CN114918253A - Roller warehouse capable of automatically changing rollers - Google Patents
Roller warehouse capable of automatically changing rollers Download PDFInfo
- Publication number
- CN114918253A CN114918253A CN202210632868.8A CN202210632868A CN114918253A CN 114918253 A CN114918253 A CN 114918253A CN 202210632868 A CN202210632868 A CN 202210632868A CN 114918253 A CN114918253 A CN 114918253A
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- China
- Prior art keywords
- roller
- frame
- roller frame
- automatic
- roll
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B31/00—Rolling stand structures; Mounting, adjusting, or interchanging rolls, roll mountings, or stand frames
- B21B31/08—Interchanging rolls, roll mountings, or stand frames, e.g. using C-hooks; Replacing roll chocks on roll shafts
- B21B31/10—Interchanging rolls, roll mountings, or stand frames, e.g. using C-hooks; Replacing roll chocks on roll shafts by horizontally displacing, i.e. horizontal roll changing
- B21B31/103—Manipulators or carriages therefor
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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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
A roller warehouse with automatic roller changing is used for assisting an automatic roller changing robot to finish automatic roller changing work and comprises a first roller frame, a second roller frame and a roller frame crane, a first frame seat and a second frame seat are also arranged below the roller frame crane, the first roller frame can be fixedly arranged on the first frame seat, the second roll frame can be fixedly arranged on the second frame seat, the roll frame crane is also provided with a manipulator, the manipulator can respectively pick up, convey and place the first roll frame or the second roll frame on the automatic roll changing robot to help the automatic roll changing robot to complete roll changing work, the technical scheme provides a roll warehouse for automatic roll changing, set up one set of roller storehouse that can cooperate the automatic roll change of full-automatic roll change robot near it on the basis of original full-automatic roll change robot, it can make things convenient for quick help automatic roll change robot to accomplish automatic roll change work.
Description
Technical Field
The invention relates to the technical field of roller quick change in an automatic steel pipe production line, in particular to an automatic roller change roller warehouse which is matched with an automatic roller change robot to complete automatic roller change.
Background
In the field of modern full-automatic steel pipe production lines, roll replacement can basically achieve the purpose that a full-automatic roll replacement robot is adopted to complete all roll replacement work, but in order to achieve maximum benefit, the processing range of the production line is further expanded, so that the production line is required to prepare more matched rolls in advance for processing products with more specifications, the existing automatic roll replacement robot cannot perform roll replacement work and carry a large number of matched rolls at the same time, the rest matched rolls can only be placed at positions close to the automatic roll replacement robot, the automatic roll replacement robot is manually changed into the matched roll models required by the production line according to specific production requirements, the labor intensity and the risk coefficient of operators are increased, and the technical problem that a large number of matched rolls are automatically installed on the roll replacement robot to release manual work is solved, the development of an automatic roll changing roll library which is matched with an automatic roll changing robot to complete automatic roll changing becomes a necessary trend for those skilled in the art.
Disclosure of Invention
In order to meet the production requirement that the automatic roll changing robot can further expand the processing range, a set of roll warehouse capable of being matched with the automatic roll changing of the full-automatic roll changing robot is arranged nearby the automatic roll changing robot on the basis of the original full-automatic roll changing robot, a first roll set and a second roll set suitable for different product models are erected by arranging a first roll frame and a second roll frame, and the first roll frame or the second roll frame is picked up and conveyed and placed on the automatic roll changing robot by a roll frame crane provided with a mechanical arm to help the automatic roll changing robot to complete roll changing work.
On one hand, the roller library for automatically changing the rollers is used for assisting an automatic roller changing robot j to complete automatic roller changing work and comprises a first roller frame g1 and a second roller frame g2, a first roller group gz1 which is detachably mounted is arranged on the first roller frame g1, a second roller group gz2 which is detachably mounted is arranged on the second roller frame g2, the first roller group gz1 and the second roller group gz2 can be replaced on the production line by an automatic roller-changing robot j, it is characterized by also comprising a roller frame crane dc, a first frame seat jz1 and a second frame seat jz2 are arranged below the roller frame crane dc, the first roller frame g1 can be fixedly arranged on a first frame seat jz1, the second roller frame g2 can be fixedly arranged on a second frame seat jz2, and a manipulator js is further arranged on the roller frame crane dc and can respectively pick up, convey and place the first roller frame g1 or the second roller frame g2 on the automatic roller changing robot j to help the automatic roller changing robot j complete roller changing work.
According to an aspect of the first embodiment of the present invention, the roller frame crane dc is further provided with a linear track zg, the manipulator js is arranged on the linear track zg and can move on the linear track zg, and the stroke of the linear track zg can span between the first frame base jz1 and the second roller frame g2 and the automatic roller changing robot j.
According to an aspect of the first embodiment of the present invention, said first frame base jz1 and second frame base jz2 are arranged in line within the travel of said linear track zg of said roller frame crane dc, said robot js is able to move to the first frame base jz1 position to pick up the first roller frame g1 or the second frame base jz2 position to pick up the second roller frame g2, respectively.
According to an aspect of the second embodiment of the present invention, a roller frame track gg is further provided, a stroke of the roller frame track gg intersects a stroke of the linear track zg, the first frame seat jz1 and the second frame seat jz2 are both disposed on the roller frame track gg and can slide on the roller frame track gg, and the first frame seat jz1 and the second frame seat jz2 can alternatively enter the stroke of the linear track zg by sliding on the roller frame track gg.
According to an aspect of the second embodiment of the present invention, the roller frame rail gg is linear, and the first mount jz1 and the second mount jz2 are arranged end to end side by side above the roller frame rail gg.
According to an aspect of the third embodiment of the present invention, a rack storage k is further provided, the rack storage k is arranged as a floor structure, and the first rack seat jz1 and the second rack seat jz2 are arranged in the rack storage k and distributed in an up-and-down position.
Drawings
Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
Description of the sequence numbers: the automatic roller changing robot comprises an automatic roller changing robot j, a first roller frame g1, a first roller group gz1, a second roller frame g2, a second roller group gz2, a roller frame crane dc, a first frame base jz1, a second frame base jz2, a manipulator js, a linear track zg, a roller frame track gg, a sliding trolley hz, a connecting device pz, a frame warehouse k, a replacement roller frame tg, a replacement roller group tgz, a replacement frame base tjz and a working frame a.
Fig. 1 is a schematic diagram of a basic structure layout according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a robot js gripping and replacing roll frame tg according to an embodiment of the invention.
Fig. 3 is a schematic view of an alternative roll stand tg inserted into an alternative stand tjz according to an embodiment of the present invention.
Fig. 4 is a schematic view of the first roller stand g1 being grasped according to the embodiment of the present invention.
Fig. 5 is a schematic diagram of an automatic roll-changing robot j for placing a first roll stand g1 according to an embodiment of the present invention.
Fig. 6 is a layout diagram of a second basic structure according to the embodiment of the present invention.
FIG. 7 is a top view of a second basic structure layout according to an embodiment of the present invention.
FIG. 8 is a top view of the operation of the second sliding cart hz according to the embodiment of the present invention.
Fig. 9 is a layout diagram of three basic structures according to the embodiment of the present invention.
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, which is defined by the claims, i.e., the invention is not limited to the preferred embodiments described.
In the description of the embodiments of the present invention, it should be noted that "perpendicular" and "parallel" are not absolute meanings in a mathematical sense unless otherwise specified, and may be understood as "substantially perpendicular" and "substantially parallel".
Fig. 1 is a schematic diagram of a basic structure layout according to an embodiment of the present invention.
As shown in fig. 1, in order to facilitate the production requirement that the automatic roll changing robot can meet the further expansion of the processing range, a set of roll library capable of matching with the automatic roll changing of the full-automatic roll changing robot is arranged near the original full-automatic roll changing robot, a first roll set and a second roll set suitable for different product models are erected by arranging a first roll frame and a second roll frame, and the first roll frame or the second roll frame is picked up, conveyed and placed on the automatic roll changing robot by a roll frame crane provided with a mechanical arm to help the automatic roll changing robot to complete the roll changing work. The specific implementation mode of the automatic roller changing device can comprise a first roller frame g1, a second roller frame g2, an automatic roller changing robot j and a roller frame crane dc, wherein a first roller group gz1 which is detachably mounted is arranged on the first roller frame g1, a second roller group gz2 which is detachably mounted is arranged on the second roller frame g2, the first roller frame g1 and the second roller frame g2 are placed side by side, a first frame base jz1 which is in a groove shape is further arranged below the first roller frame g1 and used for positioning and placing the first roller frame g1, and a second frame base jz2 which is in a groove shape is further arranged below the second roller frame g2 and used for positioning and placing the second roller frame g 2. First frame base jz1 and second frame base jz2 all set up in the position department that is close to automatic roll change robot j, still are equipped with replacement roller frame tg on automatic roll change robot j, are provided with the replacement roller set tgz that needs automatic roll change robot j to be used for changing on replacement roller frame tg, still are equipped with in the below of replacement roller frame tg and lay the seat, it can be used for fixing a position installation replacement roller frame tg, first roller frame g1 and second roller frame g2 to lay the seat. And the other side of the automatic roll changing robot j is also provided with a working frame a, and a roll for processing products with specified specifications is arranged on the working frame a. The roller frame crane dc is arranged above the first roller frame g1, the second roller frame g2 and the automatic roller changing robot j, and the stroke of the roller frame crane dc can cross the first roller frame g1, the second roller frame g2 and the automatic roller changing robot j. The roller frame crane dc is further provided with a manipulator js and a linear track zg, the manipulator js can respectively pick up, convey and place the first roller frame g1 or the second roller frame g2 on a placing seat on the automatic roller changing robot j to be positioned so as to help the automatic roller changing robot j complete roller changing work, and the first roller group gz1 and the second roller group gz2 can be replaced on a working frame a on the production line through the automatic roller changing robot j and help the production line to produce other models of products. The stroke of straight line track zg stridees across first frame base jz1, second roller frame g2 and automatic roll change robot j and the structure of going into the row, straight line track zg passes through the support and supports the position of keeping away from ground, be equipped with linear slide rail on the straight line track zg, manipulator js passes through linear slide rail setting and just can move on linear track zg in the top of linear track zg, manipulator js can also realize doing up-and-down motion along linear track zg motion simultaneously, manipulator js still is equipped with colludes the hand, still be equipped with on first roller frame g1, second roller frame g2 and the replacement roller frame tg and collude the seat, collude the hand can respectively with collude on first roller frame g1, second roller frame g2 and the replacement roller frame tg and collude the seat mutually support and mutually cooperate fixedly and realize that manipulator js snatchs first roller frame g1, second roller frame g2 or replacement roller frame tg. The manipulator js moves along the linear track zg and moves up and down, and then the crochet hook is matched with the hook seat to be fixed, so that the manipulator js can respectively move to the position of the first frame seat jz1 to pick up the position of the first roller frame g1 or the position of the second frame seat jz2 to pick up the position of the second roller frame g2, and the first roller frame g1 or the second roller frame g2 is conveyed to the position of the automatic roller changing robot j to replace the roller frame tg. In addition, a replacement frame seat tjz is arranged beside the first frame seat jz1 or the second frame seat jz2, and the replacement frame seat tjz can be used for positioning and placing a replacement roller frame tg.
Fig. 2 is a schematic diagram of a robot js gripping and replacing roll frame tg according to an embodiment of the invention.
Fig. 3 is a schematic view of an alternative roll stand tg inserted into an alternative stand tjz according to an embodiment of the present invention.
As shown in fig. 2 and 3, according to an aspect of the first embodiment of the present invention, the replacement roller frame tg is removed by first moving the manipulator js on the roller frame crane dc along the straight track zg to the position above the automatic roller changing robot j, lowering the manipulator js to make the hook engage and fix with the hook seat provided on the replacement roller frame tg, then raising the manipulator js to lift the replacement roller frame tg and disengage from the seat, then moving the replacement roller frame tg away from the automatic roller changing robot j along the straight track zg by the manipulator js to the position of the replacement frame seat tjz, then lowering the manipulator js again to place the replacement roller frame tg into the replacement frame seat tjz, and removing the replacement roller frame tg.
Fig. 4 is a schematic view of the first roller stand g1 being grasped according to the embodiment of the present invention.
Fig. 5 is a schematic diagram of an automatic roll-changing robot j for placing a first roll stand g1 according to an embodiment of the present invention.
As shown in fig. 4 and 5, according to one aspect of the first embodiment of the present invention, the new specification is changed by moving the robot js on the roller crane dc along the linear track zg to above the first roller frame g1 or the second roller frame g2, lowering the robot js to make the hook engage with and fix the hook on the first roller frame g1 or the second roller frame g2, then raising the robot js to lift the first roller frame g1 synchronously to disengage from the first roller frame jz1 or lift the second roller frame g2 synchronously to disengage from the second roller frame jz2, then placing the first roller frame g1 or the second roller frame g2 close to the automatic roller changing robot j to the roller seat position along the linear track zg, then lowering the robot js again to place the first roller frame g1 or the second roller frame g2 into the roller seat position, and finishing replacing the new specification.
Fig. 6 is a layout diagram of a second basic structure according to the embodiment of the present invention.
FIG. 7 is a top view of a layout of a second basic structure according to an embodiment of the present invention.
As shown in fig. 6 and 7, according to an aspect of the second embodiment of the present invention, a specific technical difference from the first embodiment is that a roller frame rail gg is further provided, a stroke of the roller frame rail gg intersects a stroke of the linear rail zg, a sliding trolley hz is further provided on the roller frame rail gg, and the first frame seat jz1, the second frame seat jz2 and the replacement frame seat tjz are all provided on the respective sliding trolley hz, and the first frame seat jz1 and the second frame seat jz2 drive the first roller frame g1 and the second roller frame g2 provided thereon to synchronously slide through sliding of the sliding trolley hz on the roller frame rail gg. The first carriage jz1, second carriage jz2, and replacement carriage tjz may be alternately moved into the path of the linear path zg by sliding on the roller carriage path gg. The roller frame rails gg are linear, the sliding trolleys hz are arranged in a plurality and are mutually connected end to end through a connecting device pz, so that the first frame seat jz1, the second frame seat jz2 and the replacement frame seat tjz are arranged end to end and side by side on the roller frame rails gg.
FIG. 8 is a top view of the operation of the second sliding cart hz in accordance with the embodiment of the present invention.
As shown in fig. 8, according to an aspect of the second embodiment of the present invention, firstly, the manipulator js on the roller crane dc moves along the straight track zg to the top of the automatic roller changing robot j, the manipulator js descends and enables the hook to be matched and fixed with the hook seat arranged on the replacement roller frame tg, then the manipulator js ascends and drives the replacement roller frame tg to synchronously ascend and separate from the seat, and then the manipulator js drives the replacement roller frame tg to be far away from the automatic roller changing robot j along the direction of the straight track zg. At the moment, the synchronous motion of the sliding trolley hz drives the replacing frame seat tjz to move to the stroke of the linear track zg, so that the manipulator js can drive the replacing roller frame tg to move to the position above the replacing frame seat tjz, then the manipulator js descends again and places the replacing roller frame tg into the replacing frame seat tjz, and then the manipulator js ascends. Then the sliding trolley hz moves again to drive the first roller frame g1 or the second roller frame g2 to move to the stroke of the linear track zg, the manipulator js descends and enables a hook to be matched and fixed with a hook seat arranged on the first roller frame g1 or the second roller frame g2, then the manipulator js ascends and drives the first roller frame g1 to ascend synchronously and be separated from the first frame seat jz1 or drives the second roller frame g2 to ascend synchronously and be separated from the second frame seat jz2, then the manipulator js drives the first roller frame g1 or the second roller frame g2 to approach the automatic roller changing robot j along the direction of the linear track zg and come to a placing seat position, and then the manipulator js descends again and places the first roller frame g1 or the second roller frame g2 into the placing seat, and the new specification changing is finished.
Fig. 9 is a layout diagram of three basic structures according to the embodiment of the present invention.
As shown in fig. 9, according to an aspect of the third embodiment of the present invention, a specific technical feature that is different from the first embodiment is that a rack storage k is further provided, the rack storage k is configured as a floor structure, and the first rack base jz1 and the second rack base jz2 are provided in the rack storage k and distributed in an up-down position. The linear track zg is vertically arranged, and the manipulator js can move along the vertically arranged linear track zg and complete the replacement work of the replacement roller frame tg and the first roller frame g1 or the second roller frame g 2.
It should be understood that the description herein of specific embodiments of the invention is exemplary and should not be construed as unduly limiting the scope of the invention. The scope of the invention is defined by the claims appended hereto, and encompasses all embodiments falling within their scope and obvious equivalents thereof.
Claims (6)
1. A roller bank for automatically changing rollers is used for assisting an automatic roller changing robot (j) to complete automatic roller changing work and comprises a first roller frame (g 1) and a second roller frame (g 2), a first roller set (gz 1) which is detachably mounted is arranged on the first roller frame (g 1), a second roller set (gz 2) which is detachably mounted is arranged on the second roller frame (g 2), the first roller set (gz 1) and the second roller set (gz 2) can be replaced to a production line through the automatic roller changing robot (j), the roller bank is characterized by further comprising a roller frame crane (dc), a first frame seat (jz 1) and a second frame seat (jz 2) are further arranged below the roller frame crane (dc), the first roller frame (g 1) can be fixedly placed on the first frame seat (jz 1), the second roller frame (g 2) can be fixedly placed on the second frame seat (jz 2), and a manipulator (jz) is further provided with a roller frame crane(s), the mechanical arm (js) can pick up and convey the first roller frame (g 1) or the second roller frame (g 2) and place the first roller frame or the second roller frame on the automatic roller changing robot (j) respectively to help the automatic roller changing robot (j) to complete roller changing work.
2. The roller library of claim 1, wherein the roller frame crane (dc) is further provided with a linear rail (zg), the manipulator (js) is arranged on the linear rail (zg) and can move on the linear rail (zg), and the stroke of the linear rail (zg) can span between the first frame seat (jz 1) and the second roller frame (g 2) and the automatic roller changing robot (j).
3. A roller magazine for automatic roll changing according to claim 2, characterized in that said first (jz 1) and second (jz 2) carriages are arranged in a linear track (zg) travel of said roller frame crane (dc), said robot arm (js) being able to move to a first (jz 1) carriage position to pick up a first (g 1) or a second (jz 2) carriage position to pick up a second (g 2) roller frame, respectively.
4. The roller magazine of claim 2, characterized in that a roller frame rail (gg) is further provided, the stroke of the roller frame rail (gg) is intersected with the stroke of the linear rail (zg), the first frame seat (jz 1) and the second frame seat (jz 2) are both arranged on the roller frame rail (gg) and can slide on the roller frame rail (gg), and the first frame seat (jz 1) and the second frame seat (jz 2) can alternately enter the stroke of the linear rail (zg) through sliding on the roller frame rail (gg).
5. The roll magazine of claim 4, wherein the roll-holder track (gg) is rectilinear, and the first (jz 1) and second (jz 2) carriages are arranged end-to-end side-by-side on the roll-holder track (gg).
6. The roller magazine according to claim 3, characterized in that a rack magazine (k) is provided, said rack magazine (k) being arranged as a floor structure, said first rack seat (jz 1) and said second rack seat (jz 2) being arranged in the rack magazine (k) and distributed in an up-down position.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210632868.8A CN114918253A (en) | 2022-06-07 | 2022-06-07 | Roller warehouse capable of automatically changing rollers |
| PCT/CN2023/093824 WO2023236723A1 (en) | 2022-06-07 | 2023-05-12 | Roller library for automatic roller changing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210632868.8A CN114918253A (en) | 2022-06-07 | 2022-06-07 | Roller warehouse capable of automatically changing rollers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114918253A true CN114918253A (en) | 2022-08-19 |
Family
ID=82813089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210632868.8A Pending CN114918253A (en) | 2022-06-07 | 2022-06-07 | Roller warehouse capable of automatically changing rollers |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114918253A (en) |
| WO (1) | WO2023236723A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023236723A1 (en) * | 2022-06-07 | 2023-12-14 | 大连富地重工机械制造有限公司 | Roller library for automatic roller changing |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5851764B2 (en) * | 1979-02-27 | 1983-11-18 | 石川島播磨重工業株式会社 | Roll changing device in vertical rolling mill |
| DE29721935U1 (en) * | 1997-12-11 | 1998-02-12 | Siemens Ag | Device for changing rolls in roll stands |
| CN101456036B (en) * | 2008-12-30 | 2011-06-15 | 二重集团（德阳）重型装备股份有限公司 | Breast-roll set replacement method and hoisting clamp thereof |
| CN204523781U (en) * | 2015-03-31 | 2015-08-05 | 中国重型机械研究院股份公司 | A kind of trailing type roll change mechanism |
| CN106141827B (en) * | 2016-08-30 | 2018-05-08 | 中冶南方工程技术有限公司 | Roll automatic grinding system |
| CN211888421U (en) * | 2020-01-17 | 2020-11-10 | 大连富地重工机械制造有限公司 | Automatic loading and unloading roller frame device |
| CN212216601U (en) * | 2020-04-14 | 2020-12-25 | 一重集团大连工程技术有限公司 | Roll changing device for finish rolling working roll |
| CN217411916U (en) * | 2022-06-07 | 2022-09-13 | 大连富地重工机械制造有限公司 | Roller warehouse capable of automatically changing rollers |
| CN114918253A (en) * | 2022-06-07 | 2022-08-19 | 大连富地重工机械制造有限公司 | Roller warehouse capable of automatically changing rollers |
-
2022
- 2022-06-07 CN CN202210632868.8A patent/CN114918253A/en active Pending
-
2023
- 2023-05-12 WO PCT/CN2023/093824 patent/WO2023236723A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023236723A1 (en) * | 2022-06-07 | 2023-12-14 | 大连富地重工机械制造有限公司 | Roller library for automatic roller changing |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023236723A1 (en) | 2023-12-14 |
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