CN107413849B - Horizontal cylindrical surface system for strip finishing of shaking type collecting and discharging rolling mill - Google Patents
Horizontal cylindrical surface system for strip finishing of shaking type collecting and discharging rolling mill Download PDFInfo
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- CN107413849B CN107413849B CN201710777552.7A CN201710777552A CN107413849B CN 107413849 B CN107413849 B CN 107413849B CN 201710777552 A CN201710777552 A CN 201710777552A CN 107413849 B CN107413849 B CN 107413849B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B1/00—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
- B21B1/22—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B2015/0057—Coiling the rolled product
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention relates to a finishing horizontal cylindrical surface system of a strip of a shaking type material collecting and discharging rolling mill, which comprises two groups of radial symmetrically arranged 5-axis robots, two groups of radial symmetrically arranged reversible leading-in reel mechanisms, a leveling reel mechanism, a winding reel, a rolling working roller mechanism and a detection mechanism, wherein a 5-axis link arm comprises two groups of rotating connecting arms rotating with fixed shafts and three groups of swinging connecting arms which are arranged between the rotating connecting arms rotating with the fixed shafts and are connected in a swinging way; the rolling working roller mechanism is arranged between the two groups of 5-axis robots and comprises two symmetrically fixed rolling working rollers and two symmetrically arranged supporting roller arrays, the rolling working rollers and the supporting rollers are all rotationally connected to a rotating seat, a metal belt is pressed between the rolling working rollers, the detection mechanisms are arranged at two ends of the rotating seat and are divided into a front thickness measuring mechanism and a rear thickness measuring mechanism, and the front thickness measuring mechanism and the rear thickness measuring mechanism are both distance sensors.
Description
Technical Field
The invention relates to the technical field of rolling mills, in particular to a horizontal cylindrical surface finishing system for a strip of a shaking type collecting and discharging rolling mill.
Background
A flexible rolling thickness of a metal strip periodically changing in a shaking type material collecting and discharging rolling mill is characterized in that plastic extension and shaking digestion stress are generated on a produced strip, each part is uniformly deformed, and partial residual force of a finished metal strip product is uneven due to mechanical precision, input and output signal precision, measurement and control precision, strain dynamic response and micro tension jump during rolling of a unit.
Because the thickness of the strip product is very regular, it is determined by the diameter of the upper and lower reel roller systems of's' shape during surface shaping, because the shaping core component's' shape first and second reel assembly precision influences, and the spare roller system group can not divide very finely, etc., the uniformity of the plate shape of the plate surface during strip shaping is more or less affected, the invention is technically characterized in that the roll changing times are reduced to the greatest extent because of the difference of the strip specifications, the roll changing speed is improved, and the's' shape reel roller system precision has means and methods for adjusting under dynamic conditions during finishing the plate shape.
With the progress of science and technology and the upgrade of industry chains, the surface quality of metal strips is higher and higher for users, and the surface quality of metal strips, especially thin film strips, is required to be controlled more strictly and accurately.
Disclosure of Invention
The invention mainly aims to provide a horizontal cylindrical surface robot system for accurately finishing the plate shape of the online surface of a rolled metal strip by a shaking type material collecting and discharging rolling mill.
The technical scheme adopted for solving the technical problems is as follows:
a horizontal cylindrical surface finishing system for a strip of a shaking type material collecting and discharging rolling mill comprises two groups of radial symmetrically arranged 5-axis robots, two groups of radial symmetrically arranged reversible leading-in reel mechanisms, a leveling reel mechanism, a winding reel, a rolling working roller mechanism and a detection mechanism; the 5-axis robot comprises a rotating platform, a lower reel connector and a 5-axis link arm connected between the lower reel and the rotating platform, wherein the 5-axis link arm comprises a main rotary table rotatably connected to the rotating platform, a rotary driving motor A is arranged on the rotating platform, the main rotary table is rotatably connected to the rotating platform and is rotatably driven by the rotary driving motor A, and a first rotary shaft unit is arranged between the main rotary table and the rotating platform; the 5-axis link arm further comprises a main swing arm, a connecting seat is arranged on the main turntable, one end part of the main swing arm is rotationally connected with the connecting seat, a rotary driving motor B is arranged on the connecting seat, the rotation axis of the rotary driving motor B is perpendicular to the axis of the rotary driving motor A, the main swing arm is driven by the rotary driving motor B2, and a second rotation shaft unit is arranged between the main swing arm and the main turntable; the 5-axis link arm further comprises a main rotating arm, one end part of the main rotating arm is rotationally connected with the end part of the main swing arm, a rotary driving motor C is arranged on the end part of the main swing arm, the rotation axis of the rotary driving motor C is parallel to the rotation axis of the rotary driving motor B, the main rotating arm is driven by the rotary driving motor C, and a third rotation shaft unit is arranged between the main rotating arm and the main swing arm; the 5-axis link arm further comprises an auxiliary rotating arm, the auxiliary rotating arm is rotationally connected with the main rotating arm, a rotary driving motor D is arranged on the main rotating arm, the rotation axis of the rotary driving motor D is perpendicular to the rotation axis of the rotary driving motor C, the auxiliary rotating arm is driven by the rotary driving motor D, and a fourth rotating shaft unit is arranged between the auxiliary rotating arm and the main rotating arm; the 5-axis link arm further comprises a connecting arm, the connecting arm is rotationally connected with the main rotating arm, a rotating driving motor E is arranged at the end part of the main rotating arm, the rotating axis of the rotating driving motor E is perpendicular to the rotating axis of the rotating driving motor D, the connecting arm is driven by the rotating driving motor E, and a fifth rotating shaft unit is arranged between the main rotating arm and the connecting arm; the connecting arm is fixedly connected with the lower reel connector; the reversible leading-in winding drum mechanism is positioned at one transverse end of the 5-axis robot and comprises an upper winding drum and a lower winding drum, wherein the upper winding drum is fixedly connected to the upper part of the lower winding drum through a base which is synchronously and fixedly connected with the rotary platform, and the lower winding drum is in floating connection through a lower winding drum connector; the rolling working roller mechanism is positioned between the two groups of 5-axis link arms; the winding drum is arranged at one side of the 5-axis robot, which is opposite to the rolling working roller mechanism, and is rotationally connected with the rotating platform through a connecting column which is synchronously and fixedly connected with the rotating platform; the rolling working roller mechanism is arranged between two groups of 5-axis robots and comprises two symmetrically fixed rolling working rollers and two symmetrically arranged supporting roller arrays, the rolling working rollers and the supporting rollers are rotationally connected to a rotating seat synchronously and fixedly connected with the rotating platform when a metal belt penetrates into transmission, the metal belt is pressed between the two rolling working rollers, the detection mechanisms are arranged at two axial ends of the rotating seat and are divided into a front thickness measuring mechanism and a rear thickness measuring mechanism, and the front thickness measuring mechanism and the rear thickness measuring mechanism are both distance sensors and are connected to the control end of a rotary driving motor of the 5-axis robot through a control center.
As a further improvement of the invention, the lower reel connector comprises two clamping arms which are rotationally connected, the clamping arms are rotationally connected to a connecting table, the connecting table is fixedly connected with the connecting arms, the clamping arms do reciprocating opening and closing movement through a driving mechanism, the clamping arms comprise rotating connecting parts and fixing parts, an included angle smaller than 180 degrees is arranged between the rotating connecting parts and the fixing parts, the clamping arms are rotationally connected through the rotating connecting parts, the fixing parts comprise a roller rotating shaft bearing hole, one radial end part of the roller rotating shaft bearing hole is provided with an embedded opening, a fixed gap is arranged between the roller rotating shaft bearing hole and the roller rotating shaft, the inner diameter of the fixed gap is equal to the width of the embedded opening, a connecting clamp spring is further arranged in the roller rotating shaft bearing hole, the connecting clamp spring is of an annular cylinder structure, an embedded opening parallel to the axis of the connecting clamp spring is arranged on the side wall in the circumferential direction, two axial ends of the connecting clamp spring are respectively provided with a fixing protruding part, and the fixing protruding parts are embedded into the inner wall of the roller bearing hole.
As a further improvement of the invention, the two clamping arms are respectively connected to one rotary driving motor F to realize reciprocating opening and closing driving, and the two rotary driving motors F are fixedly connected to the connecting table.
As a further improvement of the present invention, the fixing protrusions are connected by a net-shaped connecting portion, and the connecting portions 4-8 are made by punching an elastic steel sheet.
As a further improvement of the invention, two groups of expansion grooves are arranged on the inner wall of the bearing hole of the rotary shaft of the rotary drum, the two groups of expansion grooves are mutually parallel, the plane of each expansion groove is perpendicular to the axis of the bearing hole of the rotary shaft of the rotary drum, and the fixing convex part is embedded into each expansion groove.
As a further improvement of the invention, the fixed part is also connected with a swinging arm, the roller rotating shaft bearing hole is arranged at the end part of the swinging arm, the swinging arm is connected to the fixed part through a rotary spring, and the swinging arms of the two clamping arms swing in opposite directions under the drive of the rotary spring.
As a further improvement of the present invention, the distance sensor is an infrared sensor.
The beneficial effects of the invention are as follows:
1. according to the invention, the gesture of the lower winding drum is controlled by arranging the 5-axis robot arm, compared with the traditional X, Y-axis direction driving, the Z-axis direction is added, the degree of freedom is improved, the adjustable space and precision are larger, and the correction range is also larger.
2. The connecting claw is of a movable structure, so that the lower winding drum can be replaced and adjusted according to materials with different widths, and the universality is wider.
3. The connecting portion frictional force that punches a hole and set up is bigger, and the fixed performance is better.
4. The expansion tank structure can realize the release of the stress of the fixed position of the roller, and simultaneously ensures the fixation stability of the clamp spring.
5. The swing arm structure can correct the angle between the rigidly connected fixed parts, ensure the parallelism of the two clamping mechanisms and improve the clamping stability.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic illustration of a 5-axis link arm;
FIG. 3 is a schematic view of a lower spool connector;
FIG. 4 is a schematic view of the roller shaft bearing hole 4-5;
fig. 5 is a schematic view of the snap spring structure.
In the figure: 1-1, a frame; 1-2, rotating the platform; 1-3, a main turntable; 1-4, connecting seats; 1-5, a main swing arm; 1-6, auxiliary rotating arms; 1-7, a main rotating arm; 1-8, connecting arms; 1-9, a connecting table; 2-1, a rotary driving motor A;2-2, a rotary driving motor B;2-3, rotating the driving motor C;2-4, a rotary driving motor D;2-5, rotating a driving motor E;3-1, a first rotation axis unit; 3-2, a second rotation axis unit; 3-3, a third rotation axis unit; 3-4, fourth rotation axis units; 3-5, fifth rotation axis units; 4-1, a rotary driving motor F;4-2, rotating the connecting part; 4-3, a fixing part; 4-4, swinging arms; 4-5, a roller rotating shaft bearing hole; 4-6, an expansion tank; 4-7, connecting a clamp spring; 4-8, connecting part; 4-9, fixing the protruding part; 5-1, lower winding drum; 5-2, winding the roller; 5-3, winding the winding drum; 5-4, a rotating seat; 5-5, an infrared distance sensor; 5-6, rolling the working roller.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
1-5, the invention discloses a strip finishing horizontal cylindrical surface system of a shaking type material collecting and discharging rolling mill, which comprises two groups of radial symmetrically arranged 5-axis robots, two groups of radial symmetrically arranged reversible leading-in reel mechanisms with reversible working directions, a leveling reel mechanism, a rolling reel, a rolling working roll mechanism and a detection mechanism; the 5-axis robot comprises a rotary platform 1-2, a lower reel connector and a 5-axis link arm connected between the lower reel 5-1 and the rotary platform 1-2, wherein the 5-axis link arm comprises a main turntable 1-3 rotatably connected to the rotary platform 1-2, the rotary platform 1-2 is provided with a rotary driving motor A2-1, the main turntable 1-3 is rotatably connected to the rotary platform 1-2 and is rotatably driven by the rotary driving motor A2-1, and a first rotary shaft unit 3-1 is arranged between the main turntable 1-3 and the rotary platform 1-2; the 5-axis link arm further comprises a main swing arm 1-5, a connecting seat 1-4 is arranged on the main turntable 1-3, one end part of the main swing arm 1-5 is rotationally connected with the connecting seat 1-4, a rotary driving motor B2-2 is arranged on the connecting seat 1-4, the rotation axis of the rotary driving motor B2-2 is perpendicular to the axis of the rotary driving motor A2-1, the main swing arm 1-5 is driven by the rotary driving motor B2-2, and a second rotation shaft unit 3-2 is arranged between the main swing arm 1-5 and the main turntable 1-3; the 5-axis link arm further comprises a main rotating arm 1-7, one end part of the main rotating arm 1-7 is rotatably connected with the end part of the main swinging arm 1-5, a rotary driving motor C2-3 is arranged on the end part of the main swinging arm 1-5, the rotation axis of the rotary driving motor C2-3 is parallel to the rotation axis of the rotary driving motor B2-2, the main rotating arm 1-7 is driven by the rotary driving motor C2-3, and a third rotation axis unit 3-3 is arranged between the main rotating arm 1-7 and the main swinging arm 1-5; the 5-axis link arm further comprises an auxiliary rotating arm 1-6, the auxiliary rotating arm 1-6 is rotatably connected with the main rotating arm 1-7, a rotation driving motor D2-4 is arranged on the main rotating arm 1-7, the rotation axis of the rotation driving motor D2-4 is perpendicular to the rotation axis of the rotation driving motor C2-3, the auxiliary rotating arm 1-6 is driven by the rotation driving motor D2-4, and a fourth rotation axis unit 3-4 is arranged between the auxiliary rotating arm 1-6 and the main rotating arm 1-7; the 5-axis link arm further comprises a connecting arm 1-8, the connecting arm 1-8 is rotatably connected with the main rotating arm 1-7, a rotating driving motor E2-5 is arranged at the end part of the main rotating arm 1-7, the rotating axis of the rotating driving motor E2-5 is perpendicular to the rotating axis of the rotating driving motor D2-4, the connecting arm 1-8 is driven by the rotating driving motor E2-5, and a fifth rotating shaft unit 3-5 is arranged between the main rotating arm 1-7 and the connecting arm 1-8; the connecting arms 1-8 are fixedly connected with the lower reel connector through a connecting table 1-9; the reversible leading-in reel mechanism is positioned at one transverse end of the 5-axis robot and comprises an upper reel 5-2 and a lower reel 5-1, wherein the upper reel 5-2 is fixedly connected to the upper part of the lower reel 5-1 through a base which is synchronously and fixedly connected with the rotary platform 1-2, and the lower reel 5-1 is in floating connection through a lower reel 5-1 connector; the rolling working roller mechanism is positioned between the two groups of 5-axis link arms; the winding drum is arranged at one side of the 5-axis robot, which is opposite to the rolling working roller mechanism, and the winding drum 5-3 is rotationally connected with a connecting column which is synchronously and fixedly connected with the rotary platform 1-2; the rolling working roller mechanism is arranged between two groups of 5-axis robots and comprises two symmetrically fixed rolling working rollers 5-6 and two symmetrically arranged supporting roller arrays, the rolling working rollers 5-6 and the supporting rollers are rotationally connected to a rotating seat 5-4 which is synchronously and fixedly connected with the rotating platform 1-2 when a metal belt penetrates into transmission, the metal belt is pressed between the two rolling working rollers 5-6 and supported by the supporting rollers, the detecting mechanisms are arranged at two axial ends of the rotating seat 5-4 and are divided into a front thickness measuring mechanism and a rear thickness measuring mechanism, the front thickness measuring mechanism and the rear thickness measuring mechanism are respectively infrared distance sensors 5-5, and the front thickness measuring mechanism and the rear thickness measuring mechanism are connected to a control end of a rotary driving motor of the 5-axis robot through a control center.
The lower reel connector comprises two clamping arms which are connected in a rotating way, the two clamping arms are respectively connected to a rotary driving motor F4-1 to realize reciprocating opening and closing driving, the two rotary driving motors F4-1 are fixedly connected to the connecting table 1-9, the clamping arms comprise rotating connecting parts 4-2 and fixing parts 4-3, an included angle smaller than 180 DEG is arranged between the rotating connecting parts 4-2 and the fixing parts 4-3, the clamping arms are connected in a rotating way through the rotating connecting parts 4-2, the fixing parts 4-3 are also connected with a swinging arm 4-4, a roller rotating shaft bearing hole 4-5 is formed in the end part of the swinging arm 4-4, the swinging arms 4-4 are connected to the fixing parts 4-3 through rotating springs, the swinging arms 4-4 of the two clamping arms swing in opposite directions under the driving of the rotating springs, the swing arm 4-4 is provided with a roller rotating shaft bearing hole 4-5, one radial end part of the roller rotating shaft bearing hole 4-5 is provided with an embedded opening, a fixed gap is arranged between the roller rotating shaft bearing hole 4-5 and the roller rotating shaft, the inner diameter of the fixed gap is equal to the width of the embedded opening, the roller rotating shaft bearing hole 4-5 is also internally provided with a connecting clamp spring 4-7, the connecting clamp spring 4-7 is of an annular cylinder structure, the side wall in the circumferential direction is provided with an embedded opening parallel to the axis of the connecting clamp spring 4-7, the two axial ends of the connecting clamp spring 4-7 are respectively provided with a fixed protruding part 4-9, the fixed protruding parts 4-9 are connected through a reticular connecting part 4-8, the connecting part 4-8 is made by punching an elastic steel sheet, two groups of expansion grooves 4-6 are arranged on the inner wall of the bearing hole 4-5 of the rotary shaft of the rotary drum, the two groups of expansion grooves 4-6 are parallel to each other, the plane of the expansion groove 4-6 is perpendicular to the axis of the bearing hole 4-5 of the rotary shaft of the rotary drum, and the fixing protruding part 4-9 is embedded into the expansion groove 4-6.
During installation, the angle of the two clamping arms is adjusted at first, then the swinging arms 4-4 are swung manually, two ends of a rotating shaft of the roller are pushed into the embedded openings, the rotating shaft is embedded into the connecting clamping springs 4-7 of the roller rotating shaft bearing holes 4-5 through the embedded openings by pressure, and the swinging arms 4-4 are clamped through the clamping springs.
As shown in fig. 1, a metal strip is wound around an upper reel 5-2 at one end to a lower reel 5-1 at one end, the lower reel 5-1 is driven to swing through a 5-axis link arm at one end, the metal strip passes through a metal strip passing hole after bypassing the lower reel 5-1, so that a local metal strip is positioned between two rolling working rolls 5-6, rolling deformation is carried out through driving of the rolling working rolls 5-6, after rolling, the metal strip is wound around the lower reel 5-1 on the 5-axis link arm at the tail end again, and then wound on a winding reel 5-3 after passing through the upper reel 5-2 at the tail end; meanwhile, the rolling process can be changed into reverse rolling by controlling the rolling working roller and the rotation direction of the winding drum, so that the metal strip is rolled for multiple times.
The infrared distance sensor 5-5 can detect the various shapes of the metal strip before and after rolling, including the shape of the warpage (camber) of the strip, and the control center judges the lateral stress gradient of the strip according to the detection information. Because the metal belt is of a metal with a certain thickness and is in a rolling state with radian at the beginning, in order to enable the metal belt to enter the rolling working roller 5-6 in a near-plane state, the lower reel 5-1 connected with the upper part of the front 5-axis link arm can be adjusted to be at a position opposite to the ground through Y-axis movement, namely, the lateral stress of the metal belt is released through front-back swing, the tension of the metal belt is adjusted to be balanced through X-axis movement swing, and the metal belt enters between the working rollers, and the adjustment in the Z-axis direction can correct some errors of a Y, X axis, so that the swing interval is improved, and thus, the product formed by rolling can avoid bad deformation caused by residual stress, and the precision of a final product is improved; the second group of 5-axis link arms has the same principle as the first group of 5-axis link arms, and aims to eliminate lateral stress for the second time when the metal belt is regulated on the winding drum at the winding side, and the conveying direction of the metal belt can be reversed for carrying out on-machine secondary processing if necessary.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (7)
1. A horizontal cylindrical surface system for finishing a strip of a shaking type material collecting and discharging rolling mill is characterized in that: the device comprises two groups of radial symmetrically arranged 5-axis robots, two groups of radial symmetrically arranged reversible leading-in reel mechanisms, a leveling reel mechanism, a winding reel, a rolling working roller mechanism and a detection mechanism; the 5-axis robot comprises a rotating platform (1-2), a lower reel connector and a 5-axis link arm connected between the lower reel (5-1) and the rotating platform (1-2), wherein the 5-axis link arm comprises a main turntable (1-3) which is rotatably connected to the rotating platform (1-2), a rotary driving motor A (2-1) is arranged on the rotating platform (1-2), the main turntable (1-3) is rotatably connected to the rotating platform (1-2) and is rotatably driven by the rotary driving motor A (2-1), and a first rotary shaft unit (3-1) is arranged between the main turntable (1-3) and the rotating platform (1-2); the 5-axis link arm further comprises a main swing arm (1-5), a connecting seat (1-4) is arranged on the main rotary table (1-3), one end part of the main swing arm (1-5) is rotationally connected with the connecting seat (1-4), a rotary driving motor B (2-2) is arranged on the connecting seat (1-4), the rotation axis of the rotary driving motor B (2-2) is perpendicular to the axis of the rotary driving motor A (2-1), the main swing arm (1-5) is driven by the rotary driving motor B (2-2), and a second rotary shaft unit (3-2) is arranged between the main swing arm (1-5) and the main rotary table (1-3); the 5-axis link arm further comprises a main rotating arm (1-7), one end part of the main rotating arm (1-7) is rotatably connected with the end part of the main swinging arm (1-5), a rotary driving motor C (2-3) is arranged on the end part of the main swinging arm (1-5), the rotation axis of the rotary driving motor C (2-3) is parallel to the rotation axis of the rotary driving motor B (2-2), the main rotating arm (1-7) is driven by the rotary driving motor C (2-3), and a third rotation axis unit (3-3) is arranged between the main rotating arm (1-7) and the main swinging arm (1-5); the 5-axis link arm further comprises an auxiliary rotating arm (1-6), the auxiliary rotating arm (1-6) is rotationally connected with the main rotating arm (1-7), a rotary driving motor D (2-4) is arranged on the main rotating arm (1-7), the rotation axis of the rotary driving motor D (2-4) is perpendicular to the rotation axis of the rotary driving motor C (2-3), the auxiliary rotating arm (1-6) is driven by the rotary driving motor D (2-4), and a fourth rotation axis unit (3-4) is arranged between the auxiliary rotating arm (1-6) and the main rotating arm (1-7); the 5-axis link arm further comprises a connecting arm (1-8), the connecting arm (1-8) is rotationally connected with the main rotating arm (1-7), a rotating driving motor E (2-5) is arranged at the end part of the main rotating arm (1-7), the rotating axis of the rotating driving motor E (2-5) is perpendicular to the rotating axis of the rotating driving motor D (2-4), the connecting arm (1-8) is driven by the rotating driving motor E (2-5), and a fifth rotating shaft unit (3-5) is arranged between the main rotating arm (1-7) and the connecting arm (1-8); the connecting arms (1-8) are fixedly connected with the lower reel connector; the reversible leading-in reel mechanism is positioned at one transverse end of the 5-axis robot and comprises an upper reel (5-2) and a lower reel (5-1), wherein the upper reel (5-2) is fixedly connected to the upper part of the lower reel (5-1) through a base which is synchronously and fixedly connected with the rotary platform (1-2), and the lower reel (5-1) is in floating connection through a lower reel connector; the rolling working roller mechanism is positioned between the two groups of 5-axis link arms; the winding drum is arranged at one side of the 5-axis robot, which is opposite to the rolling working roller mechanism, and the winding drum (5-3) is rotationally connected with a connecting column which is synchronously and fixedly connected with the rotary platform (1-2); the rolling working roller mechanism is arranged between two groups of 5-axis robots and comprises two symmetrically fixed rolling working rollers (5-6) and two groups of symmetrically arranged supporting roller arrays, the rolling working rollers (5-6) and the supporting rollers are rotationally connected to a rotating seat (5-4) synchronously and fixedly connected with the rotating platform (1-2) when a metal belt penetrates into transmission, the metal belt penetrates into the space between the supporting roller arrays, the metal belt is tightly pressed between the two rolling working rollers (5-6), the detection mechanisms are arranged at two axial ends of the rotating seat (5-4) and are divided into a front thickness measuring mechanism and a rear thickness measuring mechanism, and the front thickness measuring mechanism and the rear thickness measuring mechanism are both distance sensors and are connected to the control end of a rotary driving motor of the 5-axis robot through a control center.
2. The horizontal cylindrical surface system for finishing a strip of a shaking type material collecting and discharging rolling mill as claimed in claim 1, wherein the horizontal cylindrical surface system is characterized in that: the lower reel connector comprises two clamping arms which are rotationally connected, wherein the clamping arms are rotationally connected to a connecting table (1-9), the connecting table (1-9) and the connecting arms (1-8) are fixedly connected, the clamping arms are in reciprocating opening and closing movement through a driving mechanism, the clamping arms comprise rotating connecting parts (4-2) and fixing parts (4-3), an included angle smaller than 180 DEG is arranged between the rotating connecting parts (4-2) and the fixing parts (4-3), the clamping arms are rotationally connected through the rotating connecting parts (4-2), the fixing parts (4-3) comprise a roller rotating shaft bearing hole (4-5), an embedded opening is formed in one radial end part of the roller rotating shaft bearing hole (4-5), a fixing gap is formed between the roller rotating shaft bearing hole (4-5) and a roller rotating shaft, the inner diameter of the fixing gap is equal to the width of the opening, a connecting clamp spring (4-7) is further arranged in the roller rotating shaft bearing hole (4-5), the connecting clamp spring (4-7) is axially embedded in the annular cylinder bearing hole (4-5), the two clamp springs are axially embedded in the two annular cylinder bearing holes (4-7) in parallel to the two axial directions, the two annular cylinder bearing holes are embedded in the annular cylinder bearing hole (4-5), the fixing protruding part (4-9) is embedded into the inner wall of the bearing hole (4-5) of the rotary shaft of the roller.
3. The horizontal cylindrical surface system for finishing a strip of a shaking type material collecting and discharging rolling mill as claimed in claim 2, wherein the horizontal cylindrical surface system is characterized in that: the fixing protruding parts (4-9) are connected through net-shaped connecting parts (4-8), and the connecting parts (4-8) are made by punching elastic steel sheets.
4. The horizontal cylindrical surface system for finishing a strip of a shaking type material collecting and discharging rolling mill as claimed in claim 2, wherein the horizontal cylindrical surface system is characterized in that: the inner wall of the roller rotating shaft bearing hole (4-5) is provided with two groups of expansion grooves (4-6), the two groups of expansion grooves (4-6) are parallel to each other, the plane of the expansion groove (4-6) is perpendicular to the axis of the roller rotating shaft bearing hole (4-5), and the fixing protruding part (4-9) is embedded into the expansion groove (4-6).
5. The horizontal cylindrical surface system for finishing a strip of a shaking type material collecting and discharging rolling mill as claimed in claim 2, wherein the horizontal cylindrical surface system is characterized in that: the fixing part (4-3) is also connected with a swinging arm (4-4), a roller rotating shaft bearing hole (4-5) is formed in the end part of the swinging arm (4-4), the swinging arm (4-4) is connected to the fixing part (4-3) through a rotary spring, and the swinging arms (4-4) of the two clamping arms swing in opposite directions under the driving of the rotary spring.
6. The horizontal cylindrical surface system for finishing a strip of a shaking type material collecting and discharging rolling mill as claimed in claim 2, wherein the horizontal cylindrical surface system is characterized in that: the two clamping arms are respectively connected to one rotary driving motor F (4-1) to realize reciprocating opening and closing driving, and the two rotary driving motors F (4-1) are fixedly connected to the connecting table (1-9).
7. The horizontal cylindrical surface system for finishing a strip of a shaking type material collecting and discharging rolling mill as claimed in claim 1, wherein the horizontal cylindrical surface system is characterized in that: the distance sensor is an infrared sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710777552.7A CN107413849B (en) | 2017-09-01 | 2017-09-01 | Horizontal cylindrical surface system for strip finishing of shaking type collecting and discharging rolling mill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710777552.7A CN107413849B (en) | 2017-09-01 | 2017-09-01 | Horizontal cylindrical surface system for strip finishing of shaking type collecting and discharging rolling mill |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107413849A CN107413849A (en) | 2017-12-01 |
| CN107413849B true CN107413849B (en) | 2023-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710777552.7A Active CN107413849B (en) | 2017-09-01 | 2017-09-01 | Horizontal cylindrical surface system for strip finishing of shaking type collecting and discharging rolling mill |
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| CN (1) | CN107413849B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2109612A1 (en) * | 1971-03-01 | 1972-09-14 | Josef Froehling | Pendulum mill |
| JPS5452657A (en) * | 1977-10-05 | 1979-04-25 | Nippon Steel Corp | Rolling method for shaped steel |
| DE102006047463A1 (en) * | 2006-10-07 | 2008-04-17 | ACHENBACH BUSCHHüTTEN GMBH | Rolling mill and method for flexible cold or hot one-way or reverse rolling of metal strip |
| CN201603740U (en) * | 2010-02-09 | 2010-10-13 | 唐山一重机械制造有限公司 | Reversible cold rolling equipment |
| CN104525578B (en) * | 2014-12-27 | 2016-08-24 | 陆余圣 | A kind of rocking material retractable milling train and using method thereof |
| CN207357792U (en) * | 2017-09-01 | 2018-05-15 | 江苏昆仑光源材料有限公司 | A kind of rocking material retractable milling train band finishing Horizontal cylinder plane system |
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2017
- 2017-09-01 CN CN201710777552.7A patent/CN107413849B/en active Active
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| CN107413849A (en) | 2017-12-01 |
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