Combined limiting and clamping mechanical arm system for forged steel cold roll manufacturing

Abstract

The invention discloses a combined limiting and clamping mechanical arm system for forged steel cold roll manufacturing, and relates to the field of cold roll manufacturing, the combined limiting and clamping mechanical arm system specifically comprises a bottom plate and a working frame, a working table is fixedly installed at one end of the top of the bottom plate, a shell is fixedly arranged at the top of the working table, and a die holder used for machining the end of a cold roll is arranged in the shell; a cleaning mechanism used for cleaning oxide skin on the surface of the die holder is further arranged in the shell. The extending end of the first hydraulic cylinder stretches out and draws back within the half-length and longest state range, the end of the cold roller is forged and pressed, nitrogen is blown out from the output ends of the two air blowing pipes, and a piston is located above the output end of the air inlet pipe all the time; and oxide skin falling to the top of the die holder is cleaned by nitrogen blown out from the output ends of the two blowing pipes, so that the oxide skin is prevented from being pressed into the cold roll, and the influence on the steel quality and subsequent processing of the cold roll is prevented.

Description

Technical Field

[0001] This invention relates to the field of cold rolling roll manufacturing technology, and more specifically, to a combined limiting and clamping robotic arm system for manufacturing forged steel cold rolling rolls. Background Technology

[0002] Forged steel cold rolling rolls are core components in the production of cold-rolled strip steel, foil, and other metal sheets. Their performance directly affects the surface quality, dimensional accuracy, and production efficiency of the rolled products. Compared with cast steel cold rolling rolls, forged steel cold rolling rolls have advantages such as dense structure, excellent mechanical properties, and long service life. In the manufacturing process of forged steel cold rolling rolls, the forging billet needs to be heated to an appropriate temperature to ensure that the material has good plasticity. Free forging or die forging processes are used to obtain a uniform structure through multiple forging presses.

[0003] During the forging process of the cold rolling roll end, the oxide scale on the surface of the cold rolling roll will fall onto the die holder or adhere to the die. During the forging process, the oxide scale is easily pressed into the interior of the cold rolling roll, which will affect the quality of the steel and subsequent processing. At the same time, since the cold rolling roll is in a high-temperature state during the forging process, it is inconvenient to position it before clamping and limiting it, which reduces the efficiency of processing the forged cold rolling roll. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a combined limiting and clamping robotic arm system made of forged steel cold rolling rolls.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a combined limiting and clamping robotic arm system made of forged steel cold rolling rolls, comprising a base plate and a work frame, wherein a worktable is fixedly installed at one top end of the base plate, and a shell is fixedly installed on the top of the worktable; The housing is equipped with a mold base for processing the end of the cold rolling roll. The housing is also equipped with a cleaning mechanism for cleaning the oxide scale on the surface of the mold base. A movable seat is slidably arranged in the middle of the top surface of the base plate. A limiting working arm for fixing the cold rolling roll is arranged on the top of the movable seat. A support mechanism for positioning the cold rolling roll is arranged between the movable seat and the worktable. The cleaning mechanism includes an adjusting cylinder fixedly connected to the inner wall of the outer shell. Air blowing pipes are connected to both the front and rear sides of the bottom of the adjusting cylinder. The output ends of the two air blowing pipes are both set towards the top of the mold base. An air inlet pipe is connected to the lower middle part of the adjusting cylinder. The input end of the air inlet pipe is fixedly inserted through the outer shell.

[0006] Furthermore, a piston is slidably disposed inside the regulating cylinder, and a square rod is fixedly installed on the top of the piston. The top end of the square rod movably passes through the regulating cylinder and is fixedly installed with a first lever. An air jet pipe is connected to the top of the regulating cylinder.

[0007] Furthermore, a first hydraulic cylinder is fixedly inserted into the top of the outer shell, and a module for forging and pressing the end of the cold rolling roll is fixedly installed on the extended end of the first hydraulic cylinder. The position of the module corresponds to the position of the mold base, and a second lever is also fixedly installed on the extended end of the first hydraulic cylinder.

[0008] Furthermore, a flip plate is rotatably provided on the inner wall of the outer casing. One end of the flip plate is movably connected to the first lever, and the other end of the flip plate is movably connected to the second lever.

[0009] Furthermore, a gas supply device for supplying nitrogen is fixedly installed on the outer wall of the outer shell, and the output end of the gas supply device is connected to the input end of the air inlet pipe.

[0010] Furthermore, the support mechanism includes two support frames, the top of which is provided with slots for placing cold rolling rolls. The positions of the two slots correspond to the limiting working arms. Control units for changing the position of the slots are provided on the front and rear sides below the support frames.

[0011] Furthermore, the control unit includes two rotating seats fixedly connected to the base plate. A first rotating arm is rotatably mounted on the rotating seat near the movable seat, and a second rotating arm is rotatably mounted on the other rotating seat. The top ends of the second rotating arm and the first rotating arm are respectively fixedly connected to two support frames.

[0012] Furthermore, a connecting plate is rotatably connected to the middle of the second rotating arm, one end of which is rotatably connected to the middle of the first rotating arm, and a positioning block for limiting the rotation angle of the first rotating arm is fixedly installed on the rotating seat near the movable seat.

[0013] Furthermore, two second hydraulic cylinders are fixedly installed on the side of the workbench, and a third lever is fixedly installed on the extended end of each of the two second hydraulic cylinders. The lower middle part of each of the two second rotating arms is movably connected to the corresponding third lever.

[0014] The technical effects and advantages of this invention are as follows: 1. This invention controls the extension and retraction of the third hydraulic cylinder, in conjunction with a limiting working arm, to facilitate the adjustment of the position of the cold rolling roll end at the top of the die holder. Before the module forges the cold rolling roll end, the extension of the first hydraulic cylinder is controlled to retract to its shortest length, allowing nitrogen gas to be injected into the adjusting cylinder along the air inlet pipe and then sprayed out through the output end of the air jet pipe to blow air onto the module, facilitating the cleaning of its bottom and preventing residual oxide scale from being pressed into the cold rolling roll. By extending and retracting the extension of the first hydraulic cylinder within the range of half length and maximum length, the cold rolling roll end is forged, ensuring that the piston is always above the output end of the air inlet pipe. Oxide scale that falls to the top of the die holder will be cleaned off by the nitrogen gas blown out from the output ends of the two air jet pipes, preventing oxide scale from being pressed into the cold rolling roll and thus preventing it from affecting the steel quality of the cold rolling roll and subsequent processing.

[0015] 2. This invention controls the simultaneous extension of the extended ends of two second hydraulic cylinders, causing two second rotating arms to rotate. In conjunction with two connecting plates, this drives the corresponding first rotating arms to flip. When the extended ends of the second hydraulic cylinders reach their maximum extension, the bottoms of both first rotating arms contact the corresponding positioning blocks. The two first and two second rotating arms then move two support frames to the support position. The slots on the support frames provide support and limit the cold rolling roll, facilitating the control of the limiting working arm to fix and clamp the end of the cold rolling roll, ensuring efficient processing of the forged cold rolling roll. When the limiting working arm has stably clamped the end of the cold rolling roll, the extended ends of the two second hydraulic cylinders are first controlled to retract and reset simultaneously, causing the two support frames to move and flip closer to the worktable, preventing the support frames from obstructing the cold rolling roll and the limiting working arm. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a three-dimensional schematic diagram of the internal structure of the outer shell of the present invention.

[0018] Figure 3 This is a three-dimensional schematic diagram of the cleaning mechanism structure of the present invention.

[0019] Figure 4 This is a three-dimensional schematic diagram of the internal structure of the regulating cylinder of the present invention.

[0020] Figure 5 This is a three-dimensional schematic diagram of the support mechanism structure of the present invention.

[0021] Figure 6 This is a three-dimensional schematic diagram of a partial structure of the support mechanism of the present invention.

[0022] The attached figures are labeled as follows: 1. Outer shell; 2. Air supply fixture; 3. Workbench; 4. Base plate; 5. Oil supply fixture; 6. Support mechanism; 7. Moving seat; 8. Third hydraulic cylinder; 9. Positioning plate; 10. Limiting working arm; 11. Working frame; 12. Shifting working arm; 13. First hydraulic cylinder; 14. Second lever; 15. Module; 16. Mold base; 17. Cleaning mechanism; 601. Second rotating arm; 602. Third lever; 603. Second hydraulic cylinder; 604. First rotating arm; 605. Connecting plate; 606. Support frame; 607. Slot; 608. Rotating seat; 609. Positioning block; 171. Flipping plate; 172. First lever; 173. Adjusting cylinder; 174. Air inlet pipe; 175. Air blowing pipe; 176. Air jet pipe; 177. Square rod; 178. Piston. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1: Please refer to Figures 1-6 As shown, the following solutions can be used to address the problem that oxide scale is easily pressed into the interior of the cold rolling roll during the forging process, which affects the quality of the steel and subsequent processing. This embodiment of a combined limiting clamping robotic arm system made of forged steel cold rolling rolls includes a base plate 4 and a work frame 11. A worktable 3 is fixedly installed at one top end of the base plate 4, and a shell 1 is fixedly installed on the top of the worktable 3. The outer casing 1 shields the oxide scale that splashes during the processing of the cold rolling roll. The inner part of the outer casing 1 is provided with a mold base 16 for processing the end of the cold rolling roll. The bottom of the mold base 16 is fixedly connected to the worktable 3. The inner part of the outer casing 1 is also provided with a cleaning mechanism 17 for cleaning the oxide scale on the surface of the mold base 16. A movable seat 7 is slidably provided in the middle of the top surface of the base plate 4 via a guide rail. The top of the movable seat 7 is provided with a limiting working arm 10 for fixing the cold rolling roll. The limiting working arm 10 is existing technology. The height of the cold rolling roll can be adjusted by the limiting working arm 10, and a support mechanism 6 for positioning the cold rolling roll is provided between the moving seat 7 and the worktable 3. Please see Figure 2 and Figure 3As shown, the cleaning mechanism 17 includes an adjusting cylinder 173 fixedly connected to the inner wall of the outer shell 1. Air blowing pipes 175 are connected to both the front and rear sides of the bottom of the adjusting cylinder 173. The output ends of the two air blowing pipes 175 are both set towards the top of the mold base 16. An air inlet pipe 174 is connected to the middle and lower part of the adjusting cylinder 173. The input end of the air inlet pipe 174 is fixedly inserted through the outer shell 1. Please see Figure 3 and Figure 4 As shown, a piston 178 is slidably disposed inside the regulating cylinder 173. A square rod 177 is fixedly installed on the top of the piston 178. The top of the square rod 177 moves through the regulating cylinder 173 and is fixedly installed with a first lever 172. The top of the regulating cylinder 173 is connected to an air jet pipe 176. Please see Figure 2 and Figure 3 As shown, a first hydraulic cylinder 13 is fixedly inserted into the top of the outer shell 1. The first hydraulic cylinder 13 is arranged longitudinally, and a module 15 for forging and pressing the end of the cold rolling roll is fixedly installed at the extended end of the first hydraulic cylinder 13. The position of the module 15 corresponds to the position of the mold base 16. A second lever 14 is also fixedly installed at the extended end of the first hydraulic cylinder 13. Please see Figure 2 and Figure 3 As shown, a flip plate 171 is rotatably mounted on the inner wall of the outer casing 1 via a pin. One end of the flip plate 171 is movably connected to the first lever 172 via a first sliding groove, and the other end of the flip plate 171 is movably connected to the second lever 14 via a second sliding groove. The pin is close to the first lever 172. Please see Figure 1 and Figure 2 As shown, a gas supply fixture 2 for supplying nitrogen is fixedly installed on the outer side wall of the outer shell 1. The gas supply fixture 2 is the prior art, and the output end of the gas supply fixture 2 is connected to the input end of the air inlet pipe 174. By controlling the extension and retraction of the extension end of the third hydraulic cylinder 8, in conjunction with the limiting working arm 10, it is convenient to adjust the position of the end of the cold rolling roll at the top of the mold base 16. Before the end of the cold rolling roll of module 15, the extended end of the first hydraulic cylinder 13 is controlled to retract to its shortest length. At this time, the flip plate 171 is flipped by the second lever 14, so that the first lever 172 and the square rod 177 drive the piston 178 to slide down to below the output end of the air inlet pipe 174. The air supply fixture 2 is turned on, so that nitrogen gas is injected into the regulating cylinder 173 along the air inlet pipe 174 and then sprayed out through the output end of the jet pipe 176 to blow air onto module 15, which facilitates the cleaning of its bottom and prevents the residual oxide scale at its bottom from being pressed into the cold rolling roll. By extending and retracting the first hydraulic cylinder 13 within its half-length and longest range, the end of the cold rolling roll is forged. At this time, nitrogen gas will be blown out from the output ends of the two air blowing pipes 175. During this process, the piston 178 is always above the output end of the air inlet pipe 174. The oxide scale that falls to the top of the die holder 16 will be cleaned down by the nitrogen gas blown out from the output ends of the two air blowing pipes 175, so as to prevent the oxide scale from being pressed into the cold rolling roll and to prevent it from affecting the steel quality of the cold rolling roll and subsequent processing.

[0025] Please see Figure 1 , Figure 5 and Figure 6 As shown, the support mechanism 6 includes two support frames 606. The top of the support frame 606 is provided with a slot 607 for placing the cold rolling roll. The positions of the two slots 607 correspond to the limiting working arm 10. Control units for changing the position of the slots 607 are provided on the front and rear sides below the support frame 606. Example 2: Please refer to Figures 1-6 As shown, the following solution addresses the problem that the cold rolling rolls are in a high-temperature state during the forging process, making it difficult to position them before clamping and limiting them, thus reducing the efficiency of processing forged cold rolling rolls; Please see Figure 1 and Figure 5 As shown, the control unit includes two rotating seats 608 fixedly connected to the base plate 4. A first rotating arm 604 is rotatably mounted on the rotating seat 608 near the movable seat 7, and a second rotating arm 601 is rotatably mounted on the other rotating seat 608. The top ends of the second rotating arm 601 and the first rotating arm 604 are fixedly connected to two support frames 606 respectively. Please see Figure 5 and Figure 6 As shown, a connecting plate 605 is rotatably connected to the middle of the second rotating arm 601, and one end of the connecting plate 605 is rotatably connected to the middle of the first rotating arm 604. A positioning block 609 for limiting the rotation angle of the first rotating arm 604 is fixedly installed on the rotating seat 608 near the moving seat 7. Please see Figure 1 and Figure 5 As shown, two horizontally arranged second hydraulic cylinders 603 are fixedly installed on the side of the workbench 3. A third lever 602 is fixedly installed on the extended end of each of the two second hydraulic cylinders 603. A third sliding groove is opened in the middle and lower part of each of the two second rotating arms 601. The two third sliding grooves are movably connected to the corresponding third lever 602. By controlling the extension ends of the two second hydraulic cylinders 603 to extend simultaneously, the two second rotating arms 601 rotate. In conjunction with the two connecting plates 605, the corresponding first rotating arms 604 are rotated. When the extension ends of the second hydraulic cylinders 603 are extended to their maximum length, the bottoms of the two first rotating arms 604 are in contact with the corresponding positioning blocks 609. The two first rotating arms 604 and the two second rotating arms 601 drive the two support frames 606 to move to the support position. The slots 607 on the support frames 606 provide support and limit the cold rolling roll, which facilitates the control of the limiting working arm 10 to fix and clamp the end of the cold rolling roll, thus ensuring the efficiency of processing forged cold rolling rolls. When the limiting working arm 10 clamps the end of the stable cold rolling roll, the extended ends of the two second hydraulic cylinders 603 are controlled to retract and reset simultaneously, so that the two support frames 606 move and flip close to the worktable 3, preventing the support frames 606 from obstructing the cold rolling roll and the limiting working arm 10. Please see Figure 1 As shown, a positioning plate 9 is fixedly installed at the top of the base plate 4 away from the worktable 3. A third hydraulic cylinder 8 is fixedly installed in the middle of the positioning plate 9. The extended end of the third hydraulic cylinder 8 is fixedly connected to the moving seat 7. The extension and retraction of the extended end of the third hydraulic cylinder 8 facilitates flexible control of the distance between the cold rolling roll and the die holder 16.

[0026] Please see Figure 1 As shown, the work frame 11 is fixedly installed on the top rear side of the base plate 4, and a shifting work arm 12 for adjusting the direction of the cold rolling roll end is fixedly provided on the front of the work frame 11. The shifting work arm 12 is the prior art.

[0027] Please see Figure 1 As shown, the front of the work frame 11 is also fixedly provided with an oil supply fixture 5 for spraying hot rolling oil onto the cold rolling roll. The oil supply fixture 5 is existing technology.

[0028] Working principle: In use, the present invention firstly controls the extension ends of the two second hydraulic cylinders 603 to extend simultaneously, causing the two second rotating arms 601 to rotate. In conjunction with the two connecting plates 605, the corresponding first rotating arms 604 are rotated. When the extension ends of the second hydraulic cylinders 603 are extended to their maximum length, the bottoms of the two first rotating arms 604 are in contact with the corresponding positioning blocks 609. The two first rotating arms 604 and the two second rotating arms 601 drive the two support frames 606 to move to the support position. The slots 607 on the support frames 606 provide support and limit the cold rolling roll, which facilitates the control of the limiting working arm 10 to fix and clamp the end of the cold rolling roll, thus ensuring the efficiency of processing forged cold rolling rolls. When the limiting working arm 10 clamps the end of the stable cold rolling roll, the extended ends of the two second hydraulic cylinders 603 are controlled to retract and reset simultaneously, so that the two support frames 606 move and flip close to the worktable 3, preventing the support frames 606 from obstructing the cold rolling roll and the limiting working arm 10. By controlling the extension and retraction of the extended end of the third hydraulic cylinder 8, in conjunction with the limiting working arm 10, it is convenient to adjust the position of the end of the cold rolling roll at the top of the die holder 16. Before the module 15 forges the end of the cold rolling roll, the extended end of the first hydraulic cylinder 13 is controlled to retract to its shortest length. At this time, the second lever 14 drives the flip plate 171 to flip, so that the first lever 172 and the square rod 177 drive the piston 178 to slide down to below the output end of the air inlet pipe 174, and the air supply fixture 2 is turned on, so that nitrogen gas is injected into the regulating cylinder 173 along the air inlet pipe 174, and then sprayed out through the output end of the jet pipe 176 to blow air onto the module 15, which is convenient for cleaning its bottom and prevents the residual oxide scale at its bottom from being pressed into the cold rolling roll. By extending and retracting the first hydraulic cylinder 13 within its half-length and longest range, the end of the cold rolling roll is forged. At this time, nitrogen gas will be blown out from the output ends of the two air blowing pipes 175. During this process, the piston 178 is always above the output end of the air inlet pipe 174. The oxide scale that falls to the top of the die holder 16 will be cleaned down by the nitrogen gas blown out from the output ends of the two air blowing pipes 175, so as to prevent the oxide scale from being pressed into the cold rolling roll and to prevent it from affecting the steel quality of the cold rolling roll and subsequent processing.

[0029] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A combined limiting and clamping robotic arm system manufactured from forged steel cold rolling rolls, comprising a base plate (4) and a work frame (11), wherein a worktable (3) is fixedly installed at one top end of the base plate (4), and a shell (1) is fixedly installed on the top of the worktable (3), characterized in that: The outer shell (1) is provided with a mold base (16) for processing the end of the cold rolling roll. The outer shell (1) is also provided with a cleaning mechanism (17) for cleaning the oxide scale on the surface of the mold base (16). A movable seat (7) is slidably provided in the middle of the top surface of the base plate (4). A limiting working arm (10) for fixing the cold rolling roll is provided on the top of the movable seat (7). A support mechanism (6) for positioning the cold rolling roll is provided between the movable seat (7) and the worktable (3). The cleaning mechanism (17) includes an adjusting cylinder (173) fixedly connected to the inner wall of the outer shell (1). The front and rear sides of the bottom of the adjusting cylinder (173) are connected to air blowing pipes (175). The output ends of the two air blowing pipes (175) are both set towards the top of the mold base (16). The middle and lower part of the adjusting cylinder (173) is connected to an air inlet pipe (174). The input end of the air inlet pipe (174) is fixedly inserted through the outer shell (1).

2. The combined limiting and clamping robotic arm system manufactured from forged steel cold-rolled rolls according to claim 1, characterized in that: A piston (178) is slidably disposed inside the regulating cylinder (173). A square rod (177) is fixedly installed on the top of the piston (178). The top of the square rod (177) moves through the regulating cylinder (173) and is fixedly installed with a first lever (172). The top of the regulating cylinder (173) is connected to an air jet pipe (176).

3. The combined limiting and clamping robotic arm system manufactured from forged steel cold-rolled rolls according to claim 2, characterized in that: A first hydraulic cylinder (13) is fixedly inserted into the top of the outer shell (1). A module (15) for forging cold rolling roll end is fixedly installed on the extended end of the first hydraulic cylinder (13). The position of the module (15) corresponds to the position of the mold base (16). A second lever (14) is also fixedly installed on the extended end of the first hydraulic cylinder (13).

4. The combined limiting and clamping robotic arm system manufactured from forged steel cold-rolled rolls according to claim 3, characterized in that: A flip plate (171) is rotatably provided on the inner wall of the outer shell (1). One end of the flip plate (171) is movably connected to the first lever (172), and the other end of the flip plate (171) is movably connected to the second lever (14).

5. The combined limiting and clamping robotic arm system manufactured from forged steel cold-rolled rolls according to claim 4, characterized in that: A gas supply device (2) for supplying nitrogen is fixedly installed on the outer wall of the outer shell (1), and the output end of the gas supply device (2) is connected to the input end of the air inlet pipe (174).

6. The combined limiting and clamping robotic arm system manufactured from forged steel cold-rolled rolls according to claim 1, characterized in that: The support mechanism (6) includes two support frames (606). The top of the support frame (606) is provided with a slot (607) for placing the cold rolling roll. The positions of the two slots (607) correspond to the limiting working arm (10). Control units for changing the position of the slots (607) are provided on the front and rear sides below the support frame (606).

7. The combined limiting and clamping robotic arm system manufactured from forged steel cold-rolled rolls according to claim 6, characterized in that: The control unit includes two rotating seats (608) fixedly connected to the base plate (4). A first rotating arm (604) is rotatably arranged on the rotating seat (608) near the movable seat (7), and a second rotating arm (601) is rotatably arranged on the other rotating seat (608). The top ends of the second rotating arm (601) and the first rotating arm (604) are fixedly connected to two support frames (606) respectively.

8. The combined limiting and clamping robotic arm system manufactured from forged steel cold-rolled rolls according to claim 7, characterized in that: A connecting plate (605) is rotatably connected to the middle of the second rotating arm (601). One end of the connecting plate (605) is rotatably connected to the middle of the first rotating arm (604). A positioning block (609) for limiting the rotation angle of the first rotating arm (604) is fixedly installed on the rotating seat (608) near the moving seat (7).

9. A combined limiting and clamping robotic arm system manufactured from forged steel cold-rolled rolls according to claim 8, characterized in that: Two second hydraulic cylinders (603) are fixedly installed on the side of the workbench (3). A third lever (602) is fixedly installed on the extended end of each of the two second hydraulic cylinders (603). The lower middle part of each of the two second rotating arms (601) is movably connected to the corresponding third lever (602).

Images