CN113458146B - Near-control operation method and operation equipment for roll changing area of hot rolling leveling line - Google Patents
Near-control operation method and operation equipment for roll changing area of hot rolling leveling line Download PDFInfo
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- CN113458146B CN113458146B CN202010243346.XA CN202010243346A CN113458146B CN 113458146 B CN113458146 B CN 113458146B CN 202010243346 A CN202010243346 A CN 202010243346A CN 113458146 B CN113458146 B CN 113458146B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
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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]
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Abstract
The invention discloses a near control operation method and operation equipment for a hot rolling leveling line roll changing area, which comprises the following steps: 1) setting mechanical conditions and electrical equipment conditions; 2) constructing a near control portable device of a leveling line roll changing area; 3) establishing communication connection between the proximity control portable device and the roll changing PLC; 4) compiling an operation picture of an HMI (human machine interface) on the close control portable device; 5) establishing data connection between an operation picture and a roll change PLC; 6) the field personnel realize the near control operation of the roll changing area of the leveling line by controlling the operation picture. The invention overcomes the defects that the fixed field near control operation box in the existing leveling line roll changing area has large volume and large sight blocking, the wiring engineering is large, the cost of an input/output module is high, the operation interface can not be changed, and the like.
Description
Technical Field
The invention relates to a hot rolling leveling line roll changing area proximity control technology, in particular to a hot rolling leveling line roll changing area proximity control operation method and operation equipment thereof.
Background
In iron and steel enterprises at home and abroad, a leveling line roll changing area mainly comprises a working roll changing trolley, a leveler roll changing guide groove, a supporting roll changing cylinder and other equipment which are matched with a leveling frame, and the task of the leveling line roll changing area is to complete the replacement of the working roll and the supporting roll of the leveler. With the improvement of the existing automatic and intelligent control technology, the roll changing task of the working roll is changed from the original manual and semi-automatic control to the automatic control, and the roll changing of the supporting roll still maintains the manual roll changing mode. However, in order to deal with the abnormality and facilitate the maintenance of the equipment, a manual proximity control operation function is indispensable, and therefore, the electrical control of the equipment in the roll change area of the leveling wire includes automatic, semi-automatic, and manual processing functions.
The arrangement of the existing temper mill equipment of the hot rolling and leveling line is shown in figure 1, an upper working roll 2 and a lower working roll 3 corresponding to the upper working roll 2 are arranged in a temper mill body 1, an upper supporting roll 4 is arranged above the upper working roll 2 for supporting, a lower supporting roll 5 is arranged below the lower working roll 3 for supporting, and a hot rolling strip steel 6 passes through between the working roll 2 and the lower working roll 3 for leveling the hot rolling strip steel 6. When the work is performed for a certain period of time, the roll surface of the work roll is worn and damaged, and therefore, the work roll needs to be replaced.
The traditional roll changing manual close control operation adopts a field machine side operation box mode, namely, a machine side operation box is arranged beside a roll changing area, operation buttons, action signals and the like of all devices in the roll changing area are arranged, the signals are connected to an input/output board card of an electrical room control PLC through construction wiring, and then the action of all the devices is controlled by a control program of the PLC.
With the continuous improvement of labor efficiency in recent years, fewer field operation posts are provided, the centralized control is basically performed in a main operation room, and manual close control to the machine is required only when an automatic mode fails or is abnormal. The existing operation mode of the nearby control operation box has the following disadvantages:
1) the operation box has larger volume, compact full-automatic operating line equipment and difficult arrangement, and is easy to block the sight of operators in a master control room;
2) the operation buttons and switches on the operation box are more, the cable quantity is larger, and the wiring engineering quantity is correspondingly higher;
3) the PLC has a plurality of IO modules, and the operating buttons of a near control operation box of the traditional operating line occupy IO points about 1/3 of the PLC;
4) paying attention to the fact that manual operation state display is weak, if more complete state display is needed, operation panels such as OP (operational plane) are needed to be added, the cost is increased, and the volume of an operation box is increased;
5) function expansion is almost impossible, and once the design, manufacture and installation of the proximity control operation box are completed, the proximity control operation box needs to be replaced again when work is required to be done for expansion.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a hot rolling leveling line roll changing area near control operation method and operation equipment thereof, which overcome the defects that a fixed field near control operation box in the existing leveling line roll changing area has large volume and large sight blocking line, the wiring engineering is large, the cost of an input/output module is high, the operation interface cannot be changed and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
on one hand, the near control operation method for the roll changing area of the hot rolling leveling line comprises the following steps:
1) setting mechanical conditions and electrical equipment conditions;
2) constructing a near control portable device of a leveling line roll changing area;
3) establishing communication connection between the proximity control portable device and the roll changing PLC;
4) compiling an operation picture of an HMI (human machine interface) on the close control portable device;
5) establishing data connection between an operation picture and a roll change PLC;
6) the field personnel realize the near control operation of the roll changing area of the leveling line by controlling the operation picture.
The mechanical conditions comprise a roll changing trolley, a roll changing transverse platform arranged on the roll changing trolley, and a standby working roll arranged on the roll changing transverse platform.
In the step 2), an operation panel frame is installed beside the roll changing area of the leveling line, a proximity control operation panel is inserted into the operation panel frame, and the proximity control operation panel is communicated with the roll changing PLC through a WIFI signal or an Ethernet.
And an Android operating system is loaded in the proximity control operating panel.
In the step 4), the Android Studio of the Android operating system loaded in the proximity control operating panel is adopted to edit the operating picture of the HMI.
In the step 6), the proximity control operation comprises the advancing/retreating operation of the roll changing trolley, the left moving/right moving operation of the roll changing traverse platform and the advancing/retreating operation of the standby working roll.
The forward/backward operation of the roll changing trolley is controlled as follows:
after an operator presses a corresponding button on the near control operation panel HMI, the near control operation panel sends a control signal to the roll changing PLC through a WIFI signal or an Ethernet, the roll changing PLC receives an instruction and judges whether the roll changing PLC is in a manual mode, if so, the instruction is responded, and the roll changing PLC controls the roll changing trolley to jog to advance or retreat.
The left movement/right movement operation of the roller changing and traversing platform is controlled as follows:
after an operator presses a corresponding button on the near control operation panel HMI, the near control operation panel sends a control signal to the roll changing PLC through a WIFI signal or an Ethernet, the roll changing PLC receives an instruction and judges whether the roll changing PLC is in a manual mode, if so, the instruction is responded, and the roll changing PLC controls the roll changing transverse moving platform to move leftwards or rightwards.
The forward/backward operation of the backup work roll is controlled as follows:
after an operator presses a corresponding button on the near control operation panel HMI, the near control operation panel sends a control signal to the roll changing PLC through a WIFI signal or an Ethernet, the roll changing PLC receives an instruction and judges whether the roll changing PLC is in a manual mode, if so, the instruction is responded, and the roll changing PLC controls the standby working roll to jog to advance or retreat.
In another aspect, the near control operation equipment for the roll changing area of the hot rolling leveling line comprises the near control portable device;
the portable proximity control device comprises an operation panel frame arranged beside the leveling line roll changing area and a proximity control operation panel arranged on the operation panel frame;
and the proximity control operation panel is communicated with the roll changing PLC through a WIFI base station or an Ethernet.
The operation panel frame is also provided with an NFC identification card, an emergency stop switch and a selection switch;
the NFC identification card is used for identifying the position of the proximity control operation panel and generating positioning information to the roll change PLC, and the roll change PLC locks the remote roll change operation authority and opens the roll change operation authority of the proximity control operation panel;
the emergency stop switch is connected to the roll changing PLC through hard wiring;
the selection switch is used for locking the roll changing operation authority of the near control operation panel and the roll changing PLC.
In the technical scheme, the near control operation method and the operation equipment thereof for the hot rolling leveling wire roll changing area break through the mode that the near control operation of the traditional leveling wire roll changing area equipment adopts the operation of a fixed operation panel box, utilize the computer communication technology and the NFC intelligent identification technology, further utilize the perfect interface support of the mainstream Android operation system, have strong platform openness and expansibility, and overcome the defects that the fixed operation panel box occupies a large area, blocks the sight, cannot feed back complex equipment state information, has high manufacturing cost and large wiring construction quantity. Along with the development of the current intelligent manufacturing and automatic production technology, the near-control manual operation of a leveling line roll changing area is less and less, but the near-control manual operation during abnormal operation and maintenance operation is necessary, the portable movable near-control operation panel well solves the problem, can be used as an intelligent terminal at ordinary times, displays the equipment state information of the roll changing area, and can be used as operation when being carried to the site when needing the manual near-control operation.
Drawings
FIG. 1 is a schematic view of a prior art hot strip leveler installation;
FIG. 2 is a schematic flow chart of an embodiment of the method of the present invention;
FIG. 3 is a schematic view of the layout of a leveler roll changer apparatus in an embodiment of the method of the present invention;
FIG. 4 is a schematic diagram of a near-controlled portable device construction for a leveling wire roll change zone in an embodiment of the method of the present invention;
FIG. 5 is a schematic diagram of a near control operation panel on an HMI editing operation screen in the embodiment of the method;
FIG. 6 is a schematic diagram of a communication link of an embodiment of the apparatus of the present invention;
FIG. 7 is a flow chart of a PLC control program of the prior art roll changing;
FIG. 8 is a schematic flow chart of a PLC control program for roll changing in an embodiment of the method of the present invention;
FIG. 9 is a control block diagram of a proximity control panel according to an embodiment of the method of the present invention;
FIG. 10 is a PLC control block diagram of a roll change associated with a proximity control operation panel according to an embodiment of the method of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
As shown in fig. 2, the method for operating the roll changing area of the hot rolling leveling line in a proximity control manner provided by the invention comprises the following steps:
1) setting mechanical conditions and electrical equipment conditions;
as shown in fig. 3, mechanical conditions: the roll changing trolley comprises a roll changing trolley 7, a roll changing traversing platform 8 arranged on the roll changing trolley 7, and a standby working roll 9 arranged on the roll changing traversing platform 8, wherein the roll changing trolley 7 is used for moving to the side of the temper mill equipment, and the standby working roll 9 is moved to the position of a working roll group 10 of the online temper mill through the roll changing traversing platform 8 to perform roll changing work.
Electrical conditions: the near control operation panel 11 is developed by adopting an Android operation system platform, and the interface is complete (the platform support and the expandability are strong); the hardware is composed of industrial modules, and has a shockproof and impact-proof design, and the system stability is high (refined); the communication adopts WIFI and Ethernet dual communication interfaces, which are different from common pad equipment; an open-source bottom-layer library is adopted for communicating with the roll-changing PLC12, the structure is complete, and the communication real-time performance is strong; the application layer adopts a standard Android APP development environment and has strong extensibility and upgrading capability (compatibility).
2) Constructing a near control portable device of a leveling line roll changing area;
as shown in fig. 4, an operation panel shelf is installed near the flat line roll changing area, a proximity control operation panel 11 is inserted into the operation panel shelf, the proximity control operation panel 11 establishes communication with a roll changing PLC12 through a WIFI signal 13 or an ethernet, and if the WIFI signal 13 is used for establishing communication, a WIFI base station 14 is further required to be arranged for realizing the communication.
3) Establishing communication connection between the proximity control portable device and the roll changing PLC;
the Siemens S7 communication API based on the Android system in the proximity control operation panel 11 is utilized.
4) Compiling an operation picture of an HMI on the proximity control operation panel 11;
as shown in fig. 5, the operation screen HMI of the proximity control operation panel 11 is programmed by using Android Studio of the Android system.
5) Establishing data connection between an operation picture and a roll change PLC;
roll change operation screen data connection mapping:
6) the field personnel realize the near control operation of the roll changing area of the leveling line by controlling the operation picture.
The proximity control operation comprises the advancing/retreating operation of the roll changing trolley 7, the left/right moving operation of the roll changing traverse platform 8 and the advancing/retreating operation of the standby working roll 9. The method comprises the following specific steps:
1) the forward/backward operation of the roll changing trolley 7 is controlled as follows:
after an operator presses an advancing/retreating button of the roll changing trolley on an HMI (human machine interface) of the near control operation panel 11, the near control operation panel 11 sends a control signal to the roll changing PLC12 through a WIFI signal 13 or an Ethernet, the roll changing PLC12 receives an instruction and judges whether the roll changing PLC12 is in a manual mode, if so, the instruction is responded, and the roll changing PLC12 controls the roll changing trolley 7 to jog to advance or retreat.
The left/right shift operation of the roll-changing traverse table 8 is controlled as follows:
after an operator presses a 'left shift/right shift' button of the roll changing traverse platform on an HMI (human machine interface) of the near control operation panel 11, the near control operation panel 11 sends a control signal to the roll changing PLC12 through a WIFI (wireless fidelity) signal 13 or an Ethernet, the roll changing PLC12 receives an instruction and judges whether the roll changing PLC is in a manual mode, if so, the instruction is responded, and the roll changing PLC12 controls the roll changing traverse platform 8 to move leftwards or rightwards.
The forward/backward operation of the backup work roll 9 is controlled as follows:
after an operator presses a button of 'forward/backward operation of the standby working roll' on the HMI of the near control operation panel 11, the near control operation panel 11 sends a control signal to the roll changing PLC12 through the WIFI signal 13 or the ethernet, the roll changing PLC12 receives an instruction and judges whether the standby working roll 9 is in the manual mode, if so, the roll changing PLC12 responds to the instruction and controls the standby working roll 9 to jog forward or backward.
As shown in FIG. 6, the invention also provides a close control operation device for the roll changing area of the hot-rolled leveling line, which comprises a close control portable device.
The proximity control portable device comprises an operation panel shelf 15 installed beside a flat wire roll changing area, and a proximity control operation panel 11 inserted on the operation panel shelf 15.
The near control operation panel 11 establishes communication with the roll changing PLC12 through two WIFI signals 13 or Ethernet, as shown in figures 7 and 8, the method of the invention changes the traditional control mode of the roll changing PLC12, reads the operation instruction from the communication data of the near control operation panel 11, and does not use the traditional digital quantity input/output template any more.
The operation panel frame 15 is also provided with an NFC identification card, an emergency stop switch and a selection switch with a key.
The selection switch is used for locking the operation of the proximity control operation panel 11, when the proximity control operation panel 11 is inserted into the operation panel frame 15, the roll changing PLC12 obtains the operation position of the proximity control operation panel 11, locks the remote operation authority, and opens the proximity control operation authority of the proximity control operation panel 11, if the selection switch key on the operation panel frame 15 is opened to the locking position, then the proximity control operation panel 11 will be locked in addition to the locking of the remote operation; when the proximity control operation panel 11 is not inserted into the operation panel rack 15, the selection switch is disabled.
The emergency stop switch is connected to the roll changing PLC12 through a hard wire, so that the safety of equipment and personnel is ensured.
The Android operating system is loaded in the proximity control operating panel 11, platform development and interfaces are complete, and platform support and expandability are strong.
The close control operation panel 11 and the roll change PLC12 communicate by adopting an open source bottom library, the structure is complete, and the communication real-time performance is strong.
The application layer of the near control operation panel 11 adopts a standard Android APP development environment, and has strong extensibility and upgrading capability.
In order to prevent communication abnormality between the near control operation panel 11 and the roll changing PLC12, the near control operation panel 11 sends a heartbeat message to the roll changing PLC12 every 100ms, the roll changing PLC12 verifies the heartbeat message sent by the near control operation panel 11 every 100ms, and if an error occurs, the operation is locked, and the reliability of communication is ensured.
As shown in fig. 9 and 10, a specific control method using the portable movable leveling line roll change area proximity control operation panel 11:
1) inserting the near control operation panel 11 into the roll changing area operation panel shelf 15, reading the NFC information on the operation panel shelf 15 by the near control operation panel 11, automatically opening an operation interface of the near control operation of the roll changing area, and simultaneously generating a position signal and an operation request to the roll changing PLC12 through a network;
2) the roll changing PLC12 receives the operation request of the proximity control operation panel 11, checks the position information, switches the operation mode of the leveling line roll changing area to a 'proximity control' mode, blocks remote operation and opens the authority to the proximity control operation panel 11;
3) the near control operation panel 11 sends the manual operation information to the roll changing PLC12 in a cyclic scanning mode through a network and simultaneously sends a heart state message;
4) the roll changing PLC12 sends the equipment state information and the process state information which are responded to the near control operation panel 11 through the network in a circulating scanning mode for the picture display of the near control operation panel 11; reading operation information and a heart state message sent by the near control operation panel 11 in a cyclic scanning mode, ignoring the read operation information when the heartbeat message is abnormal, and considering that the communication fails if the correct heartbeat message cannot be obtained every time within a set time;
5) the roll changing PLC12 executes corresponding operation results after obtaining effective operation information sent by the intelligent operation panel;
6) during the proximity control operation, if the selection switch on the operation panel shelf 15 is turned to the locking state, the roll changing PLC12 blocks the operation authority and any operation request information of the proximity control operation panel 11 until the selection switch state is turned to the releasing state;
7) after the near control operation of the near control operation panel 11 is finished, the near control operation panel 11 is pulled out from the operation panel frame 15, the near control operation panel 11 loses the NFC identification mark, an operation picture is locked, only the equipment state and the process state are displayed, meanwhile, the roll changing PLC12 loses the position information of the near control operation panel 11, and the operation mode of the roll changing area is changed into a remote operation mode;
8) the emergency stop button on the field operation panel shelf 15 is not restricted by the state of the proximity control operation panel 11, and can be pressed down at any time to play the role of emergency stop.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (9)
1. A hot rolling leveling line roll change region proximity control operation device is used for executing a hot rolling leveling line roll change region proximity control operation method, and the method comprises the following steps:
1) setting mechanical conditions and electrical equipment conditions;
2) constructing a near control portable device of a leveling line roll changing area;
3) constructing communication connection between the proximity control portable device and the roll changing PLC;
4) compiling an operation picture of an HMI (human machine interface) on the close control portable device;
5) establishing data connection between an operation picture and a roll change PLC;
6) the field personnel can realize the near control operation of the roll changing area of the leveling line by controlling the operation picture,
the hot rolling leveling line roll changing area proximity control operation equipment comprises the proximity control portable device,
the portable proximity control device comprises an operation panel frame arranged beside the leveling line roll changing area and a proximity control operation panel arranged on the operation panel frame;
the close control operation panel is communicated with the roll changing PLC through a WIFI base station or an Ethernet,
the operation panel frame is also provided with an NFC identification card, an emergency stop switch and a selection switch;
the NFC identification card is used for identifying the position of the proximity control operation panel and generating positioning information to the roll change PLC, and the roll change PLC locks the remote roll change operation authority and opens the roll change operation authority of the proximity control operation panel;
the emergency stop switch is connected to the roll changing PLC through hard wiring;
the selection switch is used for locking the roll changing operation authority of the near control operation panel and the roll changing PLC.
2. The hot rolling temper line roll change zone proximity control operation apparatus of claim 1, wherein: the mechanical conditions comprise a roll changing trolley, a roll changing transverse platform arranged on the roll changing trolley, and a standby working roll arranged on the roll changing transverse platform.
3. The hot rolling leveling line roll change zone proximity control operating apparatus of claim 2, wherein: in the step 2), an operation panel frame is installed beside the roll changing area of the leveling line, a proximity control operation panel is inserted into the operation panel frame, and the proximity control operation panel is communicated with the roll changing PLC through a WIFI signal or an Ethernet.
4. The hot strip line roll change zone proximity control operating apparatus of claim 3, wherein: and an Android operating system is loaded in the proximity control operating panel.
5. The hot strip line roll change zone proximity control operating apparatus of claim 4, wherein: in the step 4), the Android Studio of the Android operating system loaded in the proximity control operating panel is adopted to edit the operating picture of the HMI.
6. The hot strip line roll change zone proximity control operating apparatus of claim 5, wherein: in the step 6), the proximity control operation comprises the advancing/retreating operation of the roll changing trolley, the left moving/right moving operation of the roll changing traverse platform and the advancing/retreating operation of the standby working roll.
7. The hot strip line roll change zone proximity control operating apparatus of claim 6, wherein: the forward/backward operation of the roll changing trolley is controlled as follows:
after an operator presses a corresponding button on the near control operation panel HMI, the near control operation panel sends a control signal to the roll changing PLC through a WIFI signal or an Ethernet, the roll changing PLC receives an instruction and judges whether the roll changing PLC is in a manual mode, if so, the instruction is responded, and the roll changing PLC controls the roll changing trolley to jog to advance or retreat.
8. The hot strip line roll change zone proximity control operating apparatus of claim 6, wherein: the left movement/right movement operation of the roller changing and traversing platform is controlled as follows:
after an operator presses a corresponding button on the near control operation panel HMI, the near control operation panel sends a control signal to the roll changing PLC through a WIFI signal or an Ethernet, the roll changing PLC receives an instruction and judges whether the roll changing PLC is in a manual mode, if so, the instruction is responded, and the roll changing PLC controls the roll changing transverse moving platform to move leftwards or rightwards.
9. The hot strip line roll change zone proximity control operating apparatus of claim 6, wherein: the forward/backward operation of the backup work roll is controlled as follows:
after an operator presses a corresponding button on the near control operation panel HMI, the near control operation panel sends a control signal to the roll changing PLC through a WIFI signal or an Ethernet, the roll changing PLC receives an instruction and judges whether the roll changing PLC is in a manual mode, if so, the instruction is responded, and the roll changing PLC controls the standby working roll to jog to advance or retreat.
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| CN202010243346.XA CN113458146B (en) | 2020-03-31 | 2020-03-31 | Near-control operation method and operation equipment for roll changing area of hot rolling leveling line |
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| CN202010243346.XA CN113458146B (en) | 2020-03-31 | 2020-03-31 | Near-control operation method and operation equipment for roll changing area of hot rolling leveling line |
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| US3124982A (en) * | 1959-11-05 | 1964-03-17 | Rolling mill and control system | |
| CN201040288Y (en) * | 2007-06-15 | 2008-03-26 | 中国第一重型机械集团公司 | Working roll exchanging machine |
| CN106571019A (en) * | 2015-10-30 | 2017-04-19 | 深圳市瑞迪飞科技有限公司 | Passive short-distance control device, method, system and electronic key |
| CN106734238B (en) * | 2017-01-08 | 2018-08-03 | 北京首钢自动化信息技术有限公司 | A kind of control method for the automatic roll change of mm finishing mill unit |
| CN107235382A (en) * | 2017-07-26 | 2017-10-10 | 威海科莱默自动化设备有限公司 | A kind of air-expanding shaft connects changing rig and its connects roll-changing method |
| CN209698376U (en) * | 2019-01-30 | 2019-11-29 | 首钢智新迁安电磁材料有限公司 | A kind of changing rig |
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