Double-grabbing tool

Abstract

The present disclosure relates to a gripping tool (20) comprising:-a frame (21) equipped with a fastening member (22) configured to be manipulated by a robotic system (1),-a holding system comprising:-a first recess system (23) comprising a first housing (L1) configured to receive and house a recessed end of a first rolling roller, and a second recess system (24) comprising a second housing (L2) configured to receive and house a recessed end of a second rolling roller, the present invention relates to a rolling mill comprising:-a first housing (23) configured to receive and accommodate a first rolling roll,-a second housing (24) configured to receive and accommodate a recessed end of a second rolling roll,-means for adjusting the center distance comprising a sliding system (25) between a first recess system (23) and a second recess system (24), allowing the spacing between the first recess system (23) and the second recess system (24) to be adjusted.

Description

[0001] The present disclosure relates to a gripping tool, notably configured to grip two rolling rolls simultaneously, particularly in a roll stand, typically when a metal strip is present, and to manipulate two rolling rolls simultaneously, particularly during roll changing operations.

[0002] Such a gripping tool is particularly suitable for simultaneously gripping two first intermediate rolls of a 20-high rolling mill, in particular simultaneously gripping the two first top intermediate rolls, and / or simultaneously gripping the two first bottom intermediate rolls.

[0003] The present disclosure also relates to a component comprising a gripping tool according to the present disclosure and a robotic system suitable for performing operations of replacing rolls of a rolling mill by removing worn rolls from the roll stand and / or inserting new or corrected rolls into the roll stand, the robotic system comprising a robot provided with a gripping system, which is configured to control the locking of a fastening part of the gripping tool.

[0004] The present disclosure also relates to a rolling mill installation comprising such an assembly according to the present disclosure.

[0005] The disclosure also describes a method for changing a roll of a rolling mill using a gripping tool according to the disclosure or an assembly according to the disclosure. Technical Field

[0006] The field of the invention relates more specifically to equipment for performing maintenance operations on a 20-high rolling mill (also called a "20 high rolling mill"). A 20-high rolling mill is known, for example, from the prior art US 5193377 and US 5471859. In such a rolling mill, the rolls (and the set of support rolls) are divided into a lower set and an upper set and are arranged symmetrically with respect to the conveying plane of the metal strip to be rolled. The document US 5193377 discloses a 20-high rolling mill, which is a 20-high rolling mill. The 20-high rolling mill is known from the prior art US 5193377 and US 5471859. Figure 4 An upper group having one working roll, two first intermediate rolls, three second intermediate rolls and four groups of support rolls is illustrated.

[0007] When rolling operations are carried out, it is necessary to renew the surface condition of the rolls of the rolling mill, which operation is performed by opening the inspection door of the roll stand and removing the rolls from the roll stand. These rolls are then straightened before being inserted into the roll stand.

[0008] The extraction (or insertion setting) operation of the internal component (roller or support roller set) is usually carried out by means of a piece of handling equipment fixed to the end of the component to be removed (i.e. to the end of the roller to be removed or to the end of the supporting shaft of the support roller set to be removed) and equipped with a counterweight. The counterweight serves to balance the component to be grasped and to keep it substantially horizontal when being manipulated by the crane of a workshop bridge crane, while the hook of the crane grasps the lifting eye of the equipment positioned between the counterweight and the grasped component. During the extraction of the component (or conversely during its setting), the grasped component is rigidly fixed to the counterweight of the equipment, which counterweight may swing at the lower end of the crane rope. Background Art

[0009] During the extraction operation, the operator must be close to the captured component in order to guide the extraction (or setting) operation, which is particularly dangerous due to the possible swinging of the heavy elements suspended from the ropes of the bridge crane.

[0010] However, from document JP1976454C in the name of Nippon Steel, a loading / unloading system based on the use of a standard (5-axis) robot arm is known. In this prior art, the robot arm is mounted on a carriage that moves along rails parallel to the conveying plane of the strip, allowing the articulated arm to move through the various stands of the rolling mill. The ends of the arm are provided with a clamping system that enables the working roll to be gripped and then locked at its end.

[0011] However, from document WO2022223927 of the present application, a robotic system is known, which includes a robot that limits the operating space required during loading / unloading operations and allows the removed rolls to be placed on a stand at a distance from the roll stand. As described in this prior art, the robotic system is configured to change the roll set or the support roll set of a 20-high rolling mill, i.e. to extract and insert the following components of the upper and lower sets from the roll stand:

[0012] - lower and upper working rolls,

[0013] - first intermediate roller,

[0014] - a second intermediate roller, and

[0015] - Support roller set.

[0016] When the rolls are changed, the robot system of document JP1976454C or document WO2022223927 proceeds to remove the rolls one by one in order to remove them from the rolling mill stand and then insert corrected or new rolls one after another.

[0017] There is a constant need to reduce the time spent on roll changing operations. This is because these changes require stopping the rolling operation and therefore have a negative impact on the productivity of the rolling mill. Utility Model Content

[0018] The utility model aims to improve this situation.

[0019] According to a first aspect, a crawling tool is provided, comprising:

[0020] - a frame equipped with fastening means, configured to be manipulated by a robotic system,

[0021] -Maintenance system, including:

[0022] a first recess system comprising a first housing configured to receive and accommodate the recessed end of the first rolling roll, and a second recess system comprising a second housing configured to receive and accommodate the recessed end of the second rolling roll, and wherein the first housing has a first gripping axis for gripping the first roll, and the second housing has a second gripping axis for gripping the second roll, the first gripping axis and the second gripping axis being oriented parallel in the longitudinal direction in a direction transverse to the first gripping axis and the second gripping axis, and being separated according to a center distance,

[0023] - means for adjusting said centre distance, comprising a sliding system between the first recess system and the second recess system, allowing adjustment of the spacing between the first recess system and the second recess system,

[0024] And wherein the gripping tool is configured to allow simultaneous gripping of two rollers consisting of a first roller and a second roller arranged parallel to each other in a roller frame, by moving the gripping tool in a direction parallel to the two rollers, including simultaneously inserting the end of the first roller into the first shell through the first entry opening of the first shell, and inserting the end of the second roller into the second shell through the second entry opening of the second shell until a recess of the first roller in the first shell and a recess of the second roller in the second shell are obtained, thereby allowing the rollers to be maintained in a cantilevered manner by their recessed ends.

[0025] The features outlined in the following paragraphs may optionally be implemented independently of each other or in combination with each other.

[0026] According to one embodiment, the sliding system comprises at least one guide rail fixed to the frame, oriented in transverse direction, and wherein the first recess system and the second recess system are slidably mounted along said at least one guide rail, movable over a limited travel relative to the frame.

[0027] According to one embodiment, the device for adjusting the distance comprises:

[0028] a spring system generating a restoring force constraining the movement of the first and second recess systems on the sliding system in intermediate spacing positions between a maximum spacing position and a minimum spacing position between the first and second recess systems,

[0029] at least one first guide wall, which is flared or inclined at an edge of the first access opening, the first guide wall being configured to guide an end of the first roller when the first roller is inserted into the first housing, and at least one second guide wall, which is flared or inclined at an edge of the second access opening, the second guide wall being configured to guide an end of the second roller when the second roller is inserted into the second housing,

[0030] And wherein the gripping tool is configured such that during movement of the gripping tool in a direction parallel to the two rollers, at least one first guide wall cooperates with the end of the first roller for guiding, and at least one second guide wall cooperates with the end of the second roller for guiding, so as to provide a force generated by the guide member that changes the center distance, which is opposite to the restoring force of the spring system.

[0031] According to one embodiment, the gripping tool comprises a pneumatic brake device configured to pass from a non-braking position to a braking position, wherein the non-braking position releases the sliding of the sliding system, thereby freely allowing the adjustment of the center distance, and the braking position blocks the sliding of the first recess system and the second recess system, thereby locking the center distance.

[0032] According to one embodiment, the first recess system comprises a first locking member and a first actuator, the first actuator being configured to move the first locking member from a first retracted position, the first retracted position allowing the end of the first roller to be inserted into the first housing, to a second position, in which the first locking member enters the interior of the first housing and simultaneously provides locking of the first roller by penetrating a locking groove of the second roller, the locking usually resting on the bottom of the first housing,

[0033] And wherein, the second recess system includes a second locking member and a second actuator, the second actuator being configured to move the second locking member from a first retracted position to a second position, the first retracted position allowing the end of the second roller to be inserted into the second shell, in which second position the second locking member penetrates the interior of the second shell and simultaneously provides locking of the second roller by penetrating the locking groove of the second roller, which locking generally rests on the bottom of the second shell.

[0034] According to one embodiment, the first actuator and the second actuator are pneumatic actuators.

[0035] According to one embodiment,

[0036] - a first recess system comprises a first typically metallic body comprising a first shell, typically machined, extending along a first axis of the first shell from a first access opening to a bottom of the first shell,

[0037] - a second recess system comprising a second typically metallic body comprising a second shell extending from a second access opening to a second shell bottom along a second axis of the second shell,

[0038] and wherein the first housing and the second housing extend overlappingly in a longitudinal direction of the gripping tool parallel to the first axis and the second axis of the first housing and the second housing,

[0039] And wherein, relative to a virtual plane passing through the first axis of the first shell and the second axis of the second shell, the first metal body and the second metal body have a first sector portion and a second sector portion, respectively, on a first side of the virtual plane and relative to a second side of a plane where the first metal body and the second metal body have no sector portions, firstly an offset between:

[0040] a second entry edge of the first opening on the first side of the plane, which is arranged in the direction of the first axis midway between the bottom of the first housing and the first entry edge of the first opening on the second side of the plane,

[0041] - a second entry edge of the second opening on the first side of the plane, which is arranged in the direction of the second axis midway between the bottom of the second housing and the first entry edge of the second entry opening on the second side of the plane.

[0042] According to a second aspect, the present disclosure also relates to a component comprising a gripping tool according to the present disclosure and a robot system, which is suitable for performing operations of replacing rolls of a rolling mill by removing worn rolls from the roll stand and / or inserting new or corrected rolls into the roll stand, the robot system comprising a robot provided with a gripping system, which is configured to provide locking of a fastening part of the gripping tool.

[0043] The features outlined in the following paragraphs may optionally be implemented independently of each other or in combination with each other.

[0044] According to one embodiment, the gripping system comprises a quick coupling system comprising an electrically powered first mechanical coupling part configured to move from a coupled position configured to mechanically lock a second mechanical coupling part forming a fastening part of the gripping tool to an uncoupled position allowing the second mechanical coupling part to be released.

[0045] According to one embodiment, the robotic system includes at least one controllable pneumatic power source, the quick connection system also includes a first pneumatic connection component in addition to the first mechanical connection component, the first pneumatic connection component is configured to move from a connection position to lock a second pneumatic connection component, and wherein the gripping tool is equipped with a second pneumatic connection component, and the pneumatic actuator is configured to be actuated by the at least one pneumatic power source to provide locking or unlocking of the first roller and the second roller and / or also provide braking of the first recess system and the second recess system.

[0046] According to one embodiment, the gripping system is configured to enable the gripping tool to flip 180° between:

[0047] a first position in which the first side of the imaginary plane is arranged towards the top and the second side is arranged towards the bottom, said first position being in particular configured for gripping the first upper intermediate roller through the opening in the gate, during which the gripping system positions the first sector and the second sector in line with the top cross member of the frame of the opening in the gate,

[0048] - a second position in which the first side of the virtual plane is arranged towards the bottom and the second side is arranged towards the top, the second position being particularly configured for gripping the first lower intermediate roller through the opening in the gate, during which the gripping system positions the first sector and the second sector in line with the bottom cross member of the frame of the opening in the gate.

[0049] According to a third aspect, the present disclosure also relates to a rolling mill apparatus for metal strip, comprising a rolling mill having a roll stand and a set of rolls in the stand, the rolling mill apparatus having:

[0050] - Upper group, which includes:

[0051] --one upper working roll,

[0052] --two first upper intermediate rollers,

[0053] --three second upper intermediate rollers,

[0054] --Four lower support roller assemblies,

[0055] - A lower group, comprising:

[0056] --a lower working roll,

[0057] --two first lower intermediate rollers,

[0058] --three second lower intermediate rollers,

[0059] --Four sets of lower support rollers,

[0060] The rolling mill equipment includes a component according to the present disclosure, which is configured to allow simultaneous gripping of two lower and upper first intermediate rolls by moving the gripping tool by the robotic system in a direction parallel to the two rolls until the end of the first roll is inserted into the first shell through the first entry opening of the first shell, and the end of the second roll is inserted into the second shell through the second entry opening of the second shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Additional features, details and advantages will appear upon reading the following detailed description and analyzing the accompanying drawings, in which:

[0062] Figure 1 The configuration of the upper and lower groups of a rolling mill with 20 rolls is schematically shown, the rolls respectively comprising two first upper intermediate rolls located above the metal strip and two lower intermediate rolls located below the metal strip.

[0063] Figure 2 A gripping tool according to the present disclosure is shown in a perspective view, which gripping tool holds two rolling rolls, typically two first intermediate rolls (upper or lower), in parallel.

[0064] Figure 3 is a view of a rolling facility including a 20-high rolling mill including a main door and a gate hinged to the main door at an inspection window on a front surface (the main door is shown closed and the gate is shown in an open position), the gate being opened to access the working rolls, the first intermediate rolls (lower and upper), and a robot system including a robot configured to travel along a guide rail on a floor in a direction transverse to a direction of travel of a strip in the rolling mill, the robot system being configured to lock according to Figure 2 A grabbing tool is provided to simultaneously grab the two first intermediate rollers (lower or upper) in the roller frame through the openings in the gate and the main door.

[0065] Figure 4 is a detailed perspective view of a grasping tool according to the present disclosure showing a first access opening of a first housing and a second access opening of a second housing at a distal end of the grasping tool.

[0066] Figure 5 is based on Figure 4 A perspective view of a gripping tool, the rear view of which shows a fastening component for locking by a robotic gripping system, the fastening component comprising a central pneumatic coupling component and a mechanical coupling component surrounding the pneumatic coupling component, the mechanical and pneumatic coupling components belonging to a quick coupling system.

[0067] Figure 6is a cross-sectional view of the gripping tool, along a cutting plane perpendicular to a first gripping axis of the first housing and perpendicular to a second gripping axis of the second housing, the cross-sectional view showing:

[0068] - a first recess system comprising a first one-piece metal body with a first cylindrical shell machined inside,

[0069] - a second recess system comprising a second one-piece metal body with a second cylindrical housing machined inside,

[0070] a sliding system comprising at least one transverse rail fixed to the frame, said first and second bodies being configured to move along the transverse rail over a limited travel to provide adjustment of a first center distance between the first gripping axis and the second gripping axis,

[0071] a spring system constraining the first body and the second body in an intermediate separation position between a minimum separation position and a maximum separation position,

[0072] a first locking member movable by machining in the first body and configured to pass, under the action of the pneumatic actuator, from a first retracted position allowing the insertion (or extraction) of the first rolling roller to a second locked position, the first locking member penetrating the locking groove in the first roller and in particular comprising a cavity machined directly in the first body, in which cavity the piston of the pneumatic actuator slides,

[0073] - A second locking member, which can be moved by machining in the second body and is configured to be transferred from a first retracted position allowing the insertion (or extraction) of the second rolling roller to a second locked position under the action of a pneumatic actuator, the second locking member penetrating the locking groove in the second roller and in particular comprising a chamber machined directly in the second body, in which the piston of the pneumatic actuator slides.

[0074] Figure 7 It is a profile diagram in which the locking member penetrates and locks in the locking groove at the end of the rolling roller (first or second).

[0075] Figure 8 is a view of a robot system comprising a carriage containing a gripping system, which comprises, on the one hand, a first mechanical coupling part comprising a plurality of coupling parts distributed around an electric rotation axis of the gripping system, said first coupling part being configured to move from a coupled position ensuring a locked second mechanical coupling part of a gripping tool to an uncoupled position allowing release of the gripping tool, and, on the other hand, a first pneumatic coupling part centered on the rotation axis and configured to move from a coupled position ensuring a locked second pneumatic coupling part of the gripping tool to an uncoupled position.

[0076] Fig. 9 yes Figure 8 A cross-sectional diagram of a robotic system, detailing the possible kinematics of the robots in the robotic system. DETAILED DESCRIPTION

[0077] Therefore, the present disclosure relates to a gripping tool 20, the gripping tool comprising:

[0078] a frame 21 equipped with fastening means 22 configured to be manipulated by the robotic system 1 ,

[0079] - A retaining system comprising a first recess system 23 comprising a first shell L1 configured to receive and accommodate the recessed end of the first rolling roller C1, and a second recess system 24 comprising a second shell configured to receive and accommodate the recessed end of the second rolling roller C2.

[0080] The first housing L1 has a first gripping axis AL1 for gripping a first roller C1 substantially coaxially with said first gripping axis, and the second housing L2 has a second gripping axis for gripping a second roller substantially coaxially with said second gripping axis L2.

[0081] The first housing L1 is generally a housing having a circular cross section, preferably a cylindrical shape, so that the first roller C1 with a recessed gap can be inserted.

[0082] The second housing L2 is generally a housing having a circular cross section, preferably a cylindrical shape, so that the second roller C2 can be inserted with a recessed gap.

[0083] The two housings L1, L2 extend longitudinally in the longitudinal direction X1, each extending from an entry opening (a first entry opening O1 and a second entry opening O2) to a bottom. The first entry opening O1 and the second entry opening O2 are usually arranged at the distal end of the gripping tool. The fastening component 22 is usually arranged at the proximal end opposite to the distal end in the longitudinal direction X1.

[0084] In the figures, and in general, the first gripping axis AL1 and the second gripping axis AL2 are parallel and oriented in the longitudinal direction X1 .

[0085] The first gripping axis AL1 and the second gripping axis AL2 are separated by a center distance Ec (centre) in a direction Y1 transverse to the first gripping axis AL1 and the second gripping axis AL2 and perpendicular to the longitudinal direction X1.

[0086] The gripping tool also preferably comprises means for adjusting said distance Ec, comprising a sliding system 25 between the first recess system 23 and the second recess system 24 , thereby allowing the spacing between the first recess system 23 and the second recess system 24 to be adjusted.

[0087] Such an adjustment device advantageously makes it possible to adjust the distance Ec between the two housings L1 , L2 and to adjust it to the distance between the centres of the two rolls C1 , C2 to be gripped simultaneously in the rolling stand.

[0088] This gripping tool is advantageously configured to allow simultaneous gripping of two rollers consisting of a first roller C1 and a second roller C2 arranged parallel to each other in the roller frame L, by moving the gripping tool 20 in a direction parallel to the two rollers, during which the end of the first roller C1 is simultaneously inserted into the first shell L1 through the first entry opening O1 of the first shell L1 and the end of the second roller C2 is inserted into the second shell L2 through the second entry opening O2 of the second shell, until a recess of the first roller C1 in the first shell L1 and a recess of the second roller C2 in the second shell L2 are obtained.

[0089] Once the first and second rollers C1 , C2 are recessed in the first and second shells L1 , L2 , respectively, the gripping tool according to the present disclosure allows gripping the rollers C1 , C1 held cantilevered by their recessed ends.

[0090] Compared to the known prior art, the gripping tool according to the present disclosure provides a significant improvement since it allows the simultaneous extraction of two rolling rolls in a roll stand by gripping both rolls in the roll stand, and preferably even when the center distance between the two rolls is not constant. The cycle time required for extracting the first intermediate roll is significantly reduced compared to the cycle time according to the prior art, in which the intermediate rolls are extracted from the stand by a robot actuator, but only one by one.

[0091] Generally speaking, as shown in the figure:

[0092] the first recess system 23 may comprise a first body CP1 , typically in one piece, typically metal, comprising a first shell, typically machined, extending along a first axis AL1 of the first shell from a first access opening O1 to a bottom of the first shell,

[0093] The second recess system 24 may comprise a second single-piece body CP2 , typically single-piece and typically metallic, comprising a second shell L2 extending along a second axis AL2 of the second shell from a second access opening O2 to a bottom of the second shell.

[0094] The first housing L1 and the second housing L2 overlap in the longitudinal direction X1 of the gripping tool, extending parallel to a first gripping axis AL1 of the first housing L1 and a second gripping axis AL2 of the second housing L2.

[0095] In general, as shown, the sliding system 25 may include at least one (or even generally a plurality) of guide rails 150 fixed to the frame 21 , oriented in the transverse direction Y1 and, for example, comprising a plurality of guide rails.

[0096] The first recess system 23 and the second recess system 24 are slidably mounted along the at least one guide rail 250 and are movable within a limited travel relative to the frame 21 in the transverse direction Y1 .

[0097] According to one embodiment, the device for adjusting the center distance Ec may include a spring system 26, which generates a restoring force to constrain the movement of the first recess system 23 and the second recess system 24 on the sliding system 25 in an intermediate spacing position between the maximum spacing position and the minimum spacing position between the first recess system 23 and the second recess system 24.

[0098] Such a spring system 26 ensures that in the idle position, i.e. when the first system 13 and the second system 14 are active or inactive, there is always an available adjustment travel of the center distance in both directions of the slide 25, i.e. not only for reducing the center distance but also for increasing the center distance.

[0099] The device for adjusting the center distance may also include, in particular in cooperation with the spring system, at least one first guide wall PG1, which is open or inclined at the edge of the first entrance opening O1, the first guide wall PG1 being configured to guide the end of the first roller C1 when the first roller C1 is inserted into the first shell L1, and at least one second guide wall PG2, which is open or inclined at the edge of the second entrance opening O2, the second guide wall PG2 being configured to guide the end of the second roller C2 when the second roller C2 is inserted into the second shell L2.

[0100] As the case may be, the guide walls PG1 , PG2 cooperate to unite the first recess system 23 and the second recess system 24 together or, on the other hand, to separate them.

[0101] This gripping tool is then configured so that, during the movement of the gripping tool 20 in a direction parallel to the two rollers, the at least one first guide wall PG1 cooperates with the end of the first roller C1 and the at least one second guide wall PG2 cooperates with the end of the second roller so as to provide a force generated by the guide member that changes the center distance Ec and is opposite to the restoring force of the spring system 26.

[0102] Such means for adjusting the centre distance Ec advantageously enable the spacing between the first recess system 23 and the second recess system 24 to be adjusted automatically in the transverse direction, without requiring an actuator dedicated to this adjustment.

[0103] According to one embodiment, the gripping tool 20 may also include a braking device, typically pneumatic, configured to pass from a non-braking position that releases the sliding of the sliding system 25, thus freely allowing the adjustment of said center distance Ec, to a braking position that blocks the sliding of the first and second recess systems, thus locking said center distance Ec. Such braking makes it possible to lock the first and second recess systems 23, 24 on the frame 21 once the two rollers C1, C2 have been gripped. In this way, when the assembly comprising firstly the gripping tool and secondly the two rollers held by the gripping tool is moved by a robotic system, uncontrolled movements of the rollers relative to the frame in the direction of the sliding system are avoided.

[0104] According to one embodiment, the first recess system 23 may include a first locking member OV1 and a first actuator AT1, which is configured to move the first locking member OV1 from a first retracted position P1 to a second position P2, wherein the first retracted position P1 allows the end of the first roller to be inserted into the first shell L1 (or vice versa to be extracted), in which second position P2, the first locking member enters the interior of the first shell L1 and provides locking of the first roller C1 by penetrating the locking groove G of the second roller, which locking usually rests on the bottom of the first shell.

[0105] Similarly, the second recess system 24 may include a second locking member OV2 and a second actuator AT2, the second actuator AT2 being configured to move the second locking member OV2 from a first retracted position P1 to a second position P2, wherein the first retracted position P1 allows the end of the second roller to be inserted into the second shell (or conversely extracted), in which second position P2 the second locking member OV2 enters the interior of the second shell and provides locking of the second roller C2 by penetrating the locking groove G of the second roller, which locking generally rests on the bottom of the second shell.

[0106] The first locking member OV1 and the second locking member OV2 respectively provide locking of the recessed ends of the first roller C1 in the first housing L1 and the second roller C2 in the second housing L2. Once recessed in the housings L1, L2, the rollers C1, C2 can be prevented from emerging from the housings.

[0107] The first actuator AT1 and the second actuator AT2 may be pneumatic actuators.

[0108] Generally speaking, if Figure 6 As shown, the first body CP1 may include a hole within which the locking member OV1 slides within a limited travel between two positions, namely a first position P1 and a second position P2.

[0109] The first locking member OV1 and the first actuator AT1 may include:

[0110] a first piston, located at one of the ends of the first locking member OV1, in particular the bottom end, sliding in a first chamber CH1, typically via a first gasket J1 (e.g. a bottom gasket); the first chamber CH1 is connected to a first compressed air inlet, which is configured to push the first piston from a first position P1 to a second position P2 of the locking member OV1, as Figure 6 As shown on the left,

[0111] - A second piston, located at one of the ends of the first locking member OV1, in particular the top end, is typically slidably mounted in a second chamber CH2 via a second gasket J2 (e.g. a top gasket), the second chamber CH2 being connected to a second compressed air inlet and configured to push the second piston from the second position P2 to the first piston P1.

[0112] It should be noted that the first chamber CH1, in particular the bottom chamber, and the second chamber CH2, in particular the top chamber, machined in the first body can be closed by two plugs, respectively. Figure 6 In the embodiment, the bottom plug enables the first locking member OV1 / actuator ATI1 to be inserted or removed, which may typically be a machined metal part, in particular a single piece.

[0113] The second locking member OV2 and the second actuator AT2 may include:

[0114] a first piston, located at one of the ends of said second locking member OV2, in particular the bottom end, sliding in a first chamber CH1, typically via a first gasket J1 (e.g. a bottom gasket); this first chamber CH1 is connected to a third compressed air inlet, configured to push the first piston from the first position P1 to the second position P2 of the locking member OV2,

[0115] - a second piston, located at one of the ends of the second locking member OV2, in particular at the top end, usually slidably mounted via a second gasket (e.g. a top gasket) in a second chamber CH2 connected to a fourth compressed air inlet, configured to push the second piston from the second position P2 to the first piston P1, as Figure 6 Shown on the right.

[0116] It should be noted that the first chamber CH1, in particular the bottom chamber, and the second chamber CH2, in particular the top chamber, machined in the second body can be closed by two plugs, respectively. Figure 6 In the embodiment, the bottom plug enables the locking member OV2 / actuator AT2 to be inserted or removed, which can typically be a machined metal part, in particular a single piece.

[0117] Generally speaking, for the first locking member OV1 or the second locking member OV2 , the diameters of the first chamber CH1 and the first piston may be greater than the diameters of the second chamber CH2 and the second piston.

[0118] Special References Figure 4 and Figure 6 Relative to a virtual plane PV passing through the first axis AL1 of the first shell L1 and the second axis AL2 of the second shell L2, the first body CP1 and the second body CP2 may have a first fan-shaped portion ECH1 and a second fan-shaped portion ECH2 respectively on a first side of the virtual plane PV, and have no fan-shaped portion on a second side relative to the plane of the first body CP1 and the second body CP2.

[0119] exist Figure 6 In the embodiment, the first sector ECH1 and the second sector ECH2 on the first side are located above the virtual plane PV. The first side may be located below, in particular when the gripping tool is turned 180°.

[0120] Generally speaking, if Figure 4 As shown, the first sector ECH1 and the second sector ECH2 result in an offset between:

[0121] a second entry edge Bd12 of the first opening O1 on the first side of the plane, arranged in the direction of the first axis AL1 halfway between the bottom of the first housing L1 and the first entry edge Bd11 of the first opening on the second side of the plane,

[0122] a second entrance edge Bd22 of the second opening O2 on the first side of the plane, which is arranged in the direction of the second axis AL2 halfway between the bottom of the second housing L2 and the first entrance edge Bd21 of the second entrance opening on the second side of the plane.

[0123] The function of the sectors ECH1 and ECH2 is to minimize the space requirement of the tool, on a first side of the virtual plane, at the distal end of the gripping tool, and to limit as much as possible the level of risk of mechanical interference during insertion or extraction operations from the rolling stand.

[0124] For example, according to an application described in more detail below, such sectors ECH1, ECH2 can enable the gripping tool to operate through an opening in a gate PT in the main door PP of the rolling mill, while limiting the risk of interfering with the frame of the gate opening: in this case, the gripping tool is arranged so that the first side is upwards, the second side is downwards, and the sectors ECH1 and ECH2 are then upwards, in line with the top cross member of the frame for gripping the first upper intermediate roll 13. On the other hand, in the case of gripping the first lower intermediate roll, the gripping tool is turned 180° so that the first side is downwards, and the sectors ECH1 and ECH2 are then downwards, in line with the bottom cross member of the frame.

[0125] During the operation of placing the two rollers C1 , C2 on the frame Rac, the gripping tool is again preferably oriented with a first side towards the bottom of the sectors ECH1 and ECH2 and then downwards, to limit the risk of mechanical interference between the gripping tool and the frame Rac.

[0126] The present disclosure also relates to a component comprising a gripping tool according to the present disclosure and a robot system 1 suitable for performing operations of replacing rolls of a rolling mill by removing worn rolls from the roll stand and / or inserting new or corrected rolls into the roll stand, the system 1 comprising a robot provided with a gripping system 6 configured to provide locking of a fastening part 22 of the gripping tool 20.

[0127] The robot Ro may include a slide, which includes a first frame 2, the first frame 2 is equipped with wheels 200, the wheels 200 cooperate with a guide rail Ra1 arranged on the ground, the guide rail Ra1 extends in the lateral direction Y and is located at the entrance of the roller frame, and the first frame 2 is configured to move along the guide rail Ra1 in the direction Y under the action of the first motor device M1 that drives the wheel 200.

[0128] The robot may include:

[0129] A second frame 3 and a first sliding system G1 connecting the second frame 3 and the first frame 2, configured to move the second frame 3 in a direction X relative to the first frame 2 by the action of a second motor means M2.

[0130] a third frame 4 and a second sliding system G2 connecting the third frame 4 and the second frame 3, configured to move the third frame 4 in a vertical direction Z relative to the second frame 3 by the action of a third motor means M3.

[0131] The movement of the first frame 2 along the guide rail Ra1 in the transverse direction Y, the movement of the second frame 3 relative to the second frame in the longitudinal direction X, and the movement of the third frame 4 relative to the second frame in the direction Z allow translational movement of the gripping system in all three directions in space.

[0132] The robot may also include a fourth frame 5, and a rotation guide connecting the fourth frame and the third frame around a vertical rotation axis Av, the rotation guide being configured to drive the rotation of the fourth frame 5 relative to the third frame 4 under the action of a fourth motor device M4. Such robot kinematics is known from document WO2022223927 of the applicant for extracting or inserting a roll. The robot may also include a horizontal rotation axis as disclosed in WO2022223927, making it possible to tilt the axis of the gripped roll under the action of a fifth motor device M5.

[0133] The gripping system 6 is mounted on the fourth frame. This robotic system 1 is configured to extract the roller after placing it transversely on the rails, after pivoting it by rotation of the fourth frame relative to the third frame 4 about the vertical axis of rotation Av.

[0134] According to one embodiment, the gripping system 6 may include a quick coupling system 7, which includes a first mechanical coupling part 71, an electric M7, which is configured to move from a coupled position to an uncoupled position, wherein the coupled position is configured to mechanically lock a second mechanical coupling part 72 forming a fastening part 22 of the gripping tool, and the uncoupled position allows the release of the second mechanical coupling part.

[0135] Likewise, the robotic system 1 may include at least one controllable pneumatic power source, and the quick coupling system may include, in addition to the first mechanical coupling component 71, a first pneumatic coupling component 71' configured to move from a coupling position to lock a second pneumatic coupling component 72'.

[0136] The gripping tool is equipped with a second pneumatic coupling component 72', and the pneumatic actuator, in particular the aforementioned pneumatic actuator, is configured to be actuated by the at least one pneumatic energy source, in particular through the first and second locking members OV1, OV2 to provide locking or unlocking of the first roller and the second roller and / or to provide braking of the first recess system 23 and the second recess system 24 again.

[0137] It is also worth noting that the gripping system 6 may include a motor M6 configured to pivot the first coupling member 71 about an axis of rotation A6 that is generally parallel to the longitudinal direction X1 of the gripping tool 20 .

[0138] For example, such a motorized axis of rotation A6 can turn the gripping tool by 180°.

[0139] The gripping system 6 is configured to enable the gripping tool 20 to be turned 180° between:

[0140] - a first position of the gripping tool, with a first side of the virtual plane PV arranged towards the top and a second side arranged towards the bottom, said first position being in particular configured for gripping the first upper intermediate roller through the opening in the gate PT, during which the gripping system positions the first sector ECH1 and the second sector ECH2 towards the top, in line with the top cross member of the frame of the opening in the gate PT,

[0141] - A second position of the gripping tool, with a first side of the virtual plane PV arranged towards the bottom and a second side arranged towards the top, said second position being particularly configured for gripping the first lower intermediate roller through the opening in the gate PT, during which the gripping system positions the first sector ECH1 and the second sector ECH2 in line with the bottom cross member of the frame of the opening in the gate PT.

[0142] The second position of the gripping tool can usually also be used to place the extracted roll, in particular on the rack Rac.

[0143] according to Figure 1 In one embodiment shown, the first coupling member 71 may include a plurality of coupling members that can be activated to lock / unlock, the activatable coupling members being angularly spaced around the rotation axis A6. For example, the first coupling member 71 includes four coupling members spaced 90° apart around the rotation axis A6. The first pneumatic coupling member 71' may be centered on the rotation axis A6, and the first coupling member 71 may pivot around the rotation axis A6.

[0144] The present disclosure relates to a metal strip rolling equipment, comprising a rolling mill L, the rolling mill having a roll stand and a group of rolls in the roll stand, the rolling mill L having:

[0145] - Upper group GS, which includes:

[0146] - an upper working roll 12,

[0147] - two upper first intermediate rollers 13,

[0148] - three upper second intermediate rollers 14, 15,

[0149] --Four upper support roller groups A, B, C, D,

[0150] - A lower group GI comprising:

[0151] -- a lower working roll 12,

[0152] - two lower first intermediate rollers 13,

[0153] - three lower second intermediate rollers 14, 15,

[0154] --Four lower support roller assemblies H, G, F, E.

[0155] According to the present disclosure, the device includes a component according to the present disclosure, which is configured to allow simultaneous grasping of two first intermediate rollers 13 at the lower or upper part by moving the grasping tool by the robot system 1 in a direction parallel to the two rollers until the end of the first roller C1 is inserted into the first shell L1 through the first entry opening O1 of the first shell L1 and the end of the second roller C2 is inserted into the second shell L2 through the second entry opening O2 of the second shell L2.

[0156] Usually, if Figure 3 As shown, the device may comprise a loading / unloading stand Rac removably positioned on a supporting frame Cha anchored to the ground at a distance from the rolling mill in the transverse direction Y and transversely to the anchoring position of the guide rail Ra1.

[0157] The rack Rac placed on the support frame Cha may have a housing oriented in the direction X. The robotic system is configured to deposit the roll on the loading / unloading rack Rac resting on the support frame Cha, typically after pivoting the gripping system about the vertical rotation axis Av and as disclosed in WO2022223927 of the applicant itself.

[0158] According to one embodiment, the tool change magazine MAG can be arranged between the roller stand and the support frame Cha in the transverse direction Y, preferably arranged in the vicinity of the support frame Cha relative to the roller stand. The tool change magazine MAG can include a structure, in particular a substantially vertical structure, which includes a plurality of storage bags, which are usually placed one above the other, for various gripping tools specific to gripping various types of rollers, including gripping tools specific to gripping the first intermediate roller according to the present disclosure.

[0159] like Figure 3 As shown, the support frame Cha and the tool changing magazine MAG are spatially arranged relative to the roller frame and are configured to leave an inspection channel AL along the inspection opening (or inspection window) of the roller frame in the X direction.

[0160] Depending on the kinematics of the robot, the robotic system can be configured to ensure the coupling of one of the tools stored in the tool change magazine, in particular the gripping tool according to the present disclosure, by:

[0161] - pivoting the fourth frame 5 about said vertical axis of rotation Av in order to align a first mechanical coupling part 71 mounted on the fourth frame 5 with a second coupling part 72 of one of the tools stored in a tool change magazine arranged transversely to the guide rail, or, at the same time, when the robot is equipped with said at least one pneumatic power source, in order to align a first pneumatic coupling part 71 ′ mounted on the fourth frame with a second pneumatic coupling part 72 ′ of the gripping tool,

[0162] - moving said second frame 3 relative to the first frame 1 so as to physically engage the first mechanical coupling member 71 and the second mechanical coupling member 72 of the gripping system aligned with each other, or even simultaneously engage the first pneumatic coupling member 71 ′ and the second pneumatic coupling member 72 ′,

[0163] - moving from the uncoupled position of the first mechanical part 71 to a locked position configured to mechanically lock the second mechanical coupling part 72, or preferably simultaneously moving from the uncoupled position of the first pneumatic part 71 ' to a locked position configured to pneumatically lock the second mechanical coupling part 72'.

[0164] The present disclosure also relates to a method for changing rolls of a rolling mill using a gripping tool according to the present disclosure or a combination according to the present disclosure, the rolling mill having a roll stand and a set of 20 rolls inside the roll stand, which has:

[0165] - Upper group GS, which includes:

[0166] - an upper working roll 12,

[0167] - two upper first intermediate rollers 13,

[0168] - three upper second intermediate rollers 14, 15,

[0169] --Four upper support roller groups A, B, C, D,

[0170] - A lower group GI, comprising:

[0171] -- a lower working roll 12,

[0172] - two lower first intermediate rollers 13,

[0173] - three lower second intermediate rollers 14, 15,

[0174] --Four lower support roller assemblies H, G, F, E.

[0175] According to the replacement method, the two lower and upper first intermediate rollers 13 in the roller frame are simultaneously grasped by moving the grasping tool in a direction parallel to the two rollers, and at the same time: first, the end of the first roller is inserted into the first shell L1 through the first entry opening O1 of the first shell L1, and secondly, the end of the second roller is inserted into the second shell L2 through the second entry opening O2 of the second shell L2, until a recess of the first roller in the first shell and a recess of the second roller in the second shell are obtained, thereby allowing the rollers to be grasped by their recessed ends.

[0176] According to one embodiment of the method, the first intermediate roller 13 has a peripheral locking groove G. The method may then include locking the first roller in the first shell L1 by penetration of the first locking member OV1 in the locking groove G of the first roller C1, and locking the second roller in the second shell L2 by penetration of the second locking member OV2 in the locking groove of the second roller C2, once the ends of the first roller C1 and the second roller C2 are recessed in the first shell L1 and the second shell L2.

[0177] According to one embodiment, the method may include adjusting the center distance Ec during the movement of the gripping tool 20 in a direction parallel to the two rollers, the at least one first guide wall PG1 cooperating with the end of the first roller C1 in the guiding, and the at least one second guide wall PG2 cooperating with the end of the second roller in the guiding so as to generate a force generated by the guide member, which changes the center distance Ec to counteract the restoring force of the spring system 26.

[0178] According to one embodiment, using a gripping tool comprising a pneumatic brake, before the robotic system moves the roller held by the gripping tool, the pneumatic brake is switched from a non-braking position to a braking position, preventing sliding of the first and second recess systems.

[0179] Generally speaking, the roller stand allows access to a door system on the same side as the window, which consists of:

[0180] - Main door PP, hinged to the roll stand, giving access to the 20-roller stack of the mill,

[0181] - A gate PT which closes the maintenance opening in the main door, allowing the removal of the lower and upper working rolls 12, and of the four upper and lower first intermediate rolls 13, said gate opening having a frame.

[0182] For example, an example of a 20-high rolling mill including a main door and a gate is known from the applicant's document WO2015071608. Opening the gate makes it possible to continue changing the working rolls and the first intermediate roll without having to open the main door, which obtains the advantages described in document WO2015071608.

[0183] According to one embodiment, the gripping system proceeds to grip the first intermediate roller in the frame by advantageously positioning the gripping tool 20 through the opening in the gate PT and without opening the main door PP, and preferably:

[0184] - in a first position, the first side of the imaginary plane is arranged towards the top and the second side is arranged towards the bottom, said first position being configured for gripping the first upper intermediate roller 13 through the opening in the gate PT, during which the gripping system positions the first sector ECH1 and the second sector ECH2 in line with the top cross member of the frame of the opening in the gate PT,

[0185] - In a second position, the first side of the virtual plane is arranged towards the bottom and the second side is arranged towards the top, and the second position is configured for grabbing the first lower intermediate roller through the opening in the gate, during which the grabbing system positions the first sector ECH1 and the second sector ECH2 in line with the bottom cross member of the frame of the opening in the gate PT.

[0186] Reference numerals list

[0187] -1. Robotic system;

[0188] -Robot;

[0189] -Ra1. Guide rail along direction Y;

[0190] -2. First frame;

[0191] -200. Wheels;

[0192] -M1. The first motor means (the carriage moves in direction Y);

[0193] -3. Second frame;

[0194] -G1. A first sliding system in direction X (between the second and first frames);

[0195] -M2. The second motor means (the carriage moves in the direction X);

[0196] -4. The third frame;

[0197] -G2. A second sliding system along the direction Z;

[0198] -M3. The third motor means (the third frame moves along the second sliding system in the direction Z);

[0199] -5. The fourth frame;

[0200] - Av. The vertical rotation axis (between the fifth and fourth frames) is called the first rotation axis;

[0201] -M4. Fourth motor means (the fourth frame pivots relative to the third frame about a vertical axis of rotation);

[0202] -6. Grabbing system;

[0203] -M6 motor means (grasped by the gripping system roller pivots around its axis or parallel axis); -71,72. respectively, the first mechanical coupling member and the second mechanical coupling member;

[0204] -71', 72' are respectively the first pneumatic coupling component and the second pneumatic coupling component;

[0205] -Gi,Gs. are the upper group and the lower group respectively;

[0206] -12. Working roll;

[0207] -13. First intermediate roller;

[0208] -14,15. Second intermediate roller;

[0209] -A, B, C, D. are four support rollers or support roller groups of the upper group respectively;

[0210] -E, F, G, H. are four support rollers or support roller groups of the lower group respectively;

[0211] -PP. Main door;

[0212] -PT. Gate;

[0213] -Cha.Supporting frame;

[0214] -Rac. Movable rack;

[0215] -AL. (Workshop) longitudinal maintenance channel;

[0216] -20. Grabbing tools;

[0217] -21.Framework;

[0218] -22. Fastening parts;

[0219] -23. The first depression system;

[0220] -CP1. First subject;

[0221] -L1. The first shell;

[0222] -AL1. The first gripping axis (the longitudinal axis of the first housing);

[0223] -O1. First entry opening (first housing L1);

[0224] -PG1. First guide wall;

[0225] -OV1. A first locking member (locking the recessed end of the first roller);

[0226] -AT1. First actuator;

[0227] -24. Second depression system;

[0228] -CP2. Second subject;

[0229] -L2. The second shell;

[0230] -AL2. The second gripping axis (the longitudinal axis of the second housing);

[0231] -O2. Second access opening (second housing L2);

[0232] -PG2. Second guide wall (open or inclined);

[0233] -OV2. A second locking member (locking the recessed end of the second roller);

[0234] -AT2. Second actuator;

[0235] -Bd21, Bd22. A first entry edge and a second entry edge (the first entry opening of the first housing is offset along the first gripping axis);

[0236] -Bd21, Bd22. A first entry edge and a second entry edge (the second entry opening of the second housing is offset along the second gripping axis);

[0237] -Ec. Center distance (between the first gripping axis and the second gripping axis);

[0238] -G. slot;

[0239] -PV.Virtual plane;

[0240] -25. Sliding system;

[0241] -250. Guide rails;

[0242] -XYZ. Orthogonal reference system connected to the rolling mill ( Figure 1 and Figure 3 );

[0243] -X1Y1Z1. Orthogonal reference system connected to the gripper.

Claims

1. A grabbing tool (20), comprising: - a frame (21) equipped with fastening components (22) configured to be manipulated by the robotic system (1), - Maintain the system, Characterized in that the holding system comprises: a first recess system (23) comprising a first housing (L1) configured to receive and accommodate the recessed end of a first rolling roller (C1), and a second recess system (24) comprising a second housing (L2) configured to receive and accommodate the recessed end of a second rolling roller (C2), and wherein the first housing (L1) has a first gripping axis (AL1) for gripping the first rolling roller (C1), and the second housing (L2) has a second gripping axis (AL2) for gripping the second rolling roller, the first gripping axis (AL1) and the second gripping axis (AL2) being oriented parallel in a longitudinal direction (X1) in a direction (Y1) transverse to the first gripping axis and the second gripping axis, and being separated according to a center distance (Ec), - means for adjusting said center distance (Ec), comprising a sliding system (25) between said first recess system (23) and said second recess system (24), allowing adjustment of the spacing between said first recess system (23) and said second recess system (24), And wherein, the gripping tool is configured to allow simultaneous gripping of two rollers consisting of a first rolling roller (C1) and a second rolling roller (C2) arranged parallel to each other in a roller frame, by moving the gripping tool (20) in a direction parallel to the two rollers, including simultaneously inserting the end of the first rolling roller (C1) into the first shell (L1) through the first entry opening (O1) of the first shell (L1), and inserting the end of the second rolling roller (C2) into the second shell (L2) through the second entry opening (O2) of the second shell (L2), until a recess of the first rolling roller (C1) in the first shell (L1) and a recess of the second rolling roller (C2) in the second shell (L2) are obtained, thereby allowing the rollers consisting of the first rolling roller and the second rolling roller to be maintained in a cantilevered manner by their recessed ends.

2. The gripping tool according to claim 1, characterized in that: The sliding system (25) comprises at least one guide rail (250) fixed to the frame (21) and oriented in a transverse direction (Y1), and wherein the first recess system (23) and the second recess system (24) are slidably mounted along the at least one guide rail (250) and are movable over a limited travel relative to the frame (21).

3. The tool according to claim 1 or 2, characterized in that The device for adjusting the center distance (Ec) comprises: a spring system (26) generating a restoring force constraining the movement of the first recess system (23) and the second recess system (24) on the sliding system (25) in an intermediate spacing position between a maximum spacing position and a minimum spacing position between the first recess system (23) and the second recess system (24), - at least one first guide wall (PG1) which is open or inclined at an edge of the first entry opening (O1), the first guide wall (PG1) being configured to guide an end of the first rolling roller (C1) when the first rolling roller (C1) is inserted into the first shell (L1), and at least one second guide wall (PG2) which is open or inclined at an edge of the second entry opening (O2), the second guide wall (PG2) being configured to guide an end of the second rolling roller (C2) when the second rolling roller (C2) is inserted into the second shell (L2), And wherein, during the movement of the gripping tool (20) in a direction parallel to the two rollers, the at least one first guide wall (PG1) cooperates with the end of the first rolling roller (C1) to guide, and the at least one second guide wall (PG2) cooperates with the end of the second rolling roller (C2) to guide, so as to provide a force generated by the guide member that changes the center distance (Ec) and opposite to the restoring force of the spring system (26).

4. The gripping tool according to claim 1 or 2, characterized in that: It comprises a pneumatic brake device configured to pass from a non-braking position, which releases the sliding of the sliding system (25), thereby freely allowing the adjustment of the center distance (Ec), to a braking position, which blocks the sliding of the first recess system and the second recess system, thereby locking the center distance (Ec).

5. The gripping tool according to claim 1 or 2, characterized in that: The first recess system (23) comprises a first locking member (OV1) and a first actuator (AT1), the first actuator (AT1) being configured to move the first locking member (OV1) from a first retracted position (P1) allowing the end of the first rolling roller to be inserted into the first shell (L1) to a second position (P2), in which the first locking member enters the interior of the first shell (L1) and provides locking of the first rolling roller generally against the bottom of the first shell by penetrating a locking groove of the second rolling roller, And wherein, the second recess system (24) includes a second locking member (OV2) and a second actuator (AT2), the second actuator (AT2) being configured to move the second locking member (OV2) from a first retracted position (P1) to a second position (P2), the first retracted position (P1) allowing the end of the second rolling roller to be inserted into the second shell, in the second position (P2), the second locking member (OV2) penetrates the interior of the first shell (L1) and provides a locking of the second rolling roller generally against the bottom of the second shell by penetrating the locking groove of the second rolling roller.

6. The gripping tool according to claim 5, characterized in that: The first actuator (AT1) and the second actuator (AT2) are pneumatic actuators.

7. The gripping tool according to claim 1 or 2, characterized in that: - said first recess system comprises a first typically metallic body (CP1) comprising said first shell, typically machined, extending along a first gripping axis (AL1) of said first shell from said first access opening (O1) to the bottom of said first shell, - a second recess system (24) comprising a second typically metallic body (CP2) comprising a second shell (L2) extending along a second gripping axis (AL2) of said second shell from said second access opening (O2) to the bottom of said second shell, and wherein the first shell and the second shell extend overlappingly in a longitudinal direction of the gripping tool parallel to the first axis and the second axis of the first shell and the second shell, And wherein, relative to a virtual plane (PV) passing through a first gripping axis (AL1) of the first shell and a second gripping axis (AL2) of the second shell, the first body and the second body have a first sector (ECH1) and a second sector (ECH2), respectively, on a first side of the virtual plane (PV) and relative to a second side of a plane without sectors of the first body and the second body, firstly an offset is obtained between: a second entry edge of the first entry opening (O1) on the first side of the plane, which is arranged in the direction of the first axis halfway between the bottom of the first housing and the first entry edge of the first entry opening on the second side of the plane, - a second entry edge of a second entry opening (O2) on the first side of the plane, which is arranged in the direction of the second axis halfway between the bottom of the second housing and the first entry edge of the second entry opening on the second side of the plane.

8. An assembly comprising a gripping tool and a robot system (1), the robot system (1) being suitable for performing operations of replacing rolls of a rolling mill by removing worn rolls from a roll stand and / or inserting new or corrected rolls into the roll stand, the robot system (1) comprising a robot provided with a gripping system (6), the gripping system (6) being configured to provide locking of the fastening part of the gripping tool (20), characterized in that The gripping tool is a gripping tool according to any one of claims 1 to 7.

9. The assembly according to claim 8, characterized in that The gripping system (6) comprises a quick coupling system (7), comprising an electrically powered first mechanical coupling part (71) configured to move from a coupled position configured to mechanically lock a second mechanical coupling part (72) forming a fastening part (22) of the gripping tool to an uncoupled position, the uncoupled position allowing the release of the second mechanical coupling part.

10. The assembly according to claim 9, characterized in that It comprises a gripping tool according to claim 4 or 6, wherein the robot system (1) comprises at least one controllable pneumatic power source, the quick connection system comprises a first pneumatic connection component (71') in addition to the first mechanical connection component (71), the first pneumatic connection component is configured to move from a connection position to lock a second pneumatic connection component (72'), and wherein the gripping tool is equipped with a second pneumatic connection component (72'), and the pneumatic actuator is configured to be actuated by the at least one pneumatic power source to provide locking or unlocking of the first rolling roller and the second rolling roller and / or also provide braking of the first recess system and the second recess system.

11. The assembly according to claim 8 or 9, characterized in that It includes crawlers, which: - said first recess system comprises a first typically metallic body (CP1) comprising said first shell, typically machined, extending along a first gripping axis (AL1) of said first shell from said first access opening (O1) to the bottom of said first shell, - a second recess system (24) comprising a second typically metallic body (CP2) comprising a second shell (L2) extending along a second gripping axis (AL2) of said second shell from said second access opening (O2) to the bottom of said second shell, and wherein the first shell and the second shell extend overlappingly in a longitudinal direction of the gripping tool parallel to the first axis and the second axis of the first shell and the second shell, And wherein, relative to a virtual plane (PV) passing through a first gripping axis (AL1) of the first shell and a second gripping axis (AL2) of the second shell, the first body and the second body have a first sector (ECH1) and a second sector (ECH2), respectively, on a first side of the virtual plane (PV) and relative to a second side of a plane without sectors of the first body and the second body, firstly an offset is obtained between: a second entry edge of the first entry opening (O1) on the first side of the plane, which is arranged in the direction of the first axis halfway between the bottom of the first housing and the first entry edge of the first entry opening on the second side of the plane, a second entry edge of a second entry opening (O2) on the first side of the plane, which is arranged in the direction of the second axis halfway between the bottom of the second shell and the first entry edge of the second entry opening on the second side of the plane, The gripping system (6) is configured to enable the gripping tool (20) to be flipped 180° between: - a first position in which the first side of the virtual plane (PV) is arranged towards the top and the second side is arranged towards the bottom, the first position being particularly configured for gripping the first upper intermediate roller through the opening in the gate, during which the gripping system positions the first sector (ECH1) and the second sector (ECH2) in line with the top cross member of the frame of the opening in the gate (PT), - a second position in which the first side of the virtual plane (PV) is arranged towards the bottom and the second side is arranged towards the top, the second position being particularly configured for gripping the first lower intermediate roller through the opening in the gate, during which the gripping system positions the first sector (ECH1) and the second sector (ECH2) in line with the bottom cross member of the frame of the opening in the gate (PT).

12. A metal strip rolling mill installation comprising a rolling mill (L) having a roll stand and a set of rolls in said roll stand, comprising: - Upper Group (GS), which includes: - an upper working roll (12), - two upper first intermediate rollers (13), - three upper second intermediate rollers (14, 15), --Four sets of upper support rollers (A, B, C, D), - Lower Group (GI), comprising: - a lower working roll (12), - two lower first intermediate rollers (13), - three lower second intermediate rollers (14, 15), --Four sets of lower support rollers (H, G, F, E), Characterized in that the device comprises a component according to any one of claims 8 to 11, which is configured to allow simultaneous grasping of two lower and upper first intermediate rollers (13) by moving the grasping tool by the robotic system in a direction parallel to the two rollers until the end of the first rolling roller (C1) is inserted into the first shell through the first entry opening (O1) of the first shell (L1) and the end of the second rolling roller (C2) is inserted into the second shell through the second entry opening (O2) of the second shell (L2).

Images