ROLLING MILL INSTALLATION COMPRISING A ROBOTIC SYSTEM CONFIGURED FOR EXTRACTING ROLLS FROM A ROLLING MILL AND A TOOL CHANGE MAGAZINE

Abstract

A metal strip rolling mill installation including a rolling mill (L), having a roll stand and a set of rolls, inside the stand. The installation includes a robotic system (1) suitable for performing the rolling mill roll changing operations. A gripping tool change magazine (MAG) includes a first grasping tool configured for inserting and extracting a work roll, a second grasping tool configured for inserting and extracting first intermediate rolls, a third grasping tool is configured for inserting and extracting second intermediate rolls, and a fourth grasping tool is configured for inserting and extracting sets of rollers.

Description

FIELD

The present disclosure relates to a rolling mill installation comprising a 20-roll rolling mill, a robotic system configured for extracting rolls and rolling mill from the roll stand or inserting rolls into the stand, and a tool change magazine comprising a set of a gripping tools specific to the nature of the component to be grasped in the roll stand, and in particular four grasping tools specific to grasping work rolls, first intermediate rolls, second intermediate rolls and sets of backup rollers of the 20-roll rolling mill respectively.

The robotic system is configured to automatically couple, selectively, with the specific tools, depending on the component (roll or set of back-up rollers) to be grasped in the roll stand, the component consisting of at least one work roll, a first intermediate roll, a second intermediate roll, and a set of back-up rollers, or also at least one groundboom.

BACKGROUND

The field of the invention relates more particularly to equipment used for carrying out maintenance operations on a 20-roll rolling mill, also known as a “20-High”. A 20-roll rolling mill is known for example from the prior art U.S. Pat. No. 5,193,377 and U.S. Pat. No. 5,471,859. In such a rolling mill, the rolls (and sets of back-up rollers) are divided into a lower group and an upper group, and in a configuration symmetrical to the conveying plane of the metal strip to be rolled. For example, FIG. 4 of the document U.S. Pat. No. 5,193,377 illustrates the upper group with a work roll, two first intermediate rolls, three second intermediate rolls, and four sets of backup rollers.

As rolling operations are carried out, it is necessary to renew the surface condition of the rolls of the rolling mill, this operation being performed by opening the access door of the roll stand and removing the rolls from the roll stand. Afterwards, these rolls are rectified, before being inserted back into the roll stand.

Typically, each set of backup rollers comprises a support shaft along which rollers are distributed formed typically by bearings. To this end, the inner race of each bearing is mounted on the support shaft, the outer race of the bearing being intended to run over one, and possibly two contiguous rolls belonging to the second intermediate rolls. All of the backup rollers also comprise a saddle whose arcuate body extends longitudinally over the length of the support shaft, and whose convex face is intended to bear on a concave seat of a mounting portion of the stand. This saddle also has extensions, projecting from the concave face of the body, through which the support shaft passes, the extensions being distributed over the length of the shaft and being in particular disposed between the rollers. Eccentric rings are also provided between the support shaft and these extensions, the shaft having a pinion intended to mesh in the stand of the rolling mill with a corresponding pinion or a rack. This pinion (or this rack) thus allows the support shaft to be driven such that it rotates, and thus allows the position of the support shaft and of the rollers carried thereby to be moved away from or towards the arcuate body of the saddle, thanks to the eccentric rings. Of course, these sets of backup rollers also require maintenance, which is performed by removing this member from the roll stand, along the axis of said support shaft.

The operations of extraction (or setup by insertion) of the internal members, (rolls or sets of backup rollers) are usually performed thanks to a piece of handling equipment secured to the end of the member to be removed (namely to the end of the roll to be removed or of the support shaft of the set of backup rollers to be removed), provided with a counterweight. The counterweight is intended to balance the member to be grasped when handled by the hoist of a bridge crane of the workshop, and in order to keep it substantially horizontal, and while the hook of the hoist grasps a lifting eye positioned on the equipment between the counterweight and the grasped member. During the extraction of the member (or conversely during its setup), the grasped member is rigidly secured to the counterweight of the equipment, which might swing at the lower end of the rope of the hoist.

PRIOR ART

During the extraction manoeuvres, the operators are necessarily present proximate to the grasped member, in order to guide the extraction (or setup) operations which are thus particularly dangerous because of the possible swinging movements of the heavy elements hanging from the rope of the bridge crane.

The operations of placing each set of backup rollers in the roll stand are still particularly tiresome in that while inserting the set it is necessary to orientate:

• • the saddle in the angular position allowing its insertion into the stand in its mounting position, i.e.. angularly align the saddle with the seat of the roll stand: this operation requires, for example for the sets of rollers of the upper group, holding the saddle up and against gravity which tends to tilt it downwards,
  • the support shaft and mainly the pinion attached to its end and in order to position the teeth of the pinion precisely between the teeth of the drive pinion (or drive rack) of the rolling mill located at the bottom of the stand.

However, from document JP1976454C, in the name of Nippon Steel, a loading/unloading system is known which is based on the use of a standard (5 axis) robotic arm. In this prior art, the robotic arm is mounted on a carriage that moves along rails, parallel to the conveying plane of the strip, allowing the articulated arm to be moved past the various stands of the rolling mills. The end of the arm is provided with a clamping system, allowing a work roll to be grasped and then locked at its end.

According to the findings of the Applicant, the use of a standard robotic arm for handling the rolls of the rolling mill has two major disadvantages, namely:-the use of an oversized robotic arm: it is necessary to use a cumbersome arm with substantial motors at the arm joints to withstand the torques required for holding the members to be grasped at their end, i.e. rolls and/or sets of backup rollers (due to their substantial weight and great length),

• • a large operational footprint during loading/unloading operations: the area swept by the grasped component (roll or set of backup rollers) carried at the end of the robotic arm during its rotation and up to the depositing area is very large and can only be contemplated when the necessary space is available in the workshop.

However, from document WO2022223927 of the present Applicant, a robotic system is known comprising a robot limiting the operational space required during loading/unloading operations, and allowing the deposit of removed rolls on a rack at a distance from the roll stand. As described in this prior art, the robotic system is configured to change the set of rolls or set of backup rollers of a 20-roll rolling mill, namely extract and insert components of the upper and lower group from the roll stand:

• • the work rolls, lower and upper,
  • the first intermediate rolls,
  • the second intermediate rolls, and
  • the sets of backup rollers.

In the figures and in particular in FIG. 3 of document WO2022223927, it can be seen that the work rolls are grasped by locking by the robotic grasping system with a grasping tool described in detail in the application published under number FR3108047 of 10 Mar. 2020 (national registration number 20 02 381), which tool can be inserted by the robot into the roll stand for extracting or inserting into the roll stand.

On the other hand, and with regard to the other rolls/sets of rollers, in particular second intermediate rolls, or also sets of backup rollers, the roll grasping requires prior installation, typically by screwing, of an adapter, typically manually by an operator, in the form of an end piece as illustrated in particular in FIG. 5 of document FR3108047.

SUMMARY

The present invention aims to improve the situation.

A rolling mill installation for a metal strip is proposed, comprising a rolling mill, having a roll stand and a set of rolls, inside the stand, having:

• • an upper group comprising:
    • one work roll, upper,
    • two first intermediate rolls, upper,
    • three second intermediate rolls, upper,
    • four sets of backup rollers, upper,
  • a lower group comprising:
    • one work roll, lower:
    • two first intermediate rolls, lower,
    • three second intermediate rolls, lower,
    • four sets of backup rollers, lower,
      said installation comprising a robotic system suitable for carrying out the operations of changing the rolls of the rolling mill, by extracting worn rolls from the roll stand and/or inserting new or rectified rolls into the roll stand comprising a robot provided with a grasping system configured to control the locking of plurality of gripping tools,
      and wherein the installation comprises a gripping tool change magazine comprising in a storage area:
  • a first grasping tool configured for inserting and extracting a work roll,
  • a second grasping tool, configured for inserting and extracting the first intermediate rolls,
  • a third grasping tool, configured for inserting and extracting the second intermediate rolls and
  • a fourth grasping tool, configured for inserting and extracting the sets of backup rollers, and wherein the grasping system comprises a quick-coupling system, comprising a first mechanical coupling part, motorised, configured to move from a coupled position configured to mechanically lock a second mechanical coupling part to an uncoupled position allowing the release of the second mechanical coupling part,
    and wherein each of the gripping tools among the first grasping tool, the second grasping tool, the third grasping tool and the fourth grasping tool are equipped with said second mechanical coupling part, the gripping tools being configured to be selectively coupled to said first mechanical part of the grasping system when the gripping tools are stored in said storage area of said tool change magazine.

The features outlined in the following paragraphs can optionally be implemented independently of one another or in combination with one another.

According to one embodiment, the robotic system has at least one controllable pneumatic power source, the quick-coupling system, comprising, in addition to the first mechanical coupling part, a first pneumatic coupling part, configured to move from a coupled position for locking a second pneumatic coupling part, and wherein all or some of the gripping tools among the first grasping tool, the second grasping tool, the third grasping tool and the fourth grasping tool are equipped with said second mechanical coupling part and at least one pneumatic actuator configured to be actuated by said at least one pneumatic power source.

According to one embodiment, the roll stand having an access opening, possibly closed by a door system, the metal strip extending longitudinally in horizontal direction X, and transversely in horizontal direction Y, direction Y being parallel to the axes of the rolls of the rolling mill,

• • and wherein the robot comprises a carriage comprising a first frame provided with wheels cooperating with rails arranged on the ground, extending in direction Y, at the access opening of the roll stand, said first frame being configured to move in direction Y along the rails, from the action of first motor means driving the wheels,
  • and wherein the tool change magazine is arranged laterally to the rails, in a fixed position in said installation.

According to one embodiment, said installation comprises a loading/unloading rack, positioned removably on a support frame anchored to the ground in an anchoring position at a distance from the rolling mill in the direction Y, transversely and laterally to the rails, the rack resting on the support frame having recesses, oriented in the direction X, and wherein the robotic system is configured for depositing the roll on the loading/unloading rack resting on the support frame, and wherein the tool change magazine is arranged, in the direction Y between the roll stand and the support frame, in the vicinity of the support frame relative to the roll stand and wherein the support frame and the tool change magazine are arranged relative to the roll stand, configured to clear a maintenance aisle in the direction X, along the access opening of the rolling mill.

According to one embodiment, the robot comprises, in addition to the first frame movable along the rails:

• • a second frame and a first slide system connecting the second frame and the first frame configured to move the second frame relative to the first frame in the direction X, from the action of second motor means,
  • a third frame and a second slide system connecting the third frame and the second frame, configured to move the third frame relative to the second frame in a vertical direction Z, from the action of third motor means,
  • a fourth frame, and rotary guide means connecting the fourth frame and the third frame about a vertical axis of rotation, configured to drive the rotation of the fourth frame relative to the third frame, from the action of fourth motor means and wherein said grasping system, comprising the first mechanical coupling part, is mounted on the fourth frame and
    wherein the robotic system is configured to ensure the extraction of a roll, by grasping the end piece integral to the roll, or alternatively by grasping the roll/or said set of backup rollers with the gripping tool locked by the grasping system, and depositing the roll, laterally to the rails, after pivoting the roll by rotation of the fourth frame relative to the third frame about the vertical axis of rotation.

According to one embodiment, the gripping tools comprising the first grasping tool, the second grasping tool, the third grasping tool and the fourth grasping tool are stored in the storage area of the magazine, said gripping tools being oriented in a direction parallel to the direction X and perpendicular to the rails, the gripping tools exposing their second mechanical coupling part, or their second pneumatic coupling part, to the rails and wherein the robotic system is configured to ensure the coupling of one of the tools stored in the magazine, by:

• • pivoting the fourth frame about said vertical axis of rotation in order to align the first mechanical coupling part, mounted on the fourth frame with the second coupling part of one of the tools stored in the magazine laterally to the rail, or possibly simultaneously, in order to align the first pneumatic coupling part, mounted on the fourth frame and the second pneumatic coupling part of the grasping tool,
  • moving said second frame relative to the first frame so as to physically engage the first mechanical coupling part of the grasping system and the second mechanical coupling part aligned with one another, or simultaneously engage the first pneumatic coupling part and the second pneumatic coupling part,
  • moving from the uncoupled position of the first mechanical coupling part to said locked position configured to mechanically lock the second mechanical coupling part, or also preferably simultaneously moving from the uncoupled position of the first pneumatic coupling part to said locked position configured to pneumatically lock the second mechanical coupling part.

According to one embodiment, the grasping system comprises a motor configured to pivot the first coupling part, about an axis of rotation, or coincident with the axis of rotation of a roll/or of a set of backup rollers grasped by the grasping tool.

According to one embodiment, the first coupling part comprising a plurality of coupling

parts which can be activated on locking/unlocking, said activatable coupling parts being distributed angularly about the axis of rotation.

According to one embodiment, the first pneumatic coupling part is centred on the axis of rotation about which the first coupling part is configured to pivot.

According to one embodiment, the tool change magazine comprises a substantially

vertical structure, comprising a plurality of superimposed storage compartments, configured to receive respectively, in a superimposed manner, the first grasping tool, the second grasping tool, the third grasping tool, and the fourth grasping tool in said storage compartments.

According to a second aspect, the present disclosure relates further to a method for changing rolls/sets of backup rollers used in a rolling mill installation according to the present disclosure, comprising the following steps:

• • /A/selecting a gripping tool from the first grasping tool, the second grasping tool, the third grasping tool and the fourth grasping tool, the gripping tools stored in the tool change magazine,
  • /B/ engaging via the robotic system of the first mechanical coupling part with the second mechanical coupling part of the selected gripping tool, and moving the first coupling part to the coupled position, or also engaging via the robotic system of the first pneumatic coupling part with the second pneumatic coupling part and moving the first pneumatic coupling part to the coupled position,
  • /C/ matching via the robotic system the gripping tool coupled to the grasping system and grasping a component of the rolling mill corresponding to the selected gripping tool, said component comprising, or consisting of, a work roll for the first grasping tool, a first intermediate roll for the second grasping tool, a second intermediate roll for the third grasping tool and a set of backup rollers for the fourth grasping tool,
  • /D/ extracting said component via the robotic system coupled to the selected gripping tool.

According to one embodiment, in step /C/ the grasping of the component with the selected gripping tool is performed without previously installing an adapter on the component.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features, details and advantages will appear upon reading the following detailed description and analysing the appended drawings, wherein:

FIG. 1

FIG. 1 is a view of a robotic system comprising a carriage with a grasping system comprising, on the one hand, a first mechanical coupling part comprising a plurality of coupling parts distributed about a motorised axis of rotation of the grasping system, said first coupling part being configured to move from a coupled position ensuring the locking of a second mechanical coupling part of a grasping tool to a decoupled position allowing the release of the grasping tool, and on the other hand, a first pneumatic coupling part, centred on the axis of rotation, configured to move from a coupled position ensuring the locking of a second pneumatic coupling part of the grasping tool, to an uncoupled position.

FIG. 1a

FIG. 1a is a cross-sectional view of the robotic system, illustrating in detail possible kinematics of the robot of the robotic system.

FIG. 2

FIG. 2 is a schematic view of the various specific gripping tools, namely from top to bottom, the first gripping tool configured to grasp work rolls, the second grasping tool configured to grasp first intermediate rolls, the third grasping tool configured to grasp second intermediate rolls, and finally the fourth grasping tool configured to grasp the sets of backup rollers.

FIG. 3

FIG. 3 is a view of a possible configuration of the rolling mill installation which comprises a 20-roll rolling mill comprising a stand receiving a set of rolls/sets of backup rollers, including two work rolls, the 20-roll rolling mill configured to roll a metal strip conveyed in a longitudinal direction X, a robotic system comprising a robot comprising a carriage configured to move along rails, oriented in a transverse direction Y, in extension of an access window of the stand, said installation further comprising:

• • a loading/unloading rack, positioned removably on a support frame anchored to the ground in an anchoring position at a distance from the rolling mill in the transverse direction Y, and laterally to the rails on which the robot moves, the rack resting on the support frame having recesses, oriented in the direction X, and in which the robotic system is configured for depositing the roll on the loading/unloading rack resting on the support frame,
  • a gripping tool change magazine, in the form of a vertical structure comprising a plurality of superimposed compartments, receiving respectively the four gripping tools, the tool change magazine being arranged, in the transverse direction Y between the roll stand and the support frame, in the vicinity of the support frame relative to the roll stand,
    and in which the support frame and the tool change magazine are arranged and configured to clear a maintenance aisle in the longitudinal direction X, said aisle extending along the access opening of the rolling mill.

FIG. 4

FIG. 4 illustrates schematically the configuration of the upper group and lower group of a 20-roll rolling mill.

DETAILED DESCRIPTION

The present disclosure relates to a rolling installation for a metal strip comprising a rolling mill L, having a roll stand and a set of rolls, inside the stand, having:

• • an upper group G_S comprising:
    • one work roll 12, upper,
  • two first intermediate rolls 13, upper,
  • three second intermediate rolls 14, 15, upper,
  • four sets of backup rollers A, B, C, D, upper,
  • a lower group G_I comprising:
  • one work roll 12, lower:
  • two first intermediate rolls 13, lower,
  • three second intermediate rolls 14, 15, lower,
  • four sets of backup rollers H, G, F, E, lower.

Such a configuration of the 20-roll rolling mill, namely comprising said work rolls 12, first intermediate rolls 13, second intermediate rolls 14 15 and the sets of backup rollers A to E, is illustrated schematically in FIG. 4.

Such a rolling mill makes it possible to roll a metal strip BM conveyed in a longitudinal direction X, said metal strip extending widthwise in transverse direction Y.

The 20-roll rolling mill can be a one-piece stand rolling mill, or may comprises two moving parts, namely a rolling mill typically known to the person skilled in the art as “split-housing”. Such a “split-housing” rolling mill comprises the two parts which are movable relative to one another, forming respectively an upper stand part, configured to transmit a clamping force to the four sets of backup rollers A, B, C, D, of the upper group G_S, and an upper stand part configured to transmit a clamping force to the four sets of backup rollers E, F, G, H of the lower group Gi. Such a rolling mill then comprises a hydraulic clamping mechanism configured to move the stand system from an open stand position at which the upper stand part and the lower stand part are spaced apart from one another, to a clamping position in which the upper stand part and the lower stand part are brought together, suitable for rolling operations of the metal strip.

In general, in particular for a one-piece stand rolling mill or also a “split-housing” type stand, each set of backup rollers A to E comprises typically, in a manner known per se, a support shaft along which rollers typically formed by bearings are distributed. For this purpose, the inner ring of each bearing is mounted on the support shaft, the outer ring of the bearing being intended to roll on one or even two adjacent rolls belonging to the rolls of the second intermediate rolls.

The set of backup rollers also comprises a saddle, the arcuate body of which extends longitudinally along the length of the support shaft, and a convex face of which is intended to bear on a concave seat of a mounting portion of the stand, namely for example a mounting portion of the upper stand part, for sets of backup rollers A to D, and a mounting portion of the lower stand part for the sets of backup rollers E to H. This saddle also has extensions, projecting from the concave face of the body, traversed by the support shaft, the extensions being distributed over the length of the shaft and in particular arranged between the rollers. Eccentric rings are also provided between the support shaft and these extensions, the shaft having a pinion intended to mesh in the housing of the rolling mill with a corresponding pinion or a rack. This pinion (or this rack) thus allows the support shaft to be driven such that it rotates, and thus allows the position of the support shaft and of the rollers carried thereby to be moved away from or towards the arcuate body of the saddle, thanks to the eccentric rings.

The stand further comprises an access opening (or maintenance window), on a first side of the rolling mill at the front, which is typically opposite the second side of the rolling mill which comprises motorisation for driving the rolls in rotation. A door system is configured for closing the access window during rolling operations and configured to open the access window to allow maintenance operations, and in particular operations for changing rolls of the rolling mill, including sets of backup rollers.

During rolling operations, friction causes wear to the rolls/set of backup rollers which require more or less frequent maintenance depending on their nature.

Thus, the maintenance frequency of the work rolls is greater than the replacement frequency of the first intermediate rolls, which in turn is greater than the replacement frequency of the second intermediate rolls and the sets of backup rollers.

The rolls or set of backup rollers can each be extracted from the stand, by extracting the roll (or set of backup rollers) in longitudinal axis of the element. The extracted rolls are replaced, by rectified rolls, or by new rolls, which are inserted into the roll stand.

For this purpose, the installation comprises a robotic system 1 suitable for performing operations of changing rolls of the rolling mill, by extracting worn rolls from the roll stand and/or inserting new or rectified rolls into the roll stand, said robotic system comprising robot Ro provided with a grasping system 6 configured to control the locking of a plurality of gripping tools.

The robot Ro can comprise a carriage comprising a first frame 2 equipped with wheels 20 cooperating with rails Ra1 arranged on the ground, extending in the transverse direction Y, at the access opening of the roll stand, said first frame 2 being configured to move in the direction Y along the rails Ra1, from the action of first motor means M1 driving the wheels 20.

The robot can comprise:

• • a second frame 3 and a first slide system G1 connecting the second frame 3 and the first frame 2 configured to move the second frame 3 relative to the first frame 2 in the direction X, from the action of second motor means M2.
  • a third frame 4 and a second slide system G2 connecting the third frame 4 and the second frame 3, configured to move the third frame 4 relative to the second frame 3 in a vertical direction Z from the action of third motor means M3.

The movement of the first frame 2, along the rails Ra1, following the transverse direction Y, of the second frame 3 relative to the second frame in longitudinal direction X and of the third frame 4 relative to the second frame in the direction Z, allow translational movements of the grasping system in all three directions in space.

The robot may also comprise a fourth frame 5, and rotational guide means linking the fourth frame and the third frame about a vertical axis of rotation Av, configured to drive the rotation of the fourth frame 5 relative to the third frame 4, by the action of fourth motor means M4. Such robot kinematics are known from document WO2022223927 of the present Applicant for the extraction or insertion of rolls. The robot can further comprise a horizontal axis of rotation, disclosed by WO2022223927, making it possible to incline the axis of a grasped roll from the action of fifth motor means M5.

Said grasping system 6 is mounted on the fourth frame. Such a robotic system 1 is configured to ensure the extraction of a roll, by grasping the end piece integral with the roll, or by grasping the roll/or said set of backup rollers with a gripping tool locked by the grasping system, with deposition of the roll (or said set of backup rollers), laterally to the rails, after pivoting the roll by rotation of the fourth frame relative to the third frame 4 about the vertical axis of rotation Av.

According to the present disclosure, said installation further comprises a gripping tool change magazine MAG comprising, in a storage area:

• • a first grasping tool OT1 configured for inserting and extracting a work roll,
  • a second grasping tool OT2, configured for inserting and extracting first intermediate rolls,
  • a third grasping tool OT3, configured for inserting and extracting second intermediate rolls and
  • a fourth grasping tool OT4, configured for inserting and extracting sets of backup rollers.

According to the present disclosure, the gripping tools comprising the first grasping tool OT1, the second grasping tool OT2, the third grasping tool OT3, and the fourth grasping tool OT4 are specific tools configured to ensure the grasping of a work roll 12, at least one of the first intermediate work rolls 13, at least one of the second intermediate rolls 14, 15 and at least one of the sets of backup rollers, and advantageously preferably without requiring the prior installation of an adapter on the component to be grasped, contrary to the prior art described in document WO2022223927.

In other words:

• • the first grasping tool OT1, which can be the tool disclosed by application number FR2300035, of 3 Jan. 2023, is configured to grasp a work roll 12, for its extraction or insertion, preferably without requiring an adapter to be installed on the work roll,
  • the second grasping tool OT2 is configured to grasp a first intermediate roll 13, for its extraction or insertion, preferably without requiring an adapter to be installed on the first intermediate roll 13,
  • the third grasping tool OT3 is configured to grasp a second intermediate roll 14, 15, for its extraction and/or insertion, preferably without requiring an adapter to be installed on the second intermediate roll 14,
  • the fourth grasping tool OT3 is configured to grasp a set of backup rollers A, B, C, D, E, F, G, H, preferably without requiring an adapter to be installed on said set of backup rollers.

According to the present disclosure, the grasping system 6 comprises a quick-coupling system 7, comprising a first mechanical coupling part 71, motorised M7, configured to move from a coupled position configured for mechanically locking a second mechanical coupling part 72 to an uncoupled position allowing the release of the second mechanical coupling part.

According to the present disclosure, each of the gripping tools among the first grasping tool OT1, the second grasping tool OT2, the third grasping tool OT3 and the fourth grasping tool OT4 is equipped with said second mechanical coupling part 72, the gripping tools configured to be coupled selectively to said first mechanical coupling part 71 of the grasping system 6 when the tools are stored in said storage area of said tool change magazine MAG.

Notably, also the grasping system 6 may comprise a motor M6 configured to pivot the first coupling part 71 about an axis of rotation A6, or coincident with the axis of rotation of a roll/or a set of backup rollers grasped by the grasping tool OT1, OT2, OT3, OT4.

Such a motorised axis of rotation A6, makes it possible for example to orientate the sets of backup rollers A, B, C, D, E, F, G, H during the insertion of said set of backup rollers, by orientating the saddle (which is then prevented from rotating by the fourth grasping tool) and typically their pinion, in an angular position allowing it to be inserted into a seat with a shape complementary to that of the stand.

Such an axis of rotation A6 can further allow use as the first grasping tool OT1, the grasping tool disclosed by application number FR2300035, which comprises a drum configured to be pivoted about a central axis of the drum.

According to one embodiment, the robotic system 1 mounts at least one controllable pneumatic power source, the quick-coupling system comprising, in addition to the first mechanical coupling part 72, a first pneumatic coupling part 71′, configured to move from a coupled position for locking a second pneumatic coupling part 72′.

All or some of the gripping tools among the first grasping tool OT1, the second grasping tool OT2, the third grasping tool OT3 and the fourth grasping tool OT4 are equipped with said second mechanical coupling part 72 and at least one pneumatic actuator configured to be driven by said at least one pneumatic power source.

Generally, the coupling of the first pneumatic coupling part 71′ and the second pneumatic coupling part 72′, makes it possible to control said at least one pneumatic actuator of the grasping tool, which can typically be an actuator of a mechanised gripper configured to ensure a specific grip of the component to be gripped (for example of the work roll by the first grasping tool OT1, of the first intermediate roll by the second grasping tool OT2, of the second intermediate roll by the third grasping tool OT3 and of the shaft of the set of backup rollers for the fourth grasping tool OT3). The mechanised grippers used for the first grasping tool OT1, second grasping tool OT2, third grasping tool OT3 and fourth grasping tool OT4 respectively are typically distinct, as they are specifically configured according to the nature of the component to be grasped. For example, and when the first grasping tool is the one disclosed by FR2300034, the pneumatic actuator may be a pneumatic actuator of a mechanised gripper, configured to ensure that a work roll is gripped by its end.

Such a pneumatic coupling can further enable, for example, control of the actuator of the push system disclosed by FR2300034. In such a case, and when the grasping tool such as the one described by FR2300034 comprises a plurality of pneumatic actuators, these can be controlled independently of one another by a plurality of independently controllable pneumatic power sources.

According to one embodiment, illustrated in FIG. 1, the first coupling part 71 can comprise a plurality of coupling parts which can be activated to locked/unlocked, said activatable coupling parts being spaced angularly about the axis of rotation A6. By way of example, the first coupling part 71 comprises four coupling parts distributed about the axis of rotation A6, at 90° intervals.

The first pneumatic coupling part 71′ can be centred on the axis of rotation A6 about which the first coupling part 71 is configured to rotate.

Advantageously, the rolling mill according to the present disclosure allows the implementation of a method for changing rolls/sets of backup rollers comprising the following steps:

• • /A/ selecting a gripping tool out of first grasping tool OT1, the second grasping tool OT2, the third grasping tool OT3 and the fourth grasping tool OT4, the gripping tools being stored in the tool change magazine MAG,
  • /B/ engaging via the robotic system of the first mechanical coupling part 71 with the second mechanical coupling part 72 of the selected gripping tool, and moving the first mechanical coupling part 71 to the coupled position, or also engaging via the robotic system of the first pneumatic coupling part 71′ with the second pneumatic coupling part 72′ and moving the first pneumatic coupling part 71′ to the coupled position,
  • /C/ matching via the robotic system the gripping tool coupled to the grasping system and grasping a component of the rolling mill corresponding to the selected gripping tool, said component comprising (or consisting of) a work roll 12 for the first grasping tool OT1, a first intermediate roll 13 for the second grasping tool OT2, a second intermediate roll 14,15 for the third grasping tool OT3 and a set of backup rollers for the fourth grasping tool OT4,
  • /D/ extracting said component from the rolling mill by the robotic system coupled to the selected gripping tool.

Preferably in step /C/ the grasping of the component by the selected gripping tool is performed without prior installation of an adapter on the component.

Generally, the tool change magazine MAG is arranged laterally to the rails Ra1, in a fixed position in said installation. The tool change magazine MAG can have a substantially vertical structure, comprising a plurality of storage compartments, typically four in number, configured to receive respectively, in a superimposed manner, the first grasping tool OT1, the second grasping tool OT2, the third grasping tool OT3, and the fourth grasping tool OT4 in said storage compartments.

Generally, and as illustrated in FIG. 3, the installation can comprise a loading/unloading rack Ra, positioned removably on a support frame Cha anchored to the ground in an anchoring position at a distance from the rolling mill in transverse direction Y and laterally to the rails Ra1.

The rack Rac resting on the support frame Cha can have recesses, oriented in the direction X. The robotic system is configured to deposit the roll on the loading/unloading rack Ra resting on the support frame Cha, typically after pivoting said grasping system about said vertical axis of rotation Av, and as disclosed per se in WO2022223927.

According to one embodiment, the tool change magazine MAG is arranged, in transverse direction Y between the roll stand and the support frame Cha, preferably in the vicinity of the support frame Cha relative to the roll stand.

As illustrated in FIG. 2, the support frame Cha and the tool change magazine MAG are spatially arranged relative to the roll stand, configured to clear a maintenance aisle AL in direction X, along the access opening (or maintenance window) of the roll stand.

According to one embodiment, the gripping tools, comprising the first grasping tool OT1, the second grasping tool OT2, the third grasping tool OT3 and the fourth grasping tool OT4, are stored in the storage area of the magazine, said gripping tools being oriented in a direction parallel to direction X and perpendicular to the rails Ra1. The different gripping tools expose their second mechanical coupling part 72, or their second pneumatic coupling part 72′ to the rails Ra1.

According to the kinematics of the robot described above, the robotic system can be configured to ensure the coupling of one of the tools stored in the magazine, by:

• • pivoting the fourth frame 5 about said vertical axis of rotation Av in order to align the first mechanical coupling part 71 mounted on the fourth frame 5 with the second coupling part 72 of one of the tools stored in the tool change magazine arranged laterally to the rail, or simultaneously, when the robot is equipped with said at least one source of pneumatic power, in order to align the first pneumatic coupling part 71′, mounted on the fourth frame and the second pneumatic coupling part 72′ of the grasping tool,
  • moving said second frame 3 relative to the first frame 1 so as to physically engage the first mechanical coupling part 71 of the grasping system and the second mechanical coupling part 72 aligned with one another, or even simultaneously engage the first pneumatic coupling part 71′ and the second pneumatic coupling part 72′
  • moving from the uncoupled position of the first mechanical part 71 to said locked position configured to mechanically lock the second mechanical coupling part 72, or preferably also simultaneously moving from the uncoupled position of the first pneumatic coupling part 71′ to said locked position configured to pneumatically lock the second mechanical coupling part 72′.

According to one embodiment, at least one of the four grasping tools, for example the second grasping tool OT2 configured to grasp the first intermediate rolls and/or the third grasping tool OT3 configured for grasping the second intermediate rolls can be configured to grasp another component of the rolling mill in particular, typically groundbooms.

LIST OF REFERENCE SIGNS

• • 1: System
  • BM. Metal strip
  • L. Rolling mill,
  • Ro. Robot,
  • Ra1. Rails (robot)
  • L. Rolling mill,
  • 1. Robot system,
  • Ro. Robot,
  • Ra1. Rail in the direction Y,
  • 2. First frame,
  • 20. Wheels,
  • M1. First motor means (movement of carriage in the direction Y),
  • 3. Second frame,
  • G1. First slide system in the direction X (between the second and first frames),
  • M2. Second motor means (movement of carriage in the direction X),
  • 4. Third frame,
  • G2. Second slide system in the direction Z,
  • M3. Third motor means (movement of the third frame along the second slide system in the direction Z),
  • 5. Fourth frame,
  • Av. Vertical axis of rotation (between the fifth and fourth frames), referred to as first axis of rotation,
  • M4. Fourth motor means (pivoting of fourth frame relative to third frame about the vertical axis of rotation),
  • 6. Grasping system,
  • M6. Motor means (pivoting of the grasped roll by the grasping system about its axis, or a parallel axis),
  • 71, 72. First mechanical coupling part and second mechanical coupling part, respectively,
  • 71′, 72′. First pneumatic coupling part and second pneumatic coupling part, respectively
  • Gi, Gs. Upper group and lower group, respectively,
  • 12. Work rolls,
  • 13. First intermediate rolls,
  • 14,15. Second intermediate rolls,
  • A, B, C, D respectively, the four backup rolls or sets of backup rollers of the upper group,
  • E, F, G, H respectively, the four backup rolls or sets of backup rollers of the lower group,
  • Cha. Support frame,
  • Rac. Removable rack
  • AL. Maintenance aisle (of workshop) in the longitudinal direction

Claims

1. A metal strip rolling mill installation comprising a rolling mill (L), having a roll stand and a set of rolls, inside the stand, having: said installation comprising a robotic system (1) suitable for carrying out the operations of changing the rolls of the rolling mill, by extracting the worn rolls from the roll stand and/or inserting new or rectified rolls into the roll stand, comprising a robot provided with a grasping system (6) configured to control the locking of plurality of gripping tools, wherein said installation comprises a gripping tool change magazine (MAG) comprising, in a storage area: and wherein each of the gripping tools out of the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3) and the fourth grasping tool (OT4) are provided with said second mechanical coupling part (72), the gripping tools configured to be selectively coupled to said first mechanical part (71) of the grasping system (6) when the gripping tools are stored in said storage area of said tool change magazine (MAG).

an upper group (GS) comprising: one work roll (12), upper two first intermediate rolls (13), upper three second intermediate rolls (14, 15), upper four sets of backup rollers (A, B, C, D), upper

a lower group (GI) comprising: one work roll (12), lower: two first intermediate rolls, (13), lower, three second intermediate rolls (14,15),lower, four sets of backup rollers (H, G, F, E), lower,

a first grasping tool (OT1) configured for inserting and extracting a work roll,

a second grasping tool (OT2), configured for inserting and extracting first intermediate rolls,

a third grasping tool (OT3), configured for inserting and extracting second intermediate rolls and

a fourth grasping tool (OT4), configured for inserting and extracting sets of backup rollers, and wherein the grasping system (6) comprises a quick-coupling system (7), comprising a first mechanical coupling part (71), motorised (M7), configured to move from a coupled position configured to mechanically lock a second mechanical coupling part (72), to an uncoupled position allowing the release of the second mechanical coupling part,

2. The installation according to claim 1, wherein the robotic system (1) mounts at least one controllable pneumatic power source, the quick-coupling system, comprising, in addition to the first mechanical coupling part (72), a first pneumatic coupling part (71′), configured to move from a coupled position for locking a second pneumatic coupling part (72′), and wherein all or some of the gripping tools out of the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3) and the fourth grasping tool (OT4) are provided with said second mechanical coupling part (72) and at least one pneumatic actuator configured to be activated by said at least one pneumatic power source.

3. The rolling mill installation according to claim 1, wherein the roll stand has an access opening, possibly closed by a door system, the metal strip (Bm) extending longitudinally in a horizontal direction X, and transversely in a horizontal direction Y, the Y direction being parallel to the roll axes of the rolling mill,

and wherein the robot (Ro) comprises a carriage comprising a first frame (2) provided with wheels (20) cooperating with rails (Ra1) arranged on the ground, extending in direction Y, at the access opening of the roll stand, said first frame (2) being configured to move in direction Y along rails (Ra1), from the action of first motor means (M1) driving the wheels (20), and wherein the tool change magazine (MAG) is arranged laterally to the rails (Ra1), in a fixed position in said installation.

4. The installation according to claim 3, comprising a loading/unloading rack (Rac), positioned removably on a support frame (Cha) anchored to the ground in an anchoring position at a distance from the rolling mill in transverse direction Y and laterally to the rails (Ra1), the rack (Ra) resting on the support frame (Cha) having housings, oriented in direction X, and wherein the robotic system is configured to place the roll on the loading/unloading rack (Ra) resting on the support frame (Cha),

and wherein the tool change magazine (MAG) is arranged, in direction Y between the roll stand and the support frame, close to the support frame (Cha) relative to the roll stand and wherein the support frame and the tool change magazine are arranged relative to the roll stand, configured to clear a maintenance aisle (AL) in direction X, along the access opening of the rolling mill.

5. The installation according to any of claims 3, wherein the robot comprises, in addition to the first frame (2) displaceable along rails (Ra1): wherein the robotic system (1) is configured to ensure the extraction of a roll, by grasping the end piece integral with the roll, or by grasping the roll/or said set of backup rollers with the gripping tool locked by the grasping system, with placement of the roll, laterally to the rails, after pivoting the roll by rotation of the fourth frame (5) relative to the third frame (4) about the vertical axis of rotation (Av).

a second frame (3) and a first slide system (G1) connecting the second frame (3) and the first frame (2) configured to displace the second frame (3) relative to the first frame (2) in direction X, from the action of second motor means (M2),

a third frame (4) and a second slide system (G2) connecting the third frame (4) and the second frame (3), configured to displace the third frame (4) relative to the second frame (3) in vertical direction Z, from the action of third motor means (M3),

a fourth frame (5), and rotary guide means connecting the fourth frame and the third frame about a vertical axis of rotation (Av), configured to drive the rotation of the fourth frame (5) relative to the third frame (4), from the action of fourth motor means (M4) and wherein said grasping system (6) comprising the first mechanical coupling part is mounted in the fourth frame (5) and

6. The installation according to claim 5, wherein the gripping tools comprising the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3) and the fourth grasping tool (OT4) are stored in the storage area of the magazine, said gripping tools being oriented in a direction parallel to direction X and perpendicular to the rails (Ra1), the gripping tools exposing their second mechanical coupling part (72), or their second pneumatic coupling part (72′) to the rails (Ra1) and wherein the robotic system is configured to ensure the coupling of one of the tools stored in the magazine, by:

pivoting the fourth frame (5) about said vertical axis of rotation (Av) in order to align the first mechanical coupling part (71), mounted on the fourth frame with the second coupling part of one of the tools stored in the magazine laterally to the rail, or simultaneously when the installation is dependent on claim 2, in order to align the first pneumatic coupling part (71′), mounted on the fourth frame and the second pneumatic coupling part (72′) of the grasping tool,

moving said second frame (3) relative to the first frame (1) so as to physically engage the first mechanical coupling part (71) of the grasping system and the second mechanical coupling part (72′) aligned with one another, or simultaneously engage the first pneumatic coupling part (71′) and the second pneumatic coupling part (72′),

moving from the uncoupled position of the first mechanical part (71) to said locked position configured to mechanically lock the second mechanical coupling part (72), or also preferably simultaneously moving from the uncoupled position of the first pneumatic coupling part (71′) to said locked position configured to pneumatically lock the second mechanical coupling part (72′).

7. The rolling mill installation according to claim 1, wherein the grasping system (6) comprises a motor (M6) configured to pivot the first coupling part (71) about an axis of rotation (A6), or coincident with the axis of rotation of a roll/or a set of backup rollers grasped by the grasping tool (OT1, OT2, OT3, OT4).

8. The rolling mill installation according to claim 7, wherein the first coupling part (71) comprising a plurality of locking/unlocking activatable coupling parts, said activatable coupling parts being distributed angularly about the axis of rotation (A6).

9. The rolling mill installation according to claim 2, wherein the first pneumatic coupling part (71′) is centred on the axis of rotation (A6) about which the first coupling part (71) is configured to pivot.

10. The rolling mill installation according to claim 1, wherein the tool change magazine (MAG) comprises a structure, substantially vertical, comprising a plurality of superimposed storage compartments configured to receive respectively, in a superimposed manner, the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3), and the fourth grasping tool (OT4) in said storage compartments.

11. A method for changing rolls/sets of backup rollers used in a rolling mill installation according to claim 1, comprising the following steps:

/A/ selecting a gripping tool from the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3) and the fourth grasping tool (OT4), the gripping tools being stored in the tool change magazine,

/B/ engaging via the robotic system the first mechanical coupling part (71) with the second mechanical coupling part (72) of the selected gripping tool, and moving the first coupling part up to the coupled position, or also engaging via the robotic system the first pneumatic coupling part (71′) with the second pneumatic coupling part (72′) and moving the first pneumatic coupling part up to the coupled position,

/C/ matching via the robotic system the gripping tool coupled to the grasping system and grasping of a component of the rolling mill corresponding to the selected gripping tool, said component comprising, or consisting of, a work roll (12) for the first grasping tool (OT1), a first intermediate roll (13) for the second grasping tool (OT2), a second intermediate roll (14,15) for the third grasping tool (OT3) and a set of backup rollers for the fourth grasping tool (OT4),

/D/ extracting said component via the robotic system coupled to the selected gripping tool.

12. The method for changing rolls/set backup rollers according to claim 11, wherein in step /C/ the grasping of the component by the selected gripping tool is performed without the prior installation of an adapter on the component.