EP0621089B1 - Culbuteur pour retourner des produits laminés - Google Patents
Culbuteur pour retourner des produits laminés Download PDFInfo
- Publication number
- EP0621089B1 EP0621089B1 EP94890072A EP94890072A EP0621089B1 EP 0621089 B1 EP0621089 B1 EP 0621089B1 EP 94890072 A EP94890072 A EP 94890072A EP 94890072 A EP94890072 A EP 94890072A EP 0621089 B1 EP0621089 B1 EP 0621089B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- head
- axis
- tilting
- cross slide
- rolling stock
- Prior art date
- 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.)
- Expired - Lifetime
Links
- 238000005096 rolling process Methods 0.000 title description 28
- 238000007688 edging Methods 0.000 description 21
- 238000010276 construction Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency 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
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B39/20—Revolving, turning-over, or like manipulation of work, e.g. revolving in trio stands
- B21B39/24—Revolving, turning-over, or like manipulation of work, e.g. revolving in trio stands by tongs or grippers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/0024—Charging; Discharging; Manipulation of charge of metallic workpieces
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D2003/0034—Means for moving, conveying, transporting the charge in the furnace or in the charging facilities
- F27D2003/0062—Means for moving, conveying, transporting the charge in the furnace or in the charging facilities using devices for tilting or rocking the charge
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D2003/0034—Means for moving, conveying, transporting the charge in the furnace or in the charging facilities
- F27D2003/0068—Means for moving, conveying, transporting the charge in the furnace or in the charging facilities comprising clamps or tongs
Definitions
- the invention relates to a canter for rotating rolled material with a gripper equipped with a cantilever head that can be rotated about a canting axis determined by the gripper that grips the rolling stock and that is supported on a lifting device of a cross slide that can be moved transversely to the canting axis.
- Canters are manipulators inserted in front of and / or behind rolling stands, in particular reversing stands, which capture the rolling stock emerging from the rolling stand, for example a rolling rod or billet, brake it, rotate it by a certain angle around the rolling stock axis, reserve it laterally for the next rolling pass move and bring the respective inlet stirrers.
- the canters have cantilever heads which are rotatably supported by a lifting device on a cross slide and which, as grippers, are usually equipped with a pair of clamping rollers which have clamping rollers which can be driven in both directions and are adjustable for gripping or releasing the rolling stock .
- the gripper that grips the rolling stock also determines the edge axis, that is to say the axis around which the rolling stock is folded by the edge head.
- the square heads are therefore also around this cantilever axis rotatably mounted on the lifting device, for which it is very expensive and space-consuming support structures made of interlocking, oppositely adjustable pairs of pivot levers u.
- the lifting devices and cross slides that accommodate these support structures also allow the entire square head to be lowered below the rolling axis and the square head to be immersed under the rolling stock, or the lateral head to be moved laterally from the caliber to the caliber.
- a pliers cantilever has already been proposed, the pliers of which are mounted on a cross slide so as to be pivotable about 90 ° about an axis of rotation lying below the roller table plane, the cross slide being connected to the pliers actuator via a toothed segment pinion gear and simultaneously executes a transverse movement with the swiveling movement of the pliers to compensate for the swiveling transverse offset of the rolling stock axis.
- These tongs can therefore not edge the rolling stock around the longitudinal axis of the rolling stock and the transverse movement to compensate for transverse displacement can only be adapted to different rolling stock dimensions by exchanging the toothed segment pinion gear, which greatly limits the possible uses of these canters.
- the invention is therefore based on the object to remedy these deficiencies and to create a canter of the type described which, due to its relatively inexpensive construction, allows extensive freedom of movement distinguishes its square head and thus its large area of application as well as its compactness and functional reliability.
- the invention solves this problem in that the edging head is rotatably mounted about an edging head axis parallel to the edging axis, that the edging head, the lifting device and the cross slide have their own drives and that these drives are numerically controlled in terms of a composition of the respective edging movement from rotary , Lifting and transverse movement components can be controlled.
- the edging head By breaking down the edging movement into individual movement components, the edging head itself no longer needs to perform the rotary movement about the edging axis alone and relative to the lifting device or to the cross slide, but can perform these rotary movements in combination with the movements of the lifting device and the cross slide.
- Complicated support structures are unnecessary and it is sufficient to mount the square head at a suitable location around a square axis parallel to the square axis and parallel to it so that the gripper can be aligned radially to the square axis during the corresponding square movement.
- the rotary movement of the cant head axis around the cant axis during the cant head rotation around its cant head axis is carried out by superimposing the lifting and transverse movement components of the lifting device and cross slide, for which purpose the individual drives of the cant head, lifting device and cross slide can only be controlled via a correspondingly programmed numerical control device.
- the required edging movements can be carried out in a rational manner and even in addition to the usual edging movements, such as swiveling of the square head around the Understand the edge axis and the lifting and lowering of the edge head as well as the lateral movement, still special edge movements, for example elliptical or any radially directed movements.
- the respective actual positions of the square head, lifting device and cross slide can be read into the control device via displacement sensors, in particular angular step sensors, not only is a corresponding movement control achieved, but it is also possible to control one of the actual positions, preferably the actual position of the square head, for controlling the drives. to be used as a master value for the control of the other drives, which allows various programming of the control device.
- the lifting device could in itself be of any design, for example a support frame articulated on swivel arms, a lifting platform or the like supported on scissor levers could be provided, but it is particularly advantageous if the lifting device consists of a high slide that can be moved in straight guides of the cross slide, since the guides of the high slide and the cross slide provide simple coordinate directions for component decomposition of the edge movements.
- Raised sledges and cross sledges work together in the manner of a cross slide, which allows the most direct approach to any point in the plane spanned by the guides within the sled range.
- a roller edging 1 has an edging head 2 which is equipped with two clamping rollers 3 for gripping the rolling stock to be edged.
- the pinch rollers 3 are seated on pivoting arms 4 which can move in opposite directions to open and close the pair of pinch rollers and can be driven reversibly by means of a hydraulic motor 5.
- the cantilever head 2 rotates on a cantilever axis II parallel to the cantal axis I defined by the pair of rollers 3 and is rotatable at least 180 ° by means of a swivel motor 7 and a corresponding gear 8.
- the high slide 6 is displaceably guided in straight guides 9 of a cross slide 10 which can be moved transversely to the edge axis I, a lifting drive 11 provided as a hydraulic cylinder ensuring the lifting movement.
- the cross slide 10 is seated on rollers 12 in horizontal guides of a guide frame 13 and can be moved transversely to the edge axis I via a slide drive 14 which is also designed as a hydraulic cylinder.
- a numerical control device 15 which is only indicated, is connected to the drives 7, 11, 14 of the square head 2, high slide 6 and cross slide 10 via corresponding control lines and, by means of a suitable computer program, allows the edge movements to be carried out by the pinch rollers 3 with respect to the edge axis I into three movement components , which correspond to a rotary movement around the square head axis II, a lifting movement along the straight guide 9 and a transverse movement along the guide frame 13, so that to carry out the respective edging movement, the drives 7, 11, 14 can be controlled via the control device 15 in accordance with these movement components and the edging movement of the clamping rollers 3 to be carried out is exactly reproduced by the mutual superimposition of these components.
- An angle step encoder 16 is provided on the swivel motor 7 for detecting the actual position of the square head 2 and there are angle step transmitters 17, 18 for detecting the actual positions of the high slide 6 and cross slide 10, which are coupled to the slide movements via rack drives or cable connections 19, 20 or the like . These actual positions are read into the control device 15 via corresponding encoder lines, so that the controls of the drives 7, 11, 14 of the square head 2, high slide 6 and cross slide 10 can be exactly coordinated and also controlled.
- movable cover carriages 22 are connected via actuators 21 parallel to the cross slide 10 in order to be able to cover the canter region with the square head lowered towards the rolling stock or the rolling stock guide.
- the edging movements to be carried out by a canter 1 can be assembled component by component by individual control of the individual drives of the edging head 2, high slide 6 and cross slide 10, which results in a simple and robust construction of the canter 1 and brings with it a particularly efficient edging operation.
- the canter 1 is shown in the usual gripping position, the cantilever head 2 being rotated clockwise 90 ° to the side of the rolling stock W from a central position with the clamping rollers 3 pointing upwards.
- the clamping rollers 3, which are now directed laterally to the edge axis I, are open, the rolling stock W can run in between the rollers and is caught by closing the clamping rollers 3.
- the square head 2 is in the central position and the high slide 6 is completely lowered, so that there is a plunging position in which, with the cover slide 22 closed, the square head 2 with its clamping rollers 3 could dip under the rolling stock, thereby detecting the rolling stock W from two opposite sides would be possible.
- the range of motion of the canter 1 is not limited to the positions shown in FIGS. 3 - 6, but it is each one of the corresponding components of movement from circular movement of the square head around the square head axis II, lifting movement of the up carriage 6 along the straight guide 9 and transverse movement of the cross slide 10 Movement that can be assembled along the guide frame 13 is easy to understand.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Metal Rolling (AREA)
- Specific Conveyance Elements (AREA)
Claims (3)
- Culbuteur (1) pour retourner un produit laminé (W), avec une tête de retournement (2), équipée d'un préhenseur, susceptible d'effectuer un mouvement tournant de réglage autour d'un axe de retournement (I) déterminé par le préhenseur (3) saisissant le produit laminé (W), tête de retournement prenant appui sur un dispositif de levage (6) d'un chariot transversal (10) déplaçable transversalement par rapport à l'axe de retournement (I), la tête de retournement (2) étant montée tournante autour d'un axe de tête de retournement (II) parallèle à l'axe de retournement (I), caractérisé en ce que la tête de retournement (2), le dispositif de levage (6) et le chariot transversal (10) présentent des entraînements (7, 11, 14) propres et en ce que ces entraînements (7, 11, 14) sont susceptibles d'être commandés par l'intermédiaire d'une commande numérique (15), au sens d'une composition du mouvement de retournement spécifique à partir des composantes cinématiques de rotation, levée et déplacement transversal.
- Culbuteur selon la revendication 1, caractérisé en ce que, les positions réelles respectives de la tête de retournement (2), du dispositif de levage (6) et du chariot transversal (10) sont susceptibles d'être lues par des capteurs de déplacement, en particulier par des capteurs de position angulaire pas-à-pas (16, 17, 18), et introduites dans le dispositif de commande (15).
- Culbuteur selon la revendication 1 ou 2, caractérisé en ce que le dispositif de levage est constitué d'un chariot de levage (6) déplaçable dans des guidages rectilignes (9) du chariot transversal (10).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT0079093A AT401025B (de) | 1993-04-22 | 1993-04-22 | Kanter zum drehen von walzgut |
AT790/93 | 1993-04-22 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0621089A1 EP0621089A1 (fr) | 1994-10-26 |
EP0621089B1 true EP0621089B1 (fr) | 1995-12-06 |
Family
ID=3499814
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP94890072A Expired - Lifetime EP0621089B1 (fr) | 1993-04-22 | 1994-04-20 | Culbuteur pour retourner des produits laminés |
Country Status (4)
Country | Link |
---|---|
US (1) | US5419675A (fr) |
EP (1) | EP0621089B1 (fr) |
AT (1) | AT401025B (fr) |
DE (1) | DE59400057D1 (fr) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19722879C2 (de) * | 1997-05-31 | 2003-10-30 | Sms Demag Ag | Verfahren und Vorrichtung zum Kanten- oder Spießkanten von Walzprofilen, beispielsweise Knüppeln, um ihre Längsachse |
CN102241013A (zh) * | 2011-07-04 | 2011-11-16 | 中南大学 | 多功能门架式机械手 |
CN203064744U (zh) * | 2012-12-04 | 2013-07-17 | 富鼎电子科技(嘉善)有限公司 | 翻转装置 |
CN106113571A (zh) * | 2016-08-21 | 2016-11-16 | 合肥联鑫智能科技有限公司 | 箱体取放翻转装置 |
CN115783629B (zh) * | 2023-02-13 | 2023-04-21 | 山东温岭精锻科技有限公司 | 一种锻件的自动输送装置 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE953871C (de) * | 1950-11-02 | 1956-12-06 | Baldwin Lima Hamilton Corp | Vorrichtung an Walzwerken zum Kanten des Walzgutes |
DE1169403B (de) * | 1958-01-23 | 1964-05-06 | Beteiligungs & Patentverw Gmbh | Kantvorrichtung fuer Walzgut |
CA651104A (en) * | 1959-07-13 | 1962-10-23 | Westinghouse Electric Corporation | Workpiece position control apparatus |
DE1101329B (de) * | 1959-11-12 | 1961-03-09 | Moeller & Neumann Gmbh | Zangenkanter fuer Walzgut |
DE1201799B (de) * | 1961-07-21 | 1965-09-30 | Sack Gmbh Maschf | Kant- und Wendevorrichtung |
DE1452015A1 (de) * | 1964-09-30 | 1969-10-30 | Siemens Ag | Verfahren zum Kanten von Walzgut um eine horizontale Gutachse |
FR1426283A (fr) * | 1964-12-15 | 1966-01-28 | Loire Atel Forges | Manipulateur de barres |
FR2360485A1 (fr) * | 1976-08-06 | 1978-03-03 | Telecommunications Sa | Perfectionnements aux automates |
FR2398347A1 (fr) * | 1977-07-19 | 1979-02-16 | Crouzet Sa | Perfectionnements aux robots |
JPS56152552A (en) * | 1980-04-22 | 1981-11-26 | Ikegai Corp | Flexible loader for machine tool and using method thereof |
JPS60111715A (ja) * | 1983-11-24 | 1985-06-18 | Toshiba Corp | 鋼材転回装置の制御方法 |
JPS61244475A (ja) * | 1985-04-22 | 1986-10-30 | 株式会社東芝 | 産業用ロボツト |
JPS61249286A (ja) * | 1985-04-27 | 1986-11-06 | フアナツク株式会社 | 産業用ロボツト |
US4714400A (en) * | 1986-04-14 | 1987-12-22 | Ibm Corporation | Plural robotic drive |
US5098458A (en) * | 1988-06-10 | 1992-03-24 | Vhc, Ltd. | Article transfer mechanism |
-
1993
- 1993-04-22 AT AT0079093A patent/AT401025B/de not_active IP Right Cessation
-
1994
- 1994-04-20 EP EP94890072A patent/EP0621089B1/fr not_active Expired - Lifetime
- 1994-04-20 DE DE59400057T patent/DE59400057D1/de not_active Expired - Fee Related
- 1994-04-21 US US08/230,599 patent/US5419675A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
ATA79093A (de) | 1995-10-15 |
EP0621089A1 (fr) | 1994-10-26 |
US5419675A (en) | 1995-05-30 |
DE59400057D1 (de) | 1996-01-18 |
AT401025B (de) | 1996-05-28 |
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