JPH07201B2 - Rolling roll replacement method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method for replacing a rolling roll in a relatively small rolling mill for obtaining a metal material having a small cross section such as a wire rod or a rod.

(Prior Art) For example, in a rolling mill for obtaining a steel material having a small cross section such as a wire rod or a rod material, a rolling roll is generally fitted and fixed to a drive shaft via a taper sleeve.
Since the rolling roll is relatively small, the rolling roll is often replaced manually.

That is, taking the mounting work as an example, the taper sleeve is assembled in advance to the roll, and the set is lightly pushed into the roll shaft. Next, insert the cross key through the taper sleeve and the roll, set the roll holding screw on the rear surface, and tighten the roll until it comes to the specified position. Furthermore, a hydraulic jack for pushing the taper sleeve is screwed into the shaft, and hydraulic pressure is applied to the taper sleeve and roll to be integrated. Finally, attach the cover and tighten the set bolt. The removal work is the opposite.

As described above, the conventional manual roll exchanging work is not accompanied by a particularly long-time heavy muscle work, and there is a problem in safety.

(Problems to be Solved by the Invention) The present invention is intended to automate the exchange of rolling rolls using a robot, avoid heavy work, improve safety, and shorten the time required for roll exchange.

(Means for Solving the Problems) The present invention is a rolling roll replacement method applied to a rolling mill in which a ring-shaped roll is fitted and fixed to a roll drive shaft via a taper sleeve, and the taper sleeve is used. And a jig equipped with a hydraulic clamp mechanism for gripping the roll at its end, a hydraulic cylinder for press-fitting and withdrawing, a support shaft having a piston part, and a rotary clamp mechanism for fastening the tip part inside the roll drive shaft. A robot having a roll attachment / detachment function, a hydraulic clamp mechanism for gripping the roll cover at its end, and a robot having a roll cover attachment / detachment function having a jig composed of a set bolt tightening mechanism are provided. Rolling roll exchange characterized by alternately operating the function and the roll cover attachment / detachment function to attach / detach the roll and the roll cover. It is a replacement method.

(Operation, Example) The operation of the present invention will be described below based on the illustrated embodiment.

FIG. 1 shows an arrangement example of robots for carrying out the present invention.
Is a roll attachment / detachment robot, which can freely travel on a track R laid parallel to the rolling mills 2, 2a ... Rows and can be stopped at a predetermined position, for example, A, B, C, D.

Reference numeral 1a denotes a roll cover attaching / detaching robot, which can travel on the track R like the roll attaching / detaching robot 1 at a predetermined position,
For example, you can stop at A, B, D, E.

In the figure, Y _R is a roll storage shelf and Y _C is a roll cover storage box.

Roll attachment / detachment robot 1 is a multi-joint arm 4 that can freely rotate and rotate.
This robot 1 is equipped with a plurality of rolling mills.
A traveling device 3 is provided to correspond to 2, 2a .... A hand 7 is rotatably connected to the tip of the arm 4 via a support shaft 5 and a bearing 6 about the axis of the arm 4.

However, here, so that this rotation can be fixed arbitrarily,
A lock pin 8 and a cylinder 9 are attached. This support shaft 5 has a hand 7 that also serves as a hydraulic cylinder 7a.
Is provided with the function of the hydraulic piston 10. Also,
The support shaft 5 has a clamp portion 13 at the tip thereof, and the clamp portion 13 has a fitting hole formed in the central portion of the drive shaft 12 as shown in FIG. 3 showing a cross section taken along the line AA of FIG. fitted into the groove 14 of the end thereof rotates by an angle a state abutting One was the back wall of the fitting hole, it is engaged with the locking portion 14 ₀ of the groove 14, that does not escape in the axial direction , A clamp mechanism is formed, and moreover, the clamp portion 13 and the groove 14 for rotary fastening are formed.
The opposite portions of the are formed in an acute angle for the guide.

Further, at the tip of the support shaft 5, the support shaft 5
A touch sensor 15 is provided for detecting that the vehicle has reached a predetermined position in the drive shaft 12. A clamp mechanism similar to these is also incorporated in the tapered sleeve 16 and the tip of the hand 7. That is, the clamping piston 17 and the tapered sleeve 16 for axially gripping the pre-assembled rolling roll 11 and the tapered sleeve 16 are provided.
Grooves 19 of the locking portion 19 ₀ are it.

Regarding this, of course, a mechanism of gripping in the circumferential direction instead of the axial grip is also conceivable, but here, assuming that the upper and lower rolling rolls 11 are replaced at the same time with the pair, the projection outside the roll outer diameter is assumed. I chose this method to keep things out.

Also, of course, the drive shaft 12 and the clamp portion 13 of the support shaft 5
It is conceivable that the relationship of the shapes is various, such as the opposite, or a circumferential clamping mechanism. 20,21,22 are hydraulic connection ports. Of course, the robot 1 is equipped with an operation control mechanism (not shown) for controlling the operation of each of the operation parts,
It is connected to a power source and can be operated remotely and automatically, and the operation pattern of the robot 1 can be set in advance.

Further, the roll cover attaching / detaching robot 1a is a robot equipped with the articulated arm 4a capable of freely rotating and rotating like the roll attaching / detaching robot 1, and since the robot 1a corresponds to a plurality of rolling mills 2 and 2a, the roll attaching / detaching robot 1 travels. It has a traveling device 3a similar to the device 3.

Then, at the tip of the arm 4a, a hand as shown in FIG.
23 is connected, and this hand consists of a clamp piston 26, a clamp claw 27, and a general nut runner 28 for tightening and removing the set bolt 24 for gripping the cover 25 paired with the set bolt 24 in the axial direction. The cover 25 is provided with a groove 29 into which the clamp claw 27 is inserted. In addition, the tip of the nut runner 28 has a spring 30
This gives an appropriate degree of freedom and pressing force in the axial direction. Reference numeral 31 indicates a hydraulic connection port.

Of course, this robot 1a operates the above-mentioned operation parts,
An operation control mechanism (not shown) for controlling is incorporated and connected to a power source, so that remote operation and automatic operation can be performed similarly to the robot 1, and the operation pattern of the robot 1a can be set in advance. .

Next, the procedure for roll replacement will be described.

In this example, a common robot running track R is laid on the side of the rolling mills 2 and 2a so that it can be used also for the rolling mills (stands) 2 and 2a. A roll cover attaching / detaching robot 1a is provided.

First, the taper sleeve 16 provided near the rolling mills 2 and 2a
(Rolling roll 11 is installed in the outer circumference in advance.
It is integrated with 11. ) The roll attachment / detachment robot 1 is moved by the traveling device 3 to the position B near the roll storage rack Y _R , and the robot 1 is operated to move the clamp claw 18 at the tip of the hand 7 to the taper sleeve in the roll storage rack Y _R. 16 Insert the arm 4 into the groove 19 at the tip of the outer periphery, and rotate the arm 4 around its axis.
The taper sleeve is rotated by 45 degrees, and hydraulic pressure is supplied from the hydraulic pressure connection port 20 to press the end surface of the tapered sleeve 16 with the piston 17 to grip the tapered sleeve 16, and the traveling device 3 moves the robot 1 to the A position.

Here, the robot 1 is operated to rotate the hand 7, and the tip of the rolling roll 11 is aligned with the roll drive shaft 12 of the rolling mill 2.

Next, the lock pin 8 is opened by the cylinder 9 to make the support shaft 5 rotatable, and the arm 4 of the robot 1, that is, the support shaft 5, the rolling roll 11 and the taper sleeve 16 are moved in the axial direction of the drive shaft 12. Proceed to. At this time, the clamp portion 13 and the groove 14 for rotational fastening, which have an acute angle facing each other, are automatically guided and engaged with each other, so that the tip of the clamp portion 13 and the groove 14 of the drive shaft 12 are struck. When touching, touch sensor 15 for contact detection works,
Stop the movement in the axial direction. Here, the cylinder 9 is operated to fix the support shaft 5 with the lock pin 8,
When the arm 4 is rotated by 45 degrees around its axis, the support shaft 5 and the clamp portion 13 at the tip end are engaged with the engaging portion 14 of the fitting hole of the drive shaft 12.
_It is locked to ₀ and securely fastened to the drive shaft 12. The rotation angle is determined by the shape of the groove 14 of the drive shaft 12, particularly the size of the hooking groove in the circumferential direction.

In this way, when hydraulic pressure is applied to the hydraulic connection port 21, the hand 7 which also functions as the hydraulic cylinder 7a moves toward the rolling mill 2 by the action of the hydraulic piston 10, and the rolling roll 11 and the taper sleeve 16 are press-fitted.

At this time, the action of the clamp portion 13 causes the hydraulic piston portion 10 to
Is in a state of being fastened to the drive shaft 12, the reaction force generated at the time of press fitting does not adversely affect the robot 1 and the rolling mill 2.

Further, when the rolling roll 11 is assembled in advance to the taper sleeve 16 so that the rolling roll 11 reaches a predetermined position of the drive shaft 12 and is securely set before the taper sleeve 16, the hydraulic pressure of the hand 7 is set. It is necessary to shift it in the axial direction with a dimension larger than the stroke of the cylinder 7a.

When the press fit of the rolling roll 11 into the roll drive shaft 12 is completed, the arm 4
Is rotated about its axis by 45 degrees to release the fastening with the roll drive shaft 12 by the clamp 13 and release the hydraulic pressure from the hydraulic pressure supply port 20 to retract the hand 7.

Then, the robot 1 is moved to the C position by the traveling device 3 and kept in standby.

Next, the roll cover attaching / detaching robot 1a standing by at the position D is moved to the position B near the roll cover storing box Y _C by the traveling device 3a.
Moves to a position where it operates the robot 1a fitting the hand 23 tip of the clamp pawls 27 into the groove 29 of the roll cover 25 tip housed in the roll cover housing then box Y _C.

Then rotate the arm 4a 45 degrees around its axis to
27 is pressed by the clamp piston 26 by supplying the hydraulic pressure from the hydraulic connection port 31 is locked to the locking portion 29 ₀ of the roll cover 25 in advance attached to Setsutoboruto 24 grips the roll cover 25, the traveling device 3a Then, the robot 1a is moved to the position A near the rolling mill 2.

Here, the robot 1a is actuated, the tip of the roll cover 25 held by the hand 23 is aligned with the taper sleeve 16 press-fitted into the roll drive shaft 12 of the rolling mill 2, and the roll drive shaft 12 is axially moved. When the roll cover 25 is inserted, the roll cover 25 is fitted onto the outer circumference of the taper sleeve 16, and at the same time, the set bolt 24 attached to the roll cover 25 is ready to be screwed into the screw hole of the set bolt 24 formed in the center of the roll drive shaft 12. At this time, when the nut runner 28 is rotated with an appropriate torque, the set bolt 24 is screwed into the screw hole of the roll drive shaft 12 via the tubular body 28 ₀ which houses the spring 30, and the roll cover 25 is secured. It is fixed to the roll drive shaft 12.

In this case, since Setsutoboruto 24 are fitted to the cylindrical body by the action of the spring 30 of the cylindrical body 28 in ₀ in the cylindrical body, which is movable back and forth in its axial direction, screwing the roll cover 25 of Setsutoboruto 24 Can be carried out with the taper sleeve fitted and the set bolt 24 is automatically aligned, so that the roll cover 25 can be fixed to the roll drive shaft 12 smoothly.

After fixing the roll cover 25 to the roll drive shaft 12, the engaging portion 29 of the roll cover 25 is rotated 45 degrees arm 4a about its axis ₀
And the clamp claw 27 are released, and the hydraulic pressure supply port 31
The hydraulic pressure from is released, the grip of the roll cover 25 is released, and the hand 23 is retracted. Then, using the traveling device 3a, the robot
Move 1a to the E position and wait here.

Thus, the incorporation of the rolling roll 11 into the rolling supply 2 is completed.

Next, a procedure for removing the rolling mill 2 or the rolling roll 11 will be described.

The roll cover attaching / detaching robot 1a standing by at the E position is moved to the A position by the traveling device 3a, and the robot 1a is operated to fix the clamp claw 17 at the tip of the hand 23 to the roll drive shaft 12 of the rolling mill 2. Groove 29 around the tip of the roll cover 25
Fit in. Presses the clamp jaws 17 with the piston 26 by supplying the hydraulic pressure from the hydraulic connection port 31 is locked to the locking portion 29 ₀ of the roll cover 25 is rotated 45 degrees arm 4 about its axis, the roll cover 25 To hold.

Next, the nut runner 28 is rotated with an appropriate torque to loosen the set burt 24, the hand 23 is retracted to remove the roll cover 25 from the rooke drive shaft 12, and the robot 1 is moved to the B position by the traveling device 3a.

At this point, the robot 1a is activated to bring the roll cover 25 into the roll cover storage box, and at the predetermined position, the hydraulic connection port 31
Releasing the hydraulic pressure from, rotated 45 degrees arm 4a about its axis, to release the engagement between the engaging portion 29 ₀ of the clamp jaws 17 and the roll cover 25.

Then, the hand 23 is retracted and the robot 3 is moved by the traveling device 3a.
Move 1a to the E position and wait here.

Then, the roll attachment / detachment robot 1 waiting at the C position is moved to the B position by the traveling device 3, and the robot 1 is operated to move the hand 7 into the taper sleeve 12 fitted into the roll drive shaft 12 of the rolling mill 2. 16 (rolling roll 11) is aligned, the hand 7 is advanced, the clamp claw 18 at the tip of the hand 7 is fitted into the groove 19 on the outer circumference of the tip of the taper sleeve 16, and the cylinder 9 is operated to open the lock pin 8 to support the shaft. By releasing the lock of 5, the support shaft 5 is made rotatable, and when the hand 7 is further entered, the support shaft 5 is rotated.
When the tip end of the clamp portion 13 is fitted into the groove 14 of the clamp fitting hole formed in the roll drive shaft 12 and the tip of the clamp portion 13 hits, the touch sensor 15 operates and the axial movement operation is stopped.

When the cylinder 9 is actuated to fix the support shaft 5 with the lock pin 8 and the arm 4 is rotated by 45 degrees around its axis, the clamp portion 13 at the tip of the support shaft 5 becomes the locking portion 14 of the roll drive shaft 12 insertion hole. locked to _0, is fastened to the drive shaft 12, the clamp 18 is engaged with the engaging portion 19 ₀ of the groove 19 of the tapered sleeve 16.

Here, hydraulic pressure is supplied from the hydraulic pressure connection port 21 to press the end surface of the tapered sleeve 16 with the piston 17. And hydraulic connection
The hydraulic pressure is supplied from 22 to press the piston 10.

The piston 10 is fixed to the drive shaft 12, and the hand 7 in the state of gripping the taper sleeve 16 with the clamp 18 and the piston 17 slides on the support shaft 5 to move the piston.
10 stroke length retracted, taper sleeve 16 drive shaft
It is pulled out from 12 and can rotate freely.

Then rotate the arm 4 45 degrees around its axis to
13 and engagement of the engagement portion 14 ₀ of the drive shaft 12 insertion hole is released.

Then, the hand 7 is retracted and the taper sleeve 16 is moved to the drive shaft.
12 and move the robot 1 to position B by the traveling device 3a, where the robot 1 is operated and the rolling roll
Store 11 in the roll storage shelf Y _R.

Then, here, the hand 7 is rotated by 45 degrees and the clamp claw 18
And releasing the hydraulic pressure from the hydraulic connection opening 20 with releasing the engagement between the engaging portion 19 ₀ of the groove 19 of the tapered sleeve 16, the hand 7 is retracted, allowed to stand the robot 1 here.

Thus, the work of removing the roll from the drive shaft 12 of the rolling mill 2 is completed.

In this example, the roll exchange in the rolling mill 2 has been described, but the roll exchange can be performed by operating the robot 1 and the robot 1a in the same manner for the rolling mill 2a.

In this case, first, the roll may be incorporated into the rolling mill 2 and then the roll may be incorporated into the rolling mill 2a. Similarly, first, the roll may be removed from the rolling mill 2 and then the rolling mill 2a.
The roll may be removed from.

Therefore, the operating order of the robot 1 and the robot 1a, the standby position, etc. are appropriately set in consideration of the working efficiency together with the positions of the roll storage rack and the roll cover storage box.

Also, in this embodiment, the roll attaching / detaching robot 1 and the roll cover attaching / detaching robot 1a are arranged independently, but a single robot having both the roll attaching / detaching function and the roll cover attaching / detaching function may be used. For this purpose, for example, the hand structure is such that the roll and the roll cover can be attached / detached together, the hand can be exchanged, or one robot has both the roll attaching / detaching hand and the roll cover attaching / detaching hand. This can be achieved.

Further, for example, it is also considered to provide a robot having a roll attaching / detaching function and a roll cover attaching / detaching function provided in two stages so that upper and lower two stages of rolls can be simultaneously replaced.

(Effects of the Invention) In the present invention, the effects of rolls can be automated by using a robot, and significant effects such as avoiding heavy muscle work and improving safety and speed can be obtained.

[Brief description of drawings]

FIG. 1 is a plan view showing a robot arrangement in an embodiment of the present invention, FIG. 2 is a partial sectional view showing a structural example of a roll attaching / detaching robot used in the present invention, and FIG. 3 is an AA of FIG. FIG. 4 is a partial sectional view showing a structural example of a roll cover attaching / detaching robot used in the present invention. 1 ... Roll attachment / detachment robot, 1a ...... Roll cover attachment / detachment robot, 2,2a ... Rolling machine, 3,3a ... Travel device, 4,
4a ... Articulated arm, 5 ... Support shaft, 6 ... Bearing, 7 ... Hand, 7a ... Hydraulic cylinder, 8 ...
Lock pin, 9 ... Cylinder, 10 ... Hydraulic piston,
11 …… Rolling roll, 12 …… Drive shaft, 13 …… Clamp part,
14 …… groove, 15 …… tatch sensor, 16 …… taper sleeve, 17 …… clamping piston, 18 …… clamping claw,
19 …… Groove, 20, 21, 22 …… Hydraulic connection port, 23 …… Hand,
24 …… Set bolt, 25 …… Cover, 26 …… Clamp piston, 27 …… Clamp claw, 28 …… General nut runner, 29 …… Groove, 30 …… Spring, 31 …… Hydraulic connection port,
R ... orbit.

Claims (1)

[Claims] 1. A rolling roll replacement method applied to a rolling mill in which a ring-shaped roll is fitted and fixed to a roll drive shaft via a taper sleeve, wherein the taper sleeve and the roll are gripped at their ends. A robot having a roll attaching / detaching function having a hydraulic clamp mechanism, a jig having a support shaft having a hydraulic cylinder for press-fitting and withdrawing and a piston part, and a rotary clamp mechanism for fastening the tip of the support shaft inside the roll drive shaft. , A robot having a roll cover attachment / detachment function having a hydraulic clamp mechanism for gripping the roll cover at its end and a jig consisting of a set bolt tightening mechanism is provided, and the roll attachment / detachment function and the roll cover attachment / detachment function are alternated. A method of exchanging a rolling roll, characterized in that the rolling roll and the roll cover are attached and detached.