EP4011512A1 - Knüppel-walzwerk, das mit einer manipulator-unterbaugruppe ausgestattet ist - Google Patents

Knüppel-walzwerk, das mit einer manipulator-unterbaugruppe ausgestattet ist Download PDF

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Publication number
EP4011512A1
EP4011512A1 EP20212898.9A EP20212898A EP4011512A1 EP 4011512 A1 EP4011512 A1 EP 4011512A1 EP 20212898 A EP20212898 A EP 20212898A EP 4011512 A1 EP4011512 A1 EP 4011512A1
Authority
EP
European Patent Office
Prior art keywords
rolling mill
rolling
magnetic element
carriage
blank
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.)
Pending
Application number
EP20212898.9A
Other languages
English (en)
French (fr)
Inventor
Guy Vinzant
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Forge Pat GmbH
Original Assignee
Forge Pat GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Forge Pat GmbH filed Critical Forge Pat GmbH
Priority to EP20212898.9A priority Critical patent/EP4011512A1/de
Priority to US18/265,291 priority patent/US20240033794A1/en
Priority to CN202180083228.XA priority patent/CN116568415A/zh
Priority to JP2023558940A priority patent/JP2023553763A/ja
Priority to KR1020237019420A priority patent/KR20230128456A/ko
Priority to PCT/EP2021/084807 priority patent/WO2022122826A1/fr
Publication of EP4011512A1 publication Critical patent/EP4011512A1/de
Pending legal-status Critical Current

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Classifications

    • 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
    • B21B1/02—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 heavy work, e.g. ingots, slabs, blooms, or billets, in which the cross-sectional form is unimportant ; Rolling combined with forging or pressing
    • 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
    • B21B39/02—Feeding or supporting work; Braking or tensioning arrangements, e.g. threading arrangements
    • B21B39/06—Pushing or forcing work into pass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B21J13/10—Manipulators
    • 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
    • B21B1/02—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 heavy work, e.g. ingots, slabs, blooms, or billets, in which the cross-sectional form is unimportant ; Rolling combined with forging or pressing
    • B21B2001/022—Blooms or billets

Definitions

  • the present invention relates to a slug rolling mill which comprises, among other things, two shaping rolls intended for the hot shaping of a blank to be shaped, as well as a manipulator sub-assembly, used to move such a blank vis- against these cylinders.
  • the blanks or slugs In a slug rolling mill, the blanks or slugs generally consist of a bar of steel, aluminum or titanium, with a cylindrical or rectangular section.
  • the rolling of each blank or billet is carried out hot, in several passes between two shaping rolls which rotate synchronously and in opposite directions.
  • Each shaping cylinder carries a stack of tools in cylinder portion, each tool defining a profile making it possible to shape, in the longitudinal direction, the volume of material constituting the blank.
  • the rolling operation is carried out by introducing the blank between the shaping cylinders, then passing it between two tools of a pair of tools, in translation along a direction of said rolling direction, these two tools being respectively mounted on the two shaping cylinders.
  • the blank After each pass between the two tools of a pair of tools, the blank is moved in translation, in a direction parallel to the axes of rotation of the cylinders, to be placed opposite the next pair of tools, before start a new rolling pass by introducing the blank again between the shaping rolls and then shaping it again by passing it between the tools of the next pair, in the rolling direction.
  • the operation is repeated as many times as necessary to shape the blank, until the desired geometry is reached, by successive passes through the pairs of tools respectively mounted on the two shaping cylinders.
  • the orientation of the blank around its longitudinal axis can vary between the different rolling stages.
  • a manipulator sub-assembly which comprises grippers for gripping the blank and which makes it possible to move the latter along the rolling direction and, if necessary, parallel to the axes of rotation of the rolls.
  • the movements of this manipulator subassembly must be synchronized with the rotation of the shaping cylinders. Furthermore, these movements must be precise and fast since they contribute to the geometry of the rolled part and to the definition of the total rolling cycle time.
  • a manipulator sub-assembly comprises a jack which carries a gripper for gripping the blank and which is actuated to push the blank between the shaping rolls, the tools of which are then in a configuration spaced apart from one another. 'other. Then, rollers of the shaping cylinders are actuated to turn in the opposite direction and they return the blank, according to the rolling direction, to the manipulator sub-assembly whose cylinder is then deactivated to follow the movement imparted to the blank by the tools of the two shaping rolls which turn.
  • the cylinder is again pressurized to again introduce the blank between the shaping rollers, to a subsequent rolling step.
  • the adjustment of such a cylinder is relatively delicate, whereas the movement of the blank during rolling, when the blank is returned in the direction of the manipulator sub-assembly, is not really controlled since the cylinder is then follower.
  • the invention particularly intends to remedy by proposing a new slug rolling mill whose handling sub-assembly allows more effective control of the rolling operations.
  • the invention relates to a slug rolling mill comprising two cylinders for shaping a blank to be shaped, each shaping cylinder being equipped with at least one rolling tool and driven in rotation around an axis of rotation by at least one respective drive motor.
  • This slug rolling mill also comprises a manipulator sub-assembly for moving the blank vis-à-vis the shaping rolls, this manipulator sub-assembly comprising a clamp for gripping the blank and a carriage for moving this clamp at least along a rolling direction of the blank.
  • the manipulator subassembly comprises at least one linear motor for moving the carriage in the rolling direction.
  • the linear speed of movement of the blank in the rolling direction is defined by the linear motor, and therefore controlled precisely.
  • Precise adjustment of the displacement of the blank in the direction of rolling can be obtained by exerting, thanks to the linear motor, an additional traction force with respect to the force produced on the blank by the rolling tools during rotation. or, on the contrary, a braking force.
  • This additional traction or braking force results from the electromagnetic force which is exerted between the primary and secondary magnetic elements of the linear motor. It can be controlled precisely and quickly, which makes the slug rolling mill of the invention compatible with high-speed production.
  • a billet rolling mill 2 shown in figures 1 to 12 comprises a frame 3 formed by a fixed structure 4 and a removable upper crosspiece 5.
  • the fixed structure 4 carries two guide devices 6 which allow movement in height of an upper shaping cylinder 7 and of a lower conformation 8 mounted one above the other and each equipped with a stack of rolling tools 72, respectively 82, which extend over part of the circumference and the length of a roll 74 , respectively 84.
  • Each of the stacks 72 and 82 is formed by the juxtaposition, along a roller 74 or 84, of individual tool parts which operate in pairs and are intended to conform a blank or blank E under heat.
  • tool(s) individual(s) of a stack 72 or 82 is at the choice of the user of the rolling mill 2.
  • these stacks 72 and 82 of tools are referred to as “tools”, for the sake of simplification. .
  • Each shaping cylinder 7 or 8 is supported, vis-à-vis the fixed structure 4, by two bearing blocks, namely a left bearing block 9 and a right bearing block 10.
  • the bearing blocks 9 and 10 are guided in vertical translation by the guide devices 6 being arranged between two uprights 42 of the fixed structure.
  • the removable nature of the crosspiece 5 allows the installation of the bearing blocks 9 and 10 between the uprights 42 and their removal, during maintenance operations of the rolling mill 2.
  • Each bearing block 9 or 10 carries an electric motor 15, the output shaft of which rotates the roller 74 or 84 of the associated shaping cylinder 7 or 8, through a gear reducer 152 integrated into the bearing block.
  • a single reducer 152 is shown in figure 2 , associated with the electric motor 15 shown above and to the right of this figure. Even if they are not shown in this figure, equivalent reduction gears are associated with the three other motors 15 and are arranged between the output shafts of these motors and the rollers 74 or 84, in a bearing block 9 or 10.
  • Each roller 74 or 84 is thus driven in rotation, by two motors 15, through the associated reducers 152, around an upper axis of rotation Y7 or a lower axis of rotation Y8, these axes being parallel to each other.
  • the electric motors 15 are of the type marketed by the SIEMENS company under the reference 1PH8. Other types of engine are possible.
  • the various electric motors 15 are controlled by an electronic control unit, not shown, which synchronizes the torques exerted on the same roller 74 or 84 by the two motors 15 arranged close to its two ends.
  • An orthogonal reference X2, Y2, Z2 is associated with the rolling mill 2, with its axis X2 horizontal and directed towards the shaping cylinders 7 and 8, its axis Y2 parallel to the axes of rotation Y7 and Y8 and its axis Z2 vertical and directed towards the high.
  • a heating device 14 partially surrounds each shaping cylinder 7 or 8. More precisely, each heating device 14 surrounds the roller 74 or 84 of the adjacent shaping cylinder 7 or 8 over an angular sector with an angle at the apex ⁇ equal to approximately 120° and over the length of tools 72 or 82.
  • each of the rollers 74 and 84 is oriented around its axis of rotation Y7 or Y8, such that the tools 72 or 82 that it carries are directed opposite the adjacent heating device 14.
  • the two heating devices 14 can heat the tools 72 and 82 by radiation.
  • channels 76 for the circulation of a heat transfer fluid such as water, are provided inside each of the rollers 74 and 84 and connected to two rotary joints 16 connected to conduits, not shown, for supply and evacuation of this heat transfer fluid.
  • the circulation of the heat transfer fluid in the channels 76 makes it possible to cool each of the rollers 74 and 84 during rolling.
  • the rotational movement of the output shaft of each electric motor 19 is transformed, by the associated screw-nut system 18, into a translational movement of the wedge 17.
  • the electric motors are of the type marketed by the company SIEMENS under the reference 1FK7.
  • Other types of engine are possible.
  • Each wedge 17 moves along an axis X17 parallel to the axis X2 and has a cam surface 172 inclined with respect to this axis X17 in the plane of the figure 3 and 4 .
  • each bearing block 9 or 10 is equipped with a cam 9C or 10C which has a sliding surface against the surface 172 of a corner 17.
  • This sliding surface is marked with the reference 10S for the wedges 10C visible to figure 3 and 4 .
  • the sliding surfaces of the cams 9C are parallel to the sliding surfaces 10S of the cams 10C.
  • the sliding surfaces 10S and equivalent are also inclined with respect to the axis X17 in the plane of the figure 3 and 4 .
  • the inclined surfaces 172 and 10S provided respectively on the corners 17 and on the cams 9C and 10C are oriented in such a way that they are in surface support on each other and that, when the corners 17 are moved in the direction of the axis X2, they each exert on the cams 9C or 10C a force F17 which pushes the bearing units 9 and 10 towards each other, which tends to reduce the vertical center distance E78 between the axes Y7 and Y8.
  • two sets of springs 55 are arranged in housings 56 provided respectively in the bearing blocks 9 and 10. These springs 55 exert an elastic force for the vertical separation of the bearing blocks. This elastic force, represented by the arrows F55 at figure 3 and 4 , tends to increase by default the vertical center distance E78 between axes Y7 and Y8.
  • the springs 55 vertically separate the blocks -bearings 9 and 10, which increases the vertical center distance E78 between the axes Y7 and Y8 and corresponds to the passage of the configuration of the picture 3 to that of the figure 4 .
  • the operation of the electric motors 19 is synchronized, in order to coordinate the displacement of the wedges 17 along their axes of translation X17. This prevents the bearing blocks 9 and 10 from being placed at an angle between the guide devices 6.
  • the synchronization of the electric motors 19 is carried out by an electronic unit, not shown, which is advantageously the same as that which controls the electric motors 15.
  • the figure 11 shows four stages of a rolling process performed using the rolling mill 2 of the invention.
  • the tools 72 and 82 are respectively opposite the heating devices 14, so that it is possible to insert the blank E into a volume V defined vertically between the rollers 84 and 74.
  • This volume V is visible, between others, to figure 6 .
  • the insertion of the blank E into the volume V takes place in the direction of the arrow F1, which is parallel to the axis X2 and oriented in the same direction.
  • the shaping cylinders 7 and 8 are rotated synchronously around the axes Y7 and Y8 respectively in two opposite directions, represented by the rotation arrows R7 and R8.
  • This double rotation has the effect of bringing the tools 72 and 82 into contact with the blank E which then begins a horizontal translational movement parallel to the axis X2, in the opposite direction to the insertion movement, this translational movement being represented by the arrows F2 at the figure 11 .
  • the blank E must have been accelerated so that it is in the correct position along the axis X2 and at a theoretical speed of synchronization along this axis with tools 72 and 82.
  • the manipulator subassembly 20 is configured to positively move the blank E in the direction of the arrow F1, parallel to the axis X2, to reach the position represented in the upper left part of the figure 11 and to accompany the movement of the blank E under the action of the shaping cylinders 7 and 8 during the following stages also shown in figure 11 .
  • This manipulator subassembly 20 also makes it possible, once the step represented in the lower right part of the figure 11 completed, to move the blank E perpendicular to the plane of the figure 11 , that is to say parallel to the axis Y2, in order to bring this blank opposite another individual part of the tools 72 and 82, to allow the cycle shown in figure 11 , with this other part of the tools without having to stop the tools 72 and 82 in their rotation.
  • the manipulator subassembly 20 comprises a first beam 30 and a second beam 31 which are rigidly fixed bearing on two crosspieces 44 of the fixed structure 4.
  • the beam 31 has a larger cross section than the beam 30 because it supports the means displacement of the blank E parallel to the axis Y2.
  • a moving assembly 33 is suspended from the beams 30 and 31 by means of sliders 32 which are integral with a frame 33c of the moving assembly 33 and provided to move, parallel to the axis Y2, along rails 30R, 31R respectively provided on the undersides of the beams 30 and 31.
  • the displacement of the mobile assembly 33 parallel to the axis Y2 and with respect to the beams 30 and 31 is obtained by means of a linear motor 100 which comprises a primary magnetic element 102 fixed on the frame 33C of the movable assembly 33 and which is supplied with current when the linear motor operates, in order to generate a variable magnetic field in a direction parallel to the axis Y2.
  • the linear motor 100 also comprises a secondary magnetic element 104 fixed on the beam 31 and which, in practice, is constituted by several permanent magnets juxtaposed in a direction parallel to axis Y2. The secondary magnetic element is not supplied with electric current.
  • the supply of the primary magnetic element 102 of the linear motor 100 makes it possible to exert a magnetic force parallel to the axis Y2 between the elements 102 and 104 of the linear motor 100, which induces a controlled movement of the mobile assembly 33 under the beams 30 and 31, in a transverse direction Y33 parallel to the axis Y2.
  • the rails 31R are arranged on either side of the magnetic elements 102 and 104 of the linear motor 100, in a direction parallel to the axis X2, the same is true for the sliders 32. This facilitates the translation and increases the precision of the control of the position of the mobile assembly 33 with respect to the beam 31.
  • the movable assembly 33 includes a carriage 35 to which the frame 33C is connected by a system of sliders 34 integral with the carriage 35 and which move along rails 33R provided for the frame 33C.
  • the longitudinal direction of the rails 33R is parallel to the axis Y2, so that the movement of the carriage 35, with respect to the frame 33C of the moving assembly 33, takes place in a direction perpendicular to that of the movement of the moving assembly. 33 with respect to beams 30 and 31.
  • a second linear motor 200 is used to control the movements of the carriage 35 relative to the frame 33C of the movable assembly 33 and comprises a primary magnetic element 202 mounted on a part of the frame 33C and supplied with electric current when the linear motor 200 operates , as well as a secondary magnetic element 204 mounted on the carriage 35, which is not supplied with electric current and which is, in practice, constituted by several permanent magnets juxtaposed along a direction parallel to the axis X2.
  • the current supply to the primary magnetic element 202 makes it possible to generate a magnetic force between the elements 202 and 204 which has the effect of moving the carriage 35 parallel to the axis X2, with respect to the frame 33C.
  • the rails 33R are arranged on either side of the magnetic elements 202 and 204 of the linear motor 200, in a direction parallel to the axis X2, the same is true for the slides 34. This facilitates the translation and increases the precision of the control of the position of the carriage 35 relative to the frame 33C of the moving assembly 33.
  • the carriage 35 supports a part-taking device 36 which makes it possible to manipulate the blank E.
  • This part-taking device 36 comprises two bearings 37 rigidly linked to the carriage 35 and a hollow rod 38.
  • a gripper 39 which comprises two jaws 39A and 39B, and a link mechanism 40 also belong to the part gripping device 36 and are mounted at a first end of the rod 38.
  • the link mechanism 40 is configured to transform a translational movement of a pusher 54 disposed inside the rod 38 in a movement of approach / separation of the jaws 39A and 39B.
  • the gripping rod 38 is mounted cantilevered, from its second end opposite that which carries the members 39 and 40, in one of the bearings 37.
  • the second end of the gripping rod 38 carries a pulley 38A surrounded by a belt 45 which also passes around a pulley 44A driven in rotation by an electric stepper motor 44, which forms an electric motor for the angular orientation of the clamp 39.
  • an electric stepper motor 44 which forms an electric motor for the angular orientation of the clamp 39.
  • the angular amplitude of the movement of adaptation of the orientation of the blank E around this axis is at the choice of the user of the slug rolling mill 2 since, once the electric motor 44 has been selected, it depends only on the duration of activation of this motor. This angular amplitude is not limited by the stroke of a cylinder.
  • the slug rolling mill 2 of the present invention has better flexibility since it allows an angular movement of the blank E around the axis X38 with an amplitude chosen freely by the user, this amplitude possibly even being greater than 360°.
  • the carriage 35 also carries a stepper electric motor 42 which drives a screw-nut system 41, which transforms the rotary movement of the output shaft 42A of this motor 42 into a translational movement of the pusher 54 along the X38 axis. It is thus possible to control, thanks to the motor 42, the opening and closing movement of the clamp 39, by moving the pusher 54 along the axis X38 to actuate the link mechanism 40.
  • Stepper motors 42 and 44 are driven by an electronic unit, not shown, which may be the same as, or different from, that which drives motors 15 and 19.
  • a spring device 43 is interposed between the screw-nut mechanism 41 and the pusher 54. This spring device makes it possible to absorb any shock in the screw-nut system 41, while the jaws 39A and 39B of the clamp 39 have already reached the clamping position of the blank E. This spring device 43 allows an elastic connection, in the direction of closure of the clamp 39, between the nut of the screw-nut system 41 and the pusher 54.
  • the movement of the carriage 35 parallel to the axis X38, therefore of the gripper 39 which it supports, is precisely controlled both during the introduction of the blank E between the shaping cylinders 7 and 8, in the direction of the arrow F1 at the figure 11 , and when the blank E is pushed back in direction of the beam 30 during its rolling, in the direction of the arrows F2 at the figure 11 .
  • the linear motor 200 makes it possible to accelerate the roughing in the rolling direction X38, between the first step represented in the upper left part of the figure 11 and the second step represented in the upper right part of this figure, so that it is in the correct position along the axis X2 and at a speed, along this axis, which is synchronized with that of the tools 72 and 82.
  • the linear motor 100 makes it possible to quickly move the movable assembly 33 and the elements that it supports, including the carriage 35 and the gripper 39, in the transverse direction Y33. This makes it possible to quickly realign the blank E with part of the tools 72 and 82 to be used for a subsequent rolling step.
  • the linear motors 100 and 200 therefore contribute to reducing the cycle time for rolling a blank E within the slug rolling mill 2. They are controlled by an electronic unit, not shown, which may be the same as, or different from, , the one(s) piloting engines 15, 19, 42 and 44.
  • the linear motors 100 and 200 can be commercial products, such as those marketed by the SIEMENS company under the references 1FN3450-2WE00-0BA3 or 1FN3300-2WE00-0BA3, or materials developed on the same principle, especially for this application.
  • the linear motor 100 can be arranged in the vicinity of the beam 30, without a linear motor being arranged in the vicinity of the beam 31 .
  • linear motor 100 Even if the use of the linear motor 100 is particularly advantageous, it is possible, according to a not shown variant of the invention, to use, for the drive of the movable assembly 33 parallel to the axis Y2, a motor electric rotary and a rotary/linear motion conversion system known per se.
  • the guide rails of the linear motors 100 and 200 can be provided respectively on the frame 33C and on the carriage 35, while the sliders are respectively provided on the beam 31 and on the frame 33C.
  • the mounting of the magnetic elements 102 and 104 can be reversed, the primary magnetic element 102 being mounted on the beam 31, while the secondary magnetic element 104 is mounted on the frame 33C.
  • the mounting of the magnetic elements 202 and 204 can be reversed, the primary magnetic element 202 being mounted on the carriage 35, while the secondary magnetic element 204 is mounted on the frame 33C.
  • the gear reducers 152 can be replaced by belt systems, or even eliminated if the speed of rotation of the output shafts of the motors 15 is compatible with a direct drive of the rollers 74 and 84
  • the shaping cylinders 7 and 8 are each driven in rotation by a single electric motor 15.
  • the number of springs 55 may be different from 4.
  • the springs 55 of the elastic device may be replaced by other elastic members, such as elastomer blocks or cylinders with gas.
  • the axis X17 of displacement of a wedge 17 can be parallel to the axis Y2 or inclined with respect to the axes X2 and Y2, while remaining perpendicular to the axis Z2.
  • the shaping cylinders 7 and 8 are not arranged one above the other, but side by side. In this case, the center distance between their axes of rotation is horizontal and the rolling direction is vertical. The fixed structure 4 of the slug rolling mill 2 and the manipulator subassembly 20 are then adapted accordingly.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Metal Rolling (AREA)
  • Manipulator (AREA)
EP20212898.9A 2020-12-09 2020-12-09 Knüppel-walzwerk, das mit einer manipulator-unterbaugruppe ausgestattet ist Pending EP4011512A1 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP20212898.9A EP4011512A1 (de) 2020-12-09 2020-12-09 Knüppel-walzwerk, das mit einer manipulator-unterbaugruppe ausgestattet ist
US18/265,291 US20240033794A1 (en) 2020-12-09 2021-12-08 Billet rolling mill equipped with a manipulator subassembly and method for controlling such a rolling mill
CN202180083228.XA CN116568415A (zh) 2020-12-09 2021-12-08 配备有操纵器子组件的坯料轧机和用于控制这种轧机的方法
JP2023558940A JP2023553763A (ja) 2020-12-09 2021-12-08 マニピュレータサブアセンブリを装備しているビレット圧延ミル、および、当該圧延ミルを制御するための方法
KR1020237019420A KR20230128456A (ko) 2020-12-09 2021-12-08 매니퓰레이터 서브어셈블리를 구비한 빌릿 압연기 및 이러한 압연기를 제어하기 위한 방법
PCT/EP2021/084807 WO2022122826A1 (fr) 2020-12-09 2021-12-08 Laminoir à lopins équipé d'un sous-ensemble manipulateur et procédé de commande d'un tel laminoir

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20212898.9A EP4011512A1 (de) 2020-12-09 2020-12-09 Knüppel-walzwerk, das mit einer manipulator-unterbaugruppe ausgestattet ist

Publications (1)

Publication Number Publication Date
EP4011512A1 true EP4011512A1 (de) 2022-06-15

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP20212898.9A Pending EP4011512A1 (de) 2020-12-09 2020-12-09 Knüppel-walzwerk, das mit einer manipulator-unterbaugruppe ausgestattet ist

Country Status (6)

Country Link
US (1) US20240033794A1 (de)
EP (1) EP4011512A1 (de)
JP (1) JP2023553763A (de)
KR (1) KR20230128456A (de)
CN (1) CN116568415A (de)
WO (1) WO2022122826A1 (de)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2390224A1 (fr) * 1977-05-09 1978-12-08 Leleu Andre Manipulateur automatique pour laminoir de forge
DE102013100302A1 (de) * 2013-01-11 2014-07-17 Langenstein & Schemann Gmbh Verfahren zum Schmieden, insbesondere Streckschmieden, von metallischen Werkstücken
CN108296292A (zh) * 2018-01-15 2018-07-20 宁波大学 一种铁道车辆车轴的三辊斜轧成形方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2390224A1 (fr) * 1977-05-09 1978-12-08 Leleu Andre Manipulateur automatique pour laminoir de forge
DE102013100302A1 (de) * 2013-01-11 2014-07-17 Langenstein & Schemann Gmbh Verfahren zum Schmieden, insbesondere Streckschmieden, von metallischen Werkstücken
CN108296292A (zh) * 2018-01-15 2018-07-20 宁波大学 一种铁道车辆车轴的三辊斜轧成形方法

Also Published As

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WO2022122826A1 (fr) 2022-06-16
US20240033794A1 (en) 2024-02-01
KR20230128456A (ko) 2023-09-05
CN116568415A (zh) 2023-08-08
JP2023553763A (ja) 2023-12-25

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