Roll changing structure of side roll box for robot

Abstract

According to the side roller box roller replacing structure for the robot, an outer roller box and an inner roller box are arranged on a roller rack, a box replacing module and a box storing module are further arranged on the roller replacing robot, a hollow cavity is formed in the box replacing module, and when the outer roller box is aligned with the box replacing module, the inner roller box enters the hollow cavity to complete disassembling of a side roller; when the box changing module is aligned with the box storage module, the inner roller box enters the box storage module to complete storage of side rollers, when the box changing module is aligned with the other box storage module, the new inner roller box enters the hollow cavity to complete grabbing, and when the box changing module drives the new inner roller box to be aligned with the outer roller box, the new inner roller box enters the hollow cavity to complete grabbing. The new inner roller box can enter the outer roller box to complete replacement. According to the technical scheme, the roller replacing robot can automatically replace the transverse rollers and the side rollers, the application range is wide, cost is saved, and precision and efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot automatic roll changing in a multi-specification welded pipe production line, in particular to a robot side roll box roll changing structure applicable to the robot automatic roll changing. Background Art

[0002] Currently, rolling mill roll changing is primarily done manually or with the aid of a crane. Some methods involve removing the roll shaft from the top of the mill arch and replacing it with another one, then changing the rolls offline; some remove the mill frame and baseplate together and replace it with another one, then changing the rolls offline; and some remove the entire baseplate and replace it with another one, then changing the rolls offline. All three of these roll changing methods are considered offline, requiring the drive shaft to be disconnected and at least one set of spare equipment or components to be maintained. This leads to long roll changing times, high workload, high equipment costs, and poor safety performance. Another method involves directly removing the rolls from the operating side of the mill arch using a roll-changing robot. This is the only automated online roll changing method, but requires the mill arch on the operating side to be removed before changing the rolls. However, only transverse rolls can be replaced, not side rolls. Current welded pipe production lines are undergoing upgrades to meet the needs of today's production, gradually adding side rolls that are more suitable for modern production methods. These roll changing methods no longer meet the needs of today's production lines. In view of the shortcomings and deficiencies of the above-mentioned roll changing and adjustment methods, it is very necessary to research and develop a roll changing structure for a robot with a side roll box that is suitable for online roll changing and can automatically replace transverse rolls and side rolls. Utility Model Content

[0003] This utility model aims to overcome the shortcomings and deficiencies of the aforementioned technologies by providing a robot-mounted side roller cassette roller-changing structure that is not only rationally designed and compact, but also suitable for online roller changing. It also utilizes a side roller-changing method, achieving automated roller changing, making the roller-changing robot suitable for online roller changing and automatically replacing transverse and side rollers. This technical solution is simple in structure, easy to repair and maintain, has a wide range of applications, saves costs, and improves precision and efficiency.

[0004] Specifically, the purpose of the present invention is achieved by adopting the following technical solutions: on the one hand, a robot side roller box roller changing structure is used to cooperate with the roller changing robot j to complete the work of automatically changing the first side roller h1 to the second side roller h2 in the welding pipe production line; an outer roller box hy and a first inner roller box hn1 are provided on the roller frame z; the first inner roller box hn1 is placed inside the outer roller box hy and can slide relative to the outer roller box hy; the first side roller h1 is provided on the first inner roller box hn1 and can rotate freely; the roller changing robot j is also provided with a box changing module hm, a first box storage module cm1 and a second box storage module cm2; a hollow cavity kq is provided in the box changing module hm; when the outer roller box hy is aligned with the box changing module hm, the first inner roller box hn1 can drive the first side roller h1 to enter the middle cavity together. The cavity kq completes the disassembly of the first side roller h1. When the box changing module hm is aligned with the first box storage module cm1, the first inner roller box hn1 can drive the first side roller h1 to enter the first box storage module cm1 to complete the storage of the first side roller h1. When the box changing module hm is aligned with the second box storage module cm2, a second inner roller box hn2 is also provided in the second box storage module cm2. The second side roller h2 is provided on the second inner roller box hn2 and can rotate freely. The second inner roller box hn2 can drive the second side roller h2 to enter the hollow cavity kq to complete the grabbing of the second side roller h2. When the box changing module hm drives the second inner roller box hn2 to align with the outer roller box hy, the second inner roller box hn2 can drive the second side roller h2 to enter the outer roller box hy to complete the replacement of the second side roller h2.

[0005] According to one aspect of the specific implementation of the embodiment of the present invention, the first inner roller box hn1 and the second inner roller box hn2 have the same outer dimensions and are interchangeable and can both slide freely in the outer roller box hy and the hollow cavity kq.

[0006] According to one aspect of the specific implementation of the embodiment of the present utility model, the outer roller box hy, the box changing module hm, the first box storage module cm1 and the second box storage module cm2 are all provided with a box pushing mechanism t, and the box pushing mechanism t can push the first inner roller box hn1 or the second inner roller box hn2 outward from the outer roller box hy, the box changing module hm, the first box storage module cm1 and the second box storage module cm2, and the box pushing mechanism t is configured to extend the cylinder mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

[0008] Description of the serial numbers: roller changing robot j, first side roller h1, second side roller h2, roller frame z, outer roller box hy, first inner roller box hn1, box changing module hm, hollow cavity kq, first box storage module cm1, second box storage module cm2, second inner roller box hn2, box pushing mechanism t.

[0009] Figure 1 This is a schematic diagram of the first side roller h1 to be disassembled in an embodiment of the present utility model.

[0010] Figure 2 It is a schematic diagram of the alignment of the box changing module hm and the outer roller box hy in an embodiment of the present utility model.

[0011] Figure 3 This is a schematic diagram of the first side roller h1 being pushed out in an embodiment of the present utility model.

[0012] Figure 4 This is a schematic diagram of the complete disassembly of the first side roller h1 in an embodiment of the present utility model.

[0013] Figure 5 This is a schematic diagram of the first side roller h1 being transferred to the first storage box module cm1 according to an embodiment of the present utility model.

[0014] Figure 6 This is a schematic diagram of the first side roller h1 being inserted into the first storage box module cm1 according to an embodiment of the present invention.

[0015] Figure 7 This is a schematic diagram of the roller-changing robot j finding the second side roller h2 according to an embodiment of the present utility model.

[0016] Figure 8 This is a schematic diagram of the aligning of the box-changing module hm with the second box-storing module cm2 according to an embodiment of the present invention.

[0017] Figure 9 This is a schematic diagram of the second side roller h2 being grabbed in an embodiment of the present utility model.

[0018] Figure 10 This is a schematic diagram of the second side roller h2 being transferred to the outer roller box hy in an embodiment of the present utility model.

[0019] Figure 11 This is a schematic diagram of the completed installation of the second side roller h2 in an embodiment of the present utility model.

[0020] In the drawings, like parts are given like reference numerals, but the drawings are not necessarily drawn to scale. DETAILED DESCRIPTION

[0021] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. The detailed description of the following examples and the accompanying drawings are intended to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention. That is, the present invention is not limited to the preferred embodiments described, and the scope of the present invention is defined by the claims.

[0022] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified, “perpendicular” and “parallel” do not just have absolute meanings in a mathematical sense, but can be understood as “approximately perpendicular” and “approximately parallel”.

[0023] As shown in the figure, the present invention aims to overcome the shortcomings and deficiencies of the aforementioned technologies by providing a robot-based side roll cassette roll-changing structure that is not only rationally designed and compactly structured, but also suitable for online roll changing and employs a side roll-changing method, achieving automated roll changing. This allows the roll-changing robot to be both suitable for online roll changing and for automatically replacing transverse and side rolls. This technical solution features a simple structure, ease of repair and maintenance, a wide range of applications, cost savings, and improved precision and efficiency. The specific implementation employs the following technical solution: The structure of the existing fully automatic welded pipe production line roll-changing robot is supplemented with a complete set of matching side roll-changing modules. An outer roll cassette hy and a first inner roll cassette hn1 are added to the intermediate portion of the upper and lower transverse rolls of the existing roll stand z. The outer roll cassette hy is fixedly connected to the roll stand z and is square-box-shaped. It has an opening aligned with the axis of the two transverse shafts arranged vertically on the roll stand z.

[0024] The first inner roller box hn1 is also configured as a square steel box and is placed inside the outer roller box hy through the opening of the outer roller box hy and is able to slide freely inward and outward relative to the outer roller box hy. The first side roller h1 is provided at an end portion of the first inner roller box hn1 so that a portion of its roller surface is exposed outside the first inner roller box hn1 and is hingedly connected to the first inner roller box hn1 via a rotating shaft to enable free rotation relative to the first inner roller box hn1. The rotation center axis of the first side roller h1 is perpendicular to the direction in which the first inner roller box hn1 can slide freely inward and outward relative to the outer roller box hy.

[0025] According to one aspect of a specific embodiment of the present invention, a roll-changing robot j in a conventional welded pipe production line is further equipped with a cassette changing module hm, a first cassette storage module cm1, and a second cassette storage module cm2. The cassette changing module hm is located within the manipulator of the roll-changing robot j and is configured as a square steel box with an opening at one end and a hollow cavity kq therein. The hollow cavity kq is capable of accommodating the first inner roll cassette hn1 for insertion and stable placement.

[0026] The first storage module cm1 and the second storage module cm2 are arranged in a storage module archway. The storage module archway is provided with, but not limited to, the first storage module cm1 and the second storage module cm2. More storage modules for rolling rolls of products of other specifications may also be provided. The first storage module cm1 can be inserted into and store the first inner roller box hn1.

[0027] Among them, the second storage box module cm2 also pre-stores the second inner roller box hn2, and the second inner roller box hn2 is also set to a square box shape of a steel structure. The second side roller h2 is set at the end of the second inner roller box hn2 so that part of its roller surface is exposed to the second inner roller box hn2 and is hinged to it with a rotating shaft to achieve its free rotation relative to the second inner roller box hn2.

[0028] According to one aspect of the specific implementation of the embodiment of the present invention, the first inner roller box hn1 and the second inner roller box hn2 have the same outer dimensions and are interchangeable and can both slide freely in the outer roller box hy and the hollow cavity kq.

[0029] According to one aspect of the specific implementation of the embodiment of the present utility model, the outer roller box hy, the box changing module hm, the first box storage module cm1 and the second box storage module cm2 are all provided with a box pushing mechanism t, and the box pushing mechanism t can push the first inner roller box hn1 or the second inner roller box hn2 outward from the outer roller box hy, the box changing module hm, the first box storage module cm1 and the second box storage module cm2, and the box pushing mechanism t is configured to extend the cylinder mechanism.

[0030] Figure 1 This is a schematic diagram of the first side roller h1 to be disassembled in an embodiment of the present utility model.

[0031] Figure 2 It is a schematic diagram of the alignment of the box changing module hm and the outer roller box hy in an embodiment of the present utility model.

[0032] Figure 3 This is a schematic diagram of the first side roller h1 being pushed out in an embodiment of the present utility model.

[0033] like Figure 1 、 Figure 2 and Figure 3As shown, according to one aspect of the specific implementation of an embodiment of the utility model, the specific work flow of this implementation is: first, the rolling mill frame z needs to complete the disassembly of the outer arch and the two transverse rollers with the help of the roll changing robot j, and then the roll changing robot j moves the box changing module hm to a position close to the outer roller box hy. When the openings of the outer roller box hy and the box changing module hm are aligned with each other, the box pushing mechanism t provided in the outer roller box hy is started, pushing the first inner roller box hn1 toward the box changing module hm. The first inner roller box hn1 can drive the first side roller h1 into the hollow cavity kq together to complete the disassembly of the first side roller h1.

[0034] Figure 4 This is a schematic diagram of the complete disassembly of the first side roller h1 in an embodiment of the present utility model.

[0035] Figure 5 This is a schematic diagram of the first side roller h1 being transferred to the first storage box module cm1 according to an embodiment of the present utility model.

[0036] Figure 6 This is a schematic diagram of the first side roller h1 being inserted into the first storage box module cm1 according to an embodiment of the present invention.

[0037] like Figure 4 、 Figure 5 and Figure 6 As shown, according to one aspect of the specific implementation of the embodiment of the utility model, the roller changing robot j drives the first inner roller box hn1 to move to the box storage module archway, and when the openings of the box changing module hm and the first box storage module cm1 are aligned with each other, the box pushing mechanism t provided in the box changing module hm is activated, pushing the first inner roller box hn1 toward the first box storage module cm1, and the first inner roller box hn1 can drive the first side roller h1 to enter the first box storage module cm1 together to complete the storage of the first side roller h1.

[0038] Figure 7 This is a schematic diagram of the roller-changing robot j finding the second side roller h2 according to an embodiment of the present utility model.

[0039] Figure 8 This is a schematic diagram of the aligning of the box-changing module hm with the second box-storing module cm2 according to an embodiment of the present invention.

[0040] Figure 9 This is a schematic diagram of the second side roller h2 being grabbed in an embodiment of the present utility model.

[0041] like Figure 7 、 Figure 8 and Figure 9As shown, according to one aspect of the specific implementation of an embodiment of the utility model, the roller changing robot j continues to move, and when the box changing module hm is aligned with the opening of the second box storage module cm2 in which the second inner roller box hn2 is pre-stored, the box pushing mechanism t provided in the second box storage module cm2 is started, pushing the second inner roller box hn2 toward the box changing module hm, and the second inner roller box hn2 can drive the second side roller h2 to enter the hollow cavity kq together to complete the grabbing of the second side roller h2.

[0042] Figure 10 This is a schematic diagram of the second side roller h2 being transferred to the outer roller box hy in an embodiment of the present utility model.

[0043] Figure 11 This is a schematic diagram of the completed installation of the second side roller h2 in an embodiment of the present utility model.

[0044] like Figure 10 and Figure 11 As shown, according to one aspect of the specific implementation of an embodiment of the utility model, the roller changing robot j continues to move and drives the second inner roller box hn2 to find the outer roller box hy. When the box changing module hm drives the second inner roller box hn2 to align with the opening of the outer roller box hy, the box pushing mechanism t provided in the box changing module hm is started, pushing the second inner roller box hn2 toward the outer roller box hy. The second inner roller box hn2 can drive the second side roller h2 to enter the outer roller box hy together to complete the replacement of the second side roller h2.

[0045] It should be understood that the description of the specific embodiments of the present invention is illustrative and should not be interpreted as an improper limitation on the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims and covers all embodiments and obvious equivalents falling within the scope.

Claims

1. A side roller cassette roller changing structure for a robot, used to cooperate with a roller changing robot (j) to automatically change the first side roller (h1) to the second side roller (h2) in a butt-welded pipe production line, characterized in that An outer roller box (hy) and a first inner roller box (hn1) are provided on a roller frame (z); the first inner roller box (hn1) is placed inside the outer roller box (hy) and can slide relative to the outer roller box (hy); the first side roller (h1) is provided on the first inner roller box (hn1) and can rotate freely; a box changing module (hm), a first box storage module (cm1) and a second box storage module (cm2) are also provided on the roller changing robot (j); a hollow cavity (kq) is provided in the box changing module (hm); when the outer roller box (hy) is aligned with the box changing module (hm), the first inner roller box (hn1) It can drive the first side roller (h1) to enter the hollow cavity (kq) together to complete the disassembly of the first side roller (h1); when the box changing module (hm) is aligned with the first box storage module (cm1), the first inner roller box (hn1) can drive the first side roller (h1) to enter the first box storage module (cm1) to complete the storage of the first side roller (h1); when the box changing module (hm) is aligned with the second box storage module (cm2), a second inner roller box (hn2) is further provided in the second box storage module (cm2); the second side roller (h2) is provided on the second inner roller box (hn2) and can rotate freely. The second inner roller box (hn2) can drive the second side roller (h2) to enter the hollow cavity (kq) together to complete the grabbing of the second side roller (h2); when the box changing module (hm) drives the second inner roller box (hn2) to align with the outer roller box (hy), the second inner roller box (hn2) can drive the second side roller (h2) to enter the outer roller box (hy) together to complete the replacement of the second side roller (h2).

2. A side roller cassette roller changing structure for a robot according to claim 1, characterized in that The first inner roller box (hn1) and the second inner roller box (hn2) have the same external dimensions and are interchangeable, and both can slide freely in the outer roller box (hy) and the hollow cavity (kq).

3. A side roller cassette roller changing structure for a robot according to claim 2, characterized in that The outer roller box (hy), the box changing module (hm), the first box storage module (cm1) and the second box storage module (cm2) are all provided with a box pushing mechanism (t), and the box pushing mechanism (t) can push the first inner roller box (hn1) or the second inner roller box (hn2) outward from the outer roller box (hy), the box changing module (hm), the first box storage module (cm1) and the second box storage module (cm2), and the box pushing mechanism (t) is configured to extend a cylinder mechanism.

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