplus material generated during the rolling process, mostly in the shape of irregular blocks or strips, with large size differences (length as small as a few centimeters, as large as dozens of centimeters, diameter of 5 - 50 mm). After shearing, grinding and other treatments, it can be used as the return furnace raw material for bearing steel smelting, or processed into small parts (such as bolts, gaskets, etc.); scale is the metal oxides such as Fe2O3 and Fe3O4 on the surface of the steel, in the form of flakes or powders, attached to the surface of the waste material, with a thickness usually of several micrometers to dozens of micrometers. It is necessary to dissolve the oxides through pickling (such as hydrochloric acid, sulfuric acid solution) to expose the metal matrix for subsequent recycling, or the MEC (microbial electrolytic cell) descaling technology can also be used to remove the scale. However, most of these existing recycling methods rely on manual collection and handling, which not only has low efficiency, but also has potential safety hazards. Although some recycling methods using simple mechanical devices are adopted, there are also problems such as inaccurate waste material classification and easy secondary damage during transportation.

[0003] The Chinese patent with the application number 202320735918.5 and the application date of April 6, 2023 discloses a rolling waste recycling device, including a machine body. A discharge hopper is fixedly installed on the front of the machine body. A feed box is fixedly installed on the top of the machine body. A feed inlet is opened on the top of the feed box. An installation box is fixedly installed on the right side of the machine body. A driving motor is fixedly installed inside the installation box. A stirring roller is rotatably installed inside the machine body. This patent can only shred waste materials, that is, it can only process single waste materials. However, among the waste materials generated in rolling steel, some need to be shredded, some need to be recycled, and some need to be treated by environmental protection technologies, etc. However, the existing patent cannot separate these waste materials, resulting in a low degree of automation.

[0004] In view of the above related technologies, the inventor believes that there is a defect that the existing waste recycling device cannot classify and process various waste materials generated during the rolling process. Summary of the Invention

[0005] In order to solve the above technical problems, the present application provides a rolling steel equipment applied to bearing steel.

[0006] A rolling steel equipment applied to bearing steel provided by the present application adopts the following technical solutions: A rolling steel equipment applied to bearing steel includes a waste collection vehicle, a waste classification platform, and a waste conveying platform. A waste grabbing unit is arranged on the waste collection vehicle, which is used to grab the waste materials generated by the rolling production line and put them on the waste classification platform. A waste classification unit is arranged on the waste classification platform, which is used to perform multi-stage vibration screening on the waste materials, separate different waste materials into corresponding collection boxes, and control them to fall onto the waste conveying platform after the collection boxes are full. The waste conveying platform includes a conveyor and multiple conveying areas arranged on the conveyor. The conveyor is arranged below the waste classification platform, and each conveying area corresponds to a different collection box, and is used to transport each collection box to the waste reprocessing area. Multiple waste processors are arranged in the waste reprocessing area, which are used to process different waste materials respectively, and each of the waste processors corresponds to each of the conveying areas one by one.

[0007] By adopting the above technical solutions, the waste materials generated during the rolling process are collected and classified by setting a waste collection vehicle, a waste classification platform, and a waste conveying platform, and are respectively sent to the corresponding waste processors in the waste reprocessing area for crushing or recycling treatment of the waste materials. Thus, different treatments can be carried out for different waste materials, which not only realizes the automation of the treatment, but also better meets the requirements of energy conservation and environmental protection.

[0008] Preferably, the waste grabbing unit includes a manipulator base provided on the waste collection vehicle, a tool area provided on the manipulator base, a multi-joint manipulator arm provided on one side of the tool area, a manipulator and a camera provided at the end of the multi-joint manipulator arm, and a hydraulic cylinder provided on the manipulator. The joints of the multi-joint manipulator arm are connected by rotary pairs, the rotary pairs are connected to hydraulic motors, the tool area is equipped with mechanical claws with different numbers of claws, the manipulator is connected to the mechanical claws through quick-change joints, the hydraulic cylinder is connected to the manipulator, and controls the opening and closing of the mechanical claws.

[0009] By adopting the above technical solution, a multi-joint manipulator arm and mechanical claws are used to grab waste, and after grabbing, the waste is directly placed on the waste collection vehicle, and the seamless connection of "grabbing - placing" is realized through mechanical transmission, shortening the cycle from waste generation to recycling.

[0010] Preferably, the waste grabbing unit further includes an installation base provided below the manipulator base and at least one track provided on the installation base. The installation base extends along the length direction of the waste collection vehicle, the track is parallel to the length direction of the installation base, and adjacent tracks are spaced apart. The bottom of the manipulator base is slidably connected to each track.

[0011] By adopting the above technical solution, the position of the manipulator can be adjusted by using the guide rail on the waste collection vehicle, thereby expanding the coverage range of the manipulator, so that all scattered waste can be grabbed.

[0012] Preferably, a diversion groove is provided on one side of the installation base. The length direction of the diversion groove is parallel to the direction of the installation base, and the bottom end face of the diversion groove is provided with an inclined surface, which slopes downward from left to right. Two rotating shafts are rotatably connected to the right end of the diversion groove, a baffle is connected to the two rotating shafts, and one of the rotating shafts is connected to a diversion motor.

[0013] By adopting the above technical solution, an inclined diversion groove is provided on the waste collection vehicle, which can make the waste on the collection vehicle slide smoothly to the waste classification platform.

[0014] Preferably, angle sensors are provided at each joint of the multi-joint manipulator arm, and buffer devices are provided at the connection between the manipulator and the mechanical claws and between the manipulator base and the installation base. A rotational speed sensor is installed on the roller of the waste collection vehicle, and the rotational speed sensor, the angle sensor, and the diversion motor are all electrically connected to the controller.

[0015] By adopting the above technical solution, by providing high-precision angle sensors at each joint of the multi-joint manipulator arm, the joint angle information can be fed back in real time to ensure the positioning accuracy of the manipulator.

[0016] Preferably, the waste classification unit includes a classification box disposed on the waste classification platform, a plurality of screens disposed in the classification box, a plurality of collection boxes respectively disposed below each screen and slidably connected to the waste classification platform, and a vibration device disposed in the classification box and penetrating each screen. The screens are arranged at intervals along the height of the classification box, and the mesh holes of the screens decrease successively from top to bottom. Each collection box is correspondingly arranged vertically with the discharge port of the corresponding screen.

[0017] By adopting the above technical solution, a plurality of screens with different pore sizes are provided, and waste materials of different sizes can be screened out. In addition, a vibration device is provided to provide a vibration force to the screens, so that the waste materials can fall under the vibration force, thereby realizing the screening of the waste materials.

[0018] Preferably, the vibration device includes a vibration motor disposed below the screen, an eccentric block, a connecting shaft connected to the bottom of the eccentric block, a coupling connecting the output shaft of the vibration motor and the connecting shaft, and a vibration shaft connected to the eccentric block. The upper and lower ends of the vibration shaft respectively penetrate each screen and are connected to the inner wall of the classification box through bearing seats. The central position of the eccentric block is sleeved on the vibration shaft, and the output shaft of the motor and the connecting shaft are at the same horizontal height.

[0019] By adopting the above technical solution, the vibration motor is used to drive the eccentric block to rotate, and the rotation of the eccentric block drives the vibration shaft to generate vibration, so that the waste materials are screened on the screen.

[0020] Preferably, gravity sensors are installed at the bottom of the connection position between the top screen and the classification box and at the bottom of each collection box. The gravity sensors and the angle sensors are electrically connected to the controller.

[0021] By adopting the above technical solution, the gravity sensor is arranged at the bottom of the screen to control the start of the vibration motor after detecting whether the waste material has fallen onto the screen. The gravity sensor is arranged at the bottom of the collection box to provide a signal for the staff to replace the new collection box after detecting that the collection box is full of waste materials.

[0022] Preferably, the waste classification unit further includes two oppositely arranged brackets provided on the waste classification platform, a plurality of collection plates connected between the two brackets, chutes opened on the front and rear sides of each collection plate, a transportation component provided on one side of the collection plate, and a lifting component provided at the bottom of the transportation component. Pulley corresponding to the chutes are provided on the front and rear sides of each collection box, and one of the pulleys of each collection box is connected to the driving motor; the transportation component includes a transportation base provided on the lifting component, a turntable rotatably connected to the transportation base, a rotating motor provided between the transportation base and the turntable, a transportation cylinder provided on one side of the turntable, and a travel switch provided at the center position of the turntable. The travel switch and the rotating motor are both electrically connected to the controller, and each lifting component is arranged in sequence along the length direction of the bracket.

[0023] By adopting the above technical solution, the collection plates, chutes, transportation components and lifting components are provided to automatically lower the collection box onto the conveyor after it is filled with waste, thereby improving the degree of automation.

[0024] Preferably, the lifting component includes a lifting base provided on the waste conveying platform, a lifting groove provided on the lifting base, a plurality of groups of cross - arranged lifting rods and driving cylinders provided in the lifting groove, and a support plate located at the top of the lifting rods. The two cross - arranged lifting rods are hinged to each other. Each group of lifting rods is arranged in sequence from bottom to top, and adjacent lifting rods are hinged to each other. The ends of the lifting rods at the top and bottom are both connected with rollers. The two rollers at the bottom are slidably connected in the lifting groove, and one of the rollers is connected to the driving cylinder. The two rollers at the top are slidably connected in the grooves at the bottom of the support plate. When the lifting rods are in the lowest position, the top of the transportation base is flush with the top of the conveyor.

[0025] By adopting the above technical solution, the lifting rods are used to realize the automatic lifting of the collection box, thereby realizing its automatic transportation.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: The present invention collects and classifies the waste generated during the rolling process by setting a waste collection vehicle, a waste classification platform and a waste conveying platform, and sends it to the waste re - processing area for crushing or re - using the waste. During operation, the waste collection vehicle travels to the rolling production line, and the generated waste is grabbed by the waste grabbing unit and placed on the waste collection vehicle. When a certain amount of waste is collected, it moves to the waste classification platform. The waste classification unit performs multi - stage vibration screening on the waste, and places different wastes in the corresponding collection boxes. After the waste in the collection box is full, it automatically falls onto the conveyor and is transported by the conveyor to the waste re - processing area, where different wastes are processed separately.

[0027] The present invention provides a plurality of waste processors in the waste reprocessing area, and the waste processors correspond one by one to the conveying areas on the conveyor, facilitating the corresponding treatment of the waste in each collection box in the conveying areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of a steel rolling device for bearing steel according to the present invention.

[0029] Figure 2 is a cross-sectional view of the waste sorting platform (removing the sorting boxes) of the present invention.

[0030] Figure 3 is Figure 2 an enlarged view of A in

[0031] Figure 4 is a cross-sectional view of the baffle in the present invention.

[0032] Description of reference numerals: 1. Waste collection vehicle; 11. Manipulator base; 12. Tool area; 13. Multi-joint robotic arm; 14. Manipulator; 15. Installation base; 16. Track; 17. Flow guide groove; 18. Rotating shaft; 19. Baffle; 20. Flow guide motor; 2. Waste sorting platform; 21. Sorting box; 22. Collection box; 23. Screen; 24. Vibration device; 241. Vibration motor; 242. Eccentric block; 243. Connecting shaft; 244. Coupling; 245. Vibration shaft; 246. Bearing seat; 26. Collection plate; 27. Chute; 28. Transportation component; 281. Transportation base; 282. Turntable; 283. Rotating motor; 284. Transportation cylinder; 285. Travel switch; 29. Lifting component; 291. Lifting base; 292. Lifting groove; 293. Lifting rod; 294. Support plate; 295. Roller; 296. Driving cylinder; 297. Groove; 30. Pulley; 3. Waste conveying platform; 31. Conveyor; 32. Conveying area; 4. Gravity sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The following further elaborates on the present application with reference to the Figures 1-4 drawings for a more detailed description.

[0034] The embodiments of the present application disclose a steel rolling device for bearing steel. Referring to Figures 1-4, including a waste collection vehicle 1, a waste sorting platform 2 and a waste conveying platform 3. A waste grabbing unit is provided on the waste collection vehicle 1 for grabbing the waste generated by the rolling production line and putting it onto the waste sorting platform 2. A waste sorting unit is provided on the waste sorting platform 2 for performing multi-stage vibration screening on the waste, separating different wastes into corresponding collection bins 22, and controlling them to fall onto the waste conveying platform 3 after the collection bins 22 are full. The waste conveying platform includes a conveyor 31 and a plurality of conveying areas 32 provided on the conveyor 31. The conveyor 31 is provided below the waste sorting platform 2, and each conveying area 32 corresponds to a different collection bin 22 and is used to transport each collection bin 22 to the waste reprocessing area. A plurality of waste processors are provided in the waste reprocessing area for respectively processing different wastes, and each waste processor corresponds to each conveying area 32 one by one.

[0035] In this embodiment, the waste collection vehicle 1, the waste sorting platform 2 and the waste conveying platform 3 are provided to collect and sort the waste generated during the rolling process and send it to the waste reprocessing area for crushing or recycling of the waste. During operation, the waste collection vehicle 1 travels to the rolling production line, grabs the generated waste with the waste grabbing unit and places it on the waste collection vehicle 1. When a certain amount of waste is collected, it moves to the waste sorting platform 2, and the waste sorting unit performs multi-stage vibration screening on the waste and places different wastes in the corresponding collection bins 22. After the waste in the collection bin 22 is full, it automatically falls onto the conveyor 31 and is transported by the conveyor 31 to the waste reprocessing area, where different wastes are respectively processed.

[0036] Specifically, the waste reprocessing area includes a waste crusher, a grinder, a chemical cleaning machine, etc., which can respectively perform corresponding processing on different wastes; to achieve this purpose, the conveyor 31 is divided into multiple areas, each area conveys one type of waste, and the end of this area corresponds to the processing machine for this type of waste.

[0037] Specifically, a plurality of universal wheels are installed at the bottom of the waste collection vehicle 1, and each universal wheel is equipped with a double locking mechanism, including a rotational lock in the horizontal direction and a braking lock in the vertical direction. The rotational lock can fix the steering of the universal wheel to prevent the collection vehicle from deviating in direction during movement; the braking lock can firmly fix the universal wheel after the collection vehicle reaches the designated position to ensure the stability of the collection vehicle.

[0038] Specifically, to improve the moving efficiency, an electric drive device such as an electric motor and a transmission mechanism can be installed at the bottom of the waste collection vehicle 1. The electric motor is connected to the shaft of the universal wheel through gears or chains. The staff can control the electric motor to drive the universal wheel to rotate by operating the buttons on the control panel or the remote control, realizing the automatic movement of the collection vehicle. The electric drive mode can also be equipped with a speed regulation function to facilitate adjusting the moving speed of the collection vehicle according to actual needs.

[0039] Specifically, four retractable guide wheels are installed at the four corners of the bottom of the waste collection vehicle 1. When the collection vehicle needs to be moved, the guide wheels extend and contact the ground to assist the universal wheels in direction guidance, making the platform move more smoothly and accurately. After the collection vehicle reaches the designated position, the guide wheels retract and no longer contact the ground. At the same time, a laser locator is installed on the collection vehicle. By emitting a laser beam and comparing it with the fixed reference point of the rolling production line, it helps the staff quickly and accurately locate the collection vehicle at the appropriate waste collection position.

[0040] Specifically, collapsible support legs can be set on both sides of the waste collection vehicle 1. After the collection vehicle reaches the working position and locks the universal wheels, the staff can lower the support legs to make them contact the ground and provide additional support force, increasing the stability of the collection vehicle and preventing the collection vehicle from tilting or overturning during the process of the manipulator 14 grasping the waste. Of course, the support legs can also adopt a structure of automatic lowering, that is, a rotating shaft is installed at the folding position, and the rotation of the rotating shaft is driven by a motor, so that the folding part of the support legs can be lowered. In addition, a movable protective fence is installed at the edge of the waste collection vehicle 1. When the collection vehicle is moving, the fence can be folded up to reduce space occupation. After the collection vehicle reaches the working position, the fence is unfolded and fixed to prevent the waste from falling from the edge of the collection vehicle during the collection process, and at the same time, it also provides safety protection for the staff.

[0041] Specifically, the conveyor 31 adopts a chain plate conveyor, and its chain is made of high-strength alloy steel, and the surface of the chain plate is treated with anti-slip. Guardrails are set on both sides of the chain plate conveyor to prevent the waste from falling during transportation. An inclined screw elevator is connected to the end of the chain plate conveyor. The screw blades of the screw elevator adopt a variable pitch design. During the process of lifting the waste, the waste can be compacted to a certain extent to reduce the volume of the waste. The discharge port of the screw elevator is connected to the waste reprocessing area to realize the continuous transportation of the waste. In addition, when replacing the collection box 22, a diversion groove can be provided at the position corresponding to the discharge port of the screen 23 above the new collection box 22. The waste directly slides from the discharge port of the screen 23 along the diversion groove onto the chain plate of the chain plate conveyor, and then is transported by the conveyor 31. This design avoids the operation of manually dumping the waste, reduces the labor intensity, and at the same time prevents the waste from spilling during the dumping process, improving the efficiency and safety of waste transportation.

[0042] In some embodiments, the waste material grasping unit includes a manipulator base 11 provided on the waste material collection vehicle 1, a tool area 12 provided on the manipulator base 11, a multi-joint robotic arm 13 provided on one side of the tool area 12, a manipulator 14 and a camera provided at the end of the multi-joint robotic arm 13, and a hydraulic cylinder provided on the manipulator 14. The joints of the multi-joint robotic arm 13 are connected by revolute pairs, and the revolute pairs are connected to hydraulic motors. The tool area 12 is equipped with mechanical claws with different numbers of claws. The manipulator 14 is connected to the mechanical claws through a quick-change joint. The hydraulic cylinder is connected to the manipulator 14 and controls the opening and closing of the mechanical claws.

[0043] In this embodiment, a multi-joint robotic arm 13 and mechanical claws are used to grasp waste materials, which can replace manual labor to complete the automated grasping, handling, and placement of bearing steel waste materials, and solve problems such as low efficiency, poor safety, and easy damage of waste materials in traditional manual operations. In addition, after grasping, the waste materials are directly placed on the waste material collection vehicle 1, and the seamless connection of "grasping - placement" is realized through mechanical transmission, omitting the round-trip process of manual handling, and shortening the cycle from waste material generation to recycling.

[0044] Specifically, the number and shape of the claws of the mechanical claws can be replaced to adapt to the diversity of bearing steel waste materials. For example, for long strip-shaped bearing steel cut heads and cut tails waste materials, a structure with three or four symmetrically distributed claws can be used to achieve stable grasping. For irregular corner waste materials, a claw combination with a larger number and more flexible layout can be replaced. The claws are connected to the main body of the manipulator 14 through a quick-change joint, which is convenient for quick replacement and improves the versatility of the equipment. In addition, an anti-slip and wear-resistant rubber layer can be provided on the surface of the claws to increase friction, prevent the waste materials from slipping during the grasping process, and at the same time avoid scratches or deformation on the surface of the steel materials due to hard collisions, retaining the recycling value of the waste materials. In addition, the multi-joint robotic arm 13 includes multiple movable joints, such as shoulder joints, elbow joints, and wrist joints, etc. These joints all adopt revolute pair or prismatic pair structures and are driven by hydraulic cylinders or hydraulic motors to realize the multi-degree-of-freedom movement of the manipulator 14 in space, and can accurately reach various positions on the production line to grasp waste materials.

[0045] Specifically, a camera is installed on the top of the multi-joint robotic arm 13, which can be linked with the controller system through visual recognition. Thus, the robotic hand 14 can accurately identify the position and posture of the waste material, adjust the grasping force (such as the pressure of the hydraulic system can be adjusted), and achieve "gentle grasping and stable handling", especially suitable for bearing steel waste materials with high surface quality requirements (such as high-purity alloy waste materials). In addition, the mechanical claw can adopt a hydraulic drive mode. The hydraulic system consists of a hydraulic pump, a hydraulic cylinder, a control valve, etc. The hydraulic pump converts mechanical energy into hydraulic energy to provide power for the movement of the mechanical claw. The hydraulic cylinder pushes the piston rod to move through the pressure of the hydraulic oil to realize the opening and closing and grasping actions of the mechanical claw. The control valve is used to adjust the flow rate, pressure and flow direction of the hydraulic oil, so as to accurately control the movement speed and grasping force of the mechanical claw to adapt to bearing steel waste materials of different weights and shapes.

[0046] Specifically, the robotic hand 14 is installed on the movable waste collection vehicle 1. The position can be adjusted with the universal wheels, which can cover the waste material dropping points at different stations of the rolling production line, respond in real time to the changes in the waste material generation position, and avoid waste material accumulation. In addition, when the waste collection vehicle 1 moves to the target position and completes positioning, sensors such as proximity switches or limit switches are used to detect whether the collection vehicle is completely stationary. Only when the collection vehicle is completely stationary and the universal wheels are locked, the control system allows the robotic hand 14 to start working. This can prevent the robotic hand 14 from starting when the collection vehicle is unstable and prevent the robotic hand 14 from grasping mistakes or being damaged due to the shaking of the collection vehicle.

[0047] In some embodiments, the waste material grasping unit further includes a mounting base 15 provided below the base 11 of the robotic hand and at least one track 16 provided on the mounting base 15. The mounting base 15 extends along the length direction of the waste collection vehicle 1. The track 16 is parallel to the length direction of the mounting base 15, and the adjacent tracks 16 are arranged at intervals. The bottom of the base 11 of the robotic hand is slidably connected to each track 16.

[0048] In this embodiment, the track 16 is provided on the waste collection vehicle 1 to adjust the position of the robotic hand 14. Although the waste collection vehicle 1 can move at the production line, in some positions the waste materials may be scattered and the coverage range of the robotic hand 14 cannot reach, that is, all the waste materials cannot be grasped. At this time, the robotic hand 14 is used to move on the slide rail to grasp the scattered waste materials to achieve the full grasping of the waste materials.

[0049] In some embodiments, a diversion groove 17 is provided on one side of the mounting base 15. The length direction of the diversion groove 17 is parallel to the direction of the mounting base 15, and the bottom end face of the diversion groove 17 is provided with an inclined surface, which slopes downward from left to right. Two rotating shafts 18 are rotatably connected to the right end of the diversion groove 17. A baffle 19 is connected to the two rotating shafts 18, and one of the rotating shafts 18 is connected to the diversion motor 20.

[0050] In this embodiment, an inclined guide groove 17 is provided on the waste collection vehicle 1, which can enable the waste on the collection vehicle to smoothly slide onto the waste classification platform 2.

[0051] Specifically, a waste bin can be provided on the waste collection vehicle 1. All the waste grabbed by the manipulator 14 is placed in the waste bin, and the waste bin is communicated with the guide groove 17. After the waste collection vehicle 1 moves to the waste classification unit, the waste bin is opened, and the waste inside slides into the waste classification unit through the guide groove 17. At this time, the end of the guide groove 17 can be sealed by setting a baffle 19 to prevent the waste from slipping. After the collection vehicle is connected to the classification unit, the guide motor 20 controls the rotation of the rotating shaft 18, so that the baffle 19 is opened, and the waste slides into the classification unit by using the slope of the guide groove 17.

[0052] In some embodiments, angle sensors are provided at each joint of the multi-joint robotic arm 13, and buffer devices are provided both at the connection between the manipulator 14 and the mechanical claw and between the base of the manipulator 14 and the mounting base 15. A rotational speed sensor is installed on the roller 295 of the waste collection vehicle 1. The rotational speed sensor, the angle sensor, and the guide motor 20 are all electrically connected to the controller.

[0053] In this embodiment, by providing high-precision angle sensors at each joint of the multi-joint robotic arm 13, the joint angle information can be fed back in real time to ensure the positioning accuracy of the manipulator 14. Installing a rotational speed sensor on the roller 295 of the waste collection vehicle 1 is to determine the operating state of the waste collection vehicle 1 through the rotational speed; in addition, the buffer device between the base of the manipulator 14 and the mounting base 15 includes a shock-absorbing rubber pad and a spring shock absorber. The shock-absorbing rubber pad can absorb the vibration generated when the manipulator 14 works, and the spring shock absorber can further buffer the bumps during the movement of the collection vehicle, reduce the influence on the accuracy of the manipulator 14, and extend the service life of the manipulator 14. The buffer device at the connection between the manipulator 14 and the mechanical claw is a spring buffer or a hydraulic buffer. When the manipulator 14 grabs waste or collides with other components, the buffer device can absorb the impact force, reduce the vibration and wear of the mechanical structure, and improve the service life and operating stability of the manipulator 14.

[0054] In some embodiments, the waste classification unit includes a classification box 21 provided on the waste classification platform 2, a plurality of screening meshes 23 provided in the classification box 21, a plurality of collection boxes 22 respectively provided below each screening mesh 23 and slidably connected to the waste classification platform 2, and a vibration device 24 provided in the classification box 21 and penetrating through each screening mesh 23. Each screening mesh 23 is arranged at intervals along the height of the classification box 21, and the mesh holes of each screening mesh 23 decrease successively from top to bottom. Each collection box 22 is arranged corresponding to the discharge port of the corresponding screening mesh 23 up and down.

[0055] In this embodiment, a plurality of screens 23 with different apertures are provided, which can screen out waste materials of different sizes, so as to perform different treatments according to the volume size. Moreover, a collection box 22 is arranged below each screen 23, which facilitates the centralized transportation and subsequent treatment of the screens.

[0056] Specifically, the multi-layer screens 23 are vertically stacked in the classification box 21. Each layer of the screen 23 is horizontally arranged. The uppermost layer of the screen 23 is located at the top of the device and is used to intercept waste materials of larger sizes; the lower layers of the screens 23 are arranged sequentially downward, and the aperture of the screen 23 gradually decreases, realizing the hierarchical screening of waste materials from large to small. For example, the screens of each layer are arranged in order from top to bottom. The aperture of the first layer of the screen is 100 mm, and the cut heads and cut tails with a diameter greater than 100 mm can be screened out. The aperture of the second layer of the screen is 50 mm, and the cut heads, cut tails and corner materials with a diameter greater than or equal to 50 mm can be screened out. The aperture of the third layer of the screen is 25 mm, and the corner materials with a diameter greater than or equal to 25 mm can be screened out. The aperture of the fourth layer of the screen is 15 mm, and the corner materials with a diameter greater than or equal to 15 mm can be screened out. The aperture of the fifth layer of the screen is 200 μm, and the mill scale can be screened out. At this time, the corner materials with a diameter less than 15 mm enter the fifth layer of the screen and are collected through this screen. The mill scale enters the sixth layer of the screen, and no screen holes are provided on the sixth layer of the screen. It can be directly placed on this screen and collected through this screen; enough space, such as 15 - 20 cm, is reserved between adjacent two layers of the screens 23 to facilitate the waste materials to smoothly pass through the upper layer of the screen 23 and fall into the lower layer of the screen 23, and at the same time avoid the mixing of waste materials of different sizes; in addition, inclined diversion troughs 17 are arranged at the discharge ports of each screen 23 to facilitate the waste materials to enter the collection box 22. A rotatable baffle 19 is arranged at the end of the diversion trough 17. The rotating shaft 18 is connected to the motor. After vibrating for a period of time, the baffle 19 is opened and the waste materials enter the collection box 22.

[0057] Specifically, the periphery of the screen 23 is fixed by a frame, and the frame is connected to the side wall of the classification box 21 to ensure that the screen 23 remains horizontal and stable during the screening process and prevent poor screening effect caused by inclination; among them, the frame of the screen 23 adopts a detachable design and is connected to the installation on the side wall of the device through bolts. During installation, first fix the frame of the lower layer of the screen 23 on the corresponding installation, and use a level to calibrate the level of the screen 23 to ensure that the error is within ±1°; then install the upper layer of the screen 23 in sequence. After each layer is installed, horizontal calibration and bolt tightening inspection are required; in addition, a rubber gasket is added between the screen 23 and the frame to prevent small waste materials from leaking out from the edge gap of the screen 23 during the screening process and affecting the classification accuracy; at the same time, the rubber gasket can also buffer the impact force generated when the screen 23 vibrates and extend the service life of the screen 23.

[0058] Specifically, the collection box 22 can adopt a pull-out design. A sensor is installed above the collection box 22 to detect the filling amount of waste materials in the box. When the set filling amount is reached, an alarm signal is sent to prompt the staff to replace the collection box 22 in time. Of course, a lifting unit can also be set on the waste classification platform 2 to automatically lift the collection box 22. After the waste materials in the box are filled, it automatically descends to the conveyor 31 for transportation, thus realizing the automation of waste material treatment.

[0059] In some embodiments, the vibration device 24 includes a vibration motor 241 disposed below the screen 23, an eccentric block 242, a connecting shaft 243 connected to the bottom of the eccentric block 242, a coupling 244 connecting the output shaft of the vibration motor 241 and the connecting shaft 243, and a vibration shaft 245 connected to the eccentric block 242. The upper and lower ends of the vibration shaft 245 respectively penetrate through each screen 23 and are connected to the inner wall of the classification box 21 through bearing seats 246. The central position of the eccentric block 242 is sleeved on the vibration shaft 245, and the motor output shaft and the connecting shaft 243 are at the same horizontal height.

[0060] The vibration device 24 in this embodiment is composed of a vibration motor 241 and an eccentric block 242. The vibration motor 241 drives the eccentric block 242 to rotate to generate vibration, so that the waste materials are screened on the screen 23. Among them, the vibration motor 241 is installed on the bottom surface of the classification box 21 and fixed by the motor. The position of the vibration motor 241 needs to ensure that the motor output shaft and the connecting shaft 243 of the eccentric block 242 are at the same horizontal height, and the center line of the connecting shaft 243 is perpendicular to the plane of the screen 23 to ensure stable power transmission and avoid additional vibration and wear caused by axis offset during the operation of the eccentric block 242. The eccentric block 242 is installed on the vibration shaft 245 below the screen 23. The vibration shaft 245 penetrates through the entire screening device, and both ends are fixed to the side wall of the device through bearing seats 246. In addition, two eccentric blocks 242 can be provided, symmetrically distributed on both sides of the vibration shaft 245 to ensure uniform force on the screen 23 during the vibration process and achieve stable and efficient screening.

[0061] Specifically, vibration sensors are installed on the frames of each layer of screen 23 to monitor the vibration frequency and amplitude of the screen 23. Photoelectric sensors are installed at the positions corresponding to the discharge ports of the screen 23 above the collection box 22 to detect the falling situation of the waste materials and the filling amount of the collection box 22 in real time. When installing the sensors, it is necessary to ensure that the sensing heads are unobstructed and the wiring is firm to avoid loosening of the sensors or poor contact of the lines caused by vibration.

[0062] In some embodiments, gravity sensors 4 are installed at the bottom position of the connection between the top screen 23 and the classification box 21 and at the bottom of each collection box 22. The gravity sensors 4 and the angle sensors are both electrically connected to the controller.

[0063] In this embodiment, at the connection position between the sieve 23 and the sorting bin 21, that is, at the bottom of the frame of the sieve 23, a gravity sensor 4 is installed to detect the weight change of the sieve 23. When the waste in the diversion trough 17 slides into the sieve 23, the weight of the sieve 23 changes. At this time, the vibration motor 241 starts to vibrate and screen the waste. A gravity sensor 4 is installed at the bottom of the collection bin 22 to further detect whether the collection bin 22 is full of waste. Since the space size of the collection bin 22 is fixed, the volume of the waste contained therein is also fixed, that is, the weight of the waste contained is within a certain range. When the weight sensor detects that the weight of the collection bin 22 reaches the threshold range, it means that the collection bin 22 is full of waste, and a new collection bin 22 can be replaced, and the collection bin 22 can be sent to the conveyor 31.

[0064] In some embodiments, the waste sorting unit further includes a plurality of collection plates 26 that are oppositely arranged on the waste sorting platform 2 and connected between the two, chutes 27 opened on the front and rear sides of each collection plate 26, a transportation component 28 provided on one side of the collection plate 26, and a lifting component 29 provided at the bottom of the transportation component 28. Pulley 30 corresponding to the chute 27 is arranged on the front and rear sides of each collection bin 22, and one of the pulleys 30 of each collection bin 22 is connected to the drive motor; the transportation component 28 includes a transportation base 281 provided on the lifting component 29, a turntable 282 rotatably connected to the transportation base 281, a rotation motor 283 provided between the transportation base 281 and the turntable 282, a transportation cylinder 284 provided on one side of the turntable 282, and a travel switch 285 provided at the center position of the turntable 282. Both the travel switch 285 and the rotation motor 283 are electrically connected to the controller, and the lifting components 29 are arranged in sequence along the length direction.

[0065] In this embodiment, the collection plate 26, the chute 27, the transportation component 28, and the lifting component 29 are provided to automatically lower the collection bin 22 onto the conveyor 31 after it is full of waste, thereby improving the degree of automation. During operation, after the sensor installed above the collection bin 22 and the gravity sensor 4 at its bottom both send signals, it means that the collection bin 22 is full of waste. The drive motor drives the pulley 30 to move in the chute 27, that is, the collection bin 22 moves on the collection plate 26. When it moves onto the turntable 282, the travel switch 285 on the turntable 282 is activated and transmits a signal to the lifting component 29. The lifting component 29 drives the collection bin 22 to move downward. After moving to a predetermined position, the rotation motor 283 starts to drive the turntable 282 to rotate to a predetermined position. Then, the transportation cylinder 284 starts to extend and retract to push the collection bin 22 onto the conveyor 31. At this time, the upper end surface of the conveyor 31 is flush with the upper end surface of the collection plate 26, thereby realizing the automatic transportation of the collection bin 22.

[0066] Specifically, when the lifting assembly 29 descends to the lowest position and stops working, a detection sensor can be provided on the lifting assembly 29 to detect its state. When it is detected that the lifting assembly 29 stops working, the rotation motor 283 starts, and an angle sensor is provided on the output shaft of the rotation motor 283 to detect the working state of the rotation motor 283. When it stops working, the transport cylinder 284 starts; in addition, the turntable 282 is provided to adjust the position of the detection box so that it is adapted to the width of the corresponding transport area 32 on the conveyor 31.

[0067] Specifically, a storage area is provided on one side, and a plurality of collection boxes 22 are stored in the storage area. A mechanical claw is provided at a position corresponding to the collection plate 26 in the storage area. After the collection box 22 is full and moves to the conveyor 31, the mechanical claw grabs the collection box 22 and places it on the collection plate 26, thereby realizing the automatic replacement of the collection box 22.

[0068] In some embodiments, the lifting assembly 29 includes a lifting base 291 provided on the waste conveying platform, a lifting groove 292 provided on the lifting base 291, a plurality of groups of intersecting lifting rods 293 and a driving cylinder 296 provided in the lifting groove 292, and a support plate 294 located at the top of the lifting rods 293. The two intersecting lifting rods 293 are hinged to each other. The groups of lifting rods 293 are arranged in sequence from bottom to top, and adjacent two lifting rods 293 are hinged to each other. The ends of the lifting rods 293 at the top and bottom are both connected with rollers 295. The two rollers 295 at the bottom are slidably connected in the lifting groove 292, and one of the rollers 295 is connected with the driving cylinder 296. The two rollers 295 at the top are slidably connected in the groove 297 at the bottom of the support plate 294. When the lifting rods 293 are in the lowest position, the top of the transport base 281 is flush with the top of the conveyor 31.

[0069] In this embodiment, the lifting rod 293 is used to realize the automatic lifting of the collection box 22, so as to realize its automatic transportation. During operation, the driving cylinder 296 pushes one of the rollers 295 to move in the lifting groove 292. Since the two lifting rods 293 in the same group are hinged to each other, when the pulley 30 of one lifting rod 293 moves, the pulley 30 of the other lifting rod 293 will move synchronously and in the opposite or the same direction, so that the ends of the two lifting rods 293 approach or separate, driving the support plate 294 to rise or fall, thereby realizing the lifting of the collection box 22.

[0070] The working principle of a steel rolling equipment applied to bearing steel in this application is as follows: The waste collection vehicle 1 travels along the rolling production line. When it reaches the designated position, the waste collection vehicle 1 locks. Then, the camera on the multi-joint robotic arm accurately identifies the position and posture of the waste, and uses a suitable mechanical claw and grasping force to grab it into the diversion chute 17. When a certain amount of waste is placed in the diversion chute 17, the waste collection vehicle 1 moves to the waste classification platform 2 and stops. Then, the diversion chute 17 is opened, and the waste slides onto the screen 23 using its slope. Then, the vibration motor 241 starts to rotate, driving the eccentric block 242 to rotate. The rotation of the eccentric block 242 drives the vibration shaft 245 to start vibrating, thereby driving each screen 23 to vibrate, and the waste starts to fall, thus realizing the classification of the waste. Moreover, the waste on each screen 23 enters the corresponding collection box 22. After the collection box 22 is full, the driving motor drives the pulley 30 to move in the chute 27, that is, the collection box 22 moves on the collection plate 26. When it moves onto the turntable 282, the travel switch 285 on the turntable 282 is activated and transmits a signal to the lifting assembly 29. The lifting assembly 29 drives the collection box 22 to move downward. After moving to the predetermined position, the rotation motor 283 is activated, driving the turntable 282 to rotate to the predetermined position. Then, the transportation cylinder 284 starts to extend and retract, pushing the collection box 22 onto the conveyor 31.

[0071] The above are all the preferred embodiments of this application, and do not limit the protection scope of this application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A rolling mill equipment applied to bearing steel, characterized in that: It includes a waste collection vehicle (1), a waste classification platform (2) and a waste conveying platform (3). A waste grabbing unit is provided on the waste collection vehicle (1) for grabbing the waste generated by the rolling production line and putting it onto the waste classification platform (2). A waste classification unit is provided on the waste classification platform (2) for performing multi-stage vibration screening on the waste to separate different wastes into corresponding collection bins (22), and controlling them to fall onto the waste conveying platform (3) after the collection bins (22) are full. The waste conveying platform includes a conveyor (31) and a plurality of conveying areas (32) provided on the conveyor (31). The conveyor (31) is provided below the waste classification platform (2), and each conveying area (32) corresponds to a different collection bin (22) and is used to transport each collection bin (22) to the waste reprocessing area. A plurality of waste processors are provided in the waste reprocessing area for respectively processing different wastes, and each waste processor corresponds to each conveying area (32) one by one.

2. The rolling equipment for bearing steel according to claim 1, characterized in that: The waste grabbing unit includes a manipulator base (11) provided on the waste collection vehicle (1), a tool area (12) provided on the manipulator base (11), a multi-joint manipulator arm (13) provided on one side of the tool area (12), a manipulator (14) and a camera provided at the end of the multi-joint manipulator arm (13), and a hydraulic cylinder provided on the manipulator (14). The joints of the multi-joint manipulator arm (13) are connected by rotary pairs, and the rotary pairs are connected to hydraulic motors. The tool area (12) is equipped with mechanical claws with different numbers of claws. The manipulator (14) is connected to the mechanical claws through a quick-change joint. The hydraulic cylinder is connected to the manipulator (14) and controls the opening and closing of the mechanical claws.

3. A rolling mill equipment applied to bearing steel according to claim 2, characterized in that: The waste grabbing unit further includes an installation base (15) provided below the manipulator base (11) and at least one track (16) provided on the installation base (15). The installation base (15) extends along the length direction of the waste collection vehicle (1). The track (16) is parallel to the length direction of the installation base (15), and adjacent tracks (16) are spaced apart. The bottom of the manipulator base (11) is slidably connected to each track (16).

4. A rolling mill device applied to bearing steel according to claim 3, characterized in that: A diversion groove (17) is provided on one side of the installation base (15). The length direction of the diversion groove (17) is parallel to the direction of the installation base (15), and the bottom end face of the diversion groove (17) is provided with an inclined surface that slopes downward from left to right. Two rotating shafts (18) are rotatably connected to the right end of the diversion groove (17). A baffle (19) is connected to the two rotating shafts (18), and one of the rotating shafts (18) is connected to a diversion motor (20).

5. A rolling mill equipment applied to bearing steel according to claim 4, characterized in that: Angle sensors are provided at each joint of the multi-joint robotic arm (13), and buffer devices are provided at the connection between the robotic hand (14) and the robotic claw and between the base of the robotic hand (14) and the mounting base (15). A rotational speed sensor is installed on the roller (295) of the waste collection vehicle (1), and the rotational speed sensor, angle sensors, and the diversion motor (20) are all electrically connected to the controller.

6. A rolling mill equipment applied to bearing steel according to claim 5, characterized in that: The waste classification unit includes a classification box (21) provided on the waste classification platform (2), a plurality of sieve meshes (23) provided in the classification box (21), a plurality of collection boxes (22) respectively provided below each of the sieve meshes (23) and slidably connected to the waste classification platform (2), and a vibration device (24) provided in the classification box (21) and passing through each of the sieve meshes (23). The sieve meshes (23) are arranged at intervals along the height of the classification box (21), and the mesh holes of the sieve meshes (23) gradually decrease from top to bottom. The collection boxes (22) are respectively arranged vertically corresponding to the discharge ports of the corresponding sieve meshes (23).

7. A rolling mill equipment applied to bearing steel according to claim 6, characterized in that: The vibration device (24) includes a vibration motor (241) provided below the sieve mesh (23), an eccentric block (242), a connecting shaft (243) connected to the bottom of the eccentric block (242), a coupling (244) connecting the output shaft of the vibration motor (241) and the connecting shaft (243), and a vibration shaft (245) connected to the eccentric block (242). The upper and lower ends of the vibration shaft (245) respectively penetrate through each of the sieve meshes (23) and are connected to the inner wall of the classification box (21) through bearing seats (246). The central position of the eccentric block (242) is sleeved on the vibration shaft (245), and the motor output shaft and the connecting shaft (243) are at the same horizontal height.

8. A steel rolling equipment applied to bearing steel according to claim 7, characterized in that: Gravity sensors (4) are installed at the bottom position of the connection between the sieve mesh (23) at the top and the classification box (21) and at the bottom of each collection box (22). The gravity sensors (4) and angle sensors are both electrically connected to the controller.

9. A steel rolling equipment applied to bearing steel according to claim 8, characterized in that: The waste classification unit further includes a plurality of collection plates (26) which are oppositely arranged on the waste classification platform (2) and connected between the two, chutes (27) opened on the front and rear sides of each collection plate (26), a transportation component (28) arranged on one side of the collection plate (26), and a lifting component (29) arranged at the bottom of the transportation component (28). Pulleys (30) corresponding and cooperating with the chutes (27) are arranged on the front and rear sides of each collection box (22), and one of the pulleys (30) of each collection box (22) is connected to a driving motor; the transportation component (28) includes a transportation base (281) arranged on the lifting component (29), a turntable (282) rotatably connected to the transportation base (281), a rotation motor (283) arranged between the transportation base (281) and the turntable (282), a transportation cylinder (284) arranged on one side of the turntable (282), and a travel switch (285) arranged at the central position of the turntable (282). Both the travel switch (285) and the rotation motor (283) are electrically connected to the controller, and each lifting component (29) is arranged in sequence along the length direction of the [description not clear in the original, might be a specific path].

10. The rolling equipment for bearing steel according to claim 9, characterized in that: The lifting component (29) includes a lifting base (291) arranged on the waste conveying platform, a lifting groove (292) arranged on the lifting base (291), a plurality of groups of cross - arranged lifting rods (293) and a driving cylinder (296) arranged in the lifting groove (292), and a support plate (294) located at the top of the lifting rods (293). The two cross - arranged lifting rods (293) are hinged to each other. Each group of lifting rods (293) is arranged in sequence from bottom to top, and adjacent two lifting rods (293) are hinged to each other. The ends of the lifting rods (293) at the top and bottom are both connected with rollers (295). The two rollers (295) at the bottom are slidably connected in the lifting groove (292), and one of the rollers (295) is connected to the driving cylinder (296). The two rollers (295) at the top are slidably connected in the groove (297) at the bottom of the support plate (294). When the lifting rods (293) are in the lowest position, the top of the transportation base (281) is flush with the top of the conveyor (31).

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